MOBILE BODY, CONTROL DEVICE, MONITORING DEVICE, CONTROL METHOD, AND PROGRAM

Abstract

To improve the security of a moving body which can move in all directions.SOLUTION: A moving body according to an embodiment of the present invention has a drive wheel, a rotation speed detection unit, a travel speed detection unit, an object detection unit, a travel control unit, a stopping unit, and a changing unit. The drive wheels are three or more drive wheels provided to the moving body, each of them to be driven independently. The rotation speed detection unit detects rotation speed of each of the drive wheels. The travel speed detection unit detects a travel speed of the moving body by using each rotation speed detected by the rotation speed detecting unit. The object detection unit detects an object in a monitoring region set in the surroundings of the moving body. The travel control unit moves the moving body according to a travel plan. The stopping unit stops the moving body if the travel speed detected by the travel speed detection unit reaches a threshold speed. The changing unit changes a range of the monitoring region and the threshold speed based on an operation signal output from the travel control unit.SELECTED DRAWING: Figure 5C

Description

[Technical field]

[0001] An embodiment of the present invention relates to a moving object, a control device, a monitoring device, a control method, and a program. [Background technology]

[0002] Conventionally, autonomously moving (traveling) mobile objects such as robots and carrier vehicles have been put to practical use to reduce the labor required for transporting luggage in a logistics warehouse. Methods for controlling the travel of a mobile object include, for example, a guided method in which the object travels along a guide line on the floor, and a guideless method in which the object detects the environment around the object and performs autonomous control. The mobile object also includes a non-contact obstacle detector that detects obstacles in a monitoring area, and a control unit that stops the mobile object using the detection results from the obstacle detector. This makes it possible to stop the mobile object without colliding with the obstacle even if there is an obstacle in the moving direction of the mobile object.

[0003] In recent years, mobile objects have become known that have three or more drive wheels and an omnidirectional mechanism that allows them to move in all directions. Mecanum wheels, for example, are used as drive wheels for omnidirectional mechanisms. Mobile objects that can move in all directions can instantly perform complex movements such as moving sideways and turning on the spot in addition to moving forward and changing direction. Some mobile objects are equipped with a safety control system for the purpose of protecting people. The safety control system, for example, slows down or stops the mobile object when an obstacle is detected in the monitoring area by a sensor or the like.

[0004] In addition, if the moving body always detects objects in the monitoring area as obstacles, it will stop when it approaches the object to be transported, and will not be able to achieve its original purpose of transporting the object. Therefore, when the moving body travels at a speed lower than a predetermined speed, it is possible to consider that it has moved close to the object to be transported and reduce the monitoring area so that the object to be transported is not detected as an obstacle.

[0005] Here, it is assumed that a speed command value used for speed control of a moving body that can move in all directions is used to determine whether the moving body is at or below a predetermined speed. In this case, for example, due to a time delay caused by the inertia of the motor control system or the moving body, a delay in signal processing, an error, etc., the speed indicated by the speed command value may differ from the actual speed of the moving body. Therefore, if it is determined that the speed of the moving body is at or below the predetermined speed even though it is not actually at or below the predetermined speed, the monitoring area may be reduced. Therefore, it may not be possible to properly detect an obstacle. In addition, if the moving body moves at high speed while the monitoring area is reduced, it may not be possible to stop the moving body safely. Therefore, there is a risk that the safety of the moving body that can move in all directions may not be guaranteed. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2016-151897 A [Patent Document 2] JP 2016-062441 A Summary of the Invention [Problem to be solved by the invention]

[0007] An object of the present invention is to provide a moving body, a control device, a monitoring device, a control method, and a program that can improve the safety of a moving body that can move in all directions. [Means for solving the problem]

[0008] The moving body of the embodiment includes a drive wheel, a rotation speed detection unit, a moving speed detection unit, and an object detection unit. No. 1 A control unit; A second control unit;The driving wheels are three or more driving wheels provided on the moving body and each of which is driven independently. The rotation speed detection unit detects the rotation speed of each of the driving wheels. The movement speed detection unit detects the movement speed of the moving body using each of the rotation speeds detected by the rotation speed detection unit. The object detection unit detects an object within a monitoring area set around the moving body. No. 1 The control unit moves the moving object according to a movement plan. The second control unit has a change unit and a stop unit. The stop unit detects that the moving speed detected by the moving speed detection unit is Configured Stopping the moving object when a speed threshold is reached Control to The change unit is No. 1 The range of the monitoring area is reduced or disabled based on an operation signal output from a control unit. The object detection unit is configured as follows: control And the above Depending on the above Movement Speed Lower the speed threshold Set it as follows: . [Brief description of the drawings]

[0009] [Figure 1A] 1 is a diagram showing an example of the overall configuration of an omnidirectional moving object 1 according to a first embodiment. [Figure 1B] FIG. 4 is a diagram showing a specific example of a control signal 40. [Figure 1C] 1 is a diagram showing an example of the overall configuration of an omnidirectional moving object 1 according to a first embodiment. [Diagram 2] 1A to 11D are diagrams showing an example of the configuration of Mecanum wheels 11a to 11d. [Diagram 3] FIG. 2 is a diagram showing an example of a coordinate system for the omnidirectional moving body 1 and Mecanum wheels 11a to 11d. [Figure 4] FIG. 4 is a diagram showing an example of a monitoring area 400. [Figure 5A] FIG. 4 shows an example of a changed monitoring area 400. [Figure 5B] FIG. 4 is a diagram showing an example of an emergency stop speed threshold value. [Figure 5C] FIG. 4 is a diagram showing an example of a speed threshold for emergency stop during muting. [Figure 6]2 is a diagram showing an example of the relationship between the speed of the omnidirectional moving body 1 and the rotational speed (angular velocity) of the Mecanum wheel 11. FIG. [Figure 7] FIG. 4 is a diagram showing a logic for speed determination according to the first embodiment. [Figure 8] 4 is a flowchart showing a process of switching the protection area 401 and the emergency stop speed threshold performed by the omnidirectional moving body 1 according to the first embodiment. [Figure 9] 13 is a diagram showing a logic for switching a protection area 401 and an emergency stop speed threshold value according to a first modified example of the first embodiment. FIG. [Figure 10] FIG. 11 is a sequence diagram showing a process of switching the protection area 401 and the emergency stop speed threshold value performed by the omnidirectional mobile object 1 according to the first modification of the first embodiment. [Figure 11] FIG. 11 is a diagram showing a logic for switching a protection area 401 and an emergency stop speed threshold value according to a second modification of the first embodiment. [Figure 12] FIG. 11 is a sequence diagram showing a process of switching the protection area 401 and the emergency stop speed threshold value performed by the omnidirectional moving object 1 according to the second modification of the first embodiment. [Figure 13] FIG. 11 is a sequence diagram showing a process of switching the protection area 401 and the emergency stop speed threshold value performed by the omnidirectional moving object 1 according to the third modification of the first embodiment. [Figure 14] FIG. 11 is a diagram showing a logic for switching a protection area 401 according to a fourth modified example of the first embodiment. [Figure 15] FIG. 13 is a sequence diagram showing a process of switching the protection area 401 and the emergency stop speed threshold performed by the omnidirectional moving object 1 according to the fifth modification of the first embodiment. [Figure 16] FIG. 16 is a diagram showing an example of a coordinate system of an omnidirectional moving body 1600 and omni-wheels 1601a to 1601d. [Figure 17] FIG. 17 is a diagram showing an example of a coordinate system of an omnidirectional moving body 1700 and omni-wheels 1701a to 1701c. [Figure 18] FIG. 13 is a diagram showing a logic for speed determination according to the third embodiment. [Figure 19]13 is a flowchart showing a process of changing an emergency stop speed threshold in a specific direction performed by an omnidirectional moving body 1 according to a fourth embodiment. [Figure 20] FIG. 13 is a diagram showing an example of an emergency stop speed threshold value according to the fourth embodiment. [Figure 21] FIG. 13 is a diagram showing another example of the emergency stop speed threshold value according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, a moving object, a control device, a monitoring device, a control method, and a program according to the embodiments will be described with reference to the drawings.

[0011] (First embodiment) 1A and 1C are diagrams showing an example of the overall configuration of an omnidirectional mobile object 1 according to a first embodiment. The omnidirectional mobile object 1 is a transport robot equipped with an omnidirectional movement mechanism and capable of autonomously moving (traveling). Specifically, the omnidirectional mobile object 1 transports a basket cart for logistics in a logistics warehouse. The omnidirectional mobile object 1 is equipped with a drive system and a control system.

[0012] First, the drive system will be described. As shown in Fig. 1A and Fig. 1C, the drive system includes four Mecanum wheels 11a to 11d, four drive motors 12a to 12d, and four rotation speed detectors 13a to 13d. In this specification, the Mecanum wheels 11a to 11d are simply referred to as "Mecanum wheels 11" unless there is a need to distinguish them. Similarly, the drive motors 12a to 12d and the rotation speed detectors 13a to 13d are simply referred to as "drive motors 12" and "rotation speed detectors 13", respectively.

[0013] The Mecanum wheel 11 allows the omnidirectional vehicle 1 to move forward, change direction, move sideways, or turn on the spot instantly without any preparatory actions by rotating the barrels attached to the circumference of the wheel. Details of the Mecanum wheel 11 will be described later with reference to FIG. 2.

[0014] The drive motor 12 generates torque to drive the Mecanum wheel 11. The drive motor 12 includes a function of a reducer. The reducer reduces the rotation speed of the drive motor 12 (increases the torque) and transmits the rotational force to the Mecanum wheel 11.

[0015] The rotation speed detector 13 is a speed sensor that detects the rotation speed of the Mecanum wheel 11 and converts the amount of rotation into an electric signal. For example, a rotary encoder is used as the rotation speed detector 13. In addition, a brake 14 that stops the rotation of each wheel may be provided. It is preferable to use a type of brake 14 that applies a braking force when the power supply to the drive motor 12 is cut off. The arrow line connecting the motor control circuit 23 and the drive motor 12 in FIG. 1A indicates the wiring for driving the motor and the power supply wiring to the brake 14 when the brake 14 is used.

[0016] Next, the control system will be described. The control system includes an external communication device 21, a main controller 22, a motor control circuit 23, a safety laser scanner 31, a speed monitoring module 32, and a circuit breaker 33. The external communication device 21 wirelessly communicates with an external communication device via a network. The external communication device 21 receives a movement plan for the omnidirectional mobile object 1 at a predetermined timing from an external computer device that manages all the omnidirectional mobile objects 1 in the logistics warehouse.

[0017] The movement plan includes various information related to the transportation of the omnidirectional mobile object 1. Specifically, the movement plan includes, for example, information on the movement route of the omnidirectional mobile object 1 in a logistics warehouse, information on areas in which the omnidirectional mobile object 1 travels at low speed, information indicating the cart of the object to be transported, information indicating the destination of the object to be transported, and the like. The external communication device 21 outputs information received from an external computer device to the main controller 22. The external communication device 21 is a communication interface. Note that the network includes, for example, the Internet, a wide area network (WAN), a local area network (LAN), a cellular network, Wi-Fi (registered trademark), Bluetooth (registered trademark), near field communication (NFC), infrared communication, and the like.

[0018] The safety laser scanner 31 is a sensor that detects the presence of objects around the omnidirectional vehicle 1. Specifically, the safety laser scanner measures the distance to the surrounding objects and the shape of the objects by scanning with an infrared laser and measuring the time delay of the reflected light. The safety laser scanner 31 is attached, for example, to the front of the omnidirectional vehicle 1.

[0019] The safety laser scanner 31 judges whether or not an object is present in a preset area (monitoring area). If the safety laser scanner 31 judges that an object is present in the preset area, it outputs a stop signal to the main controller 22 to stop devices such as the drive motor 12.

[0020] Here, the output signals of the safety laser scanner include non-safety signals and safety signals. Non-safety signals are used for the purpose of protecting the omnidirectional mobile body 1, such as by decelerating the omnidirectional mobile body 1. On the other hand, safety signals are used as signals to reliably stop the omnidirectional mobile body 1 when a dangerous event occurs, such as a relay for cutting off the power supply. Non-safety signals are output to the main controller 22, for example. Safety signals are output to the circuit breaker 33 and the main controller 22, for example.

[0021] The main controller 22 uses the movement plan of the omnidirectional mobile body 1 to output an operation signal for switching the operation of the omnidirectional mobile body 1 to the motor control circuit 23. Note that the main controller 22 may not only obtain the movement plan wirelessly from the external communication device 21, but may also obtain the movement plan through an operation input by an operator or by connecting to an external device via a wire.

