Control method, program and mobile system

Abstract

The present disclosure aims to accurately adjust the position of a moving body in a direction perpendicular to the direction of connection with a connection target and parallel to the moving plane. [Solution] The control method is a method for controlling a moving body that has a sensor that detects a marker installed on the moving surface and moves on the moving surface. The control method includes deviation correction steps S9 to S14 and S18 to S23 that perform deviation correction to correct a deviation in the relative position of the moving body with respect to a first position of a predetermined marker. In the deviation correction steps S9 to S14 and S18 to S23, the moving body is moved based on each of a plurality of deviation components, and the multiple deviation components are corrected in a predetermined order, with the deviation component corresponding to a predetermined coordinate component being corrected last.

Description

[Technical Field]

[0001] The present disclosure generally relates to a control method, a program, and a mobile body system, and more particularly to a control method, a program, and a mobile body system for a mobile body that moves on a moving surface. [Background technology]

[0002] Patent Document 1 discloses a stop position control system that guides an automated guided vehicle (mobile body) to a target position (predetermined marker) using multiple two-dimensional codes (markers) placed on the floor (moving surface). The automated guided vehicle moves to the target position by reading the two-dimensional codes placed on the floor one by one in order. During this movement, the automated guided vehicle corrects any deviation in its own relative position from the position of the read two-dimensional code (deviation in its own center of gravity and deviation in rotation around its own center of gravity). The automated guided vehicle couples with the object to be coupled by moving in a specified direction (first direction) from the target position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-197349 Summary of the Invention [Problem to be solved by the invention]

[0004] In the stop position control system described in Patent Document 1, the automated guided vehicle corrects the above-mentioned deviation while moving, so when it reaches the target position, it may not be able to accurately adjust its position in the second direction, which is perpendicular to the first direction and parallel to the floor surface, which is the direction of connection with the object to be connected. In this case, even if the automated guided vehicle moves in the first direction from the target position, it may not be able to connect with the object to be connected. For this reason, the automated guided vehicle needs to accurately adjust its position in the second direction at the target position.

[0005] The present disclosure aims to provide a control method, a program, and a mobile body system that can accurately adjust the position of a mobile body in a direction perpendicular to the direction of connection with a connected object and parallel to the moving plane. [Means for solving the problem]

[0006] A control method according to one aspect of the present disclosure is a method for controlling a moving object moving on a moving surface. The moving object has a sensor that detects a marker installed on the moving surface. The control method includes a first detection step, a second detection step, a deviation correction step, and a connection step. In the first detection step, a first position of the predetermined marker is detected based on a detection result of the sensor. In the second detection step, a relative position of the moving object with respect to the detected first position is determined. In the deviation correction step, a deviation correction is performed to correct a deviation of the relative position from the first position. In the connection step, the moving object is connected to a connection target object by moving the moving object in a first direction after the deviation correction step. The coordinates of the relative position have multiple coordinate components. The deviation has multiple deviation components corresponding to the multiple coordinate components. Of the multiple coordinate components, a coordinate component corresponding to a second direction orthogonal to the first direction and parallel to the moving surface is set as a predetermined coordinate component. In the deviation correction step, the moving object is moved based on each of the multiple deviation components to correct the multiple deviation components. The plurality of deviation components are corrected in a predetermined order, and the deviation component corresponding to the predetermined coordinate component among the plurality of deviation components is corrected last.

[0007] A control method according to one aspect of the present disclosure is a method for controlling a moving body moving on a moving surface. The moving body has a sensor that detects a marker installed on the moving surface. The control method includes a first detection step, a second detection step, a deviation correction step, and a connection step. In the first detection step, a first position of the predetermined marker is detected based on the detection result of the sensor. In the second detection step, a relative position of the moving body with respect to the detected first position is determined. In the deviation correction step, a deviation correction is performed to correct a deviation of the relative position from the first position. In the connection step, after the deviation correction step, the moving body is connected to a transported object that is a connection target by moving the moving body in a first direction, which is the forward / backward direction of the moving body. The coordinates of the relative position have multiple coordinate components. The deviation has multiple deviation components corresponding to the multiple coordinate components. In the deviation correction step, the multiple deviation components are corrected by moving the moving body based on each of the multiple deviation components. The plurality of deviation components are corrected in a predetermined order, and the deviation component corresponding to the left and right direction of the moving body is corrected last.

[0008] A control method according to one aspect of the present disclosure is a method for controlling a moving object moving on a moving surface. The moving object has a sensor that detects a marker installed on the moving surface. The control method includes a first detection step, a second detection step, a deviation correction step, and a coupling step. In the first detection step, a first position of the predetermined marker is detected based on a detection result of the sensor. In the second detection step, a relative position of the moving object with respect to the detected first position is determined. In the deviation correction step, a deviation correction is performed to correct a deviation of the relative position from the first position. In the coupling step, after the deviation correction step, the moving object is coupled to a charging device, which is an object to be coupled, by moving the moving object in a first direction, which is the left-right direction of the moving object. The coordinates of the relative position have multiple coordinate components. The deviation has multiple deviation components corresponding to the multiple coordinate components. In the deviation correction step, the multiple deviation components are corrected by moving the moving object based on each of the multiple deviation components. The plurality of deviation components are corrected in a predetermined order, and the deviation component corresponding to the forward and backward direction of the moving body is corrected last.

[0009] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the control method.

[0010] A mobile body system according to one aspect of the present disclosure includes a mobile body and a control unit. The mobile body has a sensor that detects a marker installed on a moving surface. The control unit controls the mobile body to move on the moving surface. The control unit has a first detection unit, a second detection unit, a deviation correction unit, and a connection processing unit. The first detection unit detects a first position of the predetermined marker based on the detection result of the sensor and registration information acquired by the acquisition unit. The second detection unit calculates a relative position of the mobile body with respect to the detected first position. The deviation correction unit performs deviation correction to correct a deviation of the relative position from the first position. The connection processing unit connects the mobile body to a connection target by moving the mobile body in a first direction after processing by the deviation correction unit. The coordinates of the relative position have multiple coordinate components. The deviation has multiple deviation components corresponding to the multiple coordinate components. Of the multiple coordinate components, a coordinate component corresponding to a second direction that is perpendicular to the first direction and parallel to the moving surface is set as a predetermined coordinate component. The deviation correction unit corrects the plurality of deviation components by moving the moving body based on each of the plurality of deviation components. The deviation correction unit corrects each of the plurality of deviation components in a predetermined order, and corrects the deviation component corresponding to the predetermined coordinate component among the plurality of deviation components last. [Effects of the Invention]

[0011] The present disclosure has an advantage in that the position of the moving body can be adjusted with high precision in a direction perpendicular to the direction of connection with the object to be connected and parallel to the moving surface. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram of a control system including a mobile body system according to an embodiment. [Figure 2] FIG. 2 is a plan view of a mobile object included in the mobile object system. [Figure 3] FIG. 3 is a plan view showing a state before movement of the first operation example of the mobile body system of the same. [Figure 4]FIG. 4 is a plan view showing a state after movement in the first operation example of the embodiment. [Figure 5] FIG. 5 is a plan view showing a state before deviation correction in a second operation example of the mobile body system. [Figure 6] FIG. 6 is a plan view showing a state after correction of deviation in the y direction in the second operation example of the mobile body system. [Figure 7] FIG. 7 is a plan view showing a state after correction of deviation in the θ direction in the second operation example of the mobile body system. [Figure 8] FIG. 8 is a plan view showing a state after correction of deviation in the x direction in the second operation example of the mobile body system. [Figure 9] FIG. 9 is a plan view illustrating a state after approach processing in the second operation example of the mobile body system. [Figure 10] FIG. 10 is a plan view illustrating a fourth operation example of the mobile body system. [Figure 11] FIG. 11 is a plan view illustrating a fifth operation example of the mobile body system. [Figure 12] FIG. 12 is a plan view illustrating a seventh operation example of the mobile body system. [Figure 13] FIG. 13 is a flowchart illustrating the operation of the mobile system. [Figure 14] FIG. 14 is a flowchart illustrating the operation of the mobile system. [Figure 15] FIG. 15 is a plan view showing an operation example of the mobile body system according to the first modification. [Figure 16] FIG. 16 is a plan view showing a state before operation of an operation example of a mobile body system according to Modification 2. In FIG. [Figure 17] FIG. 17 is a plan view showing a state after the operation of the operation example of the mobile body system according to the second modification. [Figure 18] FIG. 18 is a plan view showing an operation example of the mobile body system according to the third modification. [Figure 19] FIG. 19 is a plan view showing a state before correction in the first order in a mobile body system according to the fourth modification. [Figure 20] FIG. 20 is a plan view showing a state after deviation correction in the x direction and the θ direction has been simultaneously performed in the first order in the above moving body system. [Figure 21] FIG. 21 is a plan view showing the state before correction in the second order in the above mobile body system. [Figure 22] FIG. 22 is a plan view showing a state after deviation correction in the y direction and the θ direction has been simultaneously performed in the second order in the above moving body system. DETAILED DESCRIPTION OF THE INVENTION

[0013] (Embodiment) A control method, a program, and a mobile system according to an embodiment will be described below with reference to the drawings. However, the embodiment described below is merely one of various embodiments of the present disclosure. The embodiment described below can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, each figure described in the embodiment described below is a schematic diagram, and the ratios of the sizes and thicknesses of the components in the figures do not necessarily reflect the actual dimensional ratios.

[0014] (overview) The control method according to this embodiment is realized by a control system 100 (see FIG. 1). As shown in FIG. 1, the control system 100 includes a mobile body system 10 and a host system 7. The mobile body system 10 includes a mobile body 11. The mobile body 11 moves on a moving plane B1. The control method is a method for controlling the mobile body 11 to correct a deviation Δ1 (see FIG. 2) of a relative position P1 of the mobile body 11 with respect to a first position Q1 of a predetermined marker 13 (see FIG. 2) installed on the moving plane B1 (see FIG. 2).

[0015] The mobile object 11 is introduced into facilities such as logistics centers (including distribution centers), factories, offices, stores, schools, or hospitals. The moving plane B1 is the plane on which the mobile object 11 moves. When the mobile object 11 moves indoors, the floor of the facility or the like corresponds to the moving plane B1, and when the mobile object 11 moves outdoors, the ground or the like corresponds to the moving plane B1. The following describes the case where the mobile object 11 is introduced into a factory. Note that the moving plane B1 is not shown in the drawings other than FIG. 2.

[0016] The control method according to this embodiment is a method for controlling a moving body 11 moving on a moving plane B1. The moving body 11 has a sensor 4 that detects a marker 13 installed on the moving plane B1. The control method includes a first detection step, a second detection step, a deviation correction step, and a coupling step. In the first detection step, a first position Q1a of a predetermined marker 13a is detected based on the detection result of the sensor 4. In the second detection step, a relative position P1 of the moving body 11 with respect to the detected first position Q1a is determined. In the deviation correction step, a deviation correction is performed to correct a deviation Δ1 of the relative position P1 from the first position Q1a. After the deviation correction step, the moving body 11 is moved in a first direction M1, thereby coupling the moving body 11 to the coupling target RT1 (see FIGS. 10 to 12). The coordinates of the relative position P1 have multiple coordinate components x, y, and θ. The deviation Δ1 has multiple deviation components Δx (=x), Δy (=y), Δθ (=θ) corresponding to multiple coordinate components x, y, θ. Of the multiple coordinate components x, y, θ, the coordinate component corresponding to the second direction M2 that is perpendicular to the first direction M1 and parallel to the moving plane B1 is set as the predetermined coordinate component. In the deviation correction step, the multiple deviation components Δx, Δy, Δθ are corrected by moving the moving body 11 based on the multiple deviation components Δx, Δy, Δθ. The multiple deviation components Δx, Δy, Δθ are corrected in a predetermined order, and the deviation component corresponding to the predetermined coordinate component among the multiple deviation components Δx, Δy, Δθ is corrected last.

[0017] According to this configuration, in the deviation correction step, the multiple deviation components Δx, Δy, and Δθ are corrected in a predetermined order, and the deviation component corresponding to a predetermined coordinate component among the multiple deviation components Δx, Δy, and Δθ is corrected last. Therefore, at the first position Q1a of the predetermined marker 13a, the relative position P1 of the moving body 11 in the second direction M2 can be adjusted with high accuracy. As a result, in the coupling step, when the moving body 11 is moved in the first direction M1 (see FIGS. 10 and 12), the moving body 11 can be coupled to the coupling target object RT1.

[0018] (detail) (1) Overall structure A control system 100 according to this embodiment will be described below with reference to FIGS.

[0019] The control system 100 includes a mobile system 10, a host system 7, a relay device R1, and a component mounter 9.

[0020] (2) Mobile System 10 (2.1) Overview of the Mobile System 10 The mobile body system 10 includes a mobile body 11, an object 12, and a plurality of markers 13.

[0021] A plurality of markers 13 are installed on a moving surface B1 of a facility where the moving object 11 has been introduced (see FIG. 2). The plurality of markers 13 may be installed along the moving path of the moving object 11, or may be arranged in a grid pattern on the moving surface B1. Each marker 13 is marked with visible code information (registration information). The code information is information defined, for example, by a two-dimensional barcode (also known as a QR code (registered trademark)). The code information of a marker 13 includes position information of the marker 13 itself, position information of adjacent markers 13, and distance information to the adjacent markers 13. This information (the position information of the marker 13 itself, position information of adjacent markers 13, and distance information to the adjacent markers 13, etc.) is collectively referred to as position-related information of the marker 13.

[0022] The mobile object 11 is an automated guided vehicle for transporting an object 12, and autonomously travels to a destination position while holding the object 12. In this embodiment, the host system 7 communicates with the mobile object 11 via the network NT1 and the relay device R1, and transmits information such as the destination position to the mobile object 11, thereby indirectly controlling the movement of the mobile object 11.

[0023] In this embodiment, the movable body 11 is coupled to the transported object 12 at a first destination position. Then, by moving the movable body 11 coupled to the transported object 12 to a second destination position, the movable body 11 can transport the transported object 12 to the second destination position. Furthermore, the movable body 11 coupled to the transported object 12 can be moved to a third destination position, and the transported object 12 coupled to the movable body 11 can be inserted (coupled) into a recess in the mounting body 8 installed at the third destination position. Furthermore, the movable body 11 can be moved to a fourth destination position either coupled to the transported object 12 or independently, and then coupled to a charging device 14 (see FIG. 11) at the fourth destination position, thereby charging the movable body 11.

[0024] The moving body 11 is an unmanned guided vehicle for transporting an object 12. The moving body 11 communicates with the host system 7 via a network NT1 and a relay device R1. When the moving body 11 receives information on the destination position and the type of object RT1 to be connected (object 12, charging device 14, etc.) through communication with the host system 7, the moving body 11 automatically moves to the destination position while detecting a marker 13 installed on the moving surface B1 with a sensor 4 described below, and connects with the object RT1 to be connected at the destination position.

[0025] The article 12 includes an article body 120, a plurality of wheels 121 (four in FIG. 10), and at least one coupling portion 122 (two in FIG. 10).

[0026] The transport object main body 120 has, for example, a rectangular parallelepiped external shape and has a rectangular lower surface in a plan view.

[0027] The plurality of wheels 121 are held by the transported object body 120. The plurality of wheels 121 are arranged near the four corners of the underside of the transported object body 120. The plurality of wheels 121 are driven wheels of swivel casters. The driven wheels of a swivel caster are casters that can freely change the direction of rotation of the driven wheels. Because the wheels 121 of the transported object 12 are driven wheels of swivel casters, when the mobile object 11 is connected to the transported object 12, it can move and turn in the same way as when it is not connected to the transported object 12 (i.e., when the mobile object 11 is alone).

[0028] The connecting portion 122 is a portion that is detachably connected to the connecting portion 301 of the movable body 11. The connecting portion 122 is provided on one of the outer peripheral surfaces (front, rear, right, and left surfaces) of the transported object main body 120 (for example, the rear surface). In this embodiment, two connecting portions 122 are provided, and the two connecting portions 122 are arranged with a gap between them in the left-right direction (i.e., the horizontal direction). The connecting portion 122 is configured to be able to hook a part of the movable body 11, for example, a hook.

