Moving apparatus, controller of moving apparatus, control method of moving apparatus, moving system, and moving type work robot

Abstract

To provide a moving apparatus characterized in that a user's setting load is alleviated, a controller of a moving apparatus, a control method of a moving apparatus, a moving system, and a moving type work robot.SOLUTION: A moving apparatus includes range finding units D1 and D2, a moving mechanism that moves an apparatus body, and a control unit. The range finding units D1 and D2 are arranged on a concentric circle, the center of which coincides with a center of rotation of the moving apparatus, while being separated from each other by a predetermined space or more. The control unit includes a first distance arithmetic block that computes a first distance R1j which is a distance between the range finding unit D1 and a range finder M, a second distance arithmetic block that computes a second distance R2j which is a distance between the range finding unit D2 and range finder M, a third distance arithmetic block that computes a third distance R which is a distance from a center point of a straight line linking the range finding unit D1 and range finding unit D2 to the range finder M, and a first direction angle arithmetic block that computes a first direction angle Φj which is a direction angle of the range finder M seen from the center point of the straight line linking the range finding unit D1 and range finding unit D2.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a mobile device that moves within a target area, a control device for the mobile device, a control method for the mobile device, a mobile system, and a mobile work robot. [Background technology]

[0002] In recent years, there has been progress in the development of unmanned mobile devices that achieve desired movement, such as cleaning a target area, performing robotic tasks on managed objects, transporting luggage, or performing service work. In such mobile devices, a map of the target room is pre-recorded so that the device can determine its own position within the room and move around. Mobile devices that automatically create a map of the target area by detecting objects using a LiDAR sensor or a camera are also known.

[0003] If a map is not used, magnetic tapes may be installed in advance in the target area to guide the mobile device along a predetermined route in the target area using magnetic guidance, in which case the mobile device automatically travels along a fixed travel route.

[0004] In addition, when controlling a mobile device, markers containing information about the mobile device's operation, such as stopping or rotating, may be placed appropriately within the target room. The mobile device captures the marker with an imaging unit such as a camera mounted on it, and controls the mobile device's operation based on the information contained in the marker. One such marker is a flag-shaped signpost installed in the target area. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-275899 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-021624 Summary of the Invention [Problem to be solved by the invention]

[0006] When setting a driving route using magnetic tape, it is necessary to install the magnetic tape in advance, and the driving route is fixed. For example, in a clean space such as a clean room, it can be difficult to install the magnetic tape itself. When setting a driving route using signposts, it is necessary to install many signposts along the driving route, which places a burden on users to understand the function and usage of each signpost.

[0007] Controlling a mobile device using a map of the target area requires the input of map information by a robotics engineer or an experienced user. In particular, when operating a mobile device in a target area for the first time, consultation between the robotics engineer and the user is essential, which is time-consuming and laborious. In other words, it is difficult for a mobile device user without specialized knowledge to quickly and easily set a desired driving route on their own. Furthermore, when using a map to perform positioning using wireless communication, there is a possibility that some areas cannot be positioned depending on the location of the fixed device. This also affects the accuracy of positioning, so careful design of the fixed device location and accurate matching of the location on the map with the actual location are required.

[0008] The present invention has been proposed to solve the problems of the prior art as described above, and its purpose is to provide a mobile device, a mobile device control device, a mobile device control method, a mobile system, and a mobile work robot that reduce the setup burden on the user. [Means for solving the problem]

[0009] In order to achieve the above object, the moving device of the present invention has the following features. (1) A mobile device having a first distance measuring unit and a second distance measuring unit that are capable of communicating with an external distance measuring device, a moving mechanism that moves the device body, and a control unit, wherein the first distance measuring unit and the second distance measuring unit are arranged on concentric circles centered on the rotation center of the mobile device, spaced at a distance of at least a predetermined distance, and the control unit has a first distance calculation unit that calculates a first distance, which is the distance between the first distance measuring unit and the distance measuring device, a second distance calculation unit that calculates a second distance, which is the distance between the second distance measuring unit and the distance measuring device, a third distance calculation unit that calculates a third distance, which is the distance from the midpoint of a line connecting the first distance measuring unit and the second distance measuring unit to the distance measuring device based on the first distance and the second distance, and a first direction angle calculation unit that calculates a first direction angle, which is the direction angle of the distance measuring device as seen from the midpoint of a line connecting the first distance measuring unit and the second distance measuring unit, based on the first distance, the second distance, and the third distance.

[0010] (2) The control unit may further have a second direction angle calculation unit that calculates a second direction angle, which is the direction angle of the ranging device as seen from the center of rotation of the mobile device, based on the third distance, the first direction angle, and the distance from the midpoint of the line connecting the first ranging unit and the second ranging unit to the center of rotation of the mobile device, and a fourth distance calculation unit that calculates a fourth distance, which is the distance from the center of rotation of the mobile device to the ranging device, based on the third distance, the first direction angle, and the second direction angle.

[0011] (3) The control unit may further include a drive condition calculation unit that calculates drive conditions for the moving mechanism so that the moving device reaches the distance measuring device based on the first direction angle and the third distance, or the second direction angle and the fourth distance.

[0012] (4) The control unit may further include an initial value setting unit that sets an initial value of transmission power between the first ranging unit and the second ranging unit and the ranging device before the mobile device starts automatic driving, and the initial value setting unit may include a list memory unit that stores a list of candidate values ​​of the transmission power, a candidate value setting unit that sets the transmission power based on the list of candidate values ​​of the transmission power in order of decreasing transmission power, a success rate calculation unit that calculates the ranging success rate at the transmission power set by the candidate value setting unit, a judgment unit that judges whether the ranging success rate reaches a predetermined threshold value, and a determination unit that determines the initial value of the transmission power, and when the judgment unit judges that the ranging success rate at the transmission power set by the candidate value setting unit reaches the predetermined threshold value, the determination unit may be configured to determine the transmission power set by the candidate value setting unit as the initial value.

[0013] (5) The initial value setting unit may further have a success rate memory unit that stores the transmission power set by the candidate value setting unit and the ranging success rate at the transmission power set by the candidate value setting unit in association with each other, and the determination unit may be configured to determine the transmission power with the highest ranging success rate as the initial value from the combinations of the transmission power and the ranging success rate stored in the success rate memory unit.

[0014] (6) The control unit further includes an adjustment unit that sets an adjustment value of the transmission power between the first distance measuring unit and the second distance measuring unit and the distance measuring device after the mobile device starts the automatic traveling, and the adjustment unit includes a distance measurement result determination unit that compares a current measured distance obtained while the mobile device is moving with a maximum distance that is a distance that can be transmitted and received by the first distance measuring unit and the second distance measuring unit and the distance measuring device when transmitting and receiving at maximum transmission power, and determines whether or not the transmission power needs to be changed, and a difference between the initial measured distance at the initial value and the current measured distance The distance measurement device may have a distance difference calculation unit that calculates the difference, a difference determination unit that compares the difference with the traveling distance of the mobile device, and a transmission power calculation unit that calculates the adjustment value of the transmission power, and when the ranging result determination unit determines that the current measured distance is less than the maximum distance, the distance difference calculation unit calculates the difference, and when the difference determination unit determines that the difference is greater than a multiple of the traveling distance of the mobile device, the transmission power calculation unit may be configured to calculate the adjustment value adjusted to reduce the transmission power by the square of the traveling distance.

[0015] (7) The mobile device may further include an alarm unit that outputs information to notify the user of the operating status of the mobile device, an alarm condition memory unit that stores alarm conditions that associate the output pattern of the alarm unit with the driving conditions of the mobile device, and an alarm condition determination unit that determines conditions for controlling the alarm unit based on the driving conditions determined by the driving condition calculation unit.

[0016] The control unit of the mobile device may include an aspect as an invention of a control device for the mobile device, and may also include an aspect as an invention of a control method for the mobile device in which a computer executes the processing of the control unit.

[0017] In order to achieve the above object, the mobile system of the present invention has the following features. (1) A mobile system including a mobile device having a first distance measuring unit and a second distance measuring unit, a moving mechanism for moving the device body, and a control unit, and a distance measuring device that is capable of communicating with the first distance measuring unit and the second distance measuring unit, wherein the first distance measuring unit and the second distance measuring unit are arranged on a concentric circle centered on the center of rotation of the mobile device, spaced apart by a predetermined interval or more, and the control unit of the mobile device includes a first distance calculation unit that calculates a first distance, which is the distance between the first distance measuring unit and the distance measuring device. The distance measuring device has a second distance calculation unit that calculates a second distance, which is the distance between the second distance measuring unit and the distance measuring device, a third distance calculation unit that calculates a third distance, which is the distance from the midpoint of the line connecting the first distance measuring unit and the second distance measuring unit to the distance measuring device, based on the first distance and the second distance, and a first direction angle calculation unit that calculates a first direction angle, which is the direction angle of the distance measuring device as seen from the midpoint of the line connecting the first distance measuring unit and the second distance measuring unit, based on the first distance, the second distance, and the third distance.

[0018] (2) The control unit of the mobile device may further include a second direction angle calculation unit that calculates a second direction angle, which is the direction angle of the ranging device as seen from the center of rotation of the mobile device, based on the third distance, the first direction angle, and the distance from the midpoint of the line connecting the first ranging unit and the second ranging unit to the center of rotation of the mobile device, and a fourth distance calculation unit that calculates a fourth distance, which is the distance from the center of rotation of the mobile device to the ranging device, based on the third distance, the first direction angle, and the second direction angle.

[0019] Furthermore, the following aspects of the mobile work robot may be included.

[0020] (1) The system may include the above-mentioned mobile device and a robot placed on the mobile device for performing a predetermined task, wherein the control unit and the robot each have a communication unit, and the control unit is configured to send a work start signal to the robot when it reaches the distance measuring device, and the robot is configured to send a work end signal to the control unit.

[0021] (2) The robot may be a measurement unit that performs environmental measurements. [Effects of the Invention]

[0022] According to the present invention, it is possible to provide a mobile device, a control device for a mobile device, a control method for a mobile device, a mobile system, and a mobile work robot that reduce the setting burden on the user. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a schematic diagram showing a schematic configuration of a mobile system according to a first embodiment. [Figure 2] FIG. 1 is a schematic diagram illustrating a configuration concept of a mobile system according to a first embodiment. [Figure 3] 2 is a block diagram showing an example of the configuration of a control unit of a moving device according to the first embodiment. FIG. [Figure 4] 10A and 10B are schematic diagrams for explaining distance measurement conditions, showing (a) the first distance and the second distance, (b) the third distance and the first direction angle, and (c) the second direction angle and the fourth distance. [Figure 5] 5 is a schematic diagram for explaining the propagation time of a distance measurement wave between a distance measurement unit and a distance measurement device. FIG. [Figure 6] 10 is a flowchart illustrating an example of a processing procedure of a control unit. [Figure 7] FIG. 10 is a block diagram showing an example of the configuration of a power control unit in a control unit of a moving device according to a second embodiment. [Figure 8] 10 is a flowchart illustrating an example of a processing procedure of an initial value setting unit of a power control unit. [Figure 9] 10 is a flowchart illustrating an example of a processing procedure of an adjustment unit of a power control unit. DETAILED DESCRIPTION OF THE INVENTION

[0024] [1. First embodiment] [1-1. Overview of the mobile system] An overview of a mobile system S according to the present invention will be described. FIG. 1 is a schematic diagram showing the general configuration of the mobile system S. FIG. 2 is a schematic diagram for explaining the structural concept of the mobile system S. As shown in FIG. 1, the mobile system S comprises a mobile device 1 that moves the device body, and a distance measuring device M that is placed on the floor or the like and serves as an object to be detected by the mobile device 1. The mobile device 1 and distance measuring device M are configured to be able to communicate with each other. Although FIG. 1 shows three distance measuring devices M1 to M3 as the distance measuring device M, the mobile system S can be realized with either a single distance measuring device M or multiple distance measuring devices M. In the following description, distance measuring devices M1 to M3 will be collectively referred to as distance measuring device M.