[0022] Furthermore, when an object is detected within the monitoring area by the safety laser scanner 31, the main controller 22 outputs an operation signal to the motor control circuit 23 to decelerate the omnidirectional mobile object 1.

[0023] The motor control circuit 23 uses the operation signal output from the main controller 22 to control the rotation of the drive motor, and moves the omnidirectional moving body 1 in a predetermined direction at a predetermined speed or decelerates it. As a means for stopping the omnidirectional moving body 1, in addition to a controlled stop according to a rotation speed command value from the main controller 22, when the power supply to the motor control circuit 23 is cut off, the rotation can be stopped by inertia due to the loss of driving force of each drive motor 12, or braking torque due to regenerative power dissipation in the electric resistance of the motor control circuit 23 and the drive motor system can be used. In addition, when the brake 14 is provided, a braking force is generated by cutting off the current supply from the motor control circuit 23 to the brake 14. This makes it possible to stop the omnidirectional moving body 1.

[0024] Here, as shown in FIG. 1C, the control system of the autonomous mobile robot including the omnidirectional mobile body 1 includes two control systems, a normal control system Nr and a safety control system Sf. The normal control system Nr is a control system for detecting the situation of surrounding obstacles and the like and for efficiently moving the omnidirectional mobile body 1. For example, the normal control system Nr controls the operation of the omnidirectional mobile body 1 based on distance data obtained by the laser scanner 31b, map information, and a movement plan. In FIG. 1C, the normal control system Nr uses distance data from the laser scanner 31b, but distance data (non-safety signal) from a safety laser scanner can also be used. In addition, the normal control system Nr also creates map information using distance data from surrounding objects included in, for example, the non-safety signal from the laser scanner 31b or the safety laser scanner 31. In addition, the normal control system Nr also has a function of a movement plan and an interface operated by an operator.

[0025] The control system of an autonomous mobile robot must ensure sufficient reliability in order to protect people, such as by avoiding accidents caused by operational malfunctions and avoiding collisions with people who should take priority over other operations. The functions of the normal control system Nr alone are not sufficient to ensure this reliability, and it can be difficult to achieve both efficient and safe transportation.

[0026] Therefore, the control system of the omnidirectional mobile object 1 includes a safety control system Sf in addition to the normal control system Nr. The safety control system Sf is a control system for mainly ensuring safety. The normal control system Nr (main controller 22) transmits an operation signal Sg such as a muting signal to the safety control system Sf (speed monitoring module 32). The safety control system Sf receives the operation signal and disables the protection area or changes the speed threshold for emergency stop.

[0027] Here, let us assume that a muting signal is directly output to the safety laser scanner using an operation signal from the main controller 22 without involving the safety control system Sf (speed monitoring module 32). In this case, if the main controller 22 is outputting an operation signal (muting signal) when it hangs up, the muting signal may continue to be output, and the vehicle may continue traveling with some of the safety functions of the safety laser scanner stopped. In addition, there is a risk that an emergency stop speed threshold may be changed by mistake due to an error or the like, or that an emergency stop may be performed by mistake using the changed emergency stop speed threshold.

[0028] On the other hand, the safety control system Sf (speed monitoring module 32) has a low risk of malfunction and is unlikely to break down. Even if it does break down, the speed monitoring module 32 can cut off the power supplied to the motor control circuit 23, so that a safe state can be maintained. In this way, by changing the range of the protection area 401 and the emergency stop speed threshold value through the intervention of the speed monitoring module 32, the reliability of the safety control system Sf can be ensured.

[0029] The safety control system Sf monitors the surrounding situation using a safety laser scanner 31, and when the approach of an object such as an obstacle is detected, it reliably stops the omnidirectional mobile body 1. In Fig. 1A, reference numeral 40 denotes a control signal including a safety signal.

[0030] For example, when the safety laser scanner 31 detects an object in the protection area, it outputs a safety signal to the circuit breaker 33. When the speed of the omnidirectional mobile body 1 reaches an emergency stop speed threshold (for example, 1.1 m / s), the speed monitoring module 32 outputs a safety signal to the circuit breaker 33. When the safety signal is input, the circuit breaker 33 cuts off the power supplied to the motor control circuit 23, thereby stopping the drive of each Mecanum wheel 11. The stop is caused by the rotation being stopped by inertia due to loss of driving force, the generation of braking torque due to electrical resistance (regenerative power consumption) in the motor control circuit 23 and the drive motor system, and further, when a brake 14 is provided, the braking force is used. The circuit breaker 33 is realized by, for example, a mirror contactor. In addition, although not shown in FIG. 1C, if the motor control circuit is provided with an emergency stop function by an external signal input, the stop can also be realized by inputting the safety signal input to the circuit breaker 33 to the motor control circuit.

[0031] Furthermore, in order to reliably stop the omnidirectional moving body 1 even if an abnormality occurs in the normal control system Nr, the safety control system Sf is required to be robust enough not to break down over a long period of time, to have the ability to detect failures, and to safely stop the omnidirectional moving body 1 when a failure occurs.

[0032] Here, in the monitoring area, for example, a protection area and a warning area are set from the center of the safety laser scanner 31 toward the far side. The safety laser scanner 31 can store a plurality of patterns indicating the range of the monitoring area.

[0033] The speed monitoring module 32 switches the patterns set in the safety laser scanner 31. Specifically, the speed monitoring module 32 switches the patterns (patterns indicating the ranges of warning areas and protection areas) according to each operation, such as the operation of the omnidirectional mobile body 1 traveling alone, the operation of transporting an object to be transported, the operation of picking up an object to be transported, etc.

[0034] Here, if the protection area (emergency stop function) of the safety control system Sf is always functioning, it may hinder the convenience of the omnidirectional mobile body 1 and prevent the achievement of the original purpose of use. For example, when the omnidirectional mobile body 1 picks up (docks) an object to be transported, if the safety control system Sf is functioning, the object may be detected as an obstacle and the omnidirectional mobile body 1 may stop. In other words, the object may not be picked up (get under it), and the original purpose of transporting the object may not be achieved.

[0035] Therefore, it is considered that the above-mentioned impairment of convenience can be prevented by the safety control system Sf temporarily reducing the range of the protection area set in the safety laser scanner 31 or disabling (muting) the range of the protection area when the omnidirectional mobile object 1 approaches the transport object. Specifically, when the omnidirectional mobile object 1 falls below a predetermined speed, the speed monitoring module 32 temporarily reduces or disables the protection area. This enables the omnidirectional mobile object 1 to pick up the transport object.

[0036] Furthermore, when the range of the protection area set in the safety laser scanner 31 is temporarily reduced or disabled based on a command from the normal control system Nr based on the movement plan, the safety control system Sf changes the emergency stop speed threshold for emergency stopping the omnidirectional moving body 1. Specifically, the safety control system Sf changes the range of the protection area to a second emergency stop speed threshold (e.g., 0.3 m / s) lower than the first emergency stop speed threshold (e.g., 1.1 m / s) before the change. The emergency stop speed thresholds before and after the change are not limited to the above values, and can be set to any numerical value taking into account safety standards and risks in the event of a collision.

[0037] The signals transmitted between the devices may include a signal for periodically detecting a fault. The device receiving the signal may be equipped with a time filter that does not react to the signal for detecting a fault. Although FIG. 1A shows a single signal line transmitted between the devices, the signal line may be duplicated like the signal wiring used in a general safety control system. For information transmission between the devices, an industrial communication protocol (e.g., Ethernet / IP, PROFINET, EtherCAT, Profibus, Modbus, CC-Link, CANopen, etc.) and its safety-compatible communication protocol may be used.

[0038] The main controller 22 is realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). The motor control circuit 23 and the speed monitoring module 32 are each realized by hardware (including a circuit section).

[0039] However, the motor control circuit 23 and the speed monitoring module 32 may each be realized by, for example, a hardware processor such as a CPU executing a program. In addition, the main controller 22, the motor control circuit 23, and the speed monitoring module 32 may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by cooperation between software and hardware. The program may be stored in a storage device (a storage device having a non-transient storage medium) such as an HDD (Hard Disk Drive) or a flash memory in advance, or may be stored in a removable storage medium (a non-transient storage medium) such as a DVD or a CD-ROM, and installed by mounting the storage medium in a drive device. Each functional unit is realized by a processor executing a program stored in the storage unit.

[0040] (Specific examples of the control signal 40) Fig. 1B is a diagram showing a specific example of the control signal 40. In Fig. 1B, the control signal 40 shown in Fig. 1A includes a deceleration (alarm) signal 41, an operation mode signal 42, and an abnormality stop signal 43. The deceleration signal 41 is a signal ("WNG" in Fig. 1C) that is output from the safety laser scanner 31 to the main controller 22 when an object in a warning area is detected by the safety laser scanner 31. When the deceleration signal 41 is input, the main controller 22 controls the motor control circuit 23 to decelerate the speed of the omnidirectional mobile object 1.

[0041] The operation mode signal 42 is a signal (operation signal Sg in FIG. 1C) output from the main controller 22 to the speed monitoring module 32 when, for example, transitioning to a docking mode. When the operation mode signal 42 is input, the speed monitoring module 32 outputs a signal to temporarily reduce the range of the protection area set in the safety laser scanner 31 or to disable (muting) the range of the protection area.

[0042] The abnormality stop signal 43 is a signal ("OSSD" in FIG. 1C) that is output from the speed monitoring module 32 to the circuit breaker 33 when the speed monitoring module 32 determines that an abnormality in the speed value exists, such as that the speed of the omnidirectional moving object 1 has reached a design speed threshold. When the abnormality stop signal 43 is input, the circuit breaker 33 cuts off the power supplied to the motor control circuit 23. This causes the speed of the omnidirectional moving object 1 to decelerate (stop).

[0043] (About the configuration of Mecanum wheels 11a to 11d) Fig. 2 is a diagram showing an example of the configuration of the Mecanum wheels 11a to 11d. In Fig. 2, the Mecanum wheels 11a to 11d each include a plurality of barrel-shaped rollers 201. The barrel-shaped rollers 201 are attached on the outer periphery of the wheel at an angle with respect to the wheel axis. The Mecanum wheels 11a to 11d all have the same wheel diameter. However, these wheel diameters may be different wheel diameters.

[0044] In FIG. 2, a center line 202 indicates the inclination of the barrel-shaped roller 201. In each of the Mecanum wheels 11a to 11d, the barrel-shaped rollers 201 rotate in the same direction at the same rotational speed. There are two types of Mecanum wheels 11a to 11d: right-handed wheels in which the barrel-shaped rollers 201 are attached with an inclination that rises to the right, and left-handed wheels in which the barrel-shaped rollers 201 are attached with an inclination that rises to the left. The Mecanum wheels 11a to 11d are disposed at four locations on the front, back, left and right sides of the housing 300 (see FIG. 3) of the omnidirectional moving body 1, like a four-wheeled automobile.

[0045] Additionally, the Mecanum wheels 11a, 11b (11c, 11d) located on the right side (or left side) are of different types (right-handed and left-handed) at the front and rear. Additionally, the Mecanum wheels 11a, 11d (11b, 11c) located diagonally on the omnidirectional moving body 1 are of the same type, right-handed (left-handed). Note that whether the Mecanum wheels 11a, 11d or the Mecanum wheels 11b, 11c are right-handed or left-handed can be determined arbitrarily according to the design.

[0046] By arranging the Mecanum wheels 11a to 11d in this way, the balance of the propulsive forces generated by each wheel stabilizes the traveling direction and posture of the moving body. For example, by rotating each wheel at a predetermined speed, it is possible to move the omnidirectional moving body 1 in one direction. For example, forward, backward, sideways, turning, diagonal movement, etc. are possible.

[0047] (Regarding the coordinate system of the omnidirectional mobile unit 1 and the Mecanum wheels 11a to 11d) 3 is a diagram showing an example of a coordinate system for the omnidirectional mobile body 1 and the Mecanum wheels 11a to 11d. As shown in FIG. 3, the x-axis, y-axis, and z-axis are defined by a right-handed coordinate system. The x-axis indicates the front-rear direction. The y-axis indicates the lateral direction. The z-axis indicates the height direction. The forward speed of the omnidirectional mobile body 1 is defined as the main movement speed Vx. The lateral speed of the omnidirectional mobile body 1 is defined as Vy. The turning speed of the omnidirectional mobile body 1 is defined as ω.