[0029] The mobile body system 10 is used in a component mounting system 90 (see FIG. 1). That is, the component mounting system 90 includes the mobile body system 10. The component mounting system 90 also includes at least one component mounter 9 (one in FIG. 1). The component mounter 9 mounts components on a board. The component mounter 9 has a component supply device F1 and a mounting main body 8. The component supply device F1 supplies components. The mounting main body 8 includes a mounting head that mounts the components supplied from the component supply device F1 on the board. The component supply device F1 is transported to the mounting main body 8 by the mobile body 11 of the mobile body system 10 moving while detecting markers 13 installed on the moving surface B1.

[0030] The transported article 12 is, for example, a cart capable of carrying the component supply device F1. The component supply device F1 is fixed to the transported article 12. The transported article 12 is a cart for transporting the component supply device F1 to a destination position. Note that the transported article 12 and the component supply device F1 may be fixed so as to be separable or inseparable.

[0031] (2.2) Details of Mobile Unit 11 The moving body 11 includes a main body 30 and a plurality of (two in the example of FIG. 2) driving wheels 2 (see FIG. 2). The moving body 11 also includes a sensor 4, a control unit 51, a left driving wheel unit 52, a right driving wheel unit 53, a first communication unit 54, a power receiving unit 55, a first storage unit 56, and a power source 57 (see FIG. 1).

[0032] (2.2.1) Body 30 and multiple drive wheels 2 2, the main body 30 has, for example, a rectangular parallelepiped overall shape and a rectangular shape in a plan view. A plurality of drive wheels 2 are held by the main body 30. The plurality of drive wheels 2 are made up of a first wheel 21 and a second wheel 22. In other words, the mobile body 11 is configured to move on a moving plane B1 by means of the two drive wheels 2.

[0033] Here, the direction in which the first wheel 21 and the second wheel 22 are lined up is defined as the left-right direction of the vehicle 11. Furthermore, the side on which the second wheel 22 is located relative to the first wheel 21 is defined as the "right." The side on which the first wheel 21 is located relative to the second wheel 22 is defined as the "left." Furthermore, the direction of gravity is defined as the "downward direction" (bottom), and the direction opposite to gravity is defined as the "upward direction" (top). Furthermore, the direction perpendicular to the left-right direction and the up-down direction is defined as the "front-rear direction." The cross-shaped arrows in Figure 2 and other figures represent the "front," "rear," "left," and "right" of the vehicle 11. These arrows in Figure 2 and other figures are merely depicted for explanatory purposes and do not represent any physical entities. Furthermore, although the multiple drive wheels 2 are depicted in solid lines in Figure 2 and other figures, in reality, the multiple drive wheels 2 are hidden by the main body 30.

[0034] The steering angle of the drive wheels 2 is defined as the angle between the front-to-rear direction of the vehicle 11 and the rolling direction of the drive wheels 2 in a plan view of the vehicle 11 seen from above. The steering angle of each drive wheel 2 can vary from -180 degrees to 180 degrees. The steering angle of the first wheel 21 is referred to as a first steering angle α1, and the steering angle of the second wheel 22 is referred to as a second steering angle α2.

[0035] (2.2.2) Sensor 4 The sensor 4 detects the markers 13 placed on the moving surface B1. The sensor 4 is also a reading device for reading the code information of the markers 13. More specifically, the sensor 4 is a video camera that captures images of each marker 13. As shown in FIG. 2, the sensor 4 is placed on the outer periphery of the main body 30 of the moving object 11 (for example, on one of the left and right sides (the left side in FIG. 2)). The sensor 4 captures an image of the moving surface B1 within a detection range 41, which is a fixed range on the outer periphery of the main body 30. The detection range 41 of the sensor 4 moves as the moving object 11 moves.

[0036] (2.2.3) Control unit 51 The control unit 51 includes a computer system having one or more processors and a memory. The one or more processors execute a program recorded in the memory to realize the functions of the control unit 51. The program may be pre-recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0037] The control unit 51 controls the drive wheels 2 based on the detection results (captured images) of the sensor 4 and instructions (destination position and type of connection target object RT1) from the higher-level system 7. As shown in FIG. 1 , the control unit 51 includes a travel control unit 511, an acquisition unit 512, a first detection unit 513, a route determination unit 514, a guiding unit 515, a second detection unit 516, a determination unit 517, a position change unit 518, a deviation correction unit 519, an approach processing unit 520, and a connection processing unit 521. Note that these units 511 to 521 merely indicate functions realized by the control unit 51 and do not necessarily indicate actual configurations.

[0038] The driving control unit 511 controls the movement of the multiple driving wheels 2. More specifically, the driving control unit 511 controls the left driving wheel unit 52 and the right driving wheel unit 53 to control the movement (steering angles α1, α2 and rotation) of the multiple driving wheels 2.

[0039] The acquisition unit 512 acquires registration information registered in the marker 13 from the marker 13 included in the detection range 41 of the sensor 4. More specifically, the acquisition unit 512 detects the presence or absence of the marker 13 within the detection range 41 of the sensor 4 based on the captured image of the sensor 4. When the acquisition unit 512 detects the marker 13, it acquires the registration information by reading the code information (registration information) registered in the detected marker 13 from the detected marker 13.

[0040] When the acquisition unit 512 detects a predetermined marker 13a among the plurality of markers 13, the traveling control unit 511 stops the plurality of drive wheels 2 so that the moving object 11 stops at the position at which the predetermined marker 13a was detected. The predetermined marker 13a is a marker 13 designated by the higher-level system 7 as a target position for guiding the moving object 11, as will be described later.

[0041] The first detection unit 513 detects a first position Q1 of the marker 13 detected by the acquisition unit 512 based on the acquisition result of the acquisition unit 512. The first position Q1 is a position on the moving plane B1. More specifically, the first detection unit 513 detects the first position Q1 of the detected marker 13 based on the position information of the marker 13 itself included in the registration information acquired by the acquisition unit 512.

[0042] The route determination unit 514 determines the markers 13 to be passed between the current position and the target position (passing markers 13) based on the results acquired by the acquisition unit 512, the target position information received from the higher-level system 7, and the map information within the facility, thereby determining a travel route from the current position to the target position, passing through the passing markers 13. The map information includes position information of the plurality of markers 13 installed in the facility. The map information is stored in advance in the first storage unit 56. The target position is specified by the first position Q1a of a predetermined marker 13a among the first positions Q1 of the plurality of markers 13.

[0043] The guiding unit 515 guides the moving object 11 from the current position to the destination position along the travel route determined by the route determining unit 514. More specifically, the guiding unit 515 controls the movement of the multiple drive wheels 2 via the travel control unit 511 so that the moving object 11 reaches the destination position from the current position along the travel route determined by the route determining unit 514 (i.e., by passing through the determined passing markers 13 in order).

[0044] When the contour line 13c of the specified marker 13a detected by the acquisition unit 512 intersects with the boundary line 41c of the detection range 41 of the sensor 4 (i.e., when the specified marker 13a is located on the periphery of the detection range 41), the position change unit 518 moves the moving body 11 via the driving control unit 511 so that the specified marker 13a is located in the center of the detection range 41 (see Figures 3 and 4).

[0045] Here, the "contour line 13c of the predetermined marker 13a" refers to the boundary line of the area occupied by the predetermined marker 13a on the moving plane B1. The "center of the detection range 41" refers to a region 41e having a shape obtained by scaling the detection range 41 at a similarity ratio of 1 / 2 (a 1 / 2 scaled similar shape) with the center 41d of the detection range 41 as the center of similarity. The "predetermined marker 13a being located at the center of the detection range 41" refers to the first position Q1a of the predetermined marker 13a being located within the region 41e.

[0046] More specifically, the position change unit 518 detects the contour line 13c of the predetermined marker 13a based on the captured image of the sensor 4, and determines whether the detected contour line 13c overlaps with the boundary line 41c. If the position change unit 518 determines that the contour line 13c intersects with the boundary line 41c, the position change unit 518 moves the moving object 11 via the traveling control unit 511 so that the predetermined marker 13a is positioned at the center of the detection range 41, as described above. On the other hand, if the position change unit 518 determines that the contour line 13c does not intersect with the boundary line 41c, the position change unit 518 does not move the moving object 11 via the traveling control unit 511 in order to maintain the first position Q1a of the predetermined marker 13a.

[0047] The second detection unit 516 determines the relative position P1 of the moving object 11 with respect to the first position Q1a of the predetermined marker 13a, based on the acquisition result of the acquisition unit 512 and the detection result (captured image) of the sensor 4 after processing by the position change unit 518. More specifically, the second detection unit 516 determines the relative position P1 of the moving object 11 with respect to the predetermined marker 13a, based on the projection position of the predetermined marker 13a in the captured image of the sensor 4 and the position information of the predetermined marker 13a itself acquired by the acquisition unit 512, etc.

[0048] Here, the relative position P1 is, for example, a predetermined position within the moving body 11 (for example, the position of the front left corner of the sensor 4). The relative position P1 has multiple (for example, three) coordinate components x, y, and θ. The first coordinate component x is a coordinate component of a first coordinate axis (x-axis) parallel to the moving plane B1, and has the first position Q1a as its origin. The second coordinate component y is a coordinate component of a second coordinate axis (y-axis) parallel to the moving plane B1 and perpendicular to the first coordinate axis, and has the first position Q1a as its origin. The two coordinate components x and y represent the relative position P1 of the moving body 11 on the xy plane (moving plane B1). The third coordinate component θ represents a rotation angle around a predetermined rotation axis perpendicular to the moving plane B1. The third coordinate component θ is, for example, an angle of rotation clockwise from the positive side of the second coordinate axis (y-axis). In this embodiment, the right side of the first coordinate axis (x-axis) on the paper is the positive side, and the left side of the first coordinate axis on the paper is the negative side. Also, the upper side of the second coordinate axis (y-axis) on the paper is the positive side, and the lower side of the second coordinate axis on the paper is the negative side.

[0049] The determination unit 517 selects one order (the order corresponding to the type information) from among multiple orders based on the type information of the linked object RT1 obtained from the higher-level system 7 (i.e., the type information of the linked object R1 specified by a command from the higher-level system 7), and determines the selected order as the specified order described below to be used in the processing of the deviation correction unit 519.

[0050] More specifically, the determination unit 517 acquires the type information from the host system 7 via the first communication unit 54. The type information is the type of the connection target object RT1 to which the moving object 11 is connected at the destination position (e.g., the transported object 12 or the charging device 14). The type information is transmitted, for example, from the host system 7 together with the information on the destination position. The predetermined order is a correction order when correcting the multiple deviation components Δx, Δy, and Δθ. The multiple orders are stored in the first storage unit 56. The multiple orders include a first order and a second order. The first order is the order of the first deviation component Δx, the third deviation component Δθ, and the second deviation component Δy. That is, in the first order, the first deviation component Δx is the first order, the third deviation component Δθ is the second order, and the second deviation component Δy is the third (i.e., last) order. The second order is the second deviation component Δy, the third deviation component Δθ, and the first deviation component Δx, which is the order opposite to the first order. That is, in the second order, the second deviation component Δy is the first order, the third deviation component Δθ is the second order, and the first deviation component Δx is the third (i.e., last) order.

[0051] Then, when the type information indicates that the type is the transported object 12, the determination unit 517 determines the second order (i.e., the order of Δy, Δθ, Δx) as the predetermined order, and when the type information indicates that the type is the charging device 14, the determination unit 517 determines the first order (i.e., the order of Δx, Δθ, Δy) as the predetermined order. In the first embodiment, the type information (transported object, charging device) corresponds to the order (first order, second order), and specifically, the type information (transported object) corresponds to the second order, and the type information (charging device) corresponds to the first order. The determination unit 517 determines the order corresponding to the type information as the above-mentioned first order. In other words, when the type of the connection object R1 is specified by a command from the upper system, the determination unit 517 selects an order corresponding to the specified type from multiple orders (the first order and the second order) and determines the selected order as the predetermined order.

[0052] When the moving body 11 reaches the first position Q1a (destination position) of the predetermined marker 13a, the deviation correction unit 519 controls the movement of the multiple drive wheels 2 via the driving control unit 511 so as to correct the deviation Δ1 of the relative position P1 of the moving body 11 with respect to the first position Q1a based on the detection result of the second detection unit 516.

[0053] More specifically, the deviation Δ1 has a plurality of deviation components Δx, Δy, and Δθ. The plurality of deviation components Δx, Δy, and Δθ correspond one-to-one to the plurality of coordinate components x, y, and θ of the relative position P1 of the moving body 11. The plurality of deviation components Δx, Δy, and Δθ are the plurality of coordinate components x, y, and θ of the relative position P1 (i.e., Δx=x, Δy=y, Δθ=θ). When distinguishing between the plurality of deviation components Δx, Δy, and Δθ, the deviation component Δx, the deviation component Δy, and the deviation component Δθ will be referred to as the first deviation component Δx, the second deviation component Δy, and the third deviation component Δθ, respectively.

[0054] The deviation correction unit 519 calculates steering angles α1, α2 of the driving wheels 2 for correcting corresponding deviation components Δx, Δy, Δθ in multiple coordinate components x, y, θ of the relative position P1, and corrects the corresponding deviation components Δx, Δy, Δθ by moving the moving body 11 based on the calculated steering angles α1, α2. Correcting the multiple deviation components Δx, Δy, Δθ means that the multiple deviation components Δx, Δy, Δθ correspond one-to-one to multiple thresholds (first threshold, second threshold, and third threshold) and are set to values ​​equal to or less than the corresponding thresholds. If the corresponding thresholds are zero, the multiple deviation components Δx, Δy, Δθ are corrected to zero. When the multiple deviation components Δx, Δy, and Δθ are corrected to zero, for example, the relative position P1 of the moving body 11 coincides with the first position Q1a, the left-right direction of the moving body 11 coincides with the direction of the first coordinate axis (x-axis), and the front-back direction of the moving body 11 coincides with the direction of the second coordinate axis (y-axis).

[0055] The deviation correction unit 519 corrects the multiple deviation components Δx, Δy, and Δθ in a predetermined order determined by the determination unit 517. The predetermined order is the order in which the multiple deviation components Δx, Δy, and Δθ are corrected. The deviation correction unit 519 corrects the deviation component corresponding to a predetermined coordinate component, which will be described later, last among the multiple coordinate components x, y, and θ of the relative position P1. The deviation component corrected last among the multiple deviation components Δx, Δy, and Δθ is not affected by the correction of the other deviation components, and is therefore corrected most accurately among the multiple deviation components Δx, Δy, and Δθ.

[0056] The predetermined coordinate components are coordinate components corresponding to a second direction M2 (see, for example, FIGS. 10 and 11) that is perpendicular to the first direction M1 (see, for example, FIGS. 10 and 11) and parallel to the moving plane B1. The first direction M1 is the direction in which the moving object 11 moves from the first position Q1a of the predetermined marker 13a toward the connection object RT1 in order to connect with the connection object RT1. When the connection object RT1 is the transported object 12 (see FIG. 10), the first direction M1 is, for example, the positive direction of the second coordinate axis (y-axis), and in this case, the second direction M2 is, for example, a direction parallel to the first coordinate axis (x-axis). When the connection object RT1 is the charging device 14 (see FIG. 11), the first direction M1 is, for example, the positive direction of the first coordinate axis (x-axis), and in this case, the second direction M2 is, for example, a direction parallel to the second coordinate axis (y-axis).

[0057] In this embodiment, when the moving body 11 is to be coupled to the transported object 12 from the first position Q1a of the predetermined marker 13a, the moving body 11 is coupled to the transported object 12 by moving along the first direction M1, for example, the positive direction of the second coordinate axis (y-axis). In this case, in order to couple the moving body 11 to the transported object 12, it is necessary to accurately correct the first deviation component Δx corresponding to the direction of the first coordinate axis (x-axis) (second direction M2) perpendicular to the positive direction of the second coordinate axis. Therefore, when coupling the moving body 11 to the transported object 12, the deviation correction unit 519 corrects the multiple deviation components Δx, Δy, and Δθ in order based on the second order in which the first deviation component Δx is the last in the order, thereby correcting the deviation of the first deviation component Δx last.