[0025] The mobile device 1 travels on a floor surface using its own moving mechanism, such as tires and their drive motors, and rotates on the floor surface around a vertical rotation axis (the rotation center of the mobile mechanism) using the moving mechanism. The mobile device 1 is equipped with a distance measuring unit D1 as a first distance measuring unit and a distance measuring unit D2 as a second distance measuring unit. As shown in FIG. 2, the distance measuring units D1 and D2 are arranged on concentric circles centered on the rotation center of the mobile mechanism of the mobile device 1, spaced apart by a predetermined distance or more. It can also be said that the distance measuring units D1 and D2 are arranged symmetrically with respect to the rotation center of the mobile mechanism. The rotation center of the mobile mechanism can also be expressed as the rotation center of the mobile device 1.

[0026] Distance measuring device M is configured to be able to communicate with distance measuring units D1 and D2 mounted on mobile device 1, and functions as a distance measuring unit external to mobile device 1. Distance measuring units D1 and D2 are configured to be able to measure the distance between mobile device 1 and distance measuring device M by communicating with distance measuring device M. In the following description, distance measuring units D1 and D2 may be collectively referred to as distance measuring unit D. In this specification, distance means the straight-line distance between two points, i.e., the shortest distance.

[0027] The ranging device M and ranging unit D may be configured to enable real-time distance measurement using at least one of radio waves, sound waves, and light. The ranging device M and ranging unit D may include, for example, a transmitting unit and a receiving unit. The transmitting unit is a signal source that transmits ranging waves such as electromagnetic waves. The receiving unit is a receiver that receives the ranging waves transmitted from the transmitting unit. Note that, for example, when the ranging device M transmits a return ranging wave in response to a ranging wave from the ranging unit D, each of the ranging unit D and ranging device M may include both a transmitting unit and a receiving unit.

[0028] Radio waves used for distance measurement can be wireless communication methods such as UWB, Bluetooth (registered trademark), WiFi, RFID, etc. When radio waves are used, the mobile device 1 may calculate the propagation time of a signal pulse using, for example, a Time of Arrival (TOA) method, and calculate the distance between the mobile device 1 and the distance measurement device M by multiplying the pulse propagation time by the speed of light. When the distance is calculated using the TOA method, the distance measurement unit D includes a configuration for generating a reference clock, etc.

[0029] UWB is particularly preferable as the radio waves used by the distance measurement unit D. Because UWB uses pulses on the order of nanoseconds, it is possible to measure the arrival time of radio waves with high precision, enabling highly accurate distance and positioning. Furthermore, because UWB uses only short pulses, it is possible to reduce the power consumption of the device. Furthermore, because it does not use complex modulation and demodulation, it can contribute to cost reduction.

[0030] Visible light, infrared light, or ultraviolet light can be used as light for distance measurement. Ultrasonic waves can be used for distance measurement. Other configurations that measure distance using magnetism, capacitance, or the like can also be adopted. In either case, it is up to the discretion of whether to place the transmitting unit or receiving unit in the distance measurement unit D or the distance measurement device M of the mobile device 1, and it is also possible to place the transmitting and receiving units in both.

[0031] Furthermore, if the distance measurement waves received by the receiving unit are reflected waves from the surface of the distance measuring device M, either the distance measuring unit D or the distance measuring device M can be equipped with both a receiving unit and a transmitting unit. For example, if the distance measuring unit D1 is equipped with a transmitting unit and a receiving unit, and the distance measurement waves from the transmitting unit are reflected by the distance measuring device M and the receiving unit of the distance measuring unit D1 captures the reflected waves, the distance measuring device M can simply be equipped with a reflecting plate. The reflecting plate can also be considered to have a transmitting and receiving function. In this embodiment, the distance measuring unit D1 on the mobile device 1 side and the distance measuring device M placed on the travel path, such as on a floor, are not limited to these configurations, and can be any configuration as long as the mobile device 1 and the distance measuring device M are configured to be able to communicate with each other and measure the distance between them.

[0032] In the mobile system S having the above configuration, the distance measuring device M is placed at an arbitrary position in an indoor target area such as a clean room. By measuring distance using the distance measuring units D1 and D2 of the mobile device 1 and the distance measuring device M, it is possible to determine the distance from the distance measuring unit D1 of the mobile device 1 to the distance measuring device M and the distance from the distance measuring unit D2 to the distance measuring device M. However, the distance measurement using the distance measuring unit D alone does not allow the mobile device 1 to determine the directional angle in which the distance measuring device M is placed.

[0033] Therefore, the mobile device 1 calculates a third distance, which is the distance from the midpoint of the line connecting the distance measuring units D1 and D2 to the distance measuring device M, based on the first distance, which is the distance between the distance measuring units D1 and D2, and the second distance, which is the distance between the distance measuring units D2 and M. Furthermore, based on the first distance and the second distance, it calculates a first direction angle, which is the directional angle of the distance measuring device M as seen from the midpoint of the line connecting the distance measuring units D1 and D2. When the midpoint of the line connecting the distance measuring units D1 and D2 is the rotation center of the mobile device 1, it can be said that the mobile device 1 is configured to be able to calculate the third distance from the rotation center of the mobile device 1 to the distance measuring device M and the first direction angle, which is the directional angle of the distance measuring device M as seen from the rotation center of the mobile device 1, by these calculations.

[0034] In the following description, an embodiment of a mobile system S according to the present invention will be described in more detail with reference to the drawings. For clarity, the following describes a system configuration in which UWB is used as the ranging wave. However, as described above, the mobile system S of this embodiment can be realized by employing a ranging unit D and ranging device M that use various ranging waves, not limited to UWB, as long as the distance between the mobile device 1 and ranging device M can be measured.

[0035] (Distance measuring device M) As described above, the ranging device M is an external ranging unit and functions as a marker for the mobile device 1. The ranging device M may be a UWB terminal, for example, a portable UWB tag. When a UWB terminal is used alone as the ranging device M, the UWB terminal may be regarded as the ranging device M or the external ranging unit.

[0036] The ranging device M may include a UWB terminal, which is a ranging unit, and a housing that houses the UWB terminal. Alternatively, it may include a stand that holds the UWB terminal. The ranging device M may be placed on the floor or on a wall. Furthermore, the UWB terminal may be held by a stand and placed in the target area in a floating state. Such a ranging device M can be interpreted as a ranging unit provided outside the mobile device 1. Furthermore, the ranging unit included in the ranging device M may be either a transmitter or a receiver, but the following description will be given assuming it is a transceiver.

[0037] The ranging device M is configured so that the user of the mobile system S can place the ranging device M at any position in the target area. In other words, unlike a fixed device that is fixed by a fixture at a predetermined position in the target area as in conventional ranging systems, the ranging device M is configured to be portable to a position where the user wants to place it. In other words, the ranging device M is a terminal whose position in the target area is unknown. An unknown position means that the position of the ranging device M is not known in a coordinate system or the like.

[0038] In the following description, an example will be described in which a user of the mobile system S places the distance measuring device M at an arbitrary position. However, this embodiment can also be applied when the distance measuring device M itself is moving.

[0039] When multiple ranging devices M are used, each ranging device M may have information indicating the order in which the mobile device 1 searches for the multiple ranging devices M. For example, when two ranging devices M are used, one ranging device M has a search order of 1 and the other ranging device M has a search order of 2. Any characters or symbols such as numbers or alphabets can be used as information indicating the search order. It is preferable to write the information indicating the search order on the surface of the ranging device M, etc., so that the user can understand the search order of the multiple ranging devices M.

[0040] However, the mobile system S can also have only one distance measuring device M, and each time the mobile device 1 completes movement to the distance measuring device M, the distance measuring device M can be moved to the next target location and used. The distance measuring device M can be moved manually by a user, or the distance measuring device M can be provided with a traveling unit and configured to move automatically. The distance measuring device M can also be configured to move by radio control.

[0041] The ranging device M is configured to be able to respond to a request for ranging device detection operation by the ranging unit D of the mobile device 1. The ranging device M is configured to be able to receive ranging waves transmitted during ranging operation by the ranging unit D of the mobile device 1. When the ranging device M receives the ranging waves transmitted by the ranging unit D, it is configured to be able to transmit a return ranging wave to the ranging unit D. The ranging device M includes a local oscillator, and operates based on the clock of the local oscillator when transmitting a return ranging wave. Note that time synchronization of the ranging device M is not required.

[0042] [1-2. About the mobile device 1] (1) Mechanism of the moving device 1 The mobile device 1 is a device that autonomously travels within a target area, for example, indoors. The mobile device 1 has a movement mechanism that moves the device body and is configured to be able to travel. The mobile device 1 can be configured to perform operations other than movement. For example, it may be configured to measure the environment of the target area while moving within the target area. It can also be combined with a robot that performs various operations, such as cleaning the target area, loading and unloading luggage, and opening and closing valves.

[0043] The mobile device 1 is configured to be movable within the target area. Therefore, the position of the mobile device 1 within the target area is not fixed, and it can be said that the position of the mobile device 1 within the target area is unknown. The mobile system S of this embodiment can also be expressed as being configured such that the mobile device 1, whose position is unknown, identifies the position information of the ranging device M, whose position is unknown.

[0044] FIG. 1 shows the mobile device in a side view illustrating the appearance of the mobile device 1. As shown in FIG. 1, the mobile device 1 has a box-shaped housing 100. The housing 100 may include a box-shaped housing 100a that houses the components of the mobile device 1, and a box-shaped housing 100b that houses a robot mounted on the mobile device 1. In the following description, the housings 100a and 100b may be collectively referred to as the housing 100.

[0045] The mobile device 1 has a mobile mechanism 101 provided on the underside of a housing 100a. The mobile mechanism 101 includes a running unit 102 and a drive mechanism 103. The running unit 102 may include wheels, such as a pair of drive wheels, provided on the underside of the housing 100a. The drive wheels are driven by the drive mechanism 103, making the mobile device 1 self-propelled. The drive mechanism 103 drives the rotation of the wheels to move the mobile device 1. The drive mechanism 103 may be composed of, for example, a motor that drives the wheels and an actuator that changes the direction of the wheels. The wheels of the mobile device 1 may be omniwheels or mecanum wheels. It is possible to use an unmanned aerial vehicle with rotating wings, such as a drone, as the mobile device 1.

[0046] (2) Functional block diagram of mobile device 1 FIG. 3 is a functional block diagram of the mobile device 1. As shown in FIGS. 1 to 3, the mobile device 1 further includes a distance measuring unit D1 which is a first distance measuring unit, a distance measuring unit D2 which is a second distance measuring unit, an obstacle detection unit 11, a notification unit 12, and a control unit 200. As shown in FIG. 1, the mobile device 1 is provided with an operation start button B for starting the operation of the mobile device 1. The operation start button B is configured to be pressable by the user and can be provided on the main body of the mobile device 1. The operation start button B may also be provided on, for example, a remote controller, or may be an input unit I of the control unit 200. In either case, the operation start button B is connected to the control unit 200, and the mobile device 1 is configured to start a predetermined operation when the user presses the operation start button B.

[0047] (2-1) Distance measurement part D As shown in Figure 2, the distance measuring units D1 and D2 of the mobile device 1 are arranged on concentric circles centered on the rotation center of the mobile device 1, spaced apart by a predetermined distance or more. Setting the predetermined distance to 300 mm or more improves calculation accuracy. It is preferable that the distance measuring units D1 and D2 are arranged at the same height. Furthermore, when the direction of travel of the mobile device 1 is taken as the center line, it is preferable that the distance measuring units D1 and D2 are arranged symmetrically with respect to this center line.

[0048] However, the moving mechanism 101 of the moving device 1 is configured to be rotatable. Therefore, even if the distance measuring units D1 and D2 are arranged on one side of the moving device 1 as shown in Fig. 1, for example, the moving device 1 can be rotated so that this side faces the moving direction when the moving device 1 performs a distance measurement operation.

[0049] As described above, as long as the distance measuring units D1 and D2 satisfy the condition that they are spaced apart by a predetermined distance on concentric circles, they may be placed at any desired location on the mobile device 1. The mobile system S is configured to be able to calculate the distance from the center of rotation of the mobile device 1 to the distance measuring device M and the directional angle of the distance measuring device M as viewed from the center of rotation of the mobile device 1, while allowing freedom in the placement locations of the distance measuring units D1 and D2, thanks to the configuration of the control unit 200, which will be described later.