[0048] The rotation direction of each Mecanum wheel 11 is positive (plus) in the counterclockwise direction toward the attachment direction to the omnidirectional vehicle 1. The rotation speed of the wheels of Mecanum wheel 11a is φ1, the rotation speed of the wheels of Mecanum wheel 11b is φ2, the rotation speed of the wheels of Mecanum wheel 11c is φ3, and the rotation speed of the wheels of Mecanum wheel 11d is φ4.

[0049] Below, examples will be given of the omnidirectional mobile object 1 moving forward, moving sideways, and turning on the spot. (When moving forward) If φ1=-1 rad / s, φ2=-1 rad / s, φ3=1 rad / s, and φ4=1 rad / s, the omnidirectional mobile object 1 moves forward in the x-axis direction at a main movement speed Vx of 1 m / s. (When moving directly to the side) If φ1=-1 rad / s, φ2=1 rad / s, φ3=-1 rad / s, and φ4=1 rad / s, the omnidirectional mobile object 1 moves laterally in the y-axis direction at a speed Vy of 1 m / s. (When turning on the spot) If φ1 = -0.5 rad / s, φ2 = -0.5 rad / s, φ3 = -0.5 rad / s, and φ4 = -0.5 rad / s, the omnidirectional mobile object 1 rotates on the spot at an angular velocity of ω ≒ 1 rad / s.

[0050] The signs of the rotation and translation directions are determined by the defined coordinate system and orientation, and the arrangement of the left and right types of the Mecanum wheel 11. For example, if the defined coordinate system and orientation, and the left and right types of the Mecanum wheel 11 are different from those shown in the figures, the signs of the movement directions will be different from those shown in the above examples.

[0051] Here, for an omnidirectional mobile body 1 equipped with four Mecanum wheels 11, the relationship between the rotation speed of each Mecanum wheel 11 and the movement speed of the omnidirectional mobile body 1 will be described. The rotation speed of each Mecanum wheel 11 and the movement speed of the omnidirectional mobile body 1 can be expressed by Equation (1). In other words, the movement speed of the omnidirectional mobile body 1 can be calculated from the rotation speed of each Mecanum wheel 11.

[0052]

number

[0053] A is a 3x4 matrix. Rw indicates the wheel radius. The matrix elements contain coefficients related to the wheel arrangement of the Mecanum wheel 11. Equation (1) is called forward kinematics.

[0054] On the other hand, formula (2) is a formula called inverse kinematics. Formula (2) is a calculation formula for calculating the required wheel rotation speed from the target speed of the omnidirectional mobile body 1.

[0055]

number

[0056] B is a 4×3 matrix. Rw indicates the wheel radius. The matrix elements contain coefficients related to the wheel arrangement of the Mecanum wheels 11. The main controller 22 calculates the target rotational speeds of the four Mecanum wheels 11 from the target speed of the omnidirectional vehicle 1 by using the relationship between formulas (1) and (2). The main controller 22 outputs the calculated target rotational speeds to the motor control circuit 23, thereby allowing the omnidirectional vehicle 1 to move in a desired direction at a desired speed.

[0057] (An example of the monitoring area 400) Fig. 4 is a diagram showing an example of a monitoring area 400. In Fig. 4, a monitoring area 400 in which an object is detected by a safety laser scanner 31 is set in front of the omnidirectional mobile object 1. The monitoring area 400 includes a protection area 401 close to the omnidirectional mobile object 1 and a warning area 402 farther away than the protection area 401.

[0058] The protection area 401 is set taking into consideration the distance until the omnidirectional mobile body 1 stops, and is, for example, an area within 50 cm in the forward direction of the omnidirectional mobile body 1. When the safety laser scanner 31 detects the presence of an obstacle in the protection area 401, the circuit breaker 33 (see FIG. 1A) cuts off the power supplied to the motor control circuit 23, causing the omnidirectional mobile body 1 to stop.

[0059] The warning area 402 is, for example, an area within 50 cm to several meters in the forward direction of the omnidirectional mobile body 1. When the safety laser scanner 31 detects the presence of an obstacle in the warning area 402, the main controller 22 controls the motor control circuit 23 to decelerate the omnidirectional mobile body 1. The range of the monitoring area 400 (protection area 401 and warning area 402) can be changed depending on the situation.

[0060] (Regarding changes to the range of the monitoring area 400) Fig. 5A is a diagram showing an example of the changed monitoring area 400. As shown in Fig. 5A, an object 500 (cart) to be transported is present in front of the omnidirectional mobile body 1. That is, the diagram shows a situation in which the omnidirectional mobile body 1 approaches the object 500 to transport the object 500 based on a movement plan. If the safety laser scanner 31 detects the object 500 to be transported as an obstacle, the omnidirectional mobile body 1 stops and is unable to transport the object 500.

[0061] Therefore, when the omnidirectional mobile object 1 moves close to the object 500, the range of the protection area 401 is temporarily reduced (or disabled) so that the object 500 is not detected as an obstacle. Also, the warning area 402 is, for example, temporarily disabled. This allows the omnidirectional mobile object 1 to pick up the object 500 (get under the object 500).

[0062] (An example of an emergency stop speed threshold) FIG. 5B is a diagram showing an example of the speed threshold for emergency stop. As shown in FIG. 5B, there is a detection area 510 in front of the omnidirectional moving body 1 where the safety laser scanner 31 can detect. The detection area 510 has a radius of about 10 m centered on the omnidirectional moving body 1, and is formed 270° in front of the omnidirectional moving body 1. The protection area 401 is included in the detection area 510. In normal driving, the speed threshold for emergency stop is set to, for example, 1.1 m / s in all directions. That is, it is shown that an emergency stop occurs when the moving speed of the omnidirectional moving body 1 reaches 1.1 m / s in normal driving. Note that FIG. 5B illustrates the speed thresholds in the forward / backward direction (Vx direction) and the left / right direction (Vy direction), but the speed in the diagonal direction and the turning speed (speed including Vx, Vy, and ω components) can also be set in the same manner.

[0063] FIG. 5C is a diagram showing an example of an emergency stop speed threshold during muting. As shown in FIG. 5C, the protection area 401 is eliminated in front of the omnidirectional moving object 1, that is, the protection area 401 is invalid. During muting, the emergency stop speed threshold is set to, for example, 0.3 m / s in all directions. That is, during travel during muting, an emergency stop occurs when the moving speed of the omnidirectional moving object 1 reaches 0.3 m / s. Note that FIG. 5C shows the speed thresholds in the forward / backward direction (Vx direction) and the left / right direction (Vy direction), but the speed in the diagonal direction and the turning speed (speed including Vx, Vy, and ω components) can also be set in the same manner.

[0064] (Relationship between the speed of the omnidirectional vehicle 1 and the rotation speed of the Mecanum wheel 11) The rotation speed of the Mecanum wheel 11 and the speed of the omnidirectional mobile unit 1 can be related and calculated by the formulas (1), (2), and (3). In order to simplify the calculation process, the speed used for speed determination can also be determined by conditional determination using the number of rotations of each wheel and the result of logical operation. This concept is explained below. Fig. 6 is a diagram showing an example of the relationship between the speed of the omnidirectional mobile body 1 and the rotational speed (angular velocity) of the Mecanum wheel 11. In Fig. 6, the horizontal axis indicates the absolute value |V| of the speed of the omnidirectional mobile body 1. In other words, |V| can be expressed by Equation (3).

[0065]

number

[0066] The vertical axis indicates the absolute value |φ| of the maximum value among the rotational speeds of the four Mecanum wheels 11. Furthermore, |ω| shown in Fig. 6 indicates the absolute value of the rotational speed (angular velocity) of the omnidirectional mobile body 1. |ω| indicates any of 0 rad / s, 0.25 rad / s, and 0.5 rad / s.

[0067] As shown in Figure 6, for example, if the rotation speed |φ| (vertical axis) is 0.3 rad / s or less (A in the figure), the speed |V| (horizontal axis) is 0.3 m / s or less (B in the figure). This relationship also holds true even if |ω| becomes large.

[0068] Therefore, by determining that the absolute value |φ| of the maximum value among the rotational speeds of the four Mecanum wheels 11 is 0.3 rad / s or less, it is possible to determine that the speed |V| of the omnidirectional mobile body 1 is 0.3 m / s or less (that the mobile body is traveling at a low speed). In the first embodiment, a case will be described in which the rotational speeds of the four Mecanum wheels 11 are detected, and when all of them are equal to or less than a threshold value (e.g., 0.3 rad / s), the mobile body is determined to be traveling at a low speed, and the range of the protection area 401 is reduced.

[0069] (About the logic of speed judgment) Fig. 7 is a diagram showing the logic of speed determination according to the first embodiment. The logic 700 shown in Fig. 7 has logic for determining whether the rotation speed of each wheel of the Mecanum wheel 11 is equal to or lower than a threshold value and outputting the logical product of the determination result. Specifically, the logic 700 shows logic for the speed monitoring module 32 to output a switching signal for the protection area 401 when any of the rotation speeds φ1 to φ4 is less than the threshold value N, that is, when the AND condition is satisfied. Furthermore, when the AND condition is satisfied, the speed monitoring module 32 changes the speed threshold value for emergency stop.

[0070] On the other hand, if any one of the rotational speeds φ1 to φ4 of the Mecanum wheels 11a to 11d detected by the rotational speed detectors 13a to 13d is equal to or greater than the threshold value N, no switching signal for the protection area 401 is output. As a result, when any one of the rotational speeds φ1 to φ4 is less than the threshold value N, that is, when the omnidirectional mobile object 1 travels at a low speed (low speed value Vs or less), the safety laser scanner 31 can reduce the range of the protection area 401. Also, when any one of the rotational speeds φ1 to φ4 is less than the threshold value N, the speed monitoring module 32 can change the emergency stop speed threshold from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s).

[0071] In this embodiment, the wheel diameters of the mecanum wheels 11a to 11d are the same, but they may be different. If the wheel diameters of the mecanum wheels 11a to 11d are different, the rotation speed of the logic 700 may be determined by multiplying the rotation speed of each wheel by a conversion coefficient. Also, different threshold values ​​may be set in the determination of the rotation speed of the logic 700.

[0072] Moreover, although the threshold value N is set to one stage, it is not limited to this and may be set to multiple stages. For example, when reducing the range of the warning region 402, it is possible to reduce the range of the warning region 402 by setting a threshold value larger than the threshold value N and outputting a logical product using the threshold value. In this case, the logical product calculation logic becomes a multi-stage logic, and the signal output also becomes a multi-stage output.

[0073] 7 and 9, the rotation speeds of the four Mecanum wheels 11 are detected, and if all of them are equal to or less than a threshold (e.g., 0.3 rad / s), it is determined that the vehicle is traveling at a low speed, but this is not limited to the above. For example, the moving speed may be calculated using the detection results of the rotation speeds of the Mecanum wheels 11 and formula (1), and it may be determined that the vehicle is traveling at a low speed from the calculation results.

[0074] (Regarding the process of switching the protection area 401 and the emergency stop speed threshold) Fig. 8 is a flowchart showing a process of switching the protection area 401 and the emergency stop speed threshold performed by the omnidirectional mobile body 1 according to the first embodiment. In step S801 in Fig. 8, the speed monitoring module 32 waits until the speed of the omnidirectional mobile body 1 becomes equal to or lower than the low speed value Vs (e.g., 0.3 m / s). Specifically, the speed monitoring module 32 waits until the speed calculated using formula (1) becomes equal to or lower than the speed threshold, or until all of the rotational speeds φ1 to φ4 of the Mecanum wheels 11a to 11d detected by the rotational speed detectors 13a to 13d become less than the threshold N (e.g., 0.3 rad / s).

[0075] When the speed of the omnidirectional mobile object 1 becomes equal to or lower than the low speed value Vs, the speed monitoring module 32 outputs a switching signal to the safety laser scanner 31 to switch the range of the protection area 401. This causes the safety laser scanner 31 to reduce (or disable) the protection area 401 (step S802).

[0076] Then, the speed monitoring module 32 changes the emergency stop speed threshold Vt from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s) (step S803). However, the emergency stop speed threshold Vt may be changed to the second emergency stop speed not only when the speed of the omnidirectional moving body 1 becomes equal to or lower than the low speed value Vs, but also when a muting signal is output from the main controller 22. Furthermore, the speed monitoring module 32 determines whether the current moving speed V of the omnidirectional moving body 1 is equal to or higher than the second emergency stop speed threshold (0.3 m / s) (step S804). The moving speed V of the omnidirectional moving body 1 can be calculated, for example, using the detection result of the rotation speed of each Mecanum wheel 11 and the formula (1).