[0058] Furthermore, when inserting (connecting) the transported object 12 connected to the movable body 11 from the first position Q1a of another predetermined marker 13a into the recess 81 of the mounting body 8, the movable body 11 moves along the first direction M1, for example, the positive direction of the second coordinate axis (y-axis), in the same manner as in the above-described case of connecting the movable body 11 to the transported object 12, to insert the transported object 12 into the recess 81. Therefore, when inserting the transported object 12 connected to the movable body 11 into the recess 81, the deviation correction unit 519 corrects the multiple deviation components Δx, Δy, Δθ in order based on the second order in which the first deviation component Δx is the last in the order, thereby correcting the deviation of the first deviation component Δx last.

[0059] Furthermore, when the mobile object 11 is to be coupled to the charging device 14 from a first position Q1a of another predetermined marker 13a, the mobile object 11 is coupled to the charging device 14 by moving along a first direction M1, for example, the positive direction of a first coordinate axis (x-axis). In this case, in order to successfully couple the mobile object 11 to the charging device 14, it is necessary to accurately correct the second deviation component Δy corresponding to the direction of a second coordinate axis (second direction M2) perpendicular to the positive direction of the first coordinate axis. Therefore, when coupling the mobile object 11 to the charging device 14, the deviation correction unit 519 corrects the deviation components Δx, Δy, and Δθ in order based on the first order in which the second deviation component Δy is the last in the order, thereby correcting the deviation of the second deviation component Δy last.

[0060] The approach processing unit 520 performs the approach processing after the processing by the deviation correction unit 519 and before the processing by the connection processing unit 521. In the approach processing, as shown in FIG. 8, for example, the approach processing unit 520 detects, on the captured image of the sensor 4, an end 13b of the predetermined marker 13a on the opposite side to the first direction M1 (the positive direction of the second coordinate axis (y-axis) in FIG. 8) and an end 41b of the detection range 41 of the sensor 4 on the opposite side to the first direction M1. Then, the approach processing unit 520 moves the moving object 11 via the travel control unit 511 so that the moving object 11 approaches the connection object RT1 (for example, FIG. 10) along the first direction M1 until the end 13b of the predetermined marker 13a comes into contact with the end 41b of the detection range 41 of the sensor 4. As a result, the moving object 11 is positioned as close as possible to the connection object RT1 within the range where the predetermined marker 13a is included in the detection range 41 of the sensor 4 just before connection with the connection object RT1. This makes it possible to minimize the distance that the moving object 11 travels to connect with the connection target object RT1 in the connection processing of the connection processing unit 521, which will be described later.

[0061] When the object RT1 to be connected is the transported object 12 (see FIG. 10), the first direction M1 is, for example, the positive direction of the second coordinate axis (y-axis). Therefore, in this case, the approach processing unit 520 moves the moving object 11 in the positive direction of the second coordinate axis (first direction M1) until the end 13b of the predetermined marker 13a in the negative direction of the second coordinate axis (opposite direction to the first direction M1) comes into contact with (is inscribed in) the end 41b in the negative direction of the second coordinate axis in the detection range 41 of the sensor 4. Furthermore, when the object R1 to be connected is the charging device 14 (see FIG. 11), the first direction M1 is, for example, the positive direction of the first coordinate axis (x-axis). Therefore, in this case, the approach processing unit 520 moves the moving body 11 in the positive direction of the first coordinate axis (first direction M1) until the end 13b of the specified marker 13a in the negative direction of the first coordinate axis (opposite direction to the first direction M1) comes into contact with (inscribes) the end 41b in the negative direction of the first coordinate axis in the detection range 41 of the sensor 4.

[0062] The connection processing unit 521 performs a connection process after the processing of the proximity processing unit 520. In the connection process, the connection processing unit 521 connects the moving object 11 arranged near the predetermined marker 13a to the connection object RT1 by moving the moving object 11 a first distance in a first direction M1 (i.e., the connection direction with the connection object R1). The first direction M1 and the first distance differ depending on the predetermined marker 13a. Information on the first direction M1 and the first distance is acquired from registration information registered in the predetermined marker 13a. That is, the registration information of the predetermined marker 13a includes information on the first direction M1 and the first distance.

[0063] (2.2.4) Left driving wheel unit 52 and right driving wheel unit 53 The left driving wheel unit 52 is a control unit that controls the rotation and steering angle α1 of the first wheel 21, which is one of the multiple driving wheels 2. The left driving wheel unit 52 has a drive motor 523 that rotates the first wheel 21, and a steering motor 522 that changes the orientation (rolling direction) of the first wheel 21. The left driving wheel unit 52 receives a control command from the traveling control unit 511. As a result, the steering motor 522 changes the orientation of the first wheel 21 to the orientation instructed by the control command, and the drive motor 523 rotates the first wheel 21 with the rotational torque instructed by the control command.

[0064] The "steering angle" in this disclosure refers to the angle between the front-to-rear direction of the moving body 11 and the rolling direction of the drive wheels 2 in a plan view of the moving body 11 seen from above. The steering angle of each drive wheel 2 can vary from -180 degrees to 180 degrees.

[0065] The right drive wheel unit 53 is a control unit that controls the rotation and steering angle α2 of the second wheel 22. The right drive wheel unit 53 has a drive motor 531 that rotates the second wheel 22, and a steering motor 532 that changes the orientation (rolling direction) of the second wheel 22. The right drive wheel unit 53 receives a control command from the travel control unit 511. As a result, the steering motor 532 changes the orientation of the second wheel 22 to the orientation instructed by the control command, and the drive motor 531 rotates the second wheel 22 with the rotational torque instructed by the control command.

[0066] (2.2.5) First communication unit 54 The first communication unit 54 is capable of communicating with the higher-level system 7 (the second communication unit 72 of the higher-level system 7). In the present disclosure, "capable of communication" means that information can be exchanged directly or indirectly via the network NT1 or the relay device R1, etc., using an appropriate communication method such as wired communication or wireless communication. In this embodiment, the first communication unit 54 communicates with the relay device R1 using a wireless communication method, and communicates with the higher-level system 7 via the network NT1.

[0067] (2.2.6) Power receiving unit 55 The power receiving unit 55 is detachably connected to the power supply unit 141 of the charging device 14, and is a part that inputs DC power supplied from the connected power supply unit 141. As shown in FIG. 2, the power receiving unit 55 is installed on the outer periphery of the main body 30 of the mobile object 11 (for example, on one of the left and right sides (the left side in FIG. 2)). The power receiving unit 55 is arranged on the outer periphery (for example, the left side) of the main body 30 so as to face the outer periphery (for example, to the left). The power received by the power receiving unit 55 is charged into a power source 57, which will be described later.

[0068] (2.2.7) First storage section 56 The first storage unit 56 includes, for example, a semiconductor memory such as a nonvolatile memory, etc. The first storage unit 56 stores a program for operating the control unit 51, various information used in the processing of each unit 511 to 521 of the control unit 51, the processing results of each unit 511 to 521, code information acquired from each marker 13, information received from the higher-level system 7, etc.

[0069] (2.2.8) Power supply 57 The power source 57 is, for example, a storage battery. More specifically, the power source 57 is a rechargeable secondary battery. The moving object 11 operates using electrical energy stored in the power source 57. The charge state of the power source 57 is transmitted as charge state information from the first communication unit 54 to the upper system 7.

[0070] (3) Upper System 7 The mobile object 11 is capable of communicating with the host system 7. In this embodiment, the host system 7 and the mobile object 11 are capable of bidirectional communication. That is, information can be transmitted both from the host system 7 to the mobile object 11 and from the mobile object 11 to the host system 7.

[0071] A facility may have a plurality of mobile object systems 10. That is, a facility may have a plurality of mobile objects 11. The host system 7 is a system for comprehensively controlling the plurality of mobile objects 11, and is realized by, for example, a server device. The host system 7 indirectly controls the plurality of mobile objects 11 by issuing instructions to each of the plurality of mobile object systems 10.

[0072] The upper system 7 includes a processing unit 71, a second communication unit 72, and a second storage unit 73 (see FIG. 1).

[0073] The processing unit 71 includes a computer system having one or more processors and a memory. The one or more processors execute a program recorded in the memory to realize the functions of the processing unit 71. The program may be pre-recorded in the memory, may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium such as a memory card.

[0074] The processing unit 71 is configured to perform overall control of the upper system 7. The processing unit 71 also causes the mobile object 11 to transmit, via the second communication unit 72, a destination position and the type of the object R1 to be connected (e.g., the object 12 or the charging device 14). For example, when the processing unit 71 causes the mobile object 11 to connect to the object 12 at a first destination position (the position of a predetermined marker), the processing unit 71 transmits, for example, information on the first destination position and the type (object) from the second communication unit 72 (described later) to the mobile object 11. As a result, the mobile object 11 moves to the first destination position and connects to the object 12. Furthermore, when the processing unit 71 causes the mobile object 11 to transport the object 12 connected to the mobile object 11 to a second destination position (the position of another predetermined marker), the processing unit 71 transmits, for example, information on the second destination position and the type (mounted main body 8) to the mobile object 11 from the second communication unit 72 (described later). As a result, the mobile object 11 moves to the second destination position together with the coupled transported object 12, and inserts (couples) the transported object 12 into the recess 81 of the mounting body 8. Furthermore, when charging the power supply 57 of the mobile object 11, the processing unit 71 transmits information on the third destination position where the charging device 14 is installed and the type (charging device 14) from the second communication unit 72 described below to the mobile object 11. As a result, the mobile object 11 moves to the third destination position, couples with the power supply unit 141 of the charging device 14 installed at the third destination position, and receives power from the charging device 14.

[0075] Furthermore, the processing unit 71 monitors the charging state of the power supply 57 of the mobile object 11 based on charging state information received from the mobile object 11 via the second communication unit 72 described below. When the charging state of the power supply 57 falls below a predetermined charging state, the upper system 7 charges the power supply 57 of the mobile object 11 by the charging device 14 by transmitting information about the destination position and type (charging device 14) to the mobile object 11 to be charged, as described above.

[0076] The second communication unit 72 communicates with the mobile object 11 (the first communication unit 54 of the mobile object 11) via the network NT1 and the relay device R1.

[0077] The second storage unit 73 includes, for example, a semiconductor memory such as a nonvolatile memory, etc. The second storage unit 73 stores a program for operating the processing unit 71, various information and processing results used in the processing of the processing unit 71, and various information received from the mobile object 11.

[0078] (4) Parts supply device The component supply device F1 (feeder) (see FIG. 1 ) is used to supply components to a mounting body 8 installed in a factory. In this embodiment, in response to an instruction from a higher-level system 7, the movable body 11 moves the transported object 12, which is placed at a certain location within a predetermined area, together with the component supply device F1 mounted on the transported object 12. As a result, the component supply device F1 is moved to the mounting body 8. More specifically, the component supply device F1 is moved into a recess 81 provided on the side of the mounting body 8. When the component supply device F1 is moved into the recess 81, a second connector of the transported object 12 is connected to a first connector provided on the mounting body 8, thereby connecting the mounting body 8 and the transported object 12 to each other. Then, with the mounting body 8 and the transported object 12 connected to each other, components can be supplied from the component supply device F1 to the mounting body 8.

[0079] (5) First operation example In the first operation example, a specific example of the processing of the position change unit 518 will be described with reference to FIGS.

[0080] 3 shows a state in which the moving object 11 has stopped because the first detection unit 513 has detected the predetermined marker 13a. In this stopped state, the contour line 13c of the predetermined marker 13a intersects with the boundary line 41c of the detection range 41 of the sensor 4. In this case, the position change unit 518 determines, based on the image captured by the sensor 4, that the contour line 13c intersects with the boundary line 41c. When the position change unit 518 determines this, it calculates a first steering angle α1 and a second steering angle α2 for moving the moving object 11 so that the predetermined marker 13a is located at the center of the detection range 41. In this case, the first steering angle α1 and the second steering angle α2 are, for example, directions in which the first wheel 21 and the second wheel 22 roll from the center 41d of the detection range 41 toward the first position Q1a of the predetermined marker 13a. Then, the position change unit 518 controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 to the found first steering angle α1 and second steering angle α2 via the traveling control unit 511, thereby rolling the first wheel 21 and the second wheel 22 until the first position Q1a of the predetermined marker 13a is located in the center (within the area 41e) of the detection range 41. Then, the position change unit 518 stops the moving object 11 via the traveling control unit 511 (see FIG. 4).

[0081] In this way, when the contour line 13c of the specified marker 13a intersects with the boundary line 41c of the detection range 41, the specified marker 13a is positioned in the center of the detection range 41 (within the area 41e), thereby preventing the specified marker 13a from moving out of the detection range 41 of the sensor 4 during the subsequent processing of the deviation correction unit 519.

[0082] (6) Second operation example In the second operation example, a specific example of the processing of the deviation correction unit 519 and the proximity processing unit 520 will be described with reference to Fig. 5 to Fig. 9. In the following description, a case will be exemplified in which a plurality of deviation components Δx, Δy, Δθ are corrected in a second order (in the order of Δy, Δθ, Δx).

[0083] 5 shows a state in which a predetermined marker 13a is included within the detection range 41 of the sensor 4 and the moving object 11 is stopped. The operation of the deviation correction unit 519 when performing deviation correction from this state will be described.

[0084] From the state shown in FIG. 5, the deviation correction unit 519 first corrects the second deviation component Δy according to the second order. More specifically, the deviation correction unit 519 calculates the first steering angle α1 and the second steering angle α2 for correcting the second deviation component Δy. In this case, the first steering angle α1 and the second steering angle α2 are angles (i.e., 0 degrees) that cause the rolling direction of the first wheel 21 and the second wheel 22 to be along the positive direction of the second coordinate axis. Then, the deviation correction unit 519 controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 via the travel control unit 511 to the calculated first steering angle α1 and second steering angle α2, thereby causing the first wheel 21 and the second wheel 22 to roll until the second deviation component Δy becomes a value equal to or less than the second threshold value. Then, when the second deviation component Δy becomes equal to or less than the second threshold value, the deviation correction unit 519 stops the moving object 11 (see FIG. 6).

[0085] 6, the deviation correction unit 519 next corrects the third deviation component Δθ according to the second order. More specifically, the deviation correction unit 519 determines the first steering angle α1 and the second steering angle α2 for correcting the third deviation component Δθ while maintaining the previously corrected second deviation component Δy at a value equal to or less than the second threshold. In this case, the first steering angle α1 and the second steering angle α2 are angles at which the center of gravity G1 of the mobile object 11 turns along an arc trajectory K1 centered on the first position Q1a of the predetermined marker 13a. In this case, the first steering angle α1 and the second steering angle α2 are such that the steering angle (e.g., first steering angle α1) of the inner drive wheel 2 (e.g., first wheel 21) during turning is greater than the steering angle (e.g., second steering angle α2) of the outer drive wheel 2 (e.g., second wheel 22) during turning.

[0086] Then, the deviation correction unit 519 controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 to the calculated first steering angle α1 and second steering angle α2 via the travel control unit 511, thereby causing the first wheel 21 and the second wheel 22 to roll until the magnitude of the third deviation component Δθ becomes equal to or less than the third threshold value (i.e., turns the mobile object 11 so that the center of gravity G1 of the mobile object 11 describes the arc trajectory K1). Then, when the magnitude of the third deviation component Δθ becomes equal to or less than the third threshold value, the deviation correction unit 519 stops the mobile object 11. In this turning state, as shown in FIG. 7 , the front-to-rear direction of the mobile object 11 approximately coincides with the second coordinate axis (y-axis), the left-to-right direction of the mobile object 11 approximately coincides with the first coordinate axis (x-axis), and the relative position P1 of the mobile object 11 is located at a position shifted from the origin on the first coordinate axis.

[0087] From the state shown in FIG. 7 , in accordance with the second order, finally, the deviation correction unit 519 corrects the first deviation component Δx. More specifically, the deviation correction unit 519 calculates the first steering angle α1 and the second steering angle α2 for correcting the first deviation component Δx. In this case, the first steering angle α1 and the second steering angle α2 are angles (i.e., 90 degrees) that cause the rolling direction of the first wheel 21 and the second wheel 22 to be along the negative direction of the first coordinate axis. Then, the deviation correction unit 519 controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 via the travel control unit 511 to the calculated first steering angle α1 and second steering angle α2, thereby causing the first wheel 21 and the second wheel 22 to roll until the magnitude of the first deviation component Δx becomes a value equal to or less than the first threshold value. Then, when the magnitude of the first deviation component Δx becomes a value equal to or less than the first threshold value, the deviation correction unit 519 stops the moving object 11 (see FIG. 8 ). In this state after the movement, all of the multiple deviation components Δx, Δy, Δθ are corrected to values ​​equal to or less than the corresponding thresholds (first threshold, second threshold, third threshold). Then, the deviation correction process of the deviation corrector 519 ends.