[0050] The ranging units D1 and D2 may be UWB terminals, for example, portable UWB tags. In this example, the ranging unit D of the mobile device 1 is a transceiver, similar to the ranging device M. In the example of FIG. 1, the ranging units D1 and D2 are provided on the top surface of the housing 100b of the mobile device 1. The ranging units D1 and D2 are attached to a support P located on the top surface of the housing 100b. The support P may be a stand or the like configured to hold a UWB terminal. While the support P is not an essential component, providing the support P to increase the height of the ranging units D1 and D2 can be useful in cases where obstacles can be avoided and communication with the ranging device M can be smooth. However, it is not intended to exclude a configuration in which the ranging units D1 and D2 are directly provided on the housing 100b of the mobile device 1.

[0051] The distance measuring units D1 and D2 are configured to be able to check whether they are able to communicate with the target distance measuring device M during distance measuring device detection operation. The distance measuring units D1 and D2 are configured to be able to transmit distance measuring waves to the distance measuring device M during distance measuring operation. The distance measuring units D1 and D2 include local oscillators and operate based on the clock of the local oscillator when transmitting distance measuring waves. The distance measuring units D1 and D2 are configured to be able to receive return distance measuring waves transmitted from the distance measuring device M that has received the distance measuring waves.

[0052] (2-2) Obstacle detection unit 11 The obstacle detection unit 11 is a sensor that detects obstacles in the traveling direction of the mobile device 1. The obstacle detection unit 11 is provided on the front side of the mobile device 1. The obstacle detection unit 11 may be an ultrasonic sensor, an optical ToF (Time-of-Flight) sensor, a stereo camera depth sensor, a radar sensor, or the like.

[0053] Among these, when the target area is inside a clean room, it is preferable to use an ultrasonic sensor, which is low cost and highly reliable, considering the specular materials such as stainless steel present in the clean room. An ultrasonic sensor detects an obstacle by transmitting ultrasonic waves and detecting the echoes reflected back from the obstacle. Note that a bumper sensor or the like that detects contact with an obstacle may also be provided as the obstacle detection unit 11. Furthermore, when the target area is inside a warehouse, it is preferable to use a RiDAR sensor, considering the possibility that cardboard boxes may be placed there. When the obstacle detection unit 11 detects an obstacle, it transmits a signal indicating that an obstacle has been detected to the control unit 200.

[0054] (2-3) Notification unit 12 The notification unit 12 is a component that performs output to notify the user of the operating status of the mobile device 1. The notification unit 12 can employ, for example, a light-emitting unit 12a (shown in FIG. 1) that emits light and an audio output unit 12b that outputs an audio signal (not shown). However, when the operating status of the mobile device 1 is displayed on an output unit O such as a display connected to the control unit 200, the output unit O may be regarded as the notification unit 12.

[0055] The light-emitting unit 12a is configured by an LED (Light Emitting Diode), an LD (Laser Diode), etc. The light-emitting unit 12a is preferably attached to the surface of the moving device 1, as shown in Fig. 1. The light-emitting unit 12a emits light in a light-emitting pattern that matches the operating state of the moving device 1 under the control of the control unit 200.

[0056] The operating states include a running state in which the mobile device 1 is moving, a search state in which the mobile device 1 is searching for the distance measuring device M, a discovery state in which the mobile device 1 has discovered the distance measuring device M, a working state in which the robot mounted on the mobile device 1 is operating, an error state in which there is an obstacle in front of the mobile device 1, and an end state in which the mobile device 1 has completed its running operation.

[0057] The audio output unit 12b includes, for example, a DA converter, an amplifier, a speaker, etc. (not shown). Such an audio output unit 12b converts an audio signal into an analog audio output signal and outputs the audio from the speaker. The audio output by the audio output unit 12b may be electronic sounds, music, pre-recorded human voice, etc. The audio output unit 12b outputs audio that matches the operating state of the mobile device 1 under the control of the control unit 200.

[0058] (2-4) Control Unit 200 3, the control unit 200 is configured with a computer including a CPU and memory that operates according to a predetermined program, or a dedicated electronic circuit. The control unit 200 may be configured integrally with the mobile device 1, or may be a computer or the like configured to be able to communicate with the mobile device 1. The control unit 200 is configured so that an input unit I and an output unit O can be connected to it. Note that when the mobile device 1 is controlled using information that has been set in advance in the control unit 200, the user does not need to input via the input unit I.

[0059] The mobile device 1 starts operating when the user presses the operation start button B, and thereafter travels automatically. Therefore, it is not necessary for the user to operate the mobile device 1 via an input unit I such as a mouse or keyboard. Furthermore, since the operating state of the mobile device 1 can be understood through the notification unit 12, it is not necessary to connect an output unit O such as a display to check the output contents of the mobile device 1. It can be said that it is sufficient for the mobile device 1 to be configured so that the input unit I and output unit O can be connected for use by the manager of the mobile device 1. However, it is not intended to exclude a configuration in which the input unit I and output unit O are connected for the user.

[0060] This control unit 200 can be regarded as a control device for the mobile device 1. The processing of the control unit 200 can also be regarded as a control method for the mobile device 1 executed by a computer, or as a control program for the mobile device 1 that causes a computer to execute each process of the control method. The range of processing by hardware and the range of processing by software including a program can also be set as appropriate and are not limited to a specific mode.

[0061] The control unit 200 is configured to be able to control the distance measurement unit D1, distance measurement unit D2, operation start button B, obstacle detection unit 11, notification unit 12, and drive mechanism 103. Such control unit 200 has a memory unit 201, a distance measurement device detection unit 202, a distance measurement control unit 203, a propagation time calculation unit 204, a first distance calculation unit 205, a second distance calculation unit 206, a third distance calculation unit 207, a first direction angle calculation unit 208, a second direction angle calculation unit 209, a fourth distance calculation unit 210, a drive condition calculation unit 211, a drive mechanism control unit 212, a notification condition determination unit 213, and a notification control unit 214.

[0062] (2-5) Storage section 201 The storage unit 201 is a storage unit that stores various types of information necessary for the traveling operation of the mobile device 1. The storage unit 201 includes a calculation information storage unit 201a, a search condition storage unit 201b, a search order storage unit 201c, a distance measurement condition storage unit 201d, a distance storage unit 201e, a direction angle storage unit 201f, a traveling operation storage unit 201g, and a notification condition storage unit 201h.

[0063] (2-6) Calculation information storage section 201a The calculation information storage unit 201a is a storage unit that stores calculation information used to calculate the distance from the rotation center of the mobile device 1 to the distance measuring device M and the directional angle of the distance measuring device M as viewed from the rotation center of the mobile device 1. The calculation information includes the distance d of the straight line connecting the distance measuring units D1 and D2, and the distance h from the rotation center of the mobile device 1 to the midpoint of the line connecting the distance measuring units D1 and D2. The distance h is the horizontal linear distance and indicates the length of the line extending vertically from the line connecting the distance measuring units D1 and D2 to the rotation center of the mobile device 1. In FIG. 2, the distance d is indicated by a dashed line, and the distance h is indicated by a dashed line.

[0064] (2-7) Search condition storage unit 201b The search condition storage unit 201b is a storage unit that stores search conditions for the mobile device 1 to search for the distance measuring device M. The search conditions are conditions for moving the mobile device 1 to search for a position where the distance measuring units D1 and D2 of the mobile device 1 can communicate with the distance measuring device M. For example, the search conditions are such that the mobile device 1 is moved forward by 1 meter when the operation of the mobile device 1 is started. However, if the distance measuring units D1 and D2 are in a state where they can communicate with the distance measuring device M when the operation of the mobile device 1 is started, the movement of the mobile device 1 based on the search conditions can be omitted.

[0065] For example, if moving forward by 1 meter is stored as a search condition, a condition may be included such that the mobile device 1 stops moving forward when the distance measuring units D1 and D2 become able to communicate with the distance measuring device M, even if the distance moved forward is less than 1 meter. Note that the mobile device 1 does not necessarily need to move forward by 1 meter to search for the distance measuring device M, and the distance moved forward can be set arbitrarily. Furthermore, the search operation of the mobile device 1 is not limited to moving forward, but may also be a turn moving along a circular path.

[0066] The search condition storage unit 201b may store a plurality of search conditions. For example, a first search condition may be stored as "advance 20 cm," and a second search condition may be stored as "advance 1 meter." The second search condition may be a condition that broadens the search range more than the first search condition. If the ranging device M is not detected under the first search condition, the system may be configured to search for the ranging device M again under the second condition.

[0067] (2-8) Search order storage unit 201c The search order storage unit 201c stores information indicating the order in which the mobile device 1 searches for a plurality of ranging devices M. The order information is, for example, information indicating that searches are performed in ascending order from the ranging device M having the search order number 1 to the ranging device M having the search order number 10. Any characters or symbols such as numbers or alphabets can be used as the information indicating the search order.

[0068] (2-9) Distance measurement condition storage unit 201d The distance measurement condition storage unit 201d is a storage unit that stores distance measurement conditions for measuring the distance to the distance measurement device M by the distance measurement unit D1 and the distance measurement unit D2 when the mobile device 1 finds the target distance measurement device M. A specific example of distance measurement will be described with reference to FIG. 4(a). The distance measurement conditions stored in the distance measurement condition storage unit 201d include the distance from the distance measurement unit D1 to the distance measurement device M (first distance R 1j ) and the distance from the distance measuring unit D2 to the distance measuring device M (the second distance R 2j When the mobile device 1 finds the target distance measuring device M, the distance measuring units D1 and D2 start transmitting and receiving distance measuring waves based on the distance measuring conditions, and perform distance measurement.

[0069] The distance measurement conditions may be such that distance measurement is performed multiple times in one sequence. For example, distance measurement may be performed 64 times in one distance measurement sequence. Furthermore, a timeout may be set in advance to determine whether distance measurement was successful or not, specifying the time period during which the distance measurement operation can be retried.

[0070] The distance measurement control unit 203 may also include a distance measurement condition that performs distance measurement based on the distance traveled by the mobile device 1 while the mobile device 1 is moving. For example, the distance measurement unit D and the distance measurement device M may be configured to perform distance measurement every time the mobile device 1 travels a predetermined distance. Alternatively, the timing of distance measurement while moving may be conditioned, for example, to perform distance measurement once every 10 seconds. Alternatively, the distance measurement may be configured to continue at any time regardless of time or distance.

[0071] (2-10) Distance storage section 201e The distance storage unit 201e is a storage unit that stores information about the distances calculated by the first distance calculation unit 205, the second distance calculation unit 206, the third distance calculation unit 207, and the fourth distance calculation unit 210. The distance storage unit stores the first distance R 1j and the second distance R 2jThe distance memory unit 201e is also configured to be able to store the distance from the midpoint of the line connecting the distance measuring units D1 and D2 to the distance measuring device (referred to as a third distance R) and a fourth distance (referred to as a fourth distance R0) which is the distance from the rotation center of the mobile device 1 to the distance measuring device M.

[0072] (2-11) Direction angle storage section 201f The direction angle storage unit 201f is a storage unit that stores the direction angles calculated by the first direction angle calculation unit 208 and the second direction angle calculation unit 209. The direction angle is the direction angle of the distance measuring device M at an arbitrary measurement point j as seen from the midpoint of the line connecting the distance measuring unit D1 and the distance measuring unit D2 (first direction angle Φ j ) and the direction angle of the distance measuring device M as seen from the center of rotation of the mobile device 1 (referred to as the second direction angle θ0).

[0073] (2-12) Traveling operation memory unit 201g The running action storage unit 201g is a storage unit that stores the running actions of the mobile device 1 in the distance measuring device M. For example, the running action storage unit 201g stores running actions in association with the order information stored in the search order storage unit 201c. For example, order information 1 to 5 can store running actions such as performing a predetermined action and then moving to search for the next distance measuring device M. Furthermore, order information 6 can store running actions such as performing a predetermined action and then terminating processing.

[0074] The travel action storage unit 201g is configured to be able to store travel actions other than the travel action corresponding to the sequence information. For example, it can store a travel action such as immediately stopping the travel of the mobile device 1 when the obstacle detection unit 11 detects an obstacle. It may also store a travel action such as restarting the travel of the mobile device 1 when the detected obstacle is removed.