[0077] If the current moving speed V of the omnidirectional moving object 1 is less than the second emergency stop speed threshold (0.3 m / s) (step S804: NO), the speed monitoring module 32 proceeds to step S806. If the current moving speed V of the omnidirectional moving object 1 is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S804: YES), the speed monitoring module 32 outputs the abnormality stop signal 43 to the circuit breaker 33 (step S805). This brings the omnidirectional moving object 1 to an emergency stop.

[0078] Then, the speed monitoring module 32 judges whether or not the reduction of the protection area 401 has been cancelled (step S806). The reduction of the protection area 401 is cancelled according to the movement plan. If the reduction of the protection area 401 has not been cancelled (step S806: NO), the speed monitoring module 32 returns to step S804. If the reduction of the protection area 401 has been cancelled (step S806: YES), the speed monitoring module 32 returns the emergency stop speed threshold Vt to the first emergency stop speed threshold (1.1 m / s) (step S807), and ends a series of steps. If the condition for changing the emergency stop speed threshold Vt to the second emergency stop speed is the output of a muting signal, in step S806, it may be determined whether or not the output of the muting signal from the main controller 22 has stopped. If the output of the signal has stopped, the speed monitoring module 32 may return the emergency stop speed threshold Vt to the first emergency stop speed threshold (1.1 m / s).

[0079] According to the omnidirectional mobile body 1 of the first embodiment described above, when the omnidirectional mobile body 1 travels at a low speed (low speed value Vs or less), the range of the protection region 401 of the safety laser scanner 31 can be reduced. This makes it possible to prevent the safety laser scanner 31 from detecting the object 500 to be transported as an obstacle when the omnidirectional mobile body 1 approaches the object 500 to be transported and travels at a low speed. Therefore, the omnidirectional mobile body 1 can pick up the object 500 to be transported (get under the object 500 to be transported) and transport the object 500.

[0080] In particular, in the omnidirectional mobile body 1 according to the first embodiment, the range of the protection area 401 can be reduced using the rotation speed of the Mecanum wheel 11 without providing multiple sensors for detecting obstacles, and therefore the safety control system Sf can be controlled with a simple configuration. Therefore, the omnidirectional mobile body 1 can be safely operated with a simple configuration.

[0081] Furthermore, according to the omnidirectional moving body 1 of the first embodiment, when the protection region 401 is reduced, the omnidirectional moving body 1 can be prevented from operating at a moving speed equal to or higher than the second emergency stop speed threshold. That is, when the omnidirectional moving body 1 approaches the object to be transported 500 and travels at a low speed, the omnidirectional moving body 1 can be prevented from operating at a moving speed equal to or higher than the second emergency stop speed threshold. This makes it possible to prevent the omnidirectional moving body 1 from coming into contact with the object to be transported 500, etc., and allows the omnidirectional moving body 1 to operate safely.

[0082] Furthermore, when the protection area 401 is not reduced (when the omnidirectional moving body 1 is not traveling at a low speed), the emergency stop speed threshold is not lowered, making it difficult to make an emergency stop of the omnidirectional moving body 1. Therefore, it is possible to prevent the movement efficiency of the omnidirectional moving body 1 from decreasing.

[0083] (Modification 1 of the first embodiment) In the above-described first embodiment, as shown in Fig. 7, a case has been described in which the range of protection area 401 and the emergency stop speed threshold are changed in response to the output result of the logical product of the rotation speed of each wheel being equal to or lower than a threshold. In Modification 1 of the first embodiment, a case will be described in which the range of protection area 401 and the emergency stop speed threshold are changed in response to the logical product of "the logical product of the rotation speed of each wheel being equal to or lower than a threshold" and "the operation signal output from main controller 22". Note that in the following modifications and other embodiments, the same reference numerals will be used for the same contents as those described in the first embodiment, and description will be omitted as appropriate.

[0084] (Regarding the logic for switching the protection area 401 and the speed threshold for emergency stop) FIG. 9 is a diagram showing logic for switching the protection area 401 and the emergency stop speed threshold according to the first modified example of the first embodiment. The logic 900 shown in FIG. 9 is logic for outputting a logical product of the output result of the logic 700 and an operation signal from the main controller 22. The operation signal from the main controller 22 is a signal output from the main controller 22 according to a target movement plan, such as when docking (operation for picking up) with the transport object 500 (cart). When an AND condition is satisfied between the input of this operation signal and the speed determination result shown in the logic 700, the speed monitoring module 32 outputs a signal for reducing the protection area 401. When the AND condition is satisfied, the speed monitoring module 32 changes the emergency stop speed threshold from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s).

[0085] (Regarding the process of switching the protection area 401 and the emergency stop speed threshold) Fig. 10 is a sequence diagram showing a process of switching the protection area 401 and the emergency stop speed threshold performed by the omnidirectional moving body 1 according to the first modification of the first embodiment. In step S1001 in Fig. 10, the main controller 22 refers to the movement plan and waits until the start of a docking mode indicating the start of the transport of the object 500 to be transported by the omnidirectional moving body 1. When the docking mode starts, the main controller 22 outputs an operation signal (e.g., a muting signal) to the speed monitoring module 32 (step S1002).

[0086] Meanwhile, in step S1003, the speed monitoring module 32 waits until the speed of the omnidirectional moving body 1 becomes equal to or lower than the low speed value Vs. Specifically, the speed monitoring module 32 waits until all of the rotational speeds φ1 to φ4 of the Mecanum wheels 11a to 11d detected by the rotational speed detectors 13a to 13d become less than the threshold value N. The speed of the omnidirectional moving body 1 may be calculated using the detection results of the rotational speed of each Mecanum wheel 11 and formula (1).

[0087] When the speed of the omnidirectional mobile object 1 becomes equal to or lower than the low speed value Vs and an operation signal is input from the main controller 22, that is, when the AND condition is satisfied, the speed monitoring module 32 outputs a switching signal to the safety laser scanner 31 to switch the range of the protection area 401. This causes the safety laser scanner 31 to reduce (or disable) the protection area 401 (step S1004).

[0088] Then, the speed monitoring module 32 changes the emergency stop speed threshold Vt from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s) (step S1005). However, the condition for changing the emergency stop speed threshold Vt to the second emergency stop speed is not limited to the establishment of the above AND condition, and may be that a muting signal is output from the main controller 22. Furthermore, the speed monitoring module 32 determines whether the current moving speed V of the omnidirectional moving body 1 is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S1006). The moving speed V of the omnidirectional moving body 1 can be calculated, for example, using the detection result of the rotation speed of each Mecanum wheel 11 and formula (1).

[0089] If the current moving speed V of the omnidirectional moving object 1 is less than the second emergency stop speed threshold (0.3 m / s) (step S1006: NO), the speed monitoring module 32 proceeds to step S1008. If the current moving speed V of the omnidirectional moving object 1 is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S1006: YES), the speed monitoring module 32 outputs the abnormality stop signal 43 to the circuit breaker 33 (step S1007). This brings the omnidirectional moving object 1 to an emergency stop.

[0090] Then, the speed monitoring module 32 judges whether the AND condition has been satisfied (step S1008). If the AND condition has not been satisfied (step S1008: NO), the speed monitoring module 32 returns to step S1006. If the AND condition has been satisfied (step S1008: YES), the reduction of the protection area 401 is cancelled, and the emergency stop speed threshold Vt is returned to the first emergency stop speed threshold (1.1 m / s) (step S1009), and a series of steps is ended. If the condition for changing the emergency stop speed threshold Vt to the second emergency stop speed is the output of a muting signal, in step S1008, it may be determined whether the output of the muting signal from the main controller 22 has stopped. If the output of the signal has stopped, the speed monitoring module 32 may be configured to return the emergency stop speed threshold Vt to the first emergency stop speed threshold (1.1 m / s).

[0091] According to the first modification of the first embodiment, when the docking mode is started and the omnidirectional moving body 1 travels at a low speed (low speed value Vs or less) near the position where the object 500 is to be transported, the object 500 can be prevented from being detected as an obstacle by the safety laser scanner 31. That is, even if the omnidirectional moving body 1 travels at a low speed, the protection area 401 can be prevented from being reduced except near the object 500. Therefore, it is possible to prevent a decrease in safety caused by reducing the range of the protection area 401 at an inappropriate position, such as a position other than near the object 500. In addition, since the range of the protection area 401 can be reduced at a more appropriate timing, the efficiency of transportation performed by the omnidirectional moving body 1 can be improved.

[0092] Furthermore, according to the first modification of the first embodiment, when the docking mode is started and the omnidirectional moving body 1 travels at a low speed (low speed value Vs or less) near the object to be transported 500, the speed threshold for emergency stop Vt can be lowered. That is, even if the omnidirectional moving body 1 travels at a low speed, the speed threshold for emergency stop Vt can be prevented from being lowered except near the object to be transported 500. This makes it difficult to make an emergency stop of the omnidirectional moving body 1 except near the object to be transported 500. This makes it possible to prevent a decrease in the movement efficiency of the omnidirectional moving body 1.

[0093] (Modification 2 of the first embodiment) In the above-described first embodiment, a case has been described in which the range of the protection area 401 and the emergency stop speed threshold are changed according to the output result of the logical product using the determination result of the rotation speed of each wheel, as shown in Fig. 7. In the second modification of the first embodiment, a case will be described in which the range of the protection area 401 and the emergency stop speed threshold are changed according to the logical sum of "the logical product of the rotation speed of each wheel being equal to or lower than the threshold" and "a calculated value using the rotation speed of each Mecanum wheel 11."

[0094] The calculated value referred to here is the main movement speed Vx in the x direction (also referred to as the "main travel direction") of the omnidirectional moving body 1. In Modification 2, a case where the main movement speed Vx is negative, that is, where the omnidirectional moving body 1 is moving backward in the main travel direction, will be described below. Whether or not the omnidirectional moving body 1 is moving backward in the main travel direction can be determined by Equation (4).

[0095]

number

[0096] The left side of the formula (4) represents the main moving speed Vx. When the formula (4) is satisfied, it can be determined that the omnidirectional moving body 1 is moving backward.

[0097] (Regarding the logic for switching the protection area 401 and the speed threshold for emergency stop) Fig. 11 is a diagram showing logic for switching the protection area 401 and the emergency stop speed threshold according to the second modification of the first embodiment. Logic 1100 shown in Fig. 11 is logic for outputting a logical sum (result of an OR condition) of the output result of logic 700 and the determination result that the omnidirectional mobile object 1 is moving backward. When these OR conditions are satisfied using this logic 1100, the speed monitoring module 32 outputs a signal for reducing the protection area 401. Furthermore, when the OR condition is satisfied, the speed monitoring module 32 changes the emergency stop speed threshold from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s).

[0098] (Regarding the process of switching the protection area 401 and the emergency stop speed threshold) 12 is a sequence diagram showing a process of switching the protection area 401 and the emergency stop speed threshold value performed by the omnidirectional moving body 1 according to the second modification of the first embodiment. In step S1201 of FIG. 12, the speed monitoring module 32 waits until the speed of the omnidirectional moving body 1 becomes equal to or lower than the low speed value Vs. Specifically, the speed monitoring module 32 waits until all of the rotational speeds φ1 to φ4 of the Mecanum wheels 11a to 11d detected by the rotational speed detectors 13a to 13d become less than the threshold value N. The speed of the omnidirectional moving body 1 may be calculated using the detection results of the rotational speed of each Mecanum wheel 11 and formula (1).

[0099] Furthermore, in step S1202, the speed monitoring module 32 waits until the main movement speed Vx becomes less than 0 (until -(φ1+φ2)+(φ3+φ4)<0 is satisfied), which indicates that the omnidirectional moving body 1 is retreating. When the speed of the omnidirectional moving body 1 becomes equal to or less than the low speed value Vs or the main movement speed Vx becomes less than 0, that is, when the OR condition is satisfied, the speed monitoring module 32 outputs a switching signal to the safety laser scanner 31 to switch the range of the protection area 401. This causes the safety laser scanner 31 to reduce (or disable) the protection area 401 (step S1203).

[0100] Then, the speed monitoring module 32 changes the emergency stop speed threshold Vt from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s) (step S1204). However, the condition for changing the emergency stop speed threshold Vt to the second emergency stop speed is not limited to the establishment of the above OR condition, and a muting signal may be output from the main controller 22. Furthermore, the speed monitoring module 32 determines whether the current moving speed V of the omnidirectional moving body 1 is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S1205). The moving speed V of the omnidirectional moving body 1 can be calculated, for example, using the detection result of the rotation speed of each Mecanum wheel 11 and formula (1).