[0088] Next, the approach processing unit 520 performs approach processing from the state shown in FIG. 8. More specifically, in this case (i.e., when the second order is used), it is assumed that the moving object 11 is connected to the connection object RT1 by moving in the positive direction of the second coordinate axis (y-axis) as the first direction (i.e., the direction of connection with the connection object RT1). In this case, the approach processing unit 520 calculates the distance W2 between the end 13b of the predetermined marker 13a in the opposite direction to the first direction M1 and the end 41b of the detection range 41 of the sensor 4 in the opposite direction. The approach processing unit 520 also calculates the first steering angle α1 and the second steering angle α2 so that the rolling directions of the first wheel 21 and the second wheel 22 are oriented in the positive direction of the second coordinate axis. In this case, both the first steering angle α1 and the second steering angle α2 are 0 degrees (see FIG. 9).

[0089] The deviation correction unit 519 controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 to the calculated first steering angle α1 and second steering angle α2 via the travel control unit 511, and causes the first wheel 21 and the second wheel 22 to roll until the distance W2 becomes equal to or less than the fourth threshold. That is, the approach processing unit 520 moves the moving object 11 in the positive direction of the second coordinate axis (y-axis) (first direction M1) until the distance W2 becomes equal to or less than the fourth threshold. Then, when the distance W2 becomes equal to or less than the fourth threshold (see FIG. 9), the deviation correction unit 519 stops the moving object 11 and ends the approach processing. As a result, the moving object 11 is positioned as close as possible to the connection object R1 present in the first direction M1, within a range in which the predetermined marker 13a is included in the detection range 41 of the sensor 4.

[0090] (7) Third operation example In the third operation example, a specific example of correcting multiple deviation components Δx, Δθ, Δy in the first order (Δx, Δθ, Δy) will be described. In the third operation example, the second operation example described above, in which multiple deviation components Δx, Δθ, Δy are corrected in the second order (Δy, Δθ, Δx), is modified so that the first deviation component Δx is corrected first instead of the second deviation component Δy, and finally the second deviation component Δy is corrected instead of the first deviation component Δx. Therefore, a specific example of the third operation example will be omitted.

[0091] (8) Fourth operation example In the fourth operation example, a specific example of the processing of the connection processing unit 521 when the object to be connected RT1 is the transported object 12 will be described with reference to FIG.

[0092] If the connection object RT1 is a transported object 12, it is assumed that the moving body 11 will connect with the connection object RT1 (transported object 12) by moving in the positive direction of the second coordinate axis (y-axis) (i.e., the forward direction of the moving body 11) as the first direction M1 (i.e., the connection direction with the connection object RT1) from the position after processing by the approach processing unit 520.

[0093] The connection processing unit 521 performs connection processing after the processing of the deviation correction unit 519 (more specifically, after the processing of the proximity processing unit 520). In the connection processing, the connection processing unit 521 calculates the first steering angle α1 and the second steering angle α2 so that the rolling directions of the first wheel 21 and the second wheel 22 are oriented in the first direction M1 (the positive direction of the second coordinate axis (y-axis) in the example of FIG. 10). In this case, both the first steering angle α1 and the second steering angle α2 are 0 degrees. Furthermore, the connection processing unit 521 acquires information on the first distance in advance, for example, from code information acquired from a predetermined marker 13a. The first distance is the distance that the moving body 11 needs to move in the first direction M1 in order to connect with the transported object 12.

[0094] The connection processing unit 521 controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 to the calculated first steering angle α1 and second steering angle α2 via the travel control unit 511, thereby rolling the first wheel 21 and the second wheel 22 so that the moving object 11 moves a first distance in the first direction M1 from the current position (the position after processing by the approach processing unit 520). As a result, the moving object 11 moves the first distance in the first direction M1, and the connecting portion 301 of the moving object 11 is connected to the connecting portion 122 of the transported object 12. The connecting portion 301 of the moving object 11 and the connecting portion 122 of the transported object 12 are connected to each other, and the moving object 11 is connected to the connection target object RT1.

[0095] In this embodiment, before processing by the connection processing unit 521, the deviation (first deviation component Δx) of the relative position P1 of the moving body 11 in the second direction M2 perpendicular to the first direction M1 is corrected with high accuracy by processing by the deviation correction unit 519. Therefore, when the moving body 11 moves in the first direction M1, the positioning of the connecting portion 301 and the connecting portion 122 in the second direction M2 can be ensured with high accuracy. As a result, when the moving body 11 is moved in the first direction M1, the moving body 11 can be connected to the transported object 12 without connection failure.

[0096] (9) Fifth operation example A specific example of the processing of the connection processing unit 521 when the connection object RT1 is the charging device 14 will be described with reference to FIG.

[0097] If the connection object RT1 is a charging device 14, it is assumed that the moving body 11 will connect with the connection object RT1 (charging device 14) by moving in the first direction M1 (i.e., the connection direction with the connection object RT1), for example, in the negative direction of the first coordinate axis, from the position after processing by the approach processing unit 520.

[0098] The connection processing unit 521 performs connection processing after the processing of the approach processing unit 520. In the connection processing, the connection processing unit 521 calculates the first steering angle α1 and the second steering angle α2 for the rolling directions of the first wheel 21 and the second wheel 22 to face the first direction M1 (the left direction of the mobile object 11, i.e., the negative direction of the first coordinate axis (x-axis) in the example of FIG. 11). In this case, the first steering angle α1 and the second steering angle α2 are both 90 degrees. In addition, the connection processing unit 521 has previously acquired information on the first distance from, for example, code information acquired from a predetermined marker 13a. The first distance is the distance that the mobile object 11 needs to move in the first direction M1 to be connected to the charging device 14.

[0099] The connection processing unit 521 controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 to the calculated first steering angle α1 and second steering angle α2 via the travel control unit 511, thereby rotating the first wheel 21 and the second wheel 22 so that the mobile object 11 moves a first distance in the first direction M1 from the current position (the position after processing by the approach processing unit 520). As a result, the mobile object 11 moves the first distance in the first direction M1, and connects the power receiving unit 55 of the mobile object 11 to the power supply unit 141 of the charging device 14. The power receiving unit 55 of the mobile object 11 and the power supply unit 141 of the charging device 14 are connected to each other, thereby connecting the mobile object 11 to the charging device 14. When connected to the charging device 14, the mobile object 11 receives power from the charging device 14 and charges the power source 57 of the mobile object 11 with the received power.

[0100] In this embodiment, before processing by the connection processing unit 521, the deviation (second deviation component Δy) of the relative position P1 of the moving object 11 in the second direction M2 perpendicular to the first direction M1 is corrected with high accuracy by processing by the deviation correction unit 519. Therefore, when the moving object 11 moves in the first direction M1, the positioning of the coupling unit 301 and the coupling unit 122 in the second direction M2 can be ensured with high accuracy. As a result, when the moving object 11 is moved in the first direction M1, the moving object 11 can be coupled to the charging device 14 without coupling failure.

[0101] (10) 6th operation example In the sixth operation example, a specific example of the processing of the deviation corrector 519 and the approach processor 520 for the moving body 11 in a connected state with the transported article 12 will be described.

[0102] In the second operation example described above, a specific example of the processing of the deviation correction unit 519 and the approach processing unit 520 for the mobile body 11 in a standalone state that is not connected to the connection target object RT1 has been illustrated. The wheels 121 of the transported object 12 are driven wheels of swivel casters. Therefore, the transported object 12 can move freely in any direction and can freely rotate around a rotation axis at any position on the moving plane B1. Therefore, the mobile body 11 in a connected state with the transported object 12 can move and rotate on the moving plane B1 in the same way as the mobile body 11 in a standalone state. Therefore, the second operation example is not limited to the mobile body 11 in a standalone state, but can also be applied to the mobile body 11 in a connected state with the transported object 12.

[0103] Therefore, even when the moving body 11 is coupled to the transported object 12, as in the case where the moving body 11 is in a standalone state, the deviation correction unit 519 can correct each of the multiple deviation components Δx, Δy, and Δθ of the deviation Δ1 in a predetermined order (for example, a first order or a second order), and can finally correct the deviation component corresponding to a predetermined coordinate component (coordinate component corresponding to the second direction M2) among the multiple coordinate components x, y, and θ of the relative position P1 of the moving body 11. Therefore, even when the moving body 11 is coupled to the transported object 12, the deviation correction unit 519 can accurately adjust the relative position P1 of the moving body 11 in the second direction M2 for the moving body 11 located at the predetermined marker 13a.

[0104] Also, even when the moving body 11 is connected to the transported object 12, the approach processing unit 520 can move the moving body 11 so as to approach the connected object RT1 (e.g., the mounting body 8) within a range in which a predetermined marker 13a is included within the detection range 41 of the sensor 4.

[0105] (11) Seventh operation example In the seventh operation example, a specific example of inserting (connecting) the transported object 12 connected to the moving body 11 into (connecting with) the recess 81 of the mounting body 8 will be described with reference to FIG.

[0106] In the seventh operation example, when inserting the transported item 12 connected to the moving body 11 into the recess 81 of the mounting body 8, the moving body 11 is assumed to move a first distance in the positive direction of the second coordinate axis (y-axis) from the specified marker 13a, thereby inserting the transported item 12 connected to the moving body 11 into the recess 81.

[0107] When the moving body 11 connected to the transported object 12 reaches the predetermined marker 13a, after processing by the position change unit 518, the deviation correction unit 519 sequentially corrects the multiple deviation components Δx, Δy, and Δθ of the deviation Δ1 of the relative position P1 of the moving body 11, as in the case of a single moving body 11, and corrects the deviation component Δx corresponding to the first coordinate axis (x-axis) last. Then, the approach processing unit 520 performs approach processing after the correction by the deviation correction unit 519, and stops the moving body 11 as close as possible to the recess 81. From this state, the connection processing unit 521 moves the moving body 11 connected to the transported object 12 a first distance in the first direction M1 (i.e., the positive direction of the second coordinate axis). As a result, the transported object 12 connected to the moving body 11 is inserted into the recess 81. The first distance is the distance the moving body 11 needs to move in the first direction M1 to insert the transported object 12 into the recess 81. The information about the first distance is included in the code information registered in the predetermined marker 13a.

[0108] In this way, when inserting the transported object 12 connected to the movable body 11 into the recess 81, similarly to the case of connecting the movable body 11 to the connection target object RT1 in the second operation example, when correcting the multiple deviation components Δx, Δy, Δθ in a predetermined order, the deviation component corresponding to the first coordinate axis (x-axis) is corrected last, so that even when the movable body 11 is connected to the transported object 12, the relative position P1 of the movable body 11 in the first coordinate axis direction can be adjusted with high accuracy. As a result, even when the movable body 11 is connected to the transported object 12, when the movable body 11 is moved in the positive direction (first direction M1) of the second coordinate axis (y-axis), the transported object 12 connected to the movable body 11 can be inserted into the recess 81 of the mounting body 8 without insertion failure.

[0109] (12) Operation explanation The operation of the control unit 51 of the moving object 11 will be described with reference to FIGS.

[0110] When the acquisition unit 512 detects that a predetermined marker 13a exists within the detection range 41 of the sensor 4 and acquires registration information from the detected predetermined marker 13a (step S1), the first detection unit 513 detects a first position Q1a of the predetermined marker 13a based on the acquired registration information (step S2). Then, the position change unit 518 detects a contour line 13c of the predetermined marker 13a based on the captured image of the sensor 4 and determines whether the detected contour line 13c intersects with a boundary line 41c of the detection range 41 of the sensor 4 (step S3). If the result of this determination is that the contour line 13c intersects with the boundary line 41c (step S3: Yes), the position change unit 518 moves the mobile object 11 via the traveling control unit 511 so that the predetermined marker 13a is positioned at the center of the detection range 41 (step S4). On the other hand, if the contour line 13c does not intersect with the boundary line 41c (step S3: No), the position change unit 518 does not move the moving body 11 via the travel control unit 511 in order to maintain the first position Q1a of the specified marker 13a (step S5).

[0111] Then, the second detection unit 516 determines the relative position P1 of the moving object 11 with respect to the first position Q1a of the predetermined marker 13a detected after the processing by the position change unit 518 (step S6). Then, the determination unit 517 determines the predetermined order to be used in the processing described later by the deviation correction unit 519, based on the type information (type information related to the type of the connection target object RT1) acquired from the higher-level system 7. More specifically, when the type specified by the type information is the transported object 12 (or the mounting body 8) (step S7: transported object), the determination unit 517 determines the second order (the order of Δy, Δθ, Δx) as the predetermined order (step S8). Then, the deviation correction unit 519 sequentially executes the processing of steps S9 to S16 as the deviation correction processing. On the other hand, when the type specified by the type information is a charging device (step S7: charging device), the determination unit 517 determines the first order (the order of Δx, Δθ, Δy) as the predetermined order (step S17). Then, the misalignment correction unit 519 sequentially executes the processes of steps S18 to S25 as the misalignment correction process.

[0112] In step S9, the deviation correction unit 519 calculates the deviation Δ1 of the relative position P1 from the first position Q1a of the predetermined marker 13a. Then, among the multiple deviation components Δx, Δy, and Δθ of the calculated deviation Δ1, the deviation correction unit 519 first corrects the second deviation component Δy in accordance with a second order. More specifically, the deviation correction unit 519 calculates the first steering angle α1 and the second steering angle α2 for correcting the magnitude of the second deviation component Δy to a second threshold or less, and moves the moving object 11 based on the calculated first steering angle α1 and second steering angle α2. Then, when the magnitude of the second deviation component Δy becomes equal to or less than the second threshold, the deviation correction unit 519 stops the moving object 11 via the traveling control unit 511. Then, the deviation correction unit 519 determines whether the state in which the magnitude of the second deviation component Δy is equal to or less than the second threshold continues for a second time period (for example, several seconds (for example, 4 seconds)) (step S10). If the result of the determination is that the magnitude of the second deviation component Δy has not remained equal to or less than the second threshold for the second period of time (step S10: No), the deviation correction unit 519 returns to step S9 and corrects the second deviation component Δy again. On the other hand, if the result of the determination in step S10 is that the magnitude of the second deviation component Δy has remained equal to or less than the second threshold for the second period of time (step S10: Yes), the deviation correction unit 519 ends the correction of the second deviation component Δy. Then, the process proceeds to the next step, S11.

[0113] In step S11, the deviation correction unit 519 next corrects the third deviation component Δθ according to the second order. More specifically, the deviation correction unit 519 calculates the first steering angle α1 and the second steering angle α2 for correcting the magnitude of the third deviation component Δθ to a third threshold value or less, and moves the moving object 11 based on the calculated first steering angle α1 and second steering angle α2. When the magnitude of the third deviation component Δθ becomes equal to or less than the third threshold value, the deviation correction unit 519 stops the moving object 11 via the traveling control unit 511. Then, the deviation correction unit 519 determines whether the magnitude of the third deviation component Δθ remains equal to or less than the third threshold value for a third period of time (for example, several seconds (for example, 4 seconds)) (step S12). If the result of the determination is that the magnitude of the third deviation component Δθ does not remain equal to or less than the third threshold value for the third period of time (step S12: No), the deviation correction unit 519 returns to step S11 and corrects the third deviation component Δθ again. On the other hand, if the result of the determination in step S12 is that the magnitude of the third deviation component Δθ remains equal to or smaller than the third threshold for the third time period (step S12: Yes), the deviation corrector 519 ends the correction of the third deviation component Δθ. Then, the process proceeds to the next step S13.