[0075] (2-13) Notification condition storage unit 201h The notification condition storage unit 201h is a storage unit that stores the light emitting pattern of the light emitting unit 12a and the output pattern of the audio output unit 12b, which are the notification unit 12, as notification conditions associated with the operating conditions of the mobile device 1. In other words, the notification condition storage unit 201h stores notification conditions for each of a plurality of operating states of the mobile device 1. An example of notification conditions stored in the notification condition storage unit 201h is shown in Table 1 below. [Table 1]

[0076] As shown in Table 1, the notification conditions are pre-registered information about what notification operation the notification unit 12 will perform in response to the operating state of the mobile device 1. For the light-emitting unit 12a, it is preferable to store the color of light emitted, the lighting mode, the lighting time, etc. For the audio output unit 12b, it is preferable to store the audio to be output, the volume, the number of repetitions, the output time, etc. Various types of audio can be used, such as a melody, a human voice, or an electronic sound.

[0077] (2-14) Distance measuring device detection unit 202 The ranging device detection unit 202 is a processing unit that controls the ranging units D1 and D2 and detects the target ranging device M. The mobile device 1 starts searching for the target ranging device M based on the search conditions stored in the search condition storage unit 201b and the order information stored in the search order storage unit 201c. At this time, the ranging device detection unit 202 controls the ranging units D1 and D2 to perform ranging device detection operations.

[0078] The ranging device detection operation is an operation of checking whether the ranging units D1 and D2 are able to communicate with the target ranging device M. For example, the ranging device detection unit 202 controls the ranging units D1 and D2 to request a response from the ranging device M having order information of 1. When both the ranging units D1 and D2 receive a response from the ranging device M having order information of 1, the ranging device detection unit 202 determines that the target ranging device M has been detected. Note that a configuration may also be adopted in which the order information of a ranging device M is checked after a ranging device M that can communicate is found.

[0079] (2-15) Distance control section 203 The distance measurement control unit 203 controls the distance measurement units D1 and D2 based on the distance measurement conditions stored in the distance measurement condition storage unit 201d, and determines the first distance R 1j and the second distance R 2j When the ranging device detection unit 202 determines that the target ranging device M has been detected by both ranging units D1 and D2, the ranging control unit 203 controls each of ranging units D1 and D2 to perform ranging operations at least once at that point.

[0080] The ranging operation is an operation of transmitting and receiving ranging waves between each of the ranging units D1 and D2 and the target ranging device M. For example, as shown in FIG. 5, the ranging unit D1 may be configured to transmit ranging waves to the ranging device M, and the ranging device M, upon receiving the ranging waves, may transmit returned ranging waves to the ranging unit D1. The ranging unit D2 may be configured similarly. The transmission and reception of ranging waves and returned ranging waves are performed based on the clocks of the local oscillators of the ranging unit D1 or D2 and the ranging device M. For example, the time of the local oscillator during the transmitting operation is used as the transmission time, and the time of the local oscillator during the receiving operation is used as the reception time. The ranging control unit 203 controls the ranging units D1 and D2 to perform ranging operations based on the ranging conditions. The ranging control unit 203 outputs time information of the ranging waves obtained by the ranging operation to the propagation time calculation unit 204.

[0081] In this embodiment, for ease of control, the distance measuring units D1 and D2 are configured to perform the distance measuring operation. However, the distance measuring device M may also be configured to perform the distance measuring operation. In that case, the distance measuring device M may be configured to transmit distance measuring waves to the distance measuring units D1 and D2, respectively, and the distance measuring units D1 and D2 that receive these distance measuring waves may transmit return distance measuring waves to the distance measuring device M. Furthermore, it is not necessary to transmit and receive distance measuring waves in both directions during the distance measuring operation.

[0082] Note that the accuracy of distance measurement can be improved by performing distance measurement multiple times and calculating the average value of the propagation time tp, as described below. For example, distance measurement may be performed 64 times in one distance measurement operation, and only if distance measurement is successful 12 or more times out of these, the distance measurement operation is determined to be successful and the calculation of the propagation time tp may be started. If the number of successful measurements does not reach a predetermined value, the distance measurement operation may be retried until a preset timeout is reached. Furthermore, the distance measurement control unit 203 may perform distance measurement based on the movement distance of the mobile device 1 while the mobile device 1 is moving.

[0083] (2-16) Propagation time calculation unit 204 The propagation time calculation unit 204 calculates the propagation time t of the distance measurement wave for each of the distance measurement units D1 and D2 based on the time relationship between the transmission and reception of the distance measurement wave in the distance measurement operation. p The propagation time calculation unit 204 calculates the propagation time t p When the distance measurement operation is performed multiple times, the propagation time calculation unit 204 calculates the propagation time t p Calculate the propagation time t p The propagation time calculation unit 204 may calculate the average value of the propagation time t p to the first distance calculation unit 205 and the second distance calculation unit 206.

[0084] (Number 1) TIFF2025130893000003.tif23120(number 2) TIFF2025130893000004.tif22114The variables in the above numbers 1 and 2 are as follows. T 2R : The time when the distance measurement unit D1 or the distance measurement unit D2 receives the return distance measurement wave from the distance measurement device M (based on the clock of the distance measurement unit D1) T 2T : The time when the distance measuring device M sent the return distance measuring wave (based on the clock of the distance measuring device M) T 1R : The time when the distance measuring device M receives the distance measuring wave from the distance measuring unit D1 or the distance measuring unit D2 (based on the clock of the distance measuring device M) T 1T : The time when the distance measurement unit D1 or the distance measurement unit D2 transmitted the distance measurement wave (based on the clock of the distance measurement unit D1 or the distance measurement unit D2) t o : The time offset between the clock of the distance measuring unit D1 or the distance measuring unit D2 and the clock of the distance measuring device M

[0085] (2-17) First distance calculation unit 205, second distance calculation unit 206 The first distance calculation unit 205 calculates the distance from the distance measurement unit D1 to the distance measurement device M at an arbitrary measurement point j (first distance R 1j The second distance calculation unit 206 is a calculation unit that calculates the distance from the distance measurement unit D2 to the distance measurement device M at an arbitrary measurement point j (second distance R 2j ) is calculated. 1j and the second distance R 2j An example of this is shown in the figure.

[0086] The first distance calculation unit 205 calculates the propagation time t p Using the first distance R 1j The second distance calculation unit 206 calculates the propagation time t p Using the second distance R 2j The first distance R calculated by the first distance calculation unit 205 is 1j and the second distance R calculated by the second distance calculation unit 206 2j is stored in the distance storage unit 201e.

[0087] The first distance calculation unit 205 and the second distance calculation unit 206 calculate the distance using the following equation 3. (Number 3) Distance = speed of light × propagation time t p

[0088] (2-18) Third distance calculation unit 207 The third distance calculation unit 207 calculates the first distance R stored in the distance storage unit 201e. 1j and the second distance R 2j and the distance d of the line connecting the distance measuring units D1 and D2 stored in the calculation information storage unit 201a, the calculation unit 201b calculates the distance (third distance R) from the midpoint of the line connecting the distance measuring units D1 and D2 to the distance measuring device. An example of the third distance R is shown in FIG. 4(b). The third distance calculation unit 207 calculates the third distance R at an arbitrary measurement point j using the following equations 4 and 5 according to the median theorem. The third distance R calculated by the third distance calculation unit 207 is stored in the distance memory unit 201e.

[0089] (Number 4) TIFF2025130893000005.tif1863

[0090] (Number 5) TIFF2025130893000006.tif2045

[0091] For example, if distance measuring units D1 and D2 are arranged symmetrically on a diameter of a concentric circle centered on the rotation center of mobile device 1, the line d connecting distance measuring units D1 and D2 is the diameter, and the midpoint of the line connecting distance measuring units D1 and D2 is the rotation center of mobile device 1. Therefore, the distance from the midpoint of the line connecting distance measuring units D1 and D2 to distance measuring device M (third distance R) is the distance from the rotation center of mobile device 1 to distance measuring device M. In this case, the distance from the rotation center of mobile device 1 to distance measuring device M can be calculated by calculation by third distance calculation unit 207.

[0092] (2-19) First direction angle calculation unit 208 The first direction angle calculation unit 208 calculates the first distance R stored in the distance storage unit 201e. 1j , the second distance R 2j , the third distance R, and the distance d of the line connecting the distance measuring unit D1 and the distance measuring unit D2 stored in the calculation information storage unit 201a, the direction angle of the distance measuring device M as seen from the midpoint of the line connecting the distance measuring unit D1 and the distance measuring unit D2 at an arbitrary measurement point j (first direction angle Φ j ) is calculated as shown in Fig. 4(b). j The first direction angle calculation unit 208 calculates the first direction angle Φ at an arbitrary measurement point j. j is calculated by the cosine theorem using the following equations 6 and 7. The first direction angle Φ calculated by the first direction angle calculation unit 208 is j is stored in the direction angle storage unit 201f.

[0093] (Number 6) TIFF2025130893000007.tif1675

[0094] (Number 7) TIFF2025130893000008.tif3382

[0095] For example, when the distance measuring units D1 and D2 are arranged symmetrically on a diameter of a concentric circle centered on the rotation center of the mobile device 1, the line d connecting the distance measuring units D1 and D2 is the diameter, and the midpoint of the line connecting the distance measuring units D1 and D2 is the rotation center of the mobile device 1. Therefore, the directional angle of the distance measuring device M as seen from the midpoint of the line connecting the distance measuring units D1 and D2 (first directional angle Φ j ) is the direction angle of the distance measuring device M as seen from the center of rotation of the mobile device 1. In this case, the distance measuring device M and the direction angle as seen from the center of rotation of the mobile device 1 can be calculated by the calculation of the first direction angle calculation unit 208.

[0096] (2-20) Second direction angle calculation unit The control unit 200 calculates the calculated third distance R and the first direction angle Φ jThe third distance R, the first direction angle Φ, and the fourth distance R are calculated from the rotation center of the mobile device 1. The direction angle of the distance measuring device M as viewed from the rotation center of the mobile device 1 (second direction angle θ0) and the distance from the rotation center of the mobile device 1 to the distance measuring device M (fourth distance R0) can be further calculated using the above. An example of the second direction angle θ0 and the fourth distance R0 is shown in FIG. 4(c). j、 Second direction angle θ 0、 Regarding the fourth distance R0, the relationships of the following equations 8 and 9 hold.

[0097] (Number 8) TIFF2025130893000009.tif1355

[0098] (Number 9) TIFF2025130893000010.tif1452

[0099] The second direction angle calculation unit 209 calculates the third distance R stored in the distance storage unit 201e and the first direction angle Φ j and the distance h from the midpoint of the line connecting distance measuring units D1 and D2 to the center of rotation of mobile device 1, which is stored in calculation information storage unit 201a. Second direction angle calculation unit 209 calculates the second direction angle θ0 at an arbitrary measurement point j using the following equation 10. The second direction angle θ0 calculated by second direction angle calculation unit 209 is stored in direction angle storage unit 201f.

[0100] (Number 10) TIFF2025130893000011.tif1557

[0101] (2-21) Fourth distance calculation unit 210 The fourth distance calculation unit 210 calculates the third distance R stored in the distance storage unit 201e and the first direction angle Φ jand the second direction angle θ0. The fourth distance calculation unit 210 calculates the fourth distance R0 at an arbitrary measurement point j using the following equation 11. The fourth distance R0 calculated by the fourth distance calculation unit 210 is stored in the distance memory unit 201e.

[0102] (Number 11) TIFF2025130893000012.tif1542

[0103] As described above, in the mobile system S of this embodiment, when the distance measuring units D1 and D2 are not arranged on the diameter of a concentric circle centered on the rotation center of the mobile device 1, the third distance R and the first direction angle Φ j The second direction angle θ0 can be calculated as the direction angle of the distance measuring device M seen from the rotation center of the mobile device 1 using the third distance R and the first direction angle Φ j The fourth distance R0 can be calculated as the distance from the center of rotation of the mobile device 1 to the distance measuring device M using the second direction angle θ0.