[0101] If the current moving speed V of the omnidirectional moving object 1 is less than the second emergency stop speed threshold (0.3 m / s) (step S1205: NO), the speed monitoring module 32 proceeds to step S1207. If the current moving speed V of the omnidirectional moving object 1 is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S1205: YES), the speed monitoring module 32 outputs the abnormality stop signal 43 to the circuit breaker 33 (step S1206). This brings the omnidirectional moving object 1 to an emergency stop.

[0102] Then, the speed monitoring module 32 judges whether or not the above OR condition has been satisfied (step S1207). If the above OR condition has not been satisfied (step S1207: NO), the speed monitoring module 32 returns to step S1205. If the above OR condition has been satisfied (step S1207: YES), the reduction of the protection area 401 is cancelled, and the emergency stop speed threshold Vt is returned to the first emergency stop speed threshold (1.1 m / s) (step S1208), and a series of steps is ended. If the condition for changing the emergency stop speed threshold Vt to the second emergency stop speed is the output of a muting signal, in step S1207, it may be determined whether or not the output of the muting signal from the main controller 22 has stopped. If the output of the signal has stopped, the speed monitoring module 32 may be configured to return the emergency stop speed threshold Vt to the first emergency stop speed threshold (1.1 m / s).

[0103] According to the second modification of the first embodiment, the range of the protection area 401 can be reduced not only when the moving speed of the omnidirectional moving body 1 decreases (below the low speed value Vs) but also when the omnidirectional moving body 1 retreats. For example, even when the omnidirectional moving body 1 retreats near the object 500 to adjust its orientation (facing the object 500), the range of the protection area 401 can be appropriately reduced so that the object 500 is not detected as an obstacle. This improves the efficiency of transportation performed by the omnidirectional moving body 1.

[0104] Furthermore, according to the second modification of the first embodiment, the emergency stop speed threshold Vt can be lowered not only when the moving speed of the omnidirectional moving body 1 decreases (below the low speed value Vs) but also when the omnidirectional moving body 1 moves backward. For example, when the omnidirectional moving body 1 moves backward near the object 500 to adjust its orientation (facing the object 500), the moving speed of the rear of the omnidirectional moving body 1 can be prevented from becoming equal to or higher than the second emergency stop speed threshold, so that the omnidirectional moving body 1 can be operated safely.

[0105] In the present modified example 2, when the omnidirectional moving body 1 moves backward, the speed monitoring module 32 may change the speed threshold for emergency stop to the second speed threshold for emergency stop (0.3 m / s) only in the backward direction. Specifically, the speed monitoring module 32 is adapted to determine whether the omnidirectional moving body 1 moves backward or not, and when it is determined that the omnidirectional moving body 1 moves backward, the speed threshold for emergency stop may be changed only in the backward direction. This makes it possible to prevent the moving speed of the omnidirectional moving body 1 from operating at a moving speed equal to or higher than the second speed threshold for emergency stop only in the backward direction. In addition, since the speed threshold for emergency stop is not lowered in directions other than the backward direction, it is possible to make it difficult to make an emergency stop of the omnidirectional moving body 1 in directions other than the backward direction. Therefore, it is possible to further prevent the moving efficiency of the omnidirectional moving body 1 from decreasing.

[0106] (Modification 3 of the first embodiment) In the above-mentioned first modification of the first embodiment, a case has been described in which the range of the protection area 401 and the speed threshold for emergency stop are changed according to the logical product of "the logical product of the rotation speed of each wheel being equal to or lower than the threshold" and "the operation signal output from the main controller 22". In the third modification of the first embodiment, a case has been described in which the range of the protection area 401 and the speed threshold for emergency stop are changed according to the logical sum of "the logical product of the logical product of the rotation speed of each wheel being equal to or lower than the threshold" and "the operation signal from the main controller 22" described in the first modification, and "the calculated value calculated using the rotation speed of each of the Mecanum wheels 11" described in the second modification.

[0107] (Regarding the process of switching the protection area 401 and the emergency stop speed threshold) Fig. 13 is a sequence diagram showing a process of switching the protection area 401 and the emergency stop speed threshold performed by the omnidirectional moving body 1 according to the third modification of the first embodiment. In step S1301 in Fig. 13, the main controller 22 refers to the movement plan and waits until the start of a docking mode indicating the start of the transport of the object 500 to be transported by the omnidirectional moving body 1. When the docking mode starts, the main controller 22 outputs an operation signal (e.g., a muting signal) to the speed monitoring module 32 (step S1302).

[0108] Meanwhile, in step S1303, the speed monitoring module 32 waits until the speed of the omnidirectional moving body 1 becomes equal to or lower than the low speed value Vs. Specifically, the speed monitoring module 32 waits until all of the rotational speeds φ1 to φ4 of the Mecanum wheels 11a to 11d detected by the rotational speed detectors 13a to 13d become less than the threshold value N. The speed of the omnidirectional moving body 1 may be calculated using the detection results of the rotational speed of each Mecanum wheel 11 and formula (1).

[0109] Furthermore, in step S1304, the speed monitoring module 32 waits until the main movement speed Vx becomes less than 0 (until -(φ1+φ2)+(φ3+φ4)<0 is satisfied), which indicates that the omnidirectional moving body 1 is moving backward.

[0110] (1) The AND condition that "the speed of the omnidirectional mobile object 1 becomes equal to or lower than the low speed value Vs, and an operation signal is input from the main controller 22" is satisfied, or (2) the main moving speed Vx becomes less than 0, that is, the OR condition of (1) and (2) is satisfied. In this case, the speed monitoring module 32 outputs a switching signal to the safety laser scanner 31 to switch the range of the protection area 401. As a result, the safety laser scanner 31 reduces (or disables) the protection area 401 (step S1305).

[0111] Then, the speed monitoring module 32 changes the emergency stop speed threshold Vt from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s) (step S1306). However, the condition for changing the emergency stop speed threshold Vt to the second emergency stop speed is not limited to the establishment of the above OR condition, and may be that a muting signal is output from the main controller 22. Furthermore, the speed monitoring module 32 determines whether the current moving speed V of the omnidirectional moving body 1 is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S1307). The moving speed V of the omnidirectional moving body 1 can be calculated, for example, using the detection result of the rotation speed of each Mecanum wheel 11 and formula (1).

[0112] If the current moving speed V of the omnidirectional moving object 1 is less than the second emergency stop speed threshold (0.3 m / s) (step S1307: NO), the speed monitoring module 32 proceeds to step S1309. If the current moving speed V of the omnidirectional moving object 1 is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S1307: YES), the speed monitoring module 32 outputs the abnormality stop signal 43 to the circuit breaker 33 (step S1308). This brings the omnidirectional moving object 1 to an emergency stop.

[0113] Then, the speed monitoring module 32 judges whether the above OR conditions (1) and (2) have been satisfied (step S1309). If the above OR conditions (1) and (2) have not been satisfied (step S1309: NO), the speed monitoring module 32 returns to step S1307. If the above OR conditions (1) and (2) have been satisfied (step S1309: YES), the speed monitoring module 32 cancels the reduction of the protection area 401 and returns the emergency stop speed threshold Vt to the first emergency stop speed threshold (1.1 m / s) (step S1310), and ends a series of steps. Note that in this modified example 3, when the omnidirectional mobile object 1 moves backward, the speed monitoring module 32 may change only the rearward speed threshold Vt to the second emergency stop speed threshold (0.3 m / s). Furthermore, if the condition for changing the emergency stop speed threshold Vt to the second emergency stop speed is the output of a muting signal, step S1309 may be configured to determine whether or not the output of the muting signal from the main controller 22 has stopped. When the output of the signal has stopped, the speed monitoring module 32 may return the emergency stop speed threshold Vt to the first emergency stop speed threshold (1.1 m / s).

[0114] According to the modification 3 of the first embodiment, it is possible to obtain the effects of both the modification 1 and the modification 2. That is, it is possible to prevent the safety of the omnidirectional moving body 1 from being deteriorated, and to improve the efficiency of the transportation performed by the omnidirectional moving body 1.

[0115] (Fourth Modification of the First Embodiment) In the above-described first embodiment, as shown in Fig. 7, a case has been described in which one type of threshold (only threshold N) is used to determine the rotation speed of each wheel, and the rotation speed is determined in one stage. In the fourth modification of the first embodiment, a case will be described in which a different threshold is used to determine the rotation speed of each wheel, and the rotation speed is determined in multiple stages (two stages) to reduce the range of protection area 401. In the fourth modification, a case will be described in which the range of protection area 401 is reduced and the emergency stop speed threshold is changed by determining that a specific operation has occurred before entering the docking mode.

[0116] (Regarding the logic for switching the protection area 401) Fig. 14 is a diagram showing the logic for switching the protection area 401 according to the fourth modification of the first embodiment. The logic 1400 shown in Fig. 14 is a logic for determining whether the rotation speed of each wheel of the Mecanum wheels 11 is equal to or lower than the same or different threshold values, and for outputting the logical product of the determination results.

[0117] The threshold values ​​A1 to A4 and B1 to B4 set for each wheel shown in Fig. 14 are values ​​for determining a specific operation before entering the docking mode. When the rotation speed φ1 of the Mecanum wheel 11a detected by the rotation speed detector 13a falls below the threshold value A1, the speed monitoring module 32 waits until the rotation speed φ1 falls below the threshold value B1.

[0118] Similarly, when the rotational speeds φ2 to φ4 of the Mecanum wheels 11b to 11d detected by the rotational speed detectors 13b to 13d become less than the threshold values ​​A2 to A4, respectively, the speed monitoring module 32 waits until the rotational speeds φ2 to φ4 then become less than the threshold values ​​B2 to B4.

[0119] The speed monitoring module 32 determines that a specific operation before entering the docking mode has been performed when the conditions for all of the rotational speeds φ1 to φ4 are satisfied in sequence and all of the two-stage conditions shown in FIG. 14 are satisfied, that is, when the AND condition is satisfied. For this reason, the speed monitoring module 32 outputs a switching signal to the safety laser scanner 31 to switch the range of the protection area 401. As a result, the safety laser scanner 31 reduces (or disables) the protection area 401. In addition, the speed monitoring module 32 changes the emergency stop speed threshold from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s). It is to be noted that whether or not a specific operation has been performed can be obtained not only from the above logic but also from a calculation result using the detection result of the rotational speed of each Mecanum wheel 11 and the mathematical formula (1).

[0120] Furthermore, the main controller 22 outputs an operation signal after a predetermined time has elapsed. This causes the safety laser scanner 31 to reset the reduction or invalidation of the protection area 401 and the change in the emergency stop speed threshold. Note that the speed monitoring module 32 may input an operation signal from the main controller 22 to instruct the safety laser scanner 31 to perform a reset. That is, the safety laser scanner 31 may reset the reduction or invalidation of the protection area 401 and the change in the emergency stop speed threshold based on an instruction from the speed monitoring module 32. Furthermore, the safety laser scanner 31 may reset the reduction or invalidation of the protection area 401 and the change in the emergency stop speed threshold by directly inputting an operation signal indicating a reset from the main controller 22.

[0121] Furthermore, the safety laser scanner 31 may reset the reduction or invalidation of the protection area 401 and the change of the emergency stop speed threshold based on the measurement result of the timer. The timer may be provided in the speed monitoring module 32 or in the safety laser scanner 31. Furthermore, the timer only needs to be able to measure the time required for operation in the docking mode, for example. When the speed monitoring module 32 is provided with a timer, the safety laser scanner 31 may reset the reduction or invalidation of the protection area 401 and the change of the emergency stop speed threshold based on an instruction from the speed monitoring module 32 based on the measurement result of the timer.

[0122] According to the fourth modification of the first embodiment, when the omnidirectional moving body 1 performs a specific operation before entering the docking mode, the object 500 to be transported can be prevented from being detected as an obstacle by the safety laser scanner 31. Therefore, it is possible to prevent a decrease in safety caused by reducing the range of the protection area 401. In addition, since the range of the protection area 401 can be reduced at a more appropriate timing, it is possible to improve the efficiency of transportation performed by the omnidirectional moving body 1. In addition, it is possible to prevent the moving speed of the omnidirectional moving body 1 from becoming equal to or higher than the second emergency stop speed threshold near the object 500 to be transported, so that the omnidirectional moving body 1 can be operated safely.