[0114] In step S13, the deviation correction unit 519 finally corrects the first deviation component Δx according to the second order. More specifically, the deviation correction unit 519 calculates the first steering angle α1 and the second steering angle α2 for correcting the magnitude of the first deviation component Δx to a first threshold value or less, and moves the moving object 11 based on the calculated first steering angle α1 and second steering angle α2. When the magnitude of the first deviation component Δx becomes equal to or less than the first threshold value, the deviation correction unit 519 stops the moving object 11 via the traveling control unit 511. Then, the deviation correction unit 519 determines whether the magnitude of the first deviation component Δx remains equal to or less than the first threshold value for a first period of time (for example, several seconds (for example, 4 seconds)) (step S14). If the result of the determination is that the magnitude of the first deviation component Δx does not remain equal to or less than the first threshold value for the first period of time (step S14: No), the deviation correction unit 519 returns to step S13 and corrects the first deviation component Δx again. On the other hand, if the result of the determination in step S14 is that the magnitude of the first deviation component Δx remains equal to or smaller than the first threshold value for the first time period (step S14: Yes), the deviation corrector 519 ends the correction of the first deviation component Δx. Then, the process proceeds to the next step S15.

[0115] In step S15, the approach processing unit 520 moves the moving body 11 via the travel control unit 511 so that the moving body 11 approaches the connecting object RT1 along the positive direction of the second coordinate axis (first direction M1) until the end 13b of the specified marker 13a in the negative direction of the second coordinate axis (y-axis) (opposite direction to the first direction M1) comes into contact with the end 41b in the negative direction of the second coordinate axis in the detection range 41 of the sensor 4 on the captured image of the sensor 4, and then stops the moving body 11.

[0116] Then, in step S16, the connection processing unit 521 determines that the type of the connection object RT1 is the transported object 12 ("Transported object" in step S7), and therefore determines that the first direction M1, which is the connection direction with the connection object RT1, is the positive direction of the second coordinate axis (y-axis), and also acquires information on the first distance, which will be described later, from the registration information registered in the predetermined marker 13a. Then, the connection processing unit 521 connects the moving object 11 to the connection object RT1 by moving the moving object 11 the first distance in the positive direction of the second coordinate axis (y-axis) (first direction M1) from the position after the processing of steps S9 to S15 via the travel control unit 511. Then, the processing ends.

[0117] In step S18, the deviation correction unit 519 calculates the deviation Δ1 of the relative position P1 from the first position Q1a of the predetermined marker 13a. The deviation correction unit 519 then corrects the first deviation component Δx among the multiple deviation components Δx, Δy, and Δθ of the calculated deviation Δ1 in a first order. More specifically, the deviation correction unit 519 calculates a first steering angle α1 and a second steering angle α2 for correcting the magnitude of the first deviation component Δx to a first threshold or less, and moves the moving object 11 based on the calculated first steering angle α1 and second steering angle α2. When the magnitude of the first deviation component Δx becomes equal to or less than the first threshold, the deviation correction unit 519 stops the moving object 11 via the traveling control unit 511. The deviation correction unit 519 then determines whether the magnitude of the first deviation component Δx remains equal to or less than the first threshold for a first period of time (for example, several seconds (for example, 4 seconds)) (step S19). If the result of the determination is that the magnitude of the first deviation component Δx has not remained equal to or less than the first threshold for the first hour (step S19: No), the deviation correction unit 519 returns to step S18 and corrects the first deviation component Δx again. On the other hand, if the result of the determination in step S19 is that the magnitude of the first deviation component Δx has remained equal to or less than the first threshold for the first hour (step S19: Yes), the deviation correction unit 519 ends the correction of the first deviation component Δx. Then, the process proceeds to the next step S20.

[0118] In step S20, the deviation correction unit 519 next corrects the third deviation component Δθ according to the first order. More specifically, the deviation correction unit 519 calculates the first steering angle α1 and the second steering angle α2 for correcting the magnitude of the third deviation component Δθ to a third threshold value or less, and moves the moving object 11 based on the calculated first steering angle α1 and second steering angle α2. When the magnitude of the third deviation component Δθ becomes equal to or less than the third threshold value, the deviation correction unit 519 stops the moving object 11 via the traveling control unit 511. Then, the deviation correction unit 519 determines whether the magnitude of the third deviation component Δθ remains equal to or less than the third threshold value for a third period of time (for example, several seconds (for example, 4 seconds)) (step S21). If the result of the determination is that the magnitude of the third deviation component Δθ does not remain equal to or less than the third threshold value for the third period of time (step S21: No), the deviation correction unit 519 returns to step S20 and corrects the third deviation component Δθ again. On the other hand, if the result of the determination in step S21 indicates that the magnitude of the third deviation component Δθ remains equal to or smaller than the third threshold for the third time period (step S21: Yes), the deviation corrector 519 ends the correction of the third deviation component Δθ. Then, the process proceeds to the next step S22.

[0119] In step S22, the deviation correction unit 519 finally corrects the second deviation component Δy according to the first order. More specifically, the deviation correction unit 519 calculates the first steering angle α1 and the second steering angle α2 for correcting the magnitude of the second deviation component Δy to a second threshold value or less, and moves the moving object 11 based on the calculated first steering angle α1 and second steering angle α2. When the magnitude of the second deviation component Δy becomes equal to or less than the second threshold value, the deviation correction unit 519 stops the moving object 11 via the traveling control unit 511. Then, the deviation correction unit 519 determines whether the magnitude of the second deviation component Δy remains equal to or less than the second threshold value for a second period of time (for example, several seconds (for example, 4 seconds)) (step S23). If the result of the determination is that the magnitude of the second deviation component Δy does not remain equal to or less than the second threshold value for the second period of time (step S23: No), the deviation correction unit 519 returns to step S22 and corrects the second deviation component Δy again. On the other hand, if the result of the determination in step S23 is that the magnitude of the second deviation component Δy remains equal to or smaller than the second threshold for the second time period (step S23: Yes), the deviation corrector 519 ends the correction of the second deviation component Δy. Then, the process proceeds to the next step S24.

[0120] In step S24, the approach processing unit 520 moves the moving body 11 via the travel control unit 511 so that the moving body 11 approaches the connecting object RT1 along the positive direction of the first coordinate axis (first direction M1) until the end of the specified marker 13a in the negative direction of the first coordinate axis (x-axis) (opposite direction to the first direction M1) on the captured image of the sensor 4 comes into contact with the end of the negative direction of the first coordinate axis in the detection range 41 of the sensor 4, and then stops the moving body 11.

[0121] Then, in step S25, the connection processing unit 521 determines that the type of the connection object RT1 is the transported object 12 ("Transported object" in step S7), and therefore determines that the first direction M1, which is the connection direction with the connection object RT1, is the negative direction of the first coordinate axis (x-axis), and also acquires information on the first distance, which will be described later, from the registration information registered in the predetermined marker 13a. Then, the connection processing unit 521 connects the moving object 11 to the connection object RT1 by moving the moving object 11 the first distance in the negative direction of the first coordinate axis (first direction M1) from the position after the processing of steps S18 to S24 via the travel control unit 511. Then, the processing ends.

[0122] (13) Effects The control method according to the embodiment is a method for controlling a moving object 11 moving on a moving plane B1. The moving object 11 has a sensor 4 that detects a marker 13 installed on the moving plane B1. The control method includes a first detection step S2, a second detection step S6, deviation correction steps S9 to S14, S18 to S23, and connection steps S16 and S25. In the first detection step S2, a first position Q1a of a predetermined marker 13a is detected based on the detection result of the sensor 4. In the second detection step S6, a relative position P1 of the moving object 11 with respect to the detected first position Q1a is determined. In the deviation correction steps S9 to S14, S18 to S23, deviation correction is performed to correct a deviation Δ1 of the relative position P1 from the first position Q1a. In the connection steps S16 and S25, after the deviation correction steps S9 to S14 and S18 to S23, the moving body 11 is moved in the first direction M1, thereby connecting the moving body 11 to the connection target object RT1. The coordinates of the relative position P1 have multiple coordinate components x, y, and θ. The deviation Δ1 has multiple deviation components Δx, Δy, and Δθ corresponding to the multiple coordinate components x, y, and θ. Of the multiple coordinate components x, y, and θ, the coordinate component corresponding to the second direction M2, which is perpendicular to the first direction M1 and parallel to the moving plane B1, is set as the predetermined coordinate component. In the deviation correction steps S9 to S14 and S18 to S23, the moving body 11 is moved based on each of the multiple deviation components Δx, Δy, and Δθ, thereby correcting the multiple deviation components Δx, Δy, and Δθ. The plurality of deviation components Δx, Δy, Δθ are corrected in a predetermined order, and the deviation component corresponding to the predetermined coordinate component among the plurality of deviation components Δx, Δy, Δθ is corrected last.

[0123] According to this configuration, in the deviation correction steps S9 to S14 and S18 to S23, the multiple deviation components Δx, Δy, and Δθ are corrected in a predetermined order, and the deviation component corresponding to the predetermined coordinate component among the multiple coordinate components x, y, and θ is corrected last. Therefore, at the first position Q1a of the predetermined marker 13a, the relative position P1 of the moving body 11 in the second direction M2 can be adjusted with high precision. As a result, when the moving body 11 is moved in the first direction M1 from the predetermined marker 13a in the connecting steps S16 and S25, the moving body 11 can be connected to the connection target object RT1.

[0124] The control method according to the embodiment is a method for controlling a moving object 11 moving on a moving plane B1. The moving object 11 has a sensor 4 that detects a marker 13 installed on the moving plane B1. The control method includes a first detection step S2, a second detection step S6, deviation correction steps S9 to S14, S18 to S23, and a coupling step S16 and S25. In the first detection step S2, a first position Q1a of a predetermined marker 13a is detected based on the detection result of the sensor 4. In the second detection step S6, a relative position P1 of the moving object 11 with respect to the detected first position Q1a is determined. In deviation correction steps S9 to S14, deviation correction is performed to correct a deviation Δ1 of the relative position P1 from the first position Q1a. In the coupling step S16, after the deviation correction steps S9 to S14, the moving object 11 is coupled to the transported object 12, which is the coupling target object RT1, by moving the moving object 11 in a first direction M1, which is the front-rear direction (y-axis direction) of the moving object 11. The coordinates of relative position P1 have multiple coordinate components x, y, and θ. The deviation Δ1 has multiple deviation components Δx, Δy, and Δθ corresponding to the multiple coordinate components x, y, and θ. In deviation correction steps S9 to S14, the multiple deviation components Δx, Δy, and Δθ are corrected by moving the moving body 11 based on each of the multiple deviation components Δx, Δy, and Δθ. The multiple deviation components Δx, Δy, and Δθ are corrected in a predetermined order, and the deviation component Δx corresponding to the left-right direction (x-axis direction) of the moving body 11 among the multiple coordinate components x, y, and θ is corrected last.

[0125] According to this configuration, in the deviation correction steps S9 to S14, the multiple deviation components Δx, Δy, and Δθ are corrected in a predetermined order, and the deviation component Δx corresponding to the left-right direction (x-axis direction) of the movable body 11 among the multiple coordinate components x, y, and θ is corrected last. Therefore, at the first position Q1a of the predetermined marker 13a, the left-right direction (x-axis direction) of the relative position P1 of the movable body 11 can be adjusted with high precision. As a result, in the coupling step S16, when the movable body 11 is moved from the predetermined marker 13a in the front-rear direction (y-axis direction) of the movable body 11, the movable body 11 can be coupled to the transported object 12.

[0126] Furthermore, the control method according to the embodiment is a method for controlling a moving object 11 moving on a moving plane B1. The moving object 11 has a sensor 4 that detects a marker 13 installed on the moving plane B1. The control method includes a first detection step S2, a second detection step S6, deviation correction steps S9 to S14, S18 to S23, and connection steps S16 and S25. In the first detection step S2, a first position Q1a of a predetermined marker 13a is detected based on the detection result of the sensor 4. In the second detection step S6, a relative position P1 of the moving object 11 with respect to the detected first position Q1a is determined. In the deviation correction steps S18 to S23, deviation correction is performed to correct a deviation Δ1 of the relative position P1 from the first position Q1a. In the coupling step S25, after the deviation correction steps S18 to S23, the moving object 11 is coupled to the charging device 14, which is the coupling target object RT1, by moving the moving object 11 in a first direction M1, which is the left-right direction (x-axis direction) of the moving object 11. The coordinates of the relative position P1 have multiple coordinate components x, y, and θ. The deviation Δ1 has multiple deviation components Δx, Δy, and Δθ corresponding to the multiple coordinate components x, y, and θ. In the deviation correction steps S18 to S23, the multiple deviation components Δx, Δy, and Δθ are corrected by moving the moving object 11 based on each of the multiple deviation components Δx, Δy, and Δθ. The multiple deviation components Δx, Δy, and Δθ are corrected in a predetermined order, and the deviation component Δy, which corresponds to the forward-backward direction (y-axis direction) of the moving object 11, among the multiple coordinate components x, y, and θ, is corrected last.

[0127] According to this configuration, in the deviation correction steps S18 to S23, the multiple deviation components Δx, Δy, and Δθ are corrected in a predetermined order, and the deviation component Δy corresponding to the fore-and-aft direction (y-axis direction) of the moving object 11 among the multiple coordinate components x, y, and θ is corrected last. Therefore, at the first position Q1a of the predetermined marker 13a, the fore-and-aft direction (y-axis direction) of the relative position P1 of the moving object 11 can be adjusted with high precision. As a result, in the coupling step S25, when the moving object 11 is moved in the left-right direction (x-axis direction) of the moving object 11 from the predetermined marker 13a, the moving object 11 can be coupled to the charging device 14.

[0128] The control method according to the embodiment further includes determination steps S7, S8, and S17. In the determination steps S7, S8, and S17, one order is selected from multiple orders defining the order of correcting the multiple deviation components Δx, Δy, and Δθ, and the selected order is determined as a predetermined order. The multiple coordinate components x, y, and θ include a first coordinate component x and a second coordinate component y. Among the multiple deviation components Δx, Δy, and Δθ, the deviation component corresponding to the first coordinate component x is defined as the first deviation component Δx, and the deviation component corresponding to the second coordinate component y is defined as the second deviation component Δy. The multiple orders include a first order and a second order. In the first order, the first deviation component Δx is defined as the first order and the second deviation component Δy is defined as the last order. The second order is an order opposite to the first order. In the determination steps S7, S8, and S17, if the predetermined coordinate component is the second coordinate component y, the first order is determined as the predetermined order, and if the predetermined coordinate component is the first coordinate component x, the second order is determined as the predetermined order.

[0129] With this configuration, by setting one order (first order) and using an order (second order) in the opposite direction to the set order, two orders (first order and second order) can be easily created from one order (first order). Then, by switching between the first order and the second order, the coordinate components of the final correction order can be switched between the first coordinate component x and the second coordinate component y.

[0130] The control method according to the embodiment further includes approaching steps S15 and S24. The approaching steps S15 and S24 are performed between the deviation correcting steps S9 to S14 and S18 to S23 and the connecting steps S16 and S25. In the approaching steps S15 and S24, the moving object 11 is moved in the first direction M1 until the end 13b of the marker 13 in the opposite direction to the first direction M1 comes into contact with the end 41b of the detection range 41 of the sensor 4 in the opposite direction.

[0131] According to this configuration, in the connection steps S16 and S25, the moving distance in the first direction M1 when the moving body 11 is connected to the connection object RT1 can be shortened. Therefore, the rate at which the moving body 11 deviates in the second direction M2 when moving in the first direction M1 can be reduced. As a result, the probability of successful connection when connecting the moving body 11 to the connection object RT1 can be improved.

[0132] Moreover, the control method according to the embodiment further includes determination steps S7, S8, and S17. In the determination steps S7, S8, and S17, one order is selected from among a plurality of orders specifying the order in which the plurality of deviation components Δx, Δy, and Δθ are corrected, and the selected order is determined as the predetermined order. The plurality of orders correspond to a plurality of types of the linked object RT1. In the determination steps S7, S8, and S17, when the type of the linked object RT1 is specified by a command from the host system 7, an order corresponding to the specified type is selected from among the plurality of orders, and the selected order is determined as the predetermined order. With this configuration, the host system 7 simply specifies the type of the linked object RT1, and the order in which the plurality of deviation components Δx, Δy, and Δθ are corrected is determined by the control side that controls the moving object 11, thereby reducing the processing load on the host system 7.