[0104] (2-22) Driving condition calculation unit 211 The drive condition calculation unit 211 is a calculation unit that calculates drive conditions for driving the drive mechanism 103. When the operation of the moving device 1 is started, the drive condition calculation unit 211 calculates drive conditions for the drive mechanism 103 based on the search conditions stored in the search condition storage unit 201b. In addition, the drive condition calculation unit 211 calculates drive conditions for the drive mechanism 103 based on the third distance R or the fourth distance R0 stored in the distance storage unit 201e and the first direction angle Φ stored in the direction angle storage unit 201f. j Alternatively, the second direction angle θ0 is used to calculate the driving conditions of the driving mechanism 103 for the mobile device 1 to reach the distance measuring device M from an arbitrary measurement point j. The driving condition calculation unit 211 outputs the determined driving conditions to the driving mechanism control unit 212 and the notification condition determination unit 213.

[0105] (2-23) Drive mechanism control unit 212 The drive mechanism control unit 212 is a processing unit that controls the drive mechanism 103 based on the drive conditions determined by the drive condition calculation unit 211. The drive mechanism control unit 212 outputs a drive signal to the drive mechanism 103 based on the drive conditions.

[0106] (2-13) Notification condition determination unit 213 The notification condition determination unit 213 is a processing unit that determines conditions for controlling the notification unit 12 based on the drive conditions determined by the drive condition calculation unit 211. The notification condition determination unit 213 refers to the notification conditions stored in the notification condition storage unit 201h and determines notification conditions that correspond to the input drive conditions. The notification condition determination unit 213 outputs the determined notification conditions to the notification control unit 214.

[0107] (2-14) Notification control unit 214 The notification control unit 214 is a processing unit that controls the notification unit 12 based on the notification conditions determined by the notification condition determination unit 213. The notification control unit 214 outputs a notification signal to the notification unit 12 based on the determined notification conditions.

[0108] [1-3. Operation of the First Embodiment] The operation of the mobile system S of this embodiment will be described below. Before starting the operation of the mobile device 1, the user of the mobile system S places any number of ranging devices M at any positions within the target area. When using multiple ranging devices M, the administrator of the mobile system S may input order information to be used in searching for the ranging devices M to the mobile device 1 via the input unit I. However, this input operation is not essential, as the search order may be one stored in advance in the search order storage unit 201c of the mobile device 1.

[0109] (1) Operation of the mobile device 1 The operation of the mobile device 1 will be explained below using the flowchart in Figure 6. In this explanation of the operation, we will take as an example a case where the distance measuring units D1 and D2 of the mobile device are not arranged on the diameter of a concentric circle centered on the rotation center of the mobile device 1, as shown in Figure 2. In other words, the value of the line d connecting the distance measuring units D1 and D2 is less than the diameter of the concentric circle. When starting the operation of the mobile device 1, the only operation that the user needs to perform is to press the operation start button B to start the operation of the mobile device 1.

[0110] When the user starts operating the mobile device 1, the drive condition calculation unit 211 determines the drive conditions of the drive mechanism 103 based on the search conditions stored in the search condition storage unit 201b. If the search conditions are such that the mobile device 1 is to move forward by 1 meter, the mobile device 1 is controlled to move forward on the spot. At this time, the distance measurement device detection unit 202 controls the distance measurement units D1 and D2 to perform distance measurement device detection operations, and checks whether both the distance measurement units D1 and D2 are able to communicate with the target distance measurement device M based on the order information stored in the search order storage unit 201c (step S01). If communication with the target distance measurement device M is not possible (step S02 NO), the mobile device 1 continues searching for the distance measurement device M based on the search conditions.

[0111] When both the distance measuring units D1 and D2 are able to communicate with the target distance measuring device M (step S02 YES), that point is set as an arbitrary measurement point j, and the distance measurement control unit 203 controls the distance measuring units D1 and D2 to perform distance measurement operations, and transmits and receives distance measurement waves to and from the target distance measuring device M (step S03).

[0112] When the distance measurement operation is completed, the control unit 200 of the mobile device 1 calculates the distance from the distance measurement unit D1 to the distance measurement device M at an arbitrary measurement point j (first distance R 1j ) and the distance from the distance measuring unit D2 to the distance measuring device M (second distance R 2jSpecifically, the propagation time calculation unit 204 calculates the propagation time t of the distance measurement wave at an arbitrary measurement point j based on the time relationship between the distance measurement unit D1 and the distance measurement unit D2 and the distance measurement device M in the distance measurement operation and the time relationship between the distance measurement unit D1 and the distance measurement unit D2 in the distance measurement operation and the time relationship between the distance measurement unit D1 and the distance measurement unit D2 in the distance measurement operation and the time relationship between the distance measurement unit D1 and the distance measurement device M in the distance measurement operation and the time relationship between the distance measurement unit D2 and the distance measurement device M in the distance measurement operation and the time relationship between the distance measurement unit D1 and the distance measurement unit D2 ...2 and the distance measurement device p Then, the first distance calculation unit 205 and the second distance calculation unit 206 calculate the propagation time t p to calculate the first distance R1 and the second distance R 2j are calculated respectively.

[0113] The first distance R1 and the second distance R 2j When the calculation of the distance measurement unit D1 and the distance measurement unit D2 is completed, the distance (third distance R) from the midpoint of the line connecting the distance measurement unit D1 and the distance measurement unit D2 to the distance measurement device M is calculated (step S05). Specifically, the third distance calculation unit 207 calculates the first distance R1 and the second distance R 2j In addition, a third distance R is calculated using the distance d of the straight line connecting the distance measuring unit D1 and the distance measuring unit D2.

[0114] When the calculation of the third distance R is completed, the directional angle of the distance measuring device M as seen from the midpoint of the line connecting the distance measuring unit D1 and the distance measuring unit D2 (the first directional angle Φ j ) (step S06). Specifically, the first direction angle calculation unit 208 calculates the first distance R1 and the second distance R 2j In addition, the distance d of the straight line connecting the distance measuring unit D1 and the distance measuring unit D2 is used to calculate the first direction angle Φ j Calculate the following.

[0115] First direction angle Φ j When the calculation is completed, the second direction angle calculation unit 209 calculates the direction angle (second direction angle θ0) of the distance measuring device M as seen from the rotation center of the mobile device 1 (step S07). Specifically, the second direction angle calculation unit 209 calculates the third distance R and the first direction angle Φ j In addition, the second direction angle θ0 is calculated using the distance h from the midpoint of the line connecting the distance measuring units D1 and D2 to the center of rotation of the mobile device 1.

[0116] After the calculation of the second direction angle θ0 is completed, the fourth distance calculation unit 210 calculates the distance (fourth distance R0) from the rotation center of the mobile device 1 to the distance measuring device M (step S08). Specifically, the fourth distance calculation unit 210 calculates the third distance R and the first direction angle Φ j , and the second direction angle θ0, the fourth distance R0 is calculated.

[0117] When the calculation of the direction angle and distance is completed, the drive condition calculation unit 211 uses the fourth distance R0 stored in the distance memory unit 201e and the second direction angle θ0 stored in the direction angle memory unit 201f to calculate the drive conditions of the drive mechanism 103 for the mobile device 1 to move from an arbitrary measurement point j to the distance measuring device M (step S09). The drive mechanism control unit 212 controls the drive mechanism 103 based on the drive conditions determined by the drive condition calculation unit 211, thereby moving the mobile device 1 to the target distance measuring device M (step S10).

[0118] After the mobile device 1 moves to the vicinity of the distance measuring device M, the mobile device 1 may perform a travel action stored in the travel action storage unit 201g. For example, the travel action of the distance measuring device M having the sequence information of 1 is stored as performing an environmental measurement and then searching for and moving to the distance measuring device M with the next number. In this case, a predetermined action such as an environmental measurement is performed (step S11).

[0119] If this distance measuring device M is not a distance measuring device M having a running action for terminating processing (step S12 NO), the order information of the distance measuring device M is incremented to 2 based on the search order (step S13), and the process returns to step S01. If this distance measuring device M is a distance measuring device M having a running action for terminating processing (step S12 YES), the mobile device 1 terminates the process.

[0120] (2) Notification operation Although not explained above in the description of the operation of the mobile device 1, the drive condition calculation unit 211 outputs the determined drive conditions to the notification condition determination unit 213. Then, the notification condition determination unit 213 determines conditions for controlling the notification unit 12 based on the drive conditions determined by the drive condition calculation unit 211, and outputs the conditions to the notification control unit 214. The notification control unit 214 outputs a notification signal to the notification unit 12 based on the determined notification conditions, so that the light emitting unit 12a and the audio output unit 12b perform notification according to the operating state of the mobile device 1.

[0121] [1-4. Effects of the First Embodiment] The effects of the moving apparatus 1 of this embodiment as described above are as follows. (1) A mobile device 1 has a distance measuring unit D1 and a distance measuring unit D2 that are provided so as to be able to communicate with an external distance measuring device M, a moving mechanism 101 that moves the device body, and a control unit 200, in which the distance measuring unit D1 and the distance measuring unit D2 are arranged on a concentric circle centered on the rotation center of the mobile device 1, spaced apart by a predetermined distance or more, and the control unit 200 calculates a first distance R that is the distance between the distance measuring unit D1 and the distance measuring device M. 1j and a second distance R, which is the distance between the distance measuring unit D2 and the distance measuring device M. 2j a second distance calculation unit 206 that calculates the first distance R 1j and the second distance R 2j a third distance calculation unit 207 that calculates a third distance R, which is the distance from the midpoint of the line connecting the distance measurement unit D1 and the distance measurement unit D2 to the distance measurement device M, based on the first distance R; 1j , the second distance R 2j , and the third distance R, a first direction angle Φ, which is the direction angle of the distance measuring device M as seen from the midpoint of the line connecting the distance measuring units D1 and D2, is calculated. j and a first direction angle calculation unit 208 that calculates the following.

[0122] In conventional location estimation systems, it was possible to estimate the location of a mobile device moving within a target area using three or more fixed devices whose positions were known and placed in the target area. In this case, it was necessary to create a map of the target area in advance and determine the positions of the three or more fixed devices in a coordinate system.

[0123] In the mobile device 1 of this embodiment, the mobile device 1 has two distance measurement units D1 and D2, and performs distance measurement with, for example, a distance measurement device M, which is an external distance measurement unit, to measure a first distance R between the distance measurement unit D1 and the distance measurement device M. 1j and a second distance R between the distance measuring unit D2 and the distance measuring device M. 2j This first distance R 1j and the second distance R 2j and a third distance R from the midpoint of the line connecting the distance measuring units D1 and D2 to the distance measuring device M, and a first direction angle Φ of the distance measuring device M as viewed from this midpoint. j The system is configured to be able to calculate the following.

[0124] When the distance measuring units D1 and D2 are arranged symmetrically on the left and right on a diameter of a concentric circle centered on the rotation center of the mobile device 1, the distance from the midpoint of the line connecting the distance measuring units D1 and D2 to the distance measuring device M (third distance R) is the distance from the rotation center of the mobile device 1 to the distance measuring device M. Furthermore, the directional angle of the distance measuring device M as seen from the midpoint of the line connecting the distance measuring units D1 and D2 (first directional angle Φ j ) is the direction angle of the distance measuring device M as seen from the center of rotation of the mobile device 1. Therefore, after the distance measuring unit D of the mobile device 1 detects the distance measuring device M, the mobile device 1 can calculate the distance and direction angle to the distance measuring device M without having to move any further.

[0125] When a user uses such a mobile device 1, the user can determine the relative position of the distance measuring device M simply by placing the distance measuring device M at a desired position as an external distance measuring unit. Various operations can be assumed for the mobile device 1 after the calculation of the direction angle of the distance measuring device M is completed, but for example, the mobile device 1 can be moved to the vicinity of the distance measuring device M using the third distance R and the first direction angle. Since the user of the mobile device 1 only has to place the distance measuring device M, the mobile device 1 can significantly reduce the setting burden on the user of the mobile device 1.

[0126] The mobile device 1 also continuously measures the third distance R and the first direction angle Φ while moving to the distance measuring device M. jIn other words, the mobile device 1 can calculate the distance to the distance measuring device M and the directional angle of the distance measuring device M while moving without stopping. Therefore, the moving direction can be frequently corrected, and automatic travel control of the mobile device 1 can be efficiently performed.