[0123] Furthermore, according to the fourth modification of the first embodiment, it is possible to determine that a specific operation has occurred before entering the docking mode and change the range of the protection area 401 and the emergency stop speed threshold value, without using an operation signal from the main controller 22. This makes it possible to reduce the load on the main controller 22 related to the output of the operation signal.

[0124] Note that Modification 1 according to the first embodiment may be applied to Modification 4 according to the first embodiment. That is, the range of protection area 401 and the emergency stop speed threshold may be changed using an operation signal output from main controller 22. Specifically, the range of protection area 401 and the emergency stop speed threshold may be changed according to the logical product of "the logical product of the rotation speeds φ1 to φ4 satisfying all of the two-stage conditions shown in FIG. 14" and "the operation signal output from main controller 22."

[0125] This prevents the safety laser scanner 31 from detecting the transport object 500 as an obstacle when the omnidirectional moving body 1 performs a specific operation (when docking with the transport object 500) at the position where the transport object 500 is placed. This prevents the safety from being reduced by reducing the range of the protection area 401 at an inappropriate position. In addition, since the range of the protection area 401 can be reduced at a more appropriate timing, the efficiency of transport performed by the omnidirectional moving body 1 can be improved. In addition, since the travel speed of the omnidirectional moving body 1 can be prevented from reaching or exceeding the second emergency stop speed threshold when the monitoring area is reduced (when docking with the transport object 500), the omnidirectional moving body 1 can be operated safely.

[0126] (Fifth Modification of the First Embodiment) In the above-described first embodiment, a case has been described in which the range of protection area 401 and the speed threshold for emergency stop are changed in accordance with only the rotation speed of each wheel. In the fifth modification of the first embodiment, a case will be described in which the range of protection area 401 and the speed threshold for emergency stop are changed in accordance with the logical product of "the logical product of the rotation speed of each wheel being equal to or lower than the threshold" and "the detection result of rotation abnormality."

[0127] To detect an abnormality in the rotational speed of each wheel of the Mecanum wheel 11, formulas (5) and (6) are used.

[0128]

number

[0129]

number

[0130] In an ideal state where there is no abnormality in the rotation speed detector 13 and furthermore no slippage between the road surface and the wheels, "|h|" in formula (5) is zero. On the other hand, if at least one of the values ​​of φ1 to φ4 indicates an abnormal value, "|h|" indicates a value other than zero. Therefore, by setting "ξ" as a permissible value, it is possible to determine an abnormal value using formula (6).

[0131] Here, the relationship between φ1, φ2, φ3, φ4 and Vx, Vy, ω is shown in the above-mentioned formula (1) of the forward kinematics. In formula (1), φ1, φ2, φ3, φ4 can theoretically take any value, but in reality, they cannot take any value due to the constraint conditions between the road surface and the wheels.

[0132] On the other hand, in the above-mentioned inverse kinematics formula (2), Vx, Vy, and ω can take any value. Formula (6) is a formula for determining whether any of the values ​​of φ1 to φ4 that deviate from the constraint condition in formula (1) has been input.

[0133] Using the formula (1) of forward kinematics, If φ1=-1, φ2=-1, φ3=1, φ4=1, then Vx=1, Vy=0, ω=0 It is. In this case, |h|=0.

[0134] Next, using the forward kinematics equation (1), If φ1=0, φ2=-1, φ3=1, φ4=1, then Vx=0.75, Vy=-0.25, ω=-0.4835 It is. In this case, |h|=1. Since h ≠ 0, it can be determined that there is an abnormality in the rotation speed of some of the wheels.

[0135] Substituting the obtained Vx, Vy, and ω into the inverse kinematics equation (2), we get φ1=-0.249, φ2=-0.749, φ3=1.250, φ4=0.75 This is the input value, φ1=0, φ2=-1, φ3=1, φ4=1 This contradiction also indicates that there is something wrong with the rotation speed of some of the wheels.

[0136] (Regarding the process of switching the protection area 401) 15 is a sequence diagram showing a process of switching the protection area 401 and the emergency stop speed threshold value performed by the omnidirectional moving body 1 according to the fifth modification of the first embodiment. In step S1501 in FIG. 15, the speed monitoring module 32 waits until the speed of the omnidirectional moving body 1 becomes equal to or lower than the low speed value Vs. Specifically, the speed monitoring module 32 waits until all of the rotational speeds φ1 to φ4 of the Mecanum wheels 11a to 11d detected by the rotational speed detectors 13a to 13d become less than the threshold value N.

[0137] Furthermore, in step S1502, the speed monitoring module 32 waits until an abnormality is detected, that is, until "|h|<ξ". When an abnormality is detected, in step S1503, the speed monitoring module 32 judges whether or not the abnormality has continued for a certain period of time. Here, an averaging filter, for example, is used to judge whether or not the abnormality has continued for a certain period of time. This makes it possible to prevent the occurrence of a stop due to a judgement that a rotation abnormality has occurred due to noise or temporary wheel slippage.

[0138] If the abnormality does not continue for a certain period of time, the NOT condition is satisfied. Assume that the AND condition is satisfied when this NOT condition is satisfied and the speed of the omnidirectional mobile object 1 becomes equal to or lower than the low speed value Vs in step S1501. In this case, the speed monitoring module 32 outputs a switching signal to the safety laser scanner 31 to switch the range of the protection area 401. As a result, the safety laser scanner 31 reduces (or disables) the protection area 401 (step S1504).

[0139] On the other hand, if the abnormality continues for a certain period of time, the speed monitoring module 32 outputs a protection stop signal to stop the omnidirectional moving body 1. The protection stop signal is output from the speed monitoring module 32 to the circuit breaker 33 directly or via other devices (the main controller 22, the motor control circuit 23, the safety laser scanner 31, etc.) to the circuit breaker 33. When the stop signal is input, the circuit breaker 33 stops the drive motor 12 (step S1505), and the series of steps is completed.

[0140] After reducing the protection area 401 in step S1504, the speed monitoring module 32 changes the emergency stop speed threshold Vt from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s) (step S1506). However, the condition for changing the emergency stop speed threshold Vt to the second emergency stop speed is not limited to the establishment of the above AND condition, and a muting signal may be output from the main controller 22. Furthermore, the speed monitoring module 32 determines whether the current moving speed V of the omnidirectional moving body 1 is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S1507). The moving speed V of the omnidirectional moving body 1 can be calculated, for example, using the detection result of the rotation speed of each Mecanum wheel 11 and formula (1).

[0141] If the current moving speed V of the omnidirectional moving object 1 is less than the second emergency stop speed threshold (0.3 m / s) (step S1507: NO), the speed monitoring module 32 proceeds to step S1509. If the current moving speed V of the omnidirectional moving object 1 is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S1507: YES), the speed monitoring module 32 outputs the abnormality stop signal 43 to the circuit breaker 33 (step S1508). This brings the omnidirectional moving object 1 to an emergency stop.

[0142] Then, the speed monitoring module 32 judges whether or not the AND condition has been completed (step S1509). If the AND condition has not been completed (step S1509: NO), the speed monitoring module 32 returns to step S1507. If the AND condition has been completed (step S1509: YES), the reduction of the protection area 401 is cancelled, and the emergency stop speed threshold Vt is returned to the first emergency stop speed threshold (1.1 m / s) (step S1510), and a series of steps is terminated. If the condition for changing the emergency stop speed threshold Vt to the second emergency stop speed is the output of a muting signal, in step S1509, it may be determined whether or not the output of the muting signal from the main controller 22 has stopped. If the output of the signal has stopped, the speed monitoring module 32 may be configured to return the emergency stop speed threshold Vt to the first emergency stop speed threshold (1.1 m / s).

[0143] According to the fifth modification of the first embodiment, when there is a rotation abnormality or when there is no abnormality in the rotation speed detector 13, if the omnidirectional moving body 1 travels at a low speed (low speed value Vs or less), the range of the protection area 401 of the safety laser scanner 31 can be reduced and the emergency stop speed threshold can be lowered. Therefore, when there is no rotation abnormality and the omnidirectional moving body 1 is operating normally, the range of the protection area 401 can be reduced and the transport target object 500 can be picked up without the omnidirectional moving body 1 reaching a moving speed equal to or higher than the second emergency stop speed threshold. Therefore, the omnidirectional moving body 1 can be operated appropriately while improving safety.

[0144] Furthermore, according to the fifth modification of the first embodiment, the omnidirectional moving body 1 can be stopped when there is a rotation abnormality or an abnormality in the rotation speed detector 13. This can further improve safety.

[0145] In addition, in the fifth modification of the first embodiment, if abnormal wheel rotation is detected for a certain period of time, the omnidirectional moving body 1 is stopped. This prevents the omnidirectional moving body 1 from being stopped due to a mistaken determination that abnormal wheel rotation is due to noise or temporary wheel slippage. This improves the efficiency of transportation performed by the omnidirectional moving body 1.

[0146] Second Embodiment In the above-described first embodiment, a case has been described in which the drive wheels of the omnidirectional moving body 1 are four Mecanum wheels 11. In the second embodiment, a case will be described in which the drive wheels of the omnidirectional moving body 1 are four omni wheels.

[0147] (About the coordinate system of omniwheels 1601a to 1601d) FIG. 16 is a diagram showing an example of a coordinate system of an omnidirectional vehicle 1600 and omni wheels 1601a to 1601d. In addition, when there is no need to particularly distinguish between the omni wheels 1601a to 1601d, they will be simply referred to as "omni wheels 1601". As shown in FIG. 16, the omnidirectional vehicle 1600 has four omni wheels 1601. The four omni wheels 1601 are arranged such that an axle connecting the omni wheels 1601a and 1601d and an axle connecting the omni wheels 1601b and 1601c pass through the center of the omnidirectional vehicle 1600 and form an angle of 90° with each other.

[0148] 16, the direction of travel (forward direction) of omnidirectional mobile body 1600 is the x-axis, the lateral direction is the y-axis, and the direction perpendicular to the paper surface is the z-axis (not shown). The positive direction of the x-axis is upward in the figure. The positive direction of the y-axis is leftward in the figure. The positive direction of the turning direction is counterclockwise in the figure. The forward speed of omnidirectional mobile body 1600 is Vx. The lateral speed of omnidirectional mobile body 1600 is Vy. The turning speed of omnidirectional mobile body 1600 is ω.

[0149] The rotation direction of each omni wheel 1601 is positive (plus) when it is counterclockwise toward the attachment direction to the omnidirectional vehicle 1600 (the center of the omnidirectional vehicle 1700). The rotation speed of the wheels of omni wheel 1601a is φ1, the rotation speed of the wheels of omni wheel 1601b is φ2, the rotation speed of the wheels of omni wheel 1601c is φ3, and the rotation speed of the wheels of omni wheel 1601d is φ4.

[0150] The above-mentioned formulas (1) to (3) can be applied to the omni-wheel 1601 as well, similarly to the Mecanum wheel 11 described in the first embodiment. Therefore, the main controller 22 can move the omnidirectional moving body 1600 in a desired direction at a desired speed by outputting the calculated target rotation speed to the motor control circuit 23.

[0151] As in the second modification of the first embodiment, whether the omnidirectional vehicle 1600 is moving backward with respect to the main traveling direction can be determined by the above-mentioned formula (4). As in the fifth modification of the first embodiment, whether there is an abnormality in the rotation speed of each wheel of the omniwheel 1601 can be determined by the above-mentioned formulas (5) and (6).

[0152] Therefore, the omnidirectional vehicle 1600 using the omni-wheel 1601 according to the second embodiment can achieve the same effects as the omnidirectional vehicle 1 using the Mecanum wheel 11 shown in the first embodiment. Also, the second embodiment can apply each of the modified examples 1 to 5 of the first embodiment.

[0153] (Third embodiment) In the above-described second embodiment, a case where the driving wheels of the omnidirectional moving body 1 are four omni wheels has been described. In the third embodiment, a case where the driving wheels of the omnidirectional moving body 1 are three omni wheels will be described.

[0154] (About the coordinate system of omniwheels 1701a~1701c) FIG. 17 is a diagram showing an example of a coordinate system of an omnidirectional vehicle 1700 and omni-wheels 1701a to 1701c. Note that the omni-wheels 1701a to 1701c will be simply referred to as "omni-wheels 1701" when there is no need to distinguish them from one another. As shown in FIG. 17, the omnidirectional vehicle 1700 includes three omni-wheels 1701. The three omni-wheels 1701 are arranged such that the axles of each of the omnidirectional vehicle 1700 pass through the center of the omnidirectional vehicle 1700. The three omni-wheels 1701 are also arranged such that the axles are spaced apart from one another by an angle of 120°.