[0133] Moreover, the control method according to the embodiment further includes position change steps S3 to S5. The position change steps S3 to S5 are performed before the deviation correction steps S9 to S14 and S18 to S23. In the position change steps S3 to S5, when the contour line 13c of the predetermined marker 13a intersects with the boundary line 41c of the detection range 41 of the sensor 4, the moving body 11 is moved so that the predetermined marker 13a is positioned at the center 41e of the detection range 41.

[0134] According to this configuration, when the contour line 13c of the predetermined marker 13a intersects with the boundary line 41c of the detection range 41 of the sensor 4 (i.e., when the predetermined marker 13a is located on the periphery of the detection range 41 of the sensor 4), the moving body 11 is moved so that the predetermined marker 13a is located in the center (within the area 41e) of the detection range 41 of the sensor 4. Therefore, it is possible to prevent the predetermined marker 13a from moving outside the detection range 41 of the sensor 4 during the correction in the deviation correction steps S9 to S14 and S18 to S23.

[0135] (Aspects other than control method) Functions similar to the control methods according to the above embodiments may be embodied in a computer program (program), a non-transitory recording medium on which a computer program is recorded, a mobile system, or the like.

[0136] A program according to one aspect is a program for causing a computer to execute the control method according to the above embodiment.

[0137] A non-transitory recording medium according to one aspect is a recording medium for recording a program that causes a computer to execute the control method according to the above embodiment.

[0138] As shown in FIG. 1, a mobile body system 10 according to one embodiment includes a mobile body 11 and a control unit 51. The mobile body 11 has a sensor 4 that detects a marker 13 installed on a moving plane B1 (see FIG. 2). The control unit 51 controls the mobile body 113 to move on the moving plane B1. The control unit 51 has a first detection unit 513, a second detection unit 516, a deviation correction unit 519, and a linking processing unit 521. The first detection unit 513 detects a first position Q1a of a predetermined marker 13a based on the detection result of the sensor 4. The second detection unit 516 calculates a relative position P1 of the mobile body 11 with respect to the detected first position Q1a. The deviation correction unit 519 performs deviation correction to correct a deviation Δ1 of the relative position P1 from the first position Q1a. The linking processing unit 521 links the moving object 11 to the linking target object RT1 by moving the moving object 11 in the first direction M1 after the processing of the deviation correction unit 519. The coordinates of the relative position P1 have multiple coordinate components x, y, and θ. The deviation Δ1 has multiple deviation components Δx, Δy, and Δθ corresponding to the multiple coordinate components x, y, and θ. Of the multiple coordinate components x, y, and θ, the coordinate component corresponding to the second direction M2, which is perpendicular to the first direction M1 and parallel to the moving plane B1, is set as the predetermined coordinate component. The deviation correction unit 519 corrects the multiple deviation components Δx, Δy, and Δθ by moving the moving object 11 based on each of the multiple deviation components Δx, Δy, and Δθ. The deviation correction unit 519 corrects each of the multiple deviation components Δx, Δy, and Δθ in a predetermined order, and lastly corrects the deviation component corresponding to the predetermined coordinate component among the multiple deviation components Δx, Δy, and Δθ.

[0139] (Variation) The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0140] (1) Variation 1 The first modification will be described with reference to FIG.

[0141] (1.1) Configuration In Modification 1, when correcting the multiple deviation components Δx, Δy, and Δθ in the second order in the above embodiment, correction of the first deviation component Δx, which is the third deviation component in the correction order, and the subsequent approach process are simultaneously performed. More specifically, FIG. 15 shows a state in which correction of the second deviation component Δy, which is the first deviation component in the correction order, and correction of the third deviation component Δθ, which is the second deviation component in the correction order, are performed in that order. In this state, the forward / backward direction of the moving body 11 coincides with the direction of the second coordinate axis (y-axis), the left / right direction of the moving body 11 coincides with the direction of the first coordinate axis (x-axis), and the moving body 11 is shifted by the first deviation component Δx in the direction of the first coordinate axis (x-axis). The deviation correction unit 519 calculates the first steering angle α1 and the second steering angle α2 for linearly moving the moving body 11 from this position to the position of the moving body 11 after correction of the first deviation component Δx and the subsequent approach process are performed.

[0142] 15 shows the sensor 4A and the detection range 41A after the correction of the first deviation component Δx and the subsequent approach process. In this case, the first steering angle α1 and the second steering angle α2 are angles at which the rolling directions of the first wheel 21 and the second wheel 22 face the left front direction, for example. Then, the deviation correction unit 519 controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 to the calculated first steering angle α1 and second steering angle α2 via the driving control unit 511, causing the first wheel 21 and the second wheel 22 to roll until the first deviation component Δx becomes a value less than or equal to the first threshold value and the magnitude of the distance W2 between the end 13b in the negative direction (opposite the first direction M1) of the second coordinate axis (y-axis) at the specified marker 13a and the end 41b in the negative direction of the second coordinate axis in the detection range 41 becomes less than or equal to the fourth distance (i.e., until the sensor 4 reaches the position of the sensor 4A), and then stops the first wheel 21 and the second wheel.

[0143] (1.2) Effects In the control method according to the first modification, the steering angles α1, α2 of the plurality of drive wheels 2 are calculated to simultaneously perform the final correction of the deviation component in the deviation correction steps S9 to S14, S18 to S23 and the processing of the approach processing steps S15 and S24, and the moving object 11 is moved based on the calculated steering angles α1, α2, thereby simultaneously performing the final correction of the deviation component in the deviation correction steps S9 to S14, S18 to S23 and the processing of the approach processing steps S15 and S24. With this configuration, the control of the steering angles α1, α2 for the final correction of the deviation component in the deviation correction steps S9 to S14, S18 to S23 and the processing of the approach processing steps S15 and S24 can be performed in a single control, thereby reducing the burden of controlling the steering angles α1, α2 of the plurality of drive wheels 2.

[0144] (2) Variation 2 The second modification will be described with reference to FIGS.

[0145] (2.1) Configuration 16, in Modification 2, a plurality of (for example, two) assist markers 13L, 13R are arranged adjacent to the predetermined marker 13a in the above embodiment. That is, the predetermined marker 13a and the plurality of assist markers 13L, 13R form a pair.

[0146] The assist markers 13L and 13R are arranged on both sides of the predetermined marker 13. In the example of Fig. 16, the assist markers 13L and 13R are arranged along one of two coordinate axes (a first coordinate axis (x-axis) and a second coordinate axis (y-axis)) set on the predetermined marker 13a (for example, the first coordinate axis). Therefore, the two assist markers 13L and 13R and the predetermined marker 13a are arranged side by side in a row.

[0147] The assist markers 13L, 13R are configured in the same manner as the predetermined marker 13. That is, visible code information (registration information) is written on the assist markers 13L, 13R. The code information is, for example, information defined by a two-dimensional barcode (also called a QR code). The code information of the assist markers 13L, 13R includes directional information indicating the direction in which the predetermined marker 13a exists as seen from the assist markers 13L, 13R themselves. For example, a coordinate system (a first coordinate axis (x-axis) and a second coordinate axis (y-axis)) is set for the assist markers 13L, 13R. The directional information is expressed using the coordinate system. For example, a first coordinate axis (x-axis) and a second coordinate axis (y-axis) are set for the assist marker 13R, and the registration information registered in the assist marker 13R includes, for example, information on the "negative direction of the first coordinate axis (x-axis)" as directional information.

[0148] In Modification 2, when the acquisition unit 512 of the moving object 11 detects one of the assist markers 13L, 13R on both sides (for example, assist marker 13R), it stops the moving object 11 (see FIG. 16). Then, the acquisition unit 512 reads and acquires direction information from the detected assist marker 13R. From the acquired direction information, the acquisition unit 512 determines that the moving object 11 has deviated from the predetermined marker 13a in a direction opposite to the direction specified by the direction information. Then, in order to correct the deviation, the acquisition unit 512 controls the first wheel 21 and the second wheel 22 via the traveling control unit 511 so that the moving object 11 moves in the direction specified by the acquired direction information. For example, when the acquisition unit 512 acquires information such as "negative direction of the first coordinate axis (x-axis)" as direction information from the assist marker 13R, the acquisition unit 512 controls the first steering angle α1 and the second steering angle α2 so that the rolling directions of the first wheel 21 and the second wheel 22 are oriented in the direction specified by the acquired direction information, and moves the moving object 11 based on the controlled first steering angle α1 and second steering angle α2. In the example of Fig. 16, the moving object 11 moves leftward on the paper surface.

[0149] The acquisition unit 512 then moves the moving object 11 via the travel control unit 511 until it detects the predetermined marker 13a (see FIG. 17). When the acquisition unit 512 detects the predetermined marker 13a, it stops the moving object 11 via the travel control unit 511. The control unit 51 of the moving object 11 then performs the processes (processes of the units 512 to 521) described in the above embodiment on the predetermined marker 13a.

[0150] (2.2) Effects In the control method according to the second modification, a plurality of assist markers 13L, 13R are arranged adjacent to a predetermined marker 13a. The plurality of assist markers 13L, 13R have registered therein direction information regarding the direction in which the predetermined marker 13a is located. The control method according to the second modification includes an acquisition step S1. In the acquisition step S1, when the assist markers 13L, 13R are detected based on the detection results of the sensor 4, the moving object 11 is moved in the direction in which the predetermined marker 13a is located based on the direction information registered in the detected assist markers 13L, 13R. With this configuration, even when the detection range 41 of the sensor 4 is narrow due to the mounting position or performance of the sensor 4, or when the stopping accuracy of the autonomous movement is low and the marker 13 cannot be detected, the marker 13 can be detected more reliably.

[0151] (3) Variation 3 The third modification will be described with reference to FIG.

[0152] (3.1) Configuration In the above embodiment, when correcting the third deviation component Δθ, the moving body 11 is rotated around the first position Q1a of the predetermined marker 13a (see FIG. 6). In contrast, in Modification 3, as shown in FIG. 18, when correcting the third deviation component Δθ, if the predetermined marker 13a does not move outside the detection range 41 of the sensor 4 even when the moving body 11 is rotated around the center of gravity G1 of the moving body 11, the moving body 11 is rotated around the center of gravity G1 of the moving body 11. In FIG. 18, the moving body 11C and the detection range 41C respectively indicate the moving body 11 and the detection range 41 when the moving body 11 is rotated around the center of gravity G1 of the moving body 11. Modification 3 will be described in detail below.

[0153] In Modification 3, when correcting the third deviation component Δθ, the deviation correction unit 519 estimates an estimated position Q1b of the predetermined marker 13a after the moving object 11 has rotated around the center of gravity G1 of the moving object 11. The deviation correction unit 519 determines whether the estimated position Q1b is within the detection range 41C of the sensor 4 after the rotation. If the deviation correction unit 519 determines that the estimated position Q1b is not within the detection range 41C, the deviation correction unit 519 corrects the third deviation component Δθ by rotating the moving object 11 around the first position Q1a of the predetermined marker 13a, as in the above embodiment. On the other hand, if the deviation correction unit 519 determines that the estimated position Q1b is within the detection range 41C, the deviation correction unit 519 corrects the third deviation component Δθ by rotating the moving object 11 around the center of gravity G1 of the moving object 11.

[0154] More specifically, when the deviation correction unit 519 determines that the estimated position Q1b is within the detection range 41C, it calculates the first steering angle α1 and the second steering angle α2 for correcting the third deviation component Δθ by turning the mobile object 11 around the center of gravity G1 of the mobile object 11. Then, the deviation correction unit 519 controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 to the calculated first steering angle α1 and second steering angle α2, and moves the mobile object 11 until the magnitude of the third deviation component Δθ becomes equal to or less than the third threshold value.

[0155] More specifically, assume that the center 41p of the detection range 41 moves to the center 41q when the mobile object 11 turns around the center of gravity G1. The coordinate components dx and dy of the amount of movement of the center 41p of the detection range 41 in this case are calculated. Using the coordinate components dx and dy of this amount of movement and the third deviation component Δθ, if the position coordinate Q1a before the turn is (xa, ya, θa), the coordinate components xb, yb, and θb of the estimated position Q1b after the turn are (xb, yb, θb) = (xacos(Δθ) - yasin(Δθ) + dx, xasin(Δθ) + yacos(Δθ) + dy, θa + Δθ). If the coordinate components of this estimated position Q1b fall within the detection range 41C after the turn, the mobile object 11 is turned around the center of gravity G1 to correct the third deviation component Δθ.

[0156] (3.2) Effects In the control method according to the third modification, the multiple coordinate components x, y, and θ include a rotational coordinate component θ that defines the rotation of the mobile object 11 around a rotation axis perpendicular to the moving plane B1. In deviation correction steps S9 to S14 and S18 to S23 in the third modification, an estimated position Q1b of the predetermined marker 13a is estimated when the mobile object 11 is rotated around the center of gravity G1 of the mobile object 11 in order to correct the deviation component Δθ corresponding to the rotational coordinate component θ. If the estimated position Q1b is within the detection range 41C of the sensor 4 after rotation, the mobile object 11 is rotated around the center of gravity G1 of the mobile object 11 to correct the deviation component Δθ corresponding to the rotational coordinate component θ. If the estimated position Q1b is not within the detection range 41C of the sensor 4 after rotation, the mobile object 11 is rotated around the first position Q1a of the predetermined marker 13a to correct the deviation component Δθ corresponding to the rotational coordinate component θ.

[0157] According to this configuration, when the estimated position Q1b after turning is included within the post-turn detection range 41C of the sensor 4, the moving body 11 is turned around the center of gravity G1 to correct the deviation component Δθ corresponding to the rotational coordinate component θ, thereby reducing the area through which the moving body 11 passes when turning. Furthermore, when the estimated position Q1b after turning is not included within the post-turn detection range 41C of the sensor 4, the moving body 11 is turned around the first position Q1a of the predetermined marker 13a to correct the deviation component Δθ corresponding to the rotational coordinate component θ, thereby preventing the predetermined marker 13a from moving outside the detection range 41 of the sensor 4 during the correction.

[0158] (3.3) Modification of Modification 3 In Modification 3, an example is shown in which it is applied to a mobile body 11 in a standalone state that is not connected to a connected object RT1. However, it may also be applied to a mobile body 11 in a connected state that is connected to a connected object RT1. As explained in "(10) Sixth Operation Example," the mobile body 11 in the connected state can move and turn in the same way as the mobile body 11 in the standalone state. Therefore, even when Modification 3 is applied to a mobile body 11 in a connected state, it is possible to obtain the same effects as those of Modification 3 (i.e., an example in which it is applied to a mobile body 11 in a standalone state).

[0159] (4) Variation 4 The fourth modification will be described with reference to FIGS.

[0160] (4.1) Configuration In Variation 4, when multiple deviation components Δx, Δy, Δθ are corrected in a first order (Δx, Δθ, Δy) in the above embodiment, the first two deviation components (correction of the first deviation component Δx and the third deviation component Δθ) are corrected simultaneously, and the second deviation component Δy is corrected last.

[0161] More specifically, FIG. 19 shows a state in which the acquisition unit 512 has detected a predetermined marker 13a and stopped. The deviation correction unit 519 calculates a first steering angle α1 and a second steering angle α2 for simultaneously correcting the first deviation component Δx and the third deviation component Δθ. The deviation correction unit 519 then controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 to the calculated first steering angle α1 and second steering angle α2, and moves the moving object 11 via the travel control unit 511 until the magnitude of the first deviation component becomes equal to or less than the first threshold value and the magnitude of the third deviation component Δθ becomes other than the third threshold value, and then stops the moving object 11 (see FIG. 20). During this movement, the center of gravity G1 of the moving object 11 moves along an arc trajectory K2. Finally, the deviation correction unit 519 calculates a first steering angle α1 and a second steering angle α2 for correcting the second deviation component Δy. Then, the deviation correction unit 519 controls the first steering angle α1 of the first wheel 1 and the second steering angle α2 of the second wheel 22 to the calculated first steering angle α1 and second steering angle α2, and moves the moving body 11 in the direction of the second coordinate axis (y-axis) via the driving control unit 511 until the magnitude of the second deviation component Δy becomes less than or equal to the second threshold value.