[0127] Furthermore, in conventional mobile devices, a map must be defined in advance, so the mobile device cannot move in an area outside the registered map. However, the mobile device 1 of this embodiment is not restricted by a map or the like, and can move the mobile device 1 as long as it is within a communication range between the distance measuring unit D and the distance measuring device M. It goes without saying that even if communication between the distance measuring unit D and the distance measuring device M is not possible at the initial position of the mobile device 1, if communication between the distance measuring unit D and the distance measuring device M becomes possible by moving the mobile device 1 during a search, movement beyond the communication range is possible.

[0128] (2) The control unit 200 calculates the third distance R and the first direction angle Φ j and a distance h from the midpoint of the line connecting the distance measuring units D1 and D2 to the rotation center of the mobile device 1, based on the second direction angle calculation unit 209, which calculates a second direction angle θ0, which is the direction angle of the distance measuring unit as seen from the rotation center of the mobile device 1; j and a fourth distance calculation unit 210 that calculates a fourth distance R0, which is the distance from the center of rotation of the mobile device 1 to the distance measuring device M, based on the second direction angle θ0.

[0129] When the distance measuring units D1 and D2 are not arranged on the diameter of a concentric circle centered on the rotation center of the mobile device 1, the third distance R and the first direction angle Φ j The second direction angle θ0 can be calculated as the direction angle of the distance measuring device M seen from the rotation center of the mobile device 1 using the third distance R and the first direction angle Φ j The fourth distance R0 can be calculated as the distance from the center of rotation of the mobile device 1 to the distance measuring device M using the second direction angle θ0.

[0130] Various operations performed by the mobile device 1 are assumed, and a robot or the like may be placed above the moving mechanism 101 of the mobile device 1. Therefore, it may be difficult to place the distance measuring units D1 and D2 on the diameter of a concentric circle centered on the center of rotation of the mobile device 1. In such a case, the mobile device 1 may measure the third distance R and the first direction angle Φ j Using this, it is possible to calculate a fourth distance R0, which is the distance from the center of rotation of the mobile device 1 to the distance measuring device M, and a second direction angle θ0, which is the direction angle of the distance measuring device M as seen from the center of rotation of the mobile device 1.

[0131] Therefore, the distance measuring units D1 and D2 of the mobile device 1 can be freely arranged as long as they satisfy the condition that they are spaced a predetermined distance apart on a concentric circle centered on the center of rotation of the mobile device 1. In other words, since they do not necessarily have to be arranged on the diameter of a concentric circle centered on the center of rotation of the mobile device 1, it is possible to configure the mobile device 1 so that the operation of a robot or the like arranged on the mobile device 1 is not restricted by the distance measuring units D.

[0132] (3) The control unit 200 further includes a drive condition calculation unit 211 that calculates the drive conditions of the moving mechanism 101 so that the moving device 1 reaches the distance measuring device M based on the first direction angle and the third distance, or the second direction angle and the fourth distance.

[0133] Conventional mobile devices require the configuration of the mobile device by a skilled administrator, such as setting up a map. Furthermore, it is not possible to move the mobile device to a desired location, such as near the fixed station, solely through communication between the mobile device and the fixed station. In other words, since the fixed station is used only for estimating the location of the mobile device, a separate component is required to control the movement of the mobile device.

[0134] In this embodiment, the first direction angle Φ obtained as a result of the calculation by the mobile device 1 is jAlternatively, the drive conditions can be calculated using the second direction angle θ0 and the third distance R or the fourth distance R0, and it becomes possible to move the mobile device 1 toward the external distance measuring unit. Therefore, it can be said that the user of the mobile device 1 can set the travel route of the mobile device 1 simply by placing the distance measuring device M as an external distance measuring unit in the place where the user wants to move the mobile device 1. In other words, it becomes possible for the user of the mobile device 1 to quickly and easily set the desired travel route by himself or herself.

[0135] (4) The mobile device 1 includes a plurality of ranging devices M, each of which has information indicating its respective search order, and the control unit 200 of the mobile device 1 further includes a search order memory unit 201c that stores information indicating the order in which the mobile device 1 searches for the plurality of ranging devices M.

[0136] The mobile system S of this embodiment can employ multiple ranging devices M, each containing different search order information, as the ranging devices M. The user can set a more complex travel route for the mobile device 1 through the simple procedure of placing the ranging devices M in the target area in the desired search order and starting the mobile device 1 to travel.

[0137] (5) The apparatus further includes a running action storage unit 201g that stores the running action of the moving apparatus 1, and the drive condition calculation unit 211 calculates the drive conditions of the moving apparatus 1 according to the running action.

[0138] By storing various traveling operations for the mobile device 1, it becomes possible to, for example, control a robot mounted on the mobile device 1 or stop the traveling of the mobile device 1. Therefore, the user may leave the site after pressing the operation start button B of the mobile device 1, further reducing the burden on the user.

[0139] (6) The mobile device 1 further includes an alarm unit 12 that outputs information to notify the user of the operating status of the mobile device 1, an alarm condition memory unit 201h that stores alarm conditions that associate the output pattern of the alarm unit 12 with the operating conditions of the mobile device 1, and an alarm condition determination unit 213 that determines the conditions for controlling the alarm unit 12 based on the operating conditions determined by the operating condition calculation unit 211.

[0140] As described above, when the user presses the operation start button B of the mobile device 1, the mobile device 1 automatically starts traveling. It is difficult for the user to understand the operating state of the mobile device 1 just by looking at the mobile device 1 while it is operating. Therefore, by providing the mobile device 1 with a notification unit 12 that outputs a predetermined output pattern according to the operating state of the mobile device 1, the user can easily understand the operating state of the mobile device 1.

[0141] (7) The distance measurement units D1, D2, and the distance measurement device M perform distance measurement using UWB.

[0142] As shown in Equations 6 and 7, the first directional angle Φ j The calculation of the distance R measured by each distance measuring unit D1 is performed using the first distance R 1j and the second distance R 2j Therefore, the first distance R 1j and the second distance R 2j As the error in the distance measurement signal increases, the error in the calculated direction angle also increases. For these reasons, it is preferable to have high accuracy in the distance measurement between the distance measurement unit D and the distance measurement device M. When using radio waves as the distance measurement wave, the accuracy can be improved by using UWB.

[0143] [2. Second Embodiment] [2-1. Configuration of the second embodiment] A mobile device 1 according to the second embodiment will be described with reference to the drawings. The same configurations and functions as those of the mobile device according to the first embodiment will be denoted by the same reference numerals, and descriptions thereof will be omitted. The control unit 200 of the mobile device 1 further includes a power control unit 215 shown in FIG. 7 as one of its components. The power control unit 215 is a control unit that adaptively controls the transmission power of the ranging unit D and ranging device M of the mobile device 1. The power control unit 215 includes an initial value setting unit 216 and an adjustment unit 217.

[0144] The initial value setting unit 216 is a processing unit that sets an initial value of transmission power between the distance measuring unit D and the distance measuring device M before the mobile device 1 starts automatic traveling by distance measuring device detection operation, distance measuring operation, etc. The initial value setting unit 216 has a list storage unit 216a, a candidate value setting unit 216b, a success rate calculation unit 216c, a success rate storage unit 216d, a judgment unit 216e, and a decision unit 216f.

[0145] The list storage unit 216a is a storage unit that stores a list of candidate values ​​for transmission power. The candidate values ​​for transmission power stored in the list storage unit 216a are i When (i=1, 2, 3, ...M), it is expressed by the following equation 12.

[0146] (Number 12) TIFF2025130893000013.tif1260

[0147] The transmission power is determined by one of the candidate values ​​P i Such a candidate value P i An example of the transmit power candidate values ​​P is (7, 9, 11, 13, 15, 18, 21, 24, 27, 30, 35, 40, 45, 50, 55, 60, 68, 76, 84, 92, 100). iIn this way, when the transmission power is low between 7 and 15%, the step value should be set in small increments, for example, the step value should be set to 2. As the transmission power increases, the step value should be gradually increased, for example, the step value should be 3 between 15 and 30%, the step value should be 5 between 30 and 60%, and the step value should be 8 between 60 and 100%. M is the maximum transmission power. Also, the maximum distance that can be transmitted and received between the distance measuring unit D of the mobile device 1 and the distance measuring device M when transmitting and receiving at the maximum transmission power is d M Let's say.

[0148] The candidate value setting unit 216b is a processing unit that sets transmission power based on the candidate values ​​of transmission power stored in the list storage unit 216a. Specifically, the candidate value setting unit 216b selects one candidate value from the candidate values ​​of transmission power and sets it as the transmission power. The candidate value setting unit 216b is configured to set transmission power from the candidate values ​​of transmission power in ascending order. Once the candidate value setting unit 216b sets the transmission power, the ranging control unit 203 is configured to control the ranging units D1 and D2 to perform ranging operations with the target ranging device M. The ranging operation performed here is a ranging operation in which the number of ranging operations is set to multiple times (for example, 32 times).

[0149] The success rate calculation unit 216c is a calculation unit that calculates the success rate of the ranging operation at the transmission power set by the candidate value setting unit 216b. The success rate calculation unit 216c calculates the ranging success rate based on the number of ranging operations performed in the ranging operation and the number of times ranging was successful. The ranging success rate is the percentage of the number of times ranging was successful among a pre-specified number of ranging operations. The success rate calculation unit 216c outputs the calculated ranging success rate to the success rate storage unit 216d. The success rate storage unit 216d is a storage unit that associates and stores the transmission power set by the candidate value setting unit 216b and the ranging success rate calculated by the success rate calculation unit 216c.

[0150] The determination unit 216e is a processing unit that determines whether the ranging success rate at the transmission power set by the candidate value setting unit 216b reaches a predetermined threshold. The determination unit 216f is a processing unit that determines an initial value of the transmission power. If the determination unit 216e determines that the ranging success rate at the initially set transmission power reaches the predetermined threshold, the determination unit 216f determines this transmission power as the initial value.

[0151] Furthermore, when the determining unit 216e determines that the ranging success rate at the set transmission power does not reach a predetermined threshold, it outputs a command to the candidate value setting unit 216b to change the transmission power. When ranging operation is performed using a plurality of candidate transmission power values ​​and the success rate calculation unit 216c calculates the ranging success rate, the determining unit 216f is configured to determine the transmission power with the highest ranging success rate as the initial value from the combinations of transmission power and ranging success rate stored in the success rate storage unit 216d. The power control unit 215 performs power control based on the initial value of transmission power determined by the determining unit 216f. Note that the initial transmission power value is set to P ini , the transmission power is P ini The initial distance measured at this time is R ini Let's say.

[0152] The adjustment unit 217 is a processing unit that sets an adjustment value for transmission power between the distance measurement unit D and the distance measurement device M after the mobile device 1 starts automatic traveling by distance measurement device detection operation, distance measurement operation, etc. The adjustment unit 217 has a distance measurement result determination unit 217a, a distance difference calculation unit 217b, a difference determination unit 217c, and a transmission power calculation unit 217d.

[0153] The distance measurement result determination unit 217a calculates the current distance R measured while the mobile device 1 is moving and the maximum distance d M When the mobile device 1 starts moving toward the target distance measuring device M, for example, the mobile device 1 travels a distance Δ d Every time the vehicle travels, distance measurement is performed between the distance measurement unit D and the distance measurement device M to obtain the current measured distance R. The measured distance R corresponds to the third distance R in the above embodiment.

[0154] The distance measurement result determination unit 217a determines whether R≧d M If R is satisfied, it is determined that there is no need to change the transmission power. <d M If the condition is satisfied, it is determined that the transmission power needs to be changed, and a notification to that effect is output to the distance difference calculation unit 217b. ini and the current measured distance R. The distance difference calculation unit 217b calculates the difference R diff is calculated from the following equation (13).

[0155] (Number 13) TIFF2025130893000014.tif1045

[0156] The difference determination unit 217c calculates the difference R diff The difference determining unit 217c is a processing unit that compares the difference R diff and the calculated value of the travel distance of the moving device 1 (travel distance Δ d (multiples of ) and compare the difference R diff On the other hand, if the difference R diff is the distance traveled Δ d If the difference is greater than a multiple of , it is considered to be due to the influence of multipath caused by reflections, etc., and it is therefore determined that the transmission power needs to be reduced, and a message to that effect is output to the transmission power calculation unit 217d.