[0155] 17, the traveling direction (forward direction) of omnidirectional mobile body 1700 is the x-axis, the lateral direction is the y-axis, and the direction perpendicular to the paper surface is the z-axis (not shown). The positive direction of the x-axis is upward in the figure. The positive direction of the y-axis is leftward in the figure. The positive direction of the turning direction is counterclockwise in the figure. The forward speed of omnidirectional mobile body 1700 is Vx. The lateral speed of omnidirectional mobile body 1700 is Vy. The turning speed of omnidirectional mobile body 1700 is ω.

[0156] The rotation direction of each omniwheel 1701 is positive (plus) when it is counterclockwise toward the attachment direction (center of omniwheel 1700) to omnidirectional vehicle 1700. The rotation speed of the wheels of omniwheel 1701a is φ1, the rotation speed of the wheels of omniwheel 1701b is φ2, and the rotation speed of the wheels of omniwheel 1701c is φ3.

[0157] Here, for an omnidirectional vehicle 1700 equipped with three omni wheels 1701, the relationship between the rotation speed of each omni wheel 1701 and the movement speed of the omnidirectional vehicle 1700 will be described. The rotation speed of each omni wheel 1701 and the movement speed of the omnidirectional vehicle 1700 can be expressed by Equation (7). Equation (7) is a formula called forward kinematics.

[0158]

number

[0159] C is a 3 × 3 matrix. Rw indicates the wheel radius. The matrix elements contain coefficients related to the wheel arrangement of the omni wheel 1701.

[0160] On the other hand, formula (8) is a formula called inverse kinematics. Formula (8) is a calculation formula for calculating the required wheel rotation speed from the target speed of the omnidirectional mobile body 1700.

[0161]

number

[0162] D is a 3×3 matrix. The matrix elements include coefficients related to the wheel diameter and wheel arrangement of the omni-wheels 1701. The main controller 22 calculates the target rotational speeds of the three omni-wheels 1701 from the target speed of the omni-directional mobile body 1700 by using the relationship between Equation (7) and Equation (8). The main controller 22 outputs the calculated target rotational speeds to the motor control circuit 23, thereby allowing the omni-directional mobile body 1700 to move in a desired direction at a desired speed.

[0163] (About the logic of speed judgment) Fig. 18 is a diagram showing a logic for speed determination according to the third embodiment. Logic 1800 shown in Fig. 18 is a logic for determining whether or not the rotation speed of each wheel of omni-wheel 1701 is equal to or lower than a threshold value, and outputting the logical product of the determination result. Specifically, logic 1800 shows a logic for outputting a switching signal for protection area 401 when any of rotation speeds φ1 to φ3 is less than threshold value Q, that is, when an AND condition is established.

[0164] When any of the rotation speeds φ1 to φ3 of the omni-wheels 1701a to 1701c detected by the rotation speed detectors 13a to 13d is less than the threshold value Q, this indicates that the omnidirectional mobile object 1700 is moving at or below the threshold value (low speed). In other words, the output result of the logical AND in the logic 1800 indicates that the omnidirectional mobile object 1700 is moving at or below the threshold value (low speed).

[0165] When any of the rotational speeds φ1 to φ3 falls below the threshold value Q, the speed monitoring module 32 outputs a switching signal to the safety laser scanner 31 to switch the range of the protection area 401. This allows the safety laser scanner 31 to reduce the range of the protection area 401 when the omnidirectional moving body 1700 travels at a low speed. Furthermore, when any of the rotational speeds φ1 to φ3 falls below the threshold value Q, the speed monitoring module 32 changes the emergency stop speed threshold from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s). However, the emergency stop speed threshold may be changed to the second emergency stop speed when the speed of the omnidirectional moving body 1700 falls below the low speed value Vs, and may also be changed when a muting signal is output from the main controller 22.

[0166] In this embodiment, the rotation speeds of the three omni-wheels 1701a to 1701c are detected, and if all of them are equal to or lower than a threshold, it is determined that the vehicle is traveling at a low speed. However, this is not limiting. For example, the moving speed may be calculated using the detection results of the rotation speeds of the omni-wheels 1701a to 1701c and equation (7), and it may be determined that the vehicle is traveling at a low speed from the calculation results.

[0167] As described above, the omnidirectional vehicle 1700 using three omni wheels 1701 according to the third embodiment can achieve the same effects as the omnidirectional vehicle 1 using the Mecanum wheels 11 shown in the first embodiment.

[0168] Also, in the third embodiment, modified examples corresponding to modified examples 1, 3 to 5 of the first embodiment can be applied. Note that the range of the protection area 401 is reduced according to the logical product of "the logical product of the rotation speed of each wheel being equal to or lower than the threshold value" and "the detection result of the rotation abnormality" shown in modified example 5 of the first embodiment. In the case of an omnidirectional mobile body 1700 having three omni wheels 1701, the rotation speed of each wheel can be arbitrarily set, so that an abnormality in the number of rotations cannot be detected only from the rotation speed of each of the three omni wheels 1701. That is, it is not possible to obtain an equation corresponding to the formulas (5) and (6) shown in modified example 5 of the first embodiment.

[0169] For this reason, it may be possible to regard an abnormality as occurring when the difference between the target value of the rotation speed based on the instruction of the main controller 22 and the actual wheel rotation speed detected by the rotation speed detector 13 is greater than a predetermined threshold. In this way, in an omnidirectional mobile body 1700 equipped with three omni-wheels 1701, the range of the protection area 401 and the emergency stop speed threshold can be changed according to the logical product of "the logical product of the rotation speed of each wheel being equal to or less than the threshold" and the "detection result of rotation abnormality."

[0170] (Modification 1 of the third embodiment) In Modification 1 of the third embodiment, an example corresponding to Modification 2 of the first embodiment will be described. In the above-mentioned third embodiment, a case where the range of protection area 401 is reduced according to the output result of the logical product using the determination result of the rotation speed of each wheel has been described. In Modification 1 of the third embodiment, a case where the range of protection area 401 and the emergency stop speed threshold are changed according to the logical sum of "the logical product of the rotation speed of each wheel being equal to or lower than a threshold" and "a calculated value using the rotation speed of each omni-wheel 1701" will be described.

[0171] The calculated value referred to here is used to determine the main movement speed Vx in the x direction (also referred to as the "main traveling direction") of the omnidirectional moving body 1700. In Modification 1, a description will be given of reducing the range of the protection area 401 when the calculated value is less than a predetermined value m. Equation (9) shows an equation for determining the speed of the omnidirectional moving body 1 in the main traveling direction.

[0172]

number

[0173] m is a decision threshold, and k1, k2, and k3 are all appropriate coefficients.

[0174] In the example shown in FIG. 17, for example, if k1=0, k2=-1, and k3=1, then Equation (9) can be expressed by Equation (10).

[0175]

number

[0176] By using the determination results based on Equations (9) and (10), it can be determined that, for example, the omnidirectional vehicle 1700 is moving backward.

[0177] In the first modification of the third embodiment, a logic is used that outputs a logical sum (result of an OR condition) of the output result of the logic 1800 shown in FIG. 18 and a judgment result using a calculated value calculated using each rotation speed of the omni-wheel 1701. Then, using this logic, when these OR conditions are satisfied, the speed monitoring module 32 outputs a signal for reducing the protection area 401. As a result, the omnidirectional mobile body 1 can reduce the range of the protection area 401. Furthermore, when these OR conditions are satisfied, the speed monitoring module 32 can change the emergency stop speed threshold to the second emergency stop speed threshold. Note that in the first modification of the third embodiment, when the omnidirectional mobile body 1 moves backward, the speed monitoring module 32 may change the speed threshold to the second emergency stop speed threshold (0.3 m / s) only in the rear direction.

[0178] According to the first modification of the third embodiment, the range of the protection region 401 can be reduced not only when the moving speed of the omnidirectional moving body 1700 decreases, but also, for example, when the omnidirectional moving body 1700 retreats. For example, when the omnidirectional moving body 1700 retreats near the object 500 to adjust its orientation (facing the object 500), the range of the protection region 401 can be appropriately reduced so that the object 500 is not detected as an obstacle. This can improve the efficiency of transportation performed by the omnidirectional moving body 1700.

[0179] Furthermore, according to the first modification of the third embodiment, the emergency stop speed threshold Vt can be lowered not only when the moving speed of the omnidirectional moving body 1700 drops (below the low speed value Vs) but also when the omnidirectional moving body 1 moves backward. For example, when the omnidirectional moving body 1 moves backward near the object 500 to adjust its orientation (facing the object 500), the moving speed of the rear of the omnidirectional moving body 1 can be prevented from becoming equal to or higher than the second emergency stop speed threshold, so that the omnidirectional moving body 1 can be operated safely.

[0180] (Fourth embodiment) In the above-described first to third embodiments, the case where the second emergency stop speed threshold is changed to the same speed in all directions has been described. In the fourth embodiment, a case where the second emergency stop speed threshold can be changed to different speeds depending on the traveling direction of the omnidirectional mobile object 1 will be described.

[0181] In the fourth embodiment, there are cases where the area to be monitored is limited, such as when the omnidirectional mobile object 1 is performing a fixed operation such as adjusting its orientation (facing the object 500) near the object 500 to be transported. Also, there are cases where it is sufficient to reduce the protection area 401 on only one side, such as when the omnidirectional mobile object 1 that has finished its work is placed along a wall.

[0182] In view of this, the speed monitoring module 32 is capable of changing the emergency stop speed threshold to a different speed depending on the traveling direction of the omnidirectional mobile body 1. Specifically, the speed monitoring module 32 can change the emergency stop speed threshold to the second emergency stop speed threshold only to the right or only backward based on the movement plan.

[0183] When changing only the right direction to the second emergency stop speed threshold, the speed monitoring module 32 may also reduce the monitoring area 400 (e.g., the protection area 401) only in the right direction. In other words, the direction in which the range of the monitoring area 400 is reduced may correspond to the traveling direction of the omnidirectional mobile object 1.

[0184] Furthermore, the speed monitoring module 32 may lower the emergency stop speed threshold for a direction according to the calculation result indicating the moving state of the omnidirectional mobile body 1. Specifically, for example, when it is determined from the calculation result using the formula (4) that the omnidirectional mobile body 1 is moving backward, the speed monitoring module 32 may lower the emergency stop speed threshold for only the rear direction.

[0185] (Process for switching speed threshold for emergency stop in a specific direction) Fig. 19 is a flow chart showing a process of changing the emergency stop speed threshold value in a specific direction performed by the omnidirectional moving body 1 according to the fourth embodiment. In step S1901 in Fig. 19, the main controller 22 refers to the movement plan and waits until a predetermined operation such as the start of a docking mode indicating the start of the transportation of the transport target object 500 of the omnidirectional moving body 1 or the start of placing the omnidirectional moving body 1 that has completed the work at a predetermined position occurs. When the predetermined operation starts, the main controller 22 outputs an operation signal (e.g., a muting signal) to the speed monitoring module 32 (step S1902). Note that this operation signal includes information indicating the traveling direction of the omnidirectional moving body 1.

[0186] When an operation signal is input from the main controller 22, the speed monitoring module 32 outputs a switching signal to the safety laser scanner 31 to switch the range of the protection area 401. This causes the safety laser scanner 31 to reduce (or disable) the protection area 401 (step S1903).

[0187] Then, the speed monitoring module 32 changes the emergency stop speed threshold Vt for a specific direction (e.g., rightward) indicated by the movement plan (e.g., the operation signal) from the first emergency stop speed threshold (1.1 m / s) to the second emergency stop speed threshold (0.3 m / s) (step S1904). Furthermore, the speed monitoring module 32 determines whether the current movement speed V of the omnidirectional moving body 1 for the specific direction is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S1905). The movement speed V of the omnidirectional moving body 1 can be calculated, for example, using the detection result of the rotation speed of each Mecanum wheel 11 and formula (1).

[0188] If the current moving speed V of the omnidirectional moving object 1 in the specific direction is less than the second emergency stop speed threshold (0.3 m / s) (step S1905: NO), the speed monitoring module 32 proceeds to step S1907. If the current moving speed V of the omnidirectional moving object 1 in the specific direction is equal to or greater than the second emergency stop speed threshold (0.3 m / s) (step S1905: YES), the speed monitoring module 32 outputs the abnormality stop signal 43 to the circuit breaker 33 (step S1906). This brings the omnidirectional moving object 1 to an emergency stop.