[0162] Furthermore, in variant example 4, when multiple deviation components Δx, Δy, Δθ are corrected in the second order (Δy, Δθ, Δx) in the above embodiment, the first two deviation components (correction of the second deviation component Δy and the third deviation component Δθ) are corrected simultaneously, and the first deviation component Δx is corrected last.

[0163] More specifically, FIG. 21 shows a state in which the acquisition unit 512 has detected a predetermined marker 13a and stopped. The deviation correction unit 519 calculates a first steering angle α1 and a second steering angle α2 for simultaneously correcting the second deviation component Δy and the third deviation component Δθ. The deviation correction unit 519 then controls the first steering angle α1 of the first wheel 21 and the second steering angle α2 of the second wheel 22 to the calculated first steering angle α1 and second steering angle α2, and moves the moving object 11 via the travel control unit 511 until the magnitude of the second deviation component Δy becomes equal to or less than the second threshold and the magnitude of the third deviation component Δθ becomes other than the third threshold, and then stops the moving object 11 (see FIG. 22). During this movement, the center of gravity G1 of the moving object 11 moves along an arc trajectory K3. Finally, the deviation correction unit 519 calculates a first steering angle α1 and a second steering angle α2 for correcting the first deviation component Δx. Then, the deviation correction unit 519 controls the first steering angle α1 of the first wheel 1 and the second steering angle α2 of the second wheel 22 to the calculated first steering angle α1 and second steering angle α2, and moves the moving body 11 in the direction of the first coordinate axis (x-axis) via the driving control unit 511 until the magnitude of the first deviation component Δx becomes less than or equal to the first threshold value.

[0164] (4.2) Effects In the control method according to Modification 4, the multiple coordinate components x, y, and θ of the relative position P1 have a first coordinate component x, a second coordinate component y, and a third coordinate component θ. The first coordinate component x and the second coordinate component y define a predetermined position P1 of the movable body 11 on the moving plane B1. The third coordinate component θ defines the rotation of the movable body 11 around the predetermined position P1. Of the multiple deviation components Δx, Δy, and Δθ, the deviation component corresponding to the first coordinate component x is defined as the first deviation component Δx, the deviation component corresponding to the second coordinate component y is defined as the second deviation component Δy, and the deviation component corresponding to the third coordinate component θ is defined as the third deviation component Δθ. The predetermined order is one of the first deviation component Δx and the second deviation component Δy, followed by the third deviation component Δθ, and then the other of the first deviation component Δx and the second deviation component Δy. In the deviation correction steps S9 to S14 and S18 to S23 in the fourth modification, the movable body 11 is moved so that the one deviation component and the third deviation component Δθ are corrected simultaneously.

[0165] According to this configuration, when corrections are made in the order of one deviation component, the third deviation component Δθ, and then the other deviation component, the first two deviation components are corrected simultaneously, so that deviation correction can be made faster. The correction of the last deviation component is not made simultaneously with the correction of the other deviation components, so that a decrease in correction accuracy can be prevented.

[0166] Furthermore, in the control method according to Modification 4, in the deviation correction steps S9 to S14 and S18 to S23, when the movable body 11 is moved so as to simultaneously correct the one deviation component and the third deviation component Δθ, the movable body 11 moves along a curved trajectory (arcuate trajectories K2, K3). With this configuration, since the movable body 11 moves along a curved trajectory (arcuate trajectories K2, K3), it is possible to correct the deviation component corresponding to the rotational coordinate component θ that defines the rotation of the movable body 11 about the center of gravity G1.

[0167] (5) Variation 5 (5.1) Configuration In the fifth modification, in the above embodiment, the deviation correction unit 519 corrects the last deviation component (the deviation component corresponding to a predetermined coordinate component) among the multiple deviation components Δx, Δy, Δθ, and then, before the processing of the approach processing unit 520 is performed, further corrects the last deviation component by controlling the steering angles α1, α2 of the multiple driving wheels 2 via the traveling control unit 511 while repeatedly moving the moving body 11 toward and away from the connected object RT1.

[0168] (5.2) Effects According to this configuration, after correcting the last deviation component among the plurality of deviation components Δx, Δy, and Δθ, the moving body 11 is moved while repeatedly moving toward and away from the object RT1 to be connected, thereby further correcting the last deviation component. This allows fine adjustment of the correction of the last deviation component. This allows for even more accurate correction of the last deviation component.

[0169] (6) Other variations The movable body 11 is not limited to a configuration in which it is connected to the transported object 12 in the front-rear direction. The movable body 11 may be configured to be connected to the transported object 12 in the up-down direction or the left-right direction.

[0170] The number of drive wheels 2 is not limited to two, and may be three or more. Furthermore, at least one of the plurality of drive wheels 2 may be provided on the transported object 12.

[0171] The mobile system 10 of the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. A portion of the functionality of the mobile system 10 of the present disclosure is realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits, including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The IC or LSI referred to here is referred to by different names depending on the degree of integration, and includes integrated circuits called system LSI, very large scale integration (VLSI), or ultra large scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA), which is programmable after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be used as a processor. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0172] Furthermore, it is not essential for the mobile system 10 that multiple functions of the mobile system 10 are integrated into one device, and the components of the mobile system 10 may be distributed across multiple devices. For example, some functions of the control unit 51 may be realized by the higher-level system 7. Furthermore, at least some functions of the mobile system 10, for example, some functions of the control unit 51, may be realized by the cloud (cloud computing) or the like.

[0173] Conversely, in the embodiment, multiple functions distributed across multiple devices may be consolidated into one device. For example, multiple functions distributed across the host system 7 and the mobile system 10 may be consolidated into one device.

[0174] (summary) The above-described embodiments and the like disclose the following aspects.

[0175] The control method according to the first aspect is a method for controlling a moving body (11) moving on a moving surface (B1). The moving body (11) has a sensor (4) that detects a marker (13) placed on the moving surface (B1). The control method includes a first detection step (S2), a second detection step (S6), a deviation correction step (S9 to S14, S18 to S23), and a connection step (S16, S25). In the first detection step (S2), a first position (Q1a) of a predetermined marker (13a) is detected based on the detection result of the sensor (4). In the second detection step (S6), a relative position (P1) of the moving body (11) with respect to the detected first position (Q1a) is determined. In the deviation correction step (S9 to S14, S18 to S23), deviation correction is performed to correct a deviation (Δ1) of the relative position (P1) from the first position (Q1a). In the connection step (S16, S25), after the deviation correction step (S9 to S14, S18 to S23), the moving body (11) is moved in a first direction (M1) to connect the moving body (11) to the connection target object (RT1). The coordinates of the relative position (P1) have a plurality of coordinate components (x, y, θ). The deviation (Δ1) has a plurality of deviation components (Δx, Δy, Δθ) corresponding to the plurality of coordinate components (x, y, θ). Of the plurality of coordinate components (x, y, θ), the coordinate component corresponding to a second direction (M2) perpendicular to the first direction (M1) and parallel to the moving plane (B1) is set as the predetermined coordinate component. In the deviation correction step (S9 to S14, S18 to S23), the moving body (11) is moved based on each of the plurality of deviation components (Δx, Δy, Δθ), thereby correcting the plurality of deviation components (Δx, Δy, Δθ). The plurality of deviation components (Δx, Δy, Δθ) are corrected in a predetermined order, and the deviation component corresponding to a predetermined coordinate component among the plurality of deviation components (Δx, Δy, Δθ) is corrected last.

[0176] According to this configuration, the relative position (P1) of the moving body (11) in the second direction (M2) can be adjusted with high precision at the first position (Q1a) of the predetermined marker (13a). As a result, in the coupling steps (S16, S25), when the moving body (11) is moved in the first direction (M1) from the predetermined marker (13a), the moving body (11) can be coupled to the coupling target object (RT1).

[0177] The control method according to the second aspect is a method for controlling a moving body (11) moving on a moving surface (B1). The moving body (11) has a sensor (4) that detects a marker (13) placed on the moving surface (B1). The control method includes a first detection step (S2), a second detection step (S6), a deviation correction step (S9 to S14), and a connection step (S16). In the first detection step (S2), a first position (Q1a) of a predetermined marker (13a) is detected based on the detection result of the sensor (4). In the second detection step (S6), a relative position (P1) of the moving body (11) with respect to the detected first position (Q1a) is determined. In the deviation correction steps (S9 to S14), deviation correction is performed to correct a deviation (Δ1) of the relative position (P1) from the first position (Q1a). In the connection step (S16), after the deviation correction steps (S9 to S14), the moving body (11) is moved in a first direction (M1), which is the front-to-rear direction (y-axis direction) of the moving body (11), thereby connecting the moving body (11) to the transported object (12), which is the object to be connected (RT1). The coordinates of the relative position (P1) have multiple coordinate components (x, y, θ). The deviation (Δ1) has multiple deviation components (Δx, Δy, Δθ) corresponding to the multiple coordinate components (x, y, θ). In the deviation correction steps (S9 to S14), the moving body (11) is moved based on each of the multiple deviation components (Δx, Δy, Δθ), thereby correcting the multiple deviation components (Δx, Δy, Δθ). Correction of each of the multiple deviation components (Δx, Δy, Δθ) is performed in a predetermined order, and the deviation component corresponding to the left-right direction (x-axis direction) of the moving body (11) among the multiple deviation components (Δx, Δy, Δθ) is corrected last.

[0178] According to this configuration, the relative position (P1) of the movable body (11) in the left-right direction (x-axis direction) of the movable body (11) can be adjusted with high precision at the first position (Q1a) of the predetermined marker (13a). As a result, in the coupling step (S16), when the movable body (11) is moved from the predetermined marker (13a) in the front-rear direction (y-axis direction) of the movable body (11), the movable body (11) can be coupled to the transported object (12).

[0179] A control method according to a third aspect is a method for controlling a moving body (11) moving on a moving surface (B1). The moving body (11) has a sensor (4) that detects a marker (13) placed on the moving surface (B1). The control method includes a first detection step (S2), a second detection step (S6), deviation correction steps (S18 to S23), and a connection step (S25). In the first detection step (S2), a first position (Q1a) of a predetermined marker (13a) is detected based on the detection result of the sensor (4). In the second detection step (S6), a relative position (P1) of the moving body (11) with respect to the detected first position (Q1a) is determined. In the deviation correction steps (S18 to S23), deviation correction is performed to correct a deviation (Δ1) of the relative position (P1) from the first position (Q1a). In the coupling step (S25), after the deviation correction steps (S18 to S23), the moving body (11) is coupled to the charging device (14), which is the object to be coupled (RT1), by moving the moving body (11) in a first direction (M1), which is the left-right direction (x-axis direction) of the moving body (11). The coordinates of the relative position (P1) have multiple coordinate components (x, y, θ). The deviation (Δ1) has multiple deviation components (Δx, Δy, Δθ) corresponding to the multiple coordinate components (x, y, θ). In the deviation correction steps (S18 to S23), the moving body (11) is moved based on each of the multiple deviation components (Δx, Δy, Δθ), thereby correcting the multiple deviation components (Δx, Δy, Δθ). Correction of each of the multiple deviation components (Δx, Δy, Δθ) is performed in a predetermined order, and the deviation component corresponding to the forward / backward direction (y-axis direction) of the moving body (11) is corrected last among the multiple deviation components (Δx, Δy, Δθ).

[0180] According to this configuration, the relative position (P1) of the moving body (11) in the front-rear direction (y-axis direction) of the moving body (11) can be adjusted with high precision at the first position (Q1a) of the predetermined marker (13a). As a result, in the coupling step (S25), when the moving body (11) is moved from the predetermined marker (13a) in the left-right direction (x-axis direction) of the moving body (11), the moving body (11) can be coupled to the charging device (14).

[0181] The control method according to the fourth aspect is the same as that of the first aspect, but further includes determining steps (S7, S8, S17). In the determining steps (S7, S8, S17), one order is selected from a plurality of orders defining an order for correcting a plurality of deviation components (Δx, Δy, Δθ), and the selected order is determined as a predetermined order. The plurality of coordinate components (x, y, θ) include a first coordinate component (x) and a second coordinate component (y). Of the plurality of deviation components (Δx, Δy, Δθ), the deviation component corresponding to the first coordinate component (x) is defined as the first deviation component (Δx), and the deviation component corresponding to the second coordinate component (y) is defined as the second deviation component (Δy). The plurality of orders includes a first order and a second order. In the first order, the first deviation component (Δx) is defined as the first order, and the second deviation component (Δy) is defined as the last order. The second order is an order opposite to the first order. In the determination steps (S7, S8, S17), if the predetermined coordinate component is the second coordinate component (y), the first order is determined as the predetermined order, and if the predetermined coordinate component is the first coordinate component (x), the second order is determined as the predetermined order.

[0182] According to this configuration, by setting one order (first order) and using an order (second order) in the opposite direction to the set order, two orders (first order and second order) can be easily created from one order (first order). Then, by switching between the first order and the second order, the coordinate components of the final correction order can be switched between the first coordinate component (x) and the second coordinate component (y).

[0183] In the control method according to the fifth aspect, in any one of the first to fourth aspects, in the deviation correction steps (S9 to S14, S18 to S23), after correcting the last deviation component among the multiple deviation components (Δx, Δy, Δθ), the moving body (11) is moved while repeatedly moving toward and away from the object to be connected (RT1), thereby further correcting the last deviation component.

[0184] According to this configuration, after the final correction of the deviation component corresponding to the predetermined coordinate component is performed, the correction of the deviation component corresponding to the predetermined coordinate component can be finely adjusted, thereby enabling the correction of the deviation component corresponding to the predetermined coordinate component to be performed with even greater accuracy.

[0185] A control method according to a sixth aspect is any one of the first to fifth aspects, and further includes an approaching process step (S15, S24). The approaching process step (S15, S24) is performed between the deviation correcting steps (S9 to S14, S18 to S23) and the connecting step (S16, S25). In the approaching process step (S15, S24), the moving body (11) is moved in the first direction (M1) until an end (13b) of the marker (13) in a direction opposite to the first direction (M1) comes into contact with an end (41b) in the opposite direction in the detection range (41) of the sensor (4).

[0186] According to this configuration, in the connecting steps (S16, S25), the moving distance in the first direction (M1) when connecting the moving body (11) to the connection object (RT1) can be shortened. Therefore, the rate at which the moving body (11) deviates in the second direction (M2) when moving in the first direction (M1) can be reduced. As a result, the probability of successful connection when connecting the moving body (11) to the connection object (RT1) can be improved.

[0187] In a control method according to a seventh aspect, in any one of the first to sixth aspects, the plurality of coordinate components (x, y, θ) of the relative position (P1) have a first coordinate component (x), a second coordinate component (y), and a third coordinate component (θ). The first coordinate component (x) and the second coordinate component (y) define a predetermined position (P1) of the moving body (11) on the moving plane (B1). The third coordinate component (θ) defines a rotation of the moving body (11) around the predetermined position (P1). Of the plurality of deviation components (Δx, Δy, Δθ), the deviation component corresponding to the first coordinate component (x) is defined as the first deviation component (Δx), the deviation component corresponding to the second coordinate component (y) is defined as the second deviation component (Δy), and the deviation component corresponding to the third coordinate component (θ) is defined as the third deviation component (Δθ). The predetermined order is one of the first deviation component (Δx) and the second deviation component (Δy), the third deviation component (Δθ), and the other of the first deviation component (Δx) and the second deviation component (Δy). In the deviation correction steps (S9 to S14, S18 to S23), the movable body (11) is moved so that the one deviation component and the third deviation component (Δθ) are corrected simultaneously.

[0188] With this configuration, when corrections are made in the order of one deviation component, the third deviation component (Δθ), and then the other deviation component, the first two deviation components are corrected simultaneously, so deviation correction can be made faster. The last deviation component is not corrected simultaneously with the corrections of the other deviation components, so a decrease in correction accuracy can be prevented.

[0189] In the control method according to the eighth aspect, in the seventh aspect, when the moving body (11) is moved so as to simultaneously correct the one deviation component and the third deviation component (Δθ) in the deviation correction steps (S9 to S14, S18 to S23), the moving body (11) moves along a curved trajectory (K2, K3).

[0190] According to this configuration, the moving body (11) moves along the curved trajectory (K2, K3), and therefore, the deviation component corresponding to the rotation coordinate component (θ) that defines the rotation of the moving body (11) around the center of gravity (G1) can be corrected.