[0157] The transmission power calculation unit 217d calculates the transmission power adjustment value P adj The transmission power calculation unit 217d calculates an adjusted value of the transmission power so that it is reduced by the square of the distance. Specifically, the transmission power calculation unit 217d calculates the adjustment value P adj Power control section 215 performs power control based on the adjustment value of the transmission power determined by transmission power calculation section 217d.

[0158] (Number 14) TIFF2025130893000015.tif1738

[0159] [2-2. Operation of the Second Embodiment] (1) Setting the initial value of transmission power The operation of the mobile system S of this embodiment will be described below. First, the operation for setting the initial value of transmission power will be described using the flowchart in Fig. 8. This operation is performed before the mobile device 1 starts automatic traveling by performing distance measurement and distance measurement operations.

[0160] The candidate value setting unit 216b sets the smallest transmission power among the candidate values ​​of transmission power stored in the list storage unit 216a as the transmission power (step S21). The ranging control unit 203 controls the ranging units D1 and D2 to perform ranging operations with the target ranging device M at the set transmission power (step S22). Here, ranging operations are performed multiple times, for example 32 times.

[0161] The success rate calculation unit 216c calculates a ranging success rate based on the number of ranging operations performed in the ranging operation and the number of successful ranging operations. The ranging success rate calculated by the success rate calculation unit 216c is associated with the transmission power and stored in the success rate storage unit 216d (step S23). The determination unit 216e determines whether the ranging success rate at the transmission power set by the candidate value setting unit 216b reaches a predetermined threshold value (step S24).

[0162] If the determination unit 216e determines that the ranging success rate at the initially set transmission power reaches a predetermined threshold value (YES in step S24), the determination unit 216f determines this transmission power as the initial value (step S25). If the determination unit 216e determines that the ranging success rate at the set transmission power does not reach the predetermined threshold value (NO in step S24), the candidate value setting unit 216b checks whether there are other candidate values ​​in the list storage unit 216a (step S26). If there are other candidate values ​​in the list storage unit 216a (YES in step S26), the candidate value setting unit 216b changes the transmission power (step S27). The candidate value setting unit 216b sets the transmission power in ascending order from the candidate values ​​of transmission power stored in the list storage unit 216a. After changing the transmission power, steps S22 to S26 are repeated.

[0163] If there are no other candidate values ​​in the list storage unit 216a (No in step S26), the determination unit 216f determines the transmission power with the highest ranging success rate as the initial value from the combinations of transmission power and ranging success rates stored in the success rate storage unit 216d (step S28). The power control unit 215 performs power control based on the initial value of transmission power determined by the determination unit 216f.

[0164] (2) Setting the transmission power adjustment value Next, the operation for setting the adjustment value of the transmission power will be described with reference to the flowchart in Fig. 9. This operation is performed after the mobile device 1 starts automatic traveling by detecting a distance measuring device, measuring a distance, etc. For example, when the mobile device 1 starts traveling to a target distance measuring device M, the mobile device 1 travels a distance Δ d (Step S31).

[0165] At this time, if K=0 at the starting point of the movement, the traveled distance Δ d After traveling, K=K+1. That is, when the mobile device 1 travels a predetermined distance Δ d When moving K times on a straight line, the initial distance measurement R ini The difference between the current measured distance R and the target distance is K × Δ dThe mobile device 1 measures the distance between the distance measuring unit D and the distance measuring device M while moving, and obtains the current measured distance R (step S32).

[0166] The distance measurement result determination unit 217a calculates the current measured distance R and the maximum distance d M Compare with R ≥ d M If R is satisfied (No in step S33), it is determined that there is no need to change the transmission power. <d M is satisfied (Yes in step S33), the distance difference calculation unit 217b calculates the initial measured distance R ini and the difference R between the current measured distance R diff (Step S34). At this time, K×Δ d is the difference R diff When the traveling direction of the mobile device 1 deviates from a straight line, the initial distance measurement R ini The difference between the current measured distance R and the measured distance K × Δ d It becomes smaller.

[0167] Therefore, the difference determination unit 217c determines the difference R diff and the travel distance Δ d Calculated value (travel distance Δ d (multiples of ) and compare the difference R diff is the distance traveled Δ d If the difference is equal to or smaller than a multiple of R (No in step S35), it is determined that there is no need to change the transmission power. diff is the distance traveled Δ d If the difference is greater than a multiple of the distance (Yes in step S35), it is considered to be due to the influence of multipath caused by reflections, etc., and it is therefore determined that the transmission power needs to be reduced. In this case, the transmission power calculation unit 217d calculates an adjusted value so that the transmission power is reduced by the square of the distance (step S36).

[0168] The above-described adjustment value calculation process may be repeated as needed while the mobile device 1 is moving. That is, if the mobile device 1 continues traveling (No in step S37), steps S31 to S36 are repeated. On the other hand, if the mobile device 1 has finished traveling (Yes in step S37), the adjustment value calculation process ends.

[0169] [2-3. Effects of the second embodiment] As described above, the effects of the moving device 1 according to the second embodiment are as follows. (1) The control unit 200 further includes an initial value setting unit 216 that sets an initial value of transmission power between the ranging unit D1, the ranging unit D2, and the ranging device M before the mobile device 1 starts automatic traveling. The initial value setting unit 216 has a list memory unit 216a that stores a list of candidate values ​​of transmission power, a candidate value setting unit 216b that sets the transmission power based on the list of candidate values ​​of transmission power in order of decreasing transmission power, a success rate calculation unit 216c that calculates the ranging success rate at the transmission power set by the candidate value setting unit 216b, a judgment unit 216e that judges whether the ranging success rate reaches a predetermined threshold value, and a determination unit 216f that determines the initial value of the transmission power. When the judgment unit 216e judges that the ranging success rate at the transmission power set by the candidate value setting unit 216b reaches the predetermined threshold value, the determination unit 216f is configured to determine the transmission power set by the candidate value setting unit 216b as the initial value.

[0170] In the above embodiment, the influence of multipath propagation is considered to be a factor that deteriorates the estimation accuracy of the second direction angle θ0 and the fourth distance R0 of the distance measuring device M. Since the influence of multipath propagation becomes greater the more reflective objects there are around the distance measuring device M or the distance measuring unit D, it is desirable to suppress reflections by setting the transmission power of the distance measuring device M and the distance measuring unit D to the minimum level at which they can communicate with each other.

[0171] In the mobile system S of this embodiment, the candidate value setting unit 216b sets transmission power in ascending order, and the success rate calculation unit 216c calculates the ranging success rate at the set transmission power. Then, when the determination unit 216e determines that the ranging success rate at the transmission power set by the candidate value setting unit 216b reaches a predetermined threshold, the determination unit 216f determines the transmission power set by the candidate value setting unit 216b as the initial value. Therefore, the initial value of the transmission power is set to the minimum level of transmission power that has a predetermined ranging success rate. This suppresses reflections, making it possible to reduce the effects of multipath. Therefore, it is possible to provide a mobile system S with improved estimation accuracy of the second direction angle θ0 and the fourth distance R0 of the ranging device M.

[0172] (2) The initial value setting unit 216 further includes a success rate memory unit 216d that stores the transmission power set by the candidate value setting unit 216b and the ranging success rate at the transmission power set by the candidate value setting unit 216b in association with each other, and the determination unit 216f is configured to determine, as the initial value, the transmission power with the highest ranging success rate from the combinations of transmission power and ranging success rate stored in the success rate memory unit 216d.

[0173] When multiple transmission power levels are set by the candidate value setting unit 216b and the ranging success rate is calculated for each transmission power level, the results can be stored in the success rate storage unit 216d. By determining the transmission power level with the highest ranging success rate as the initial value from the combinations of transmission power levels and ranging success rates stored in the success rate storage unit 216d, it becomes possible to select a more preferable transmission power level, thereby further improving the estimation accuracy.

[0174] (3) The control unit 200 further includes an adjustment unit 217 that sets an adjustment value of the transmission power between the distance measurement units D1 and D2 and the distance measurement device M after the mobile device 1 starts automatic traveling. The adjustment unit 217 adjusts the transmission power between the distance measurement units D1 and D2 and the distance measurement device M by calculating the current distance R measured while the mobile device 1 is moving and the maximum distance d that is the distance at which transmission and reception are possible between the distance measurement units D1 and D2 and the distance measurement device M when transmission and reception are performed at the maximum transmission power. Mand a distance measurement result determination unit 217a that compares the initial distance R ini and the difference R between the current measured distance R diff and a distance difference calculation unit 217b that calculates the difference R diff and the travel distance Δ d and a transmission power calculation unit 217d that calculates an adjustment value for the transmission power. The distance measurement result determination unit 217a determines whether the current measured distance R is less than the maximum distance d. M If it is determined that the difference R diff and the difference determination unit 217c calculates the difference R diff is the travel distance of the mobile device 1 Δ d If it is determined that the distance is greater than a multiple of Δ d The adjustment value is calculated by adjusting the value so as to be lowered by the square of the value.

[0175] When the mobile device 1 starts moving, the distance between the distance measuring unit D and the distance measuring device M naturally changes. In the mobile system S of this embodiment, the transmission power of the distance measuring unit D and the distance measuring device M is adaptively controlled in accordance with this change in distance. The mobile device 1 is configured to reduce transmission power as the distance between the mobile device 1 and the distance measuring device M becomes shorter, thereby suppressing reflections and reducing the effects of multipath. Therefore, it is possible to provide a mobile system S with improved estimation accuracy of the second direction angle θ0 and the fourth distance R0 of the distance measuring device M.

[0176] [3. Other embodiments] (1) When the distance measuring unit D of the mobile device 1 is attached to the top of the mobile device 1 and the distance measuring device M is placed on the floor, the distance between the distance measuring unit D and the distance measuring device M is the slope distance. The slope distance itself may be used as the distance between the mobile device 1 and the distance measuring device M, but the slope distance may also be converted into the planar distance between the mobile device 1 and the distance measuring device M and used.

[0177] (2) As described in the above embodiment, the mobile device 1 can be configured as a mobile work robot that performs various operations by placing a robot that performs a predetermined task on it. For example, as shown in FIG. 1, a measurement unit that measures the indoor environment can also be mounted on it. In the example of FIG. 1, a unit housing 100b is provided on top of a housing 100a of the mobile device 1. The measurement unit that measures the environment is provided inside this housing 100b.

[0178] Furthermore, a cylindrical pipe 104 that connects to the inside of the housing 100b is provided on the top of the housing 100b. The measurement unit is configured to introduce gas into the unit through the pipe 104 and perform environmental measurement.

[0179] When a work robot is mounted on the mobile device 1, both the control unit 200 of the mobile device 1 and the work robot are configured to have communication units capable of sending and receiving control signals. The communication units may perform wireless communication or wired communication. The communication unit of the mobile device 1 sends a work start signal to the communication unit of the work robot (here, the measurement unit) for each distance measuring device M. Upon receiving the work start signal, the measurement unit begins measuring the environment.

[0180] When the environmental measurement is complete, the communication section of the measurement unit sends a work completion signal to the communication section of the mobile device 1. Upon receiving the work completion signal, the mobile device 1 begins moving toward the next distance measuring device M. By configuring in this way, it is possible to obtain a mobile work robot that moves along a travel route while performing the desired work. The user of such a mobile work robot simply places the distance measuring device M at the location where the work is to be performed, allowing the user to easily and quickly set a work route without the need for a robot engineer.

[0181] (3) An example of a measurement unit that measures the indoor environment is a measurement unit incorporating a particle counter, a temperature and humidity sensor, a CO2 sensor, and a gas concentration sensor. The measurement unit may include a calculation unit that calculates the cleanliness of the room based on the results of particle measurement using, for example, a particle counter. The measurement unit may be configured to automatically create a measurement result report that summarizes each measurement result in a table and may include a memory unit that stores this measurement report. By mounting such a measurement unit on a mobile device 1 to create a mobile work robot, it becomes possible to automatically perform environmental measurements that were previously performed by a worker moving around the target room with a measurement probe. While manual measurements can contaminate the room with dust generated by the worker himself, measurements using a mobile work robot can reduce such contamination.