[0189] Then, the speed monitoring module 32 judges whether or not the reduction of the protection area 401 has been released (step S1907). The reduction of the protection area 401 is released according to the movement plan, for example, when the output of an operation signal (muting signal) from the main controller 22 ends. If the reduction of the protection area 401 has not been released (step S1907: NO), the speed monitoring module 32 returns to step S1905. If the reduction of the protection area 401 has been released (step S1907: YES), the speed monitoring module 32 returns the emergency stop speed threshold Vt in the specific direction to the first emergency stop speed threshold (1.1 m / s) (step S1908), and the series of steps ends.

[0190] FIG. 20 is a diagram showing an example of an emergency stop speed threshold according to the fourth embodiment. As shown in FIG. 20, a state in which a protection area 401 is reduced in front of the omnidirectional moving body 1 is shown. Note that the protection area 401 may be disabled. The front emergency stop speed threshold is 1.1 m / s, and the left, right, and rear emergency stop speed thresholds are 0.3 m / s. That is, when the protection area 401 is reduced, an emergency stop is performed for the left, right, and rear when the moving speed of the omnidirectional moving body 1 reaches 0.3 m / s. Also, for the front, an emergency stop is performed for the omnidirectional moving body 1 when the moving speed reaches 1.1 m / s.

[0191] FIG. 21 is a diagram showing another example of the emergency stop speed threshold according to the fourth embodiment. As shown in FIG. 21, a state in which a protection area 401 is reduced in front of the omnidirectional moving body 1 is shown. It is also possible to reduce a specific area of ​​the protection area 401 according to a movement plan. The emergency stop speed thresholds are 0.5 m / s in the front, 0.3 m / s in the right diagonal forward direction, 0.2 m / s to the right, 0.5 m / s to the left, and 0.2 m / s to the rear. That is, when the protection area 401 is reduced, an emergency stop is performed when the movement speed of the omnidirectional moving body 1 reaches 0.3 m / s in the right diagonal forward direction, for example.

[0192] According to the omnidirectional mobile body 1 of the fourth embodiment described above, the range of the protection area 401 of the safety laser scanner 31 can be reduced and the emergency stop speed threshold Vt can be lowered in response to an operation signal from the main controller 22. This makes it possible to reduce the protection area 401 and prevent the omnidirectional mobile body 1 from operating at a speed equal to or higher than the second emergency stop speed threshold when the omnidirectional mobile body 1 approaches the object to be transported 500 and travels at a low speed. This makes it possible to prevent the omnidirectional mobile body 1 from coming into contact with the object to be transported 500, etc., and allows the omnidirectional mobile body 1 to operate safely.

[0193] Furthermore, according to the omnidirectional moving body 1 of the fourth embodiment, the emergency stop speed threshold Vt in a specific direction can be lowered. Therefore, for directions other than the specific direction, the emergency stop speed threshold Vt is not lowered, making it difficult to make the omnidirectional moving body 1 make an emergency stop. Therefore, it is possible to more effectively prevent the movement efficiency of the omnidirectional moving body 1 from decreasing.

[0194] (Functional Configurations of the First to Fourth Embodiments) Next, the functional configuration of the omnidirectional mobile body 1, 1600, 1700 (hereinafter referred to as "omnidirectional mobile body 1, etc.") according to the first to fourth embodiments described above will be described. The omnidirectional mobile body 1, etc. includes drive wheels, a moving speed detector, an object detector, a moving controller, a changer, and a stopper.

[0195] The drive wheels are three or more drive wheels for moving the omnidirectional moving body 1 in all directions, and each of them is driven independently. The drive wheels may be, for example, any of four Mecanum wheels 11a to 11d (see FIG. 3), four omni wheels 1601a to 1601d (see FIG. 16), or three omni wheels 1701a to 1701c (see FIG. 17).

[0196] The rotation speed detection unit detects the rotation speed of each of the drive wheels. The rotation speed detection unit is realized by rotation speed detectors 13a to 13d (see FIG. 1A). Although a rotary encoder is used for the rotation speed detection unit (rotation speed detectors 13a to 13d), this is not limiting. For example, the rotation speed detection unit may use other speed sensors such as a tacho generator or a resolver. Furthermore, the signal output from the rotation speed detection unit may be an analog voltage value, or may be a digital value converted from an analog voltage value.

[0197] The moving speed detection unit detects the moving speed of the moving body using the rotation speed of each of the drive wheels. The moving speed detection unit detects the moving speed from a calculation result using the rotation speeds φ1 to φ4 detected by the rotation speed detector 13 and formula (1). For a specific speed (e.g., 0.3 m / s), the moving speed detection unit can detect the moving speed from the logical product of the rotation speeds φ1 to φ4 detected by the rotation speed detector 13. That is, when the low speed value Vs and the second emergency stop speed threshold are set to the specific speed (0.3 m / s), the moving speed detection unit can detect the moving speed from the logical product of the low speed value Vs and the second emergency stop speed threshold and the rotation speeds φ1 to φ4.

[0198] The object detection unit detects objects within a monitoring area 400 set around the omnidirectional mobile body 1, etc. The objects are obstacles such as people and objects. The monitoring area 400 includes a protection area 401 and a warning area 402. The object detection unit is realized by, for example, a safety laser scanner 31 (see FIG. 1A). However, the object detection unit is not limited to the safety laser scanner 31, and it is also possible to use a camera that captures an image of an object or other sensors such as an ultrasonic sensor. Furthermore, a plurality of object detection units may be provided. For example, the object detection units may be provided on the left, right, or rear of the omnidirectional mobile body 1, etc.

[0199] The movement control unit moves the omnidirectional moving body 1 etc. in accordance with a movement plan. The movement control unit is responsible for the overall control of the omnidirectional moving body 1 etc. The movement control unit is realized by the main controller 22, for example.

[0200] The stopping unit and the changing unit are realized by a speed monitoring module 32, which is an example of a control device. The stopping unit stops the omnidirectional moving body 1, etc. when the moving speed detected by the moving speed detection unit reaches a speed threshold value (speed threshold value for emergency stop). The stopping unit stops the omnidirectional moving body 1, etc. by outputting an abnormality stop signal 43 to a circuit breaker 33 (FIG. 1A).

[0201] The change unit changes the range of the monitoring area 400 and the speed threshold of the omnidirectional moving body 1, etc., based on the operation signal output from the movement control unit. The change unit also changes the range of the monitoring area 400 and the speed threshold based on the operation signal and the movement speed detected by the movement speed detection unit. The movement speed detected by the movement speed detection unit is obtained based on the rotation speed of each of the drive wheels detected by the rotation speed detection unit.

[0202] Specifically, when the rotation speed of each of the drive wheels becomes equal to or lower than a threshold, i.e., when the speed of the omnidirectional moving body 1, etc. becomes equal to or lower than a low speed value Vs (e.g., 0.3 m / s), the change unit reduces the range of protection area 401 in monitoring area 400 set in the object detection unit, and changes the emergency stop speed threshold to a second emergency stop speed threshold. Note that, when the rotation speed (movement speed) of each of the drive wheels becomes equal to or lower than a threshold, the change unit may reduce the range of protection area 401 and not change the emergency stop speed threshold.

[0203] The change unit may change the range of the monitoring area 400 and the speed threshold when the speed of the omnidirectional moving body 1 or the like becomes equal to or lower than a low speed value Vs (e.g., 0.3 m / s) even when an operation signal is not output from the movement control unit. The change unit can also change the emergency stop speed threshold to a different speed depending on the traveling direction of the omnidirectional moving body 1 or the like.

[0204] When the emergency stop speed threshold is changed to the second emergency stop speed threshold by the change unit, the stop unit stops the omnidirectional moving body 1, etc. when the movement speed detected by the movement speed detection unit becomes equal to or greater than the second emergency stop speed threshold.

[0205] The change unit may change not only the range of protection area 401 but also the range of warning area 402. The change unit may change only the range of protection area 401 without changing the range of warning area 402, or may change only the range of warning area 402 without changing the range of protection area 401.

[0206] According to at least one embodiment described above, the speed monitoring module 32 (changing unit) changes the range of the monitoring area 400 (protection area 401) and the emergency stop speed threshold based on an operation signal from the main controller 22. This makes it possible to reduce the range of the protection area 401 and change the emergency stop speed threshold with a simple configuration without providing multiple sensors. This makes it possible to prevent the omnidirectional moving body 1 from stopping near the transport object 500 by determining the transport object 500 as an obstacle. In addition, when the protection area 401 is reduced, it is possible to prevent the omnidirectional moving body 1 and the like from moving at a speed equal to or higher than the emergency stop speed threshold. As a result, the safety of the omnidirectional moving body 1 and the like can be improved. This makes it possible to operate the omnidirectional moving body 1 simply and appropriately while ensuring the reliability of the safety control system Sf.

[0207] (When the safety control system Sf is realized by hardware or software) The change unit determines whether the rotation speed of each of the drive wheels is equal to or lower than a predetermined value, and changes the range of the monitoring area 400 and the emergency stop speed threshold based on the logical product of the result of the determination. For example, as shown in Fig. 7, when an AND condition (logical product) is established indicating that the rotation speed of each of the Mecanum wheels 11 is equal to or lower than the threshold, the change unit reduces the range of the protection area 401 and lowers the emergency stop speed threshold.

[0208] Specifically, the speed monitoring module 32 (the change unit and the stop unit) is realized by, for example, hardware. However, the speed monitoring module 32 may also be realized by software. That is, the functions of the change unit and the stop unit may be realized by a CPU executing a predetermined program (a speed threshold change program or a monitoring area change program). In this case, for example, a safety controller that has already acquired safety certification is used for the speed monitoring module 32. However, it is also possible to use an ordinary controller, PC, sequencer, etc. for the speed monitoring module 32.

[0209] Here, if the functions of the change unit and the stop unit, which are the functions of the safety control system Sf, are realized by software, a calculation process is required to calculate the moving speed of the omnidirectional mobile object 1 from the rotation speed detected by the rotation speed detector 13. Incorporating this calculation process into the safety control system Sf requires a great deal of time and effort from the perspective of ensuring safety. Specifically, it is necessary to thoroughly verify the presence or absence of bugs and errors and obtain performance indicators such as the performance level (PL) and the safety integrity level (SIL), which results in a great deal of time and effort being spent on the software development process.

[0210] Therefore, by implementing the functions of the change unit and the stop unit using equipment such as a safety-enabled PLC (Programmable Logic Controller) that uses a constraint variable language, it is possible to reduce the significant time and cost involved in the development process. In addition, since software-based arithmetic processing is no longer necessary, the control load associated with the arithmetic processing can be reduced. Furthermore, accurate output results can be obtained with a simple configuration. Therefore, it is possible to operate the omnidirectional moving body 1 etc. appropriately with a simpler configuration, and to improve the safety of the omnidirectional moving body 1 etc.

[0211] (Changes to the monitoring area 400 and emergency stop speed threshold based on calculated values ​​indicating moving speed) The change unit changes the range of the monitoring area 400 and the emergency stop speed threshold based on a calculated value indicating the moving speed of the omnidirectional moving body 1, etc., calculated using the rotation speeds of the driving wheels. The calculated value indicating the moving speed of the omnidirectional moving body 1, etc., is, for example, the main moving speed Vx shown on the left side of the above-mentioned formula (4). For example, when the main moving speed Vx becomes less than 0, that is, when the omnidirectional moving body 1, etc., moves backward, the change unit reduces the range of the protection area 401 and changes the emergency stop speed threshold. Note that the determination of the main moving speed Vx is not limited to "less than 0" and may be less than a predetermined speed. However, the predetermined speed referred to here may be a value lower than a low speed value Vs (e.g., 0.3 m / s) indicating that the speed of the omnidirectional moving body 1, etc., is low.

[0212] This makes it possible to appropriately reduce the range of the protection area 401 and prevent the object 500 from being detected as an obstacle when the omnidirectional mobile body 1 moves at a slower speed (lower than the low speed value Vs) or moves backward, such as when the omnidirectional mobile body 1 is near the object 500 to be transported and adjusts its orientation (facing the object 500). In addition, when the protection area 401 is reduced, it is possible to prevent the omnidirectional mobile body 1 from operating at a moving speed equal to or higher than the second emergency stop speed threshold. This makes it possible to improve the efficiency of transportation performed by the omnidirectional mobile body 1 and to operate the omnidirectional