[0191] In the control method according to the ninth aspect, in any one of the first to sixth aspects, the moving body (11) is moved so that the correction of the deviation component, which is performed last in the deviation correction steps (S9 to S14, S18 to S23), and the processing of the approach processing steps (S15, S24) are performed simultaneously.

[0192] According to this configuration, the correction of the deviation component, which is performed last in the deviation correction steps (S9 to S14, S18 to S23), and the control of the steering angles (α1, α2) for the approach processing in the approach processing steps (S15, S24) can be performed in a single control, thereby reducing the burden of controlling the steering angles (α1, α2) of the multiple drive wheels (2).

[0193] A control method according to a tenth aspect is any one of the first to ninth aspects, and further includes a determination step (S7, S8, S17). In the determination step (S7, S8, S17), one order is selected from a plurality of orders that define the order of correcting a plurality of deviation components (Δx, Δy, Δθ), and the selected order is determined as a predetermined order. The plurality of orders correspond to a plurality of types of the object to be connected (RT1). In the determination step (S7, S8, S17), when the type of the object to be connected (RT1) is specified by a command from the higher-level system (7), an order corresponding to the specified type is selected from the plurality of orders, and the selected order is determined as a predetermined order.

[0194] According to this configuration, the host system (7) only needs to specify the type of the connected object (RT1), and the order in which the specific multiple deviation components (Δx, Δy, Δθ) are corrected is determined by the control side that controls the moving body (11), thereby reducing the processing load on the host system (7).

[0195] A control method according to an eleventh aspect is any one of the first to tenth aspects, and further includes position change steps (S3 to S5). The position change steps (S3 to S5) are performed before the deviation correction steps (S9 to S14, S18 to S23). In the position change steps (S3 to S5), when the outline (13c) of the predetermined marker (13a) intersects with the boundary line (41c) of the detection range (41) of the sensor (4), the moving body (11) is moved so that the predetermined marker (13a) is positioned in the center (41e) of the detection range (41).

[0196] According to this configuration, when the contour line (13c) of the predetermined marker (13a) intersects with the boundary line (41c) of the detection range (41) of the sensor (4) (i.e., when the predetermined marker (13a) is located on the periphery of the detection range (41) of the sensor (4)), the moving body (11) is moved so that the predetermined marker (13a) is located at the center (41e) of the detection range (41) of the sensor (4). Therefore, it is possible to prevent the predetermined marker (13a) from moving outside the detection range (41) of the sensor (4) during the correction in the deviation correction steps (S9 to S14, S18 to S23).

[0197] A control method according to a twelfth aspect is any one of the first to eleventh aspects, in which a plurality of assist markers (13L, 13R) are arranged adjacent to a predetermined marker (13a). Direction information regarding the direction in which the predetermined marker (13a) is located is registered in the plurality of assist markers (13L, 13R). The control method further includes an acquisition step (S1). In the acquisition step (S1), when the assist markers (13L, 13R) are detected based on the detection result of the sensor (4), the moving object (11) is moved in the direction in which the predetermined marker (13a) is located based on the direction information registered in the detected assist markers (13L, 13R).

[0198] According to this configuration, even when the detection range (41) of the sensor (4) is narrow due to the mounting position or performance of the sensor (4), or when the stopping accuracy of the autonomous movement is low and the marker (13) cannot be detected, the marker (13) can be detected more reliably.

[0199] In a control method according to a thirteenth aspect, in any one of the first to twelfth aspects, the plurality of coordinate components (x, y, θ) include a rotational coordinate component (θ) that defines the rotation of the moving body (11) around a rotation axis perpendicular to the plane of movement (B1). In the deviation correction steps (S9 to S14, S18 to S23), an estimated position (Q1b) of a predetermined marker (13a) is estimated when the moving body (11) is rotated around a center of gravity (G1) of the moving body (11) in order to correct a deviation component (Δθ) corresponding to the rotational coordinate component (θ). If the estimated position (Q1b) is within a detection range (41C) of the sensor (4) after rotation, the moving body (11) is rotated around the center of gravity (G1) of the moving body (11) to correct the deviation component (Δθ) corresponding to the rotational coordinate component (θ). If the estimated position (Q1b) is not included within the detection range (41C) after rotation of the sensor (4), the moving body (11) is rotated around the first position (Q1a) of the predetermined marker (13a) to correct the deviation component (Δθ) corresponding to the rotation coordinate component (θ).

[0200] According to this configuration, when the estimated position (Q1b) after the turn is included within the detection range (41C) of the sensor (4) after the turn, the moving body (11) is turned around the center of gravity (G1) to correct the deviation component (Δθ) corresponding to the rotation coordinate component (θ), thereby reducing the area through which the moving body (11) passes when turning. Furthermore, when the estimated position (Q1b) after the turn is not included within the detection range (41C) of the sensor (4) after the turn, the moving body (11) is turned around the first position (Q1a) of the predetermined marker (13a) to correct the deviation component (Δθ) corresponding to the rotation coordinate component (θ), thereby preventing the predetermined marker (13a) from moving out of the detection range (41) of the sensor (4) during the correction.

[0201] A program according to a fourteenth aspect causes one or more processors to execute the control method according to any one of the first to thirteenth aspects.

[0202] According to this configuration, it is possible to provide a program that causes one or more processors to execute the control method according to any one of the first to thirteenth aspects.

[0203] A mobile body system (10) according to a fifteenth aspect includes a mobile body (11) and a control unit (51). The mobile body (11) has a sensor (4) that detects a marker (13) installed on a moving surface (B1). The control unit (51) controls the mobile body (11) to move on the moving surface (B1). The control unit (51) has a first detection unit (513), a second detection unit (516), a deviation correction unit (519), and a linking processing unit (521). The first detection unit (513) detects a first position (Q1a) of a predetermined marker (13a) based on the detection result of the sensor (4). The second detection unit (516) determines a relative position (P1) of the mobile body (11) with respect to the detected first position (Q1a). The deviation correction unit (519) performs deviation correction to correct the deviation (Δ1) of the relative position (P1) from the first position (Q1a). The connection processing unit (521) connects the moving body (11) to the connection target object (RT1) by moving the moving body (11) in the first direction (M1) after processing by the deviation correction unit (519). The coordinates of the relative position (P1) have multiple coordinate components (x, y, θ). The deviation has multiple deviation components (Δx, Δy, Δθ) corresponding to the multiple coordinate components (x, y, θ). Of the multiple coordinate components (x, y, θ), the coordinate component corresponding to the second direction (M2) perpendicular to the first direction (M1) and parallel to the moving plane (B1) is set as the predetermined coordinate component. The deviation correction unit (519) corrects the multiple deviation components (Δx, Δy, Δθ) by moving the moving body (11) based on each of the multiple deviation components (Δx, Δy, Δθ). The deviation correction unit (519) corrects each of the multiple deviation components (Δx, Δy, Δθ) in a predetermined order, and corrects the deviation component corresponding to a predetermined coordinate component among the multiple deviation components (Δx, Δy, Δθ) last.

[0204] According to this configuration, the relative position (P1) of the moving object (11) in the second direction (M2) can be adjusted with high precision at the first position (Q1a) of the predetermined marker (13a). As a result, the connection processing unit (521) can connect the moving object (11) to the connection target object (RT1) when the moving object (11) is moved in the first direction (M1) from the predetermined marker (13a). [Explanation of symbols]

[0205] 2 drive wheels 4 sensors 11 Mobile 12 Transported goods 13 Marker 13a Prescribed Markers 13b End 13L, 13R Assist Marker 14 Charging device 41 Detection range 41b End 41c border 41C Detection Range 41e Center (area) α1 First steering angle (steering angle) α2 Second rudder angle (rudder angle) B1 Moving plane G1 center of gravity K2, K3 Circular orbit (curved orbit) M1 1st direction M2 2nd direction P1 relative position Q1a 1st position Q1b Estimated position Δ1 deviation RT1 Consolidated Objects S1 step (acquisition step) S2 step (first detection step) S3~S5 steps (position change steps) S6 step (second detection step) Steps S7, S8, S17 (decision steps) Steps S9 to S14, S18 to S23 (deviation correction steps) Steps S15 and S24 (approach processing steps) Steps S16 and S25 (connection processing steps) x first coordinate component (coordinate component) y second coordinate component (coordinate component) θ Third coordinate component (coordinate component, rotation coordinate component) Δx First deviation component (deviation component) Δy Second deviation component (deviation component) Δθ Third deviation component (deviation component) 512 Acquisition Department 513 First detection unit 516 Second detection unit 519 Misalignment correction unit 521 Concatenation Processing Unit

Claims

1. A method for controlling a moving object having a sensor for detecting a marker installed on a moving surface, the moving object moving on the moving surface, comprising: a first detection step of detecting a first position of the predetermined marker based on a detection result of the sensor; a second detection step of determining a relative position of the moving object with respect to the detected first position; a deviation correction step of correcting a deviation of the relative position from the first position; a connecting step of connecting the moving body to a connection target object by moving the moving body in a first direction after the deviation correcting step, The coordinates of the relative position have a plurality of coordinate components, the deviation has a plurality of deviation components corresponding to the plurality of coordinate components, Among the plurality of coordinate components, a coordinate component corresponding to a second direction that is orthogonal to the first direction and parallel to the moving surface is set as a predetermined coordinate component; In the deviation correction step, correcting the plurality of deviation components by moving the moving body based on each of the plurality of deviation components; Correcting each of the plurality of deviation components in a predetermined order, and correcting the deviation component corresponding to the predetermined coordinate component among the plurality of deviation components last. Control method.

2. A method for controlling a moving object having a sensor for detecting a marker installed on a moving surface, the moving object moving on the moving surface, comprising: a first detection step of detecting a first position of the predetermined marker based on a detection result of the sensor; a second detection step of determining a relative position of the moving object with respect to the detected first position; a deviation correction step of correcting a deviation of the relative position from the first position; a connecting step of connecting the movable body to a transported object that is a connection target by moving the movable body in a first direction that is a forward / backward direction of the movable body after the deviation correcting step, The coordinates of the relative position have a plurality of coordinate components, the deviation has a plurality of deviation components corresponding to the plurality of coordinate components, In the deviation correction step, correcting the plurality of deviation components by moving the moving body based on each of the plurality of deviation components; The plurality of deviation components are corrected in a predetermined order, and the deviation component corresponding to the left and right direction of the moving body is corrected last. Control method.

3. A method for controlling a moving object having a sensor for detecting a marker installed on a moving surface, the moving object moving on the moving surface, comprising: a first detection step of detecting a first position of the predetermined marker based on a detection result of the sensor; a second detection step of determining a relative position of the moving object with respect to the detected first position; a deviation correction step of correcting a deviation of the relative position from the first position; a coupling step of coupling the moving body to a charging device that is a coupling target by moving the moving body in a first direction that is a left-right direction of the moving body after the deviation correcting step, The coordinates of the relative position have a plurality of coordinate components, the deviation has a plurality of deviation components corresponding to the plurality of coordinate components, In the deviation correction step, correcting the plurality of deviation components by moving the moving body based on each of the plurality of deviation components; The plurality of deviation components are corrected in a predetermined order, and the deviation component corresponding to the forward / backward direction of the moving body is corrected last. Control method.

4. a determining step of selecting one order from a plurality of orders that define an order in which the plurality of deviation components are corrected, and determining the selected one order as the predetermined order, the plurality of coordinate components include a first coordinate component and a second coordinate component; Among the plurality of deviation components, a deviation component corresponding to the first coordinate component is defined as a first deviation component, and a deviation component corresponding to the second coordinate component is defined as a second deviation component; The plurality of orders are: a first order in which the first deviation component is the first order and the second deviation component is the last order; a second order that is an order opposite to the first order; In the determining step, when the predetermined coordinate component is the second coordinate component, the first order is determined to be the predetermined order, and when the predetermined coordinate component is the first coordinate component, the second order is determined to be the predetermined order. The control method according to claim 1 .

5. In the deviation correction step, After correcting the last deviation component of the plurality of deviation components, the moving body is moved while repeatedly moving toward and away from the object to be connected, thereby further correcting the last deviation component. The control method according to any one of claims 1 to 3.

6. The method further includes an approaching process step performed between the deviation correcting step and the connecting step, In the approach processing step, moving the moving object in the first direction until an end of the marker in a direction opposite to the first direction comes into contact with an end of the detection range of the sensor in the opposite direction; The control method according to any one of claims 1 to 3.

7. The plurality of coordinate components of the relative position are a first coordinate component and a second coordinate component that define a predetermined position of the moving object on the moving surface; a third coordinate component that defines a rotation of the moving body about the predetermined position, Among the plurality of deviation components, a deviation component corresponding to the first coordinate component is defined as a first deviation component, a deviation component corresponding to the second coordinate component is defined as a second deviation component, and a deviation component corresponding to the third coordinate component is defined as a third deviation component; the predetermined order is one of the first deviation component and the second deviation component, a third deviation component, and the other of the first deviation component and the second deviation component, In the deviation correcting step, the movable body is moved so as to simultaneously correct the one deviation component and the third deviation component. The control method according to any one of claims 1 to 3.

8. In the deviation correcting step, when the moving body is moved so as to simultaneously correct the one deviation component and the third deviation component, the moving body moves along a curved trajectory. The control method according to claim 7.

9. moving the moving body so that the correction of the deviation component, which is performed last in the deviation correction step, and the processing of the approach processing step are performed simultaneously; The control method according to claim 6.

10. a determining step of selecting one order from a plurality of orders that define an order in which the plurality of deviation components are corrected, and determining the selected one order as the predetermined order, the plurality of orders correspond to a plurality of types of the linked objects; In the determining step, when a type of the object to be linked is designated by a command from a higher-level system, an order corresponding to the designated type is selected from the plurality of orders, and the selected order is determined as the predetermined order. The control method according to claim 1 .

11. The method further includes a position change step performed before the deviation correction step, In the position changing step, When the outline of the predetermined marker intersects with the boundary line of the detection range of the sensor, the moving body is moved so that the predetermined marker is positioned in the center of the detection range. The control method according to any one of claims 1 to 3.

12. a plurality of assist markers are arranged adjacent to the predetermined marker; The plurality of assist markers have registered therein directional information relating to a direction in which the predetermined marker exists, The control method further includes an acquiring step, In the obtaining step, when the assist marker is detected based on the detection result of the sensor, the moving body is moved in a direction in which the predetermined marker is present based on the direction information registered in the detected assist marker. The control method according to any one of claims 1 to 3.

13. the plurality of coordinate components include rotational coordinate components that define the rotation of the moving body around a rotation axis that is perpendicular to the moving plane, In the deviation correction step, an estimated position of the predetermined marker is estimated when the moving body is rotated around a center of gravity of the moving body in order to correct a deviation component corresponding to the rotation coordinate component; If the estimated position is within a detection range of the sensor after the rotation, the moving body is rotated around the center of gravity of the moving body to correct the deviation component corresponding to the rotation coordinate component; when the estimated position is not included within the detection range after the rotation of the sensor, the moving body is rotated around the first position of the predetermined marker, thereby correcting the deviation component corresponding to the rotation coordinate component. The control method according to any one of claims 1 to 3.

14. A program for causing one or more processors to execute the control method according to any one of claims 1 to 3.

15. a moving body having a sensor for detecting a marker installed on a moving surface; a control unit that controls the moving body to move on the moving surface, The control unit a first detection unit that detects a first position of the predetermined marker based on a detection result of the sensor; a second detection unit that determines a relative position of the moving object with respect to the detected first position; a deviation correction unit that performs deviation correction to correct a deviation of the relative position from the first position; a connection processing unit that connects the moving body to a connection target object by moving the moving body in a first direction after processing by the deviation correction unit, The coordinates of the relative position have a plurality of coordinate components, the deviation has a plurality of deviation components corresponding to the plurality of coordinate components, Among the plurality of coordinate components, a coordinate component corresponding to a second direction that is orthogonal to the first direction and parallel to the moving surface is set as a predetermined coordinate component; The deviation correction unit correcting the plurality of deviation components by moving the moving body based on each of the plurality of deviation components; Correcting each of the plurality of deviation components in a predetermined order, and correcting the deviation component corresponding to the predetermined coordinate component among the plurality of deviation components last. Mobile systems.

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