[0182] (4) In the above embodiment, the distance measurement unit D is described as using UWB in particular. However, as mentioned above, various types of radio waves, sounds, lights, etc. can be used as distance measurement waves. For example, distance measurement using Bluetooth (registered trademark) is not as accurate as UWB. Even if sufficient distance measurement accuracy is not achieved, distance measurement errors can be reduced by having the mobile device 1 repeatedly measure distance while moving. In this way, by devising ways to improve distance measurement accuracy depending on the distance measurement wave used, it is possible to realize a mobile system even with distance measurement waves other than UWB.

[0183] (5) In the above embodiment, the mobile device 1 is provided with the operation start button B, but other operation buttons, such as an emergency stop button for the mobile device 1, may also be provided. When the operation start button B is pressed, the mobile device 1 automatically continues its traveling operation until completion, so the user cannot stop the operation of the mobile device 1 at will. Therefore, it is preferable to provide an emergency stop button on the mobile device 1 and configure it so that all traveling operations are stopped when the emergency stop button is pressed. Furthermore, in addition to a physical switch, a software switch can also be provided in the control unit 200 as the emergency stop button. [Explanation of symbols]

[0184] S:Movement System M, M1, M2, M3: Distance measuring device 1: Mobile device D, D1, D2: Distance measuring section B: Start button I: Input section O: Output section P: Prop 11: Obstacle detection unit 12: Notification Department 12a: Light-emitting part 12b: Audio output section 100, 100a, 100b: Housing 101: Movement mechanism 102: Running part 103: Drive mechanism 104: Pipe 200: Control unit 201: Storage section 201a: Arithmetic information storage unit 201b: Search condition storage unit 201c: Search order storage unit 201d: Distance measurement condition storage unit 201e: Distance storage section 201f: Direction angle storage unit 201g: Driving operation memory unit 201h: Notification condition memory section 202: Range finder detector 203: Distance control section 204: Propagation time calculation unit 205: First distance calculation unit 206: Second distance calculation unit 207: Third distance calculation unit 208: First direction angle calculation unit 209: Second direction angle calculation unit 210: Fourth distance calculation unit 211: Drive condition calculation unit 212: Drive mechanism control unit 213: Notification condition determination unit 214: Notification control unit 215: Power control unit 216: Initial value setting section 216a: List storage unit 216b: candidate value setting unit 216c: Success rate calculation section 216d: Success rate storage section 216e: Judgment section 216f: Decision section 217: Adjustment section 217a: Distance measurement result determination section 217b: Distance difference calculation section 217c: Difference judgment part 217d: Transmission power calculation unit

Claims

1. A moving device having a first distance measuring unit and a second distance measuring unit that are provided so as to be able to communicate with an external distance measuring device, a moving mechanism that moves a device body, and a control unit, the first distance measuring unit and the second distance measuring unit are arranged on a concentric circle centered on a rotation center of the mobile device, spaced apart by a predetermined interval or more; The control unit a first distance calculation unit that calculates a first distance that is a distance between the first distance measurement unit and the distance measurement device; a second distance calculation unit that calculates a second distance that is the distance between the second distance measurement unit and the distance measurement device; a third distance calculation unit that calculates a third distance, which is the distance from a midpoint of a line connecting the first distance measurement unit and the second distance measurement unit to the distance measurement device, based on the first distance and the second distance; a first direction angle calculation unit that calculates a first direction angle, which is a direction angle of the distance measuring device as viewed from a midpoint of a line connecting the first distance measuring unit and the second distance measuring unit, based on the first distance, the second distance, and the third distance; A mobile device having:

2. The control unit a second direction angle calculation unit that calculates a second direction angle, which is a direction angle of the distance measuring device as viewed from the center of rotation of the mobile device, based on the third distance, the first direction angle, and the distance from the midpoint of a line connecting the first distance measuring unit and the second distance measuring unit to the center of rotation of the mobile device; a fourth distance calculation unit that calculates a fourth distance, which is the distance from a rotation center of the mobile device to the distance measuring device, based on the third distance, the first direction angle, and the second direction angle; 10. The mobile device of claim 1, further comprising:

3. The control unit 3. The moving device according to claim 2, further comprising a drive condition calculation unit that calculates drive conditions of the moving mechanism so that the moving device reaches the distance measuring device based on the first direction angle and the third distance, or the second direction angle and the fourth distance.

4. The control unit an initial value setting unit that sets an initial value of transmission power between the first distance measuring unit and the second distance measuring unit and the distance measuring device before the mobile device starts automatic traveling; The initial value setting unit a list storage unit that stores a list of candidate values ​​of the transmission power; a candidate value setting unit that sets the transmission power in ascending order of the transmission power based on the list of candidate values ​​of the transmission power; a success rate calculation unit that calculates a ranging success rate at the transmission power set by the candidate value setting unit; a determination unit that determines whether the distance measurement success rate reaches a predetermined threshold value; a determination unit that determines the initial value of the transmission power, when the determination unit determines that the ranging success rate at the transmission power set by the candidate value setting unit reaches the predetermined threshold, the determination unit is configured to determine the transmission power set by the candidate value setting unit as the initial value.

3. The moving device according to claim 1 or 2.

5. The initial value setting unit a success rate storage unit that stores the transmission power set by the candidate value setting unit and the ranging success rate at the transmission power set by the candidate value setting unit in association with each other, the determination unit is configured to determine, as the initial value, the transmission power with the highest ranging success rate from among the combinations of the transmission power and the ranging success rate stored in the success rate storage unit.

5. The moving device according to claim 4.

6. The control unit an adjustment unit that sets an adjustment value of the transmission power between the first distance measuring unit and the second distance measuring unit and the distance measuring device after the mobile device starts the automatic traveling; The adjustment unit a ranging result determination unit that compares a current ranging distance obtained while the mobile device is moving with a maximum distance that is a distance that can be transmitted and received by the first ranging unit, the second ranging unit, and the ranging device when transmitting and receiving at maximum transmission power, and determines whether or not the transmission power needs to be changed; a distance difference calculation unit that calculates a difference between an initial measured distance at the initial value and a current measured distance; a difference determination unit that compares the difference with a travel distance of the mobile device; a transmission power calculation unit that calculates the adjustment value of the transmission power, When the distance measurement result determination unit determines that the current measured distance is smaller than the maximum distance, the distance difference calculation unit calculates the difference; and when the difference determination unit determines that the difference is greater than a multiple of the travel distance of the mobile device, the transmission power calculation unit is configured to calculate the adjustment value adjusted so as to reduce the transmission power by a square of the travel distance.

5. The moving device according to claim 4.

7. The moving device is a notification unit that outputs information to notify an operating state of the mobile device; a notification condition storage unit that stores notification conditions that associate an output pattern of the notification unit with the driving conditions of the moving device; a notification condition determination unit that determines a condition for controlling the notification unit based on the drive conditions determined by the drive condition calculation unit; The mobile device of claim 3 further comprising:

8. A method for controlling a mobile device, the mobile device having a first distance measuring unit and a second distance measuring unit that are provided so as to be able to communicate with an external distance measuring device, and a moving mechanism that moves a device body, using a computer or an electronic circuit, comprising: the moving device is configured such that the first distance measuring unit and the second distance measuring unit are arranged on a concentric circle centered on a rotation center of the moving device and spaced apart by a predetermined interval or more, The computer or the electronic circuit is a first distance calculation step of calculating a first distance between the first distance measuring unit and the distance measuring device; a second distance calculation step of calculating a second distance between the second distance measuring unit and the distance measuring device; a third distance calculation step of calculating a third distance, which is the distance from a midpoint of a line connecting the first distance measuring unit and the second distance measuring unit to the distance measuring device, based on the first distance and the second distance; a first direction angle calculation step of calculating a first direction angle, which is a direction angle of the distance measuring device as viewed from a midpoint of a line connecting the first distance measuring unit and the second distance measuring unit, based on the first distance, the second distance, and the third distance; A method for controlling a mobile device, comprising:

9. The computer or the electronic circuit is a second direction angle calculation step of calculating a second direction angle, which is a direction angle of the distance measuring device as viewed from the center of rotation of the mobile device, based on the third distance, the first direction angle, and the distance from the midpoint of a line connecting the first distance measuring unit and the second distance measuring unit to the center of rotation of the mobile device; a fourth distance calculation step of calculating a fourth distance, which is a distance from a rotation center of the mobile device to the distance measuring device, based on the third distance, the first direction angle, and the second direction angle; The method for controlling the mobile device according to claim 8 , further comprising:

10. A control device for a moving device having a first distance measuring unit and a second distance measuring unit that are provided so as to be able to communicate with an external distance measuring device, and a moving mechanism that moves a device body, the moving device is configured such that the first distance measuring unit and the second distance measuring unit are arranged on a concentric circle centered on a rotation center of the moving device and spaced apart by a predetermined interval or more, The control device a first distance calculation unit that calculates a first distance that is a distance between the first distance measurement unit and the distance measurement device; a second distance calculation unit that calculates a second distance that is the distance between the second distance measurement unit and the distance measurement device; a third distance calculation unit that calculates a third distance, which is the distance from a midpoint of a line connecting the first distance measurement unit and the second distance measurement unit to the distance measurement device, based on the first distance and the second distance; a first direction angle calculation unit that calculates a first direction angle, which is a direction angle of the distance measuring device as viewed from a midpoint of a line connecting the first distance measuring unit and the second distance measuring unit, based on the first distance, the second distance, and the third distance; A control device for a mobile device having the above.

11. a second direction angle calculation unit that calculates a second direction angle, which is a direction angle of the distance measuring device as viewed from the center of rotation of the mobile device, based on the third distance, the first direction angle, and the distance from the midpoint of a line connecting the first distance measuring unit and the second distance measuring unit to the center of rotation of the mobile device; a fourth distance calculation unit that calculates a fourth distance, which is a distance from a rotation center of the mobile device to the distance measuring device, based on the third distance, the first direction angle, and the second direction angle; The control device for a mobile device according to claim 10, further comprising:

12. a moving device having a first distance measuring unit and a second distance measuring unit, a moving mechanism for moving the device body, and a control unit; a distance measuring device provided so as to be able to communicate with the first distance measuring unit and the second distance measuring unit, the moving device is configured such that the first distance measuring unit and the second distance measuring unit are arranged on a concentric circle centered on a rotation center of the moving device and spaced apart by a predetermined interval or more, The control unit of the moving device a first distance calculation unit that calculates a first distance that is a distance between the first distance measurement unit and the distance measurement device; a second distance calculation unit that calculates a second distance that is the distance between the second distance measurement unit and the distance measurement device; a third distance calculation unit that calculates a third distance, which is the distance from a midpoint of a line connecting the first distance measurement unit and the second distance measurement unit to the distance measurement device, based on the first distance and the second distance; a first direction angle calculation unit that calculates a first direction angle, which is the direction angle of the ranging device as seen from the midpoint of a line connecting the first ranging unit and the second ranging unit, based on the first distance, the second distance, and the third distance.

13. The control unit of the moving device a second direction angle calculation unit that calculates a second direction angle, which is a direction angle of the distance measuring device as viewed from the center of rotation of the mobile device, based on the third distance, the first direction angle, and the distance from the midpoint of a line connecting the first distance measuring unit and the second distance measuring unit to the center of rotation of the mobile device; a fourth distance calculation unit that calculates a fourth distance, which is a distance from a rotation center of the mobile device to the distance measuring device, based on the third distance, the first direction angle, and the second direction angle; The transport system of claim 12 further comprising:

14. The distance measuring device includes a plurality of the distance measuring devices, each of the distance measuring devices having information indicating a respective search order; The control unit of the moving device 14. The mobile system according to claim 12, further comprising a search order storage unit that stores information indicating an order in which the mobile device searches for the plurality of distance measuring devices.

15. 14. The mobile system according to claim 12, wherein the first distance measuring unit, the second distance measuring unit, and the distance measuring device measure distances using UWB.

16. A moving device according to claim 3; a robot that is mounted on the moving device and performs a predetermined task, the control unit and the robot each have a communication unit, the control unit transmits a work start signal to the robot when the robot reaches the distance measuring device; The robot is a mobile work robot configured to send a work completion signal to the control unit.

17. 17. The mobile work robot according to claim 16, wherein the robot is a measurement unit that performs environmental measurements.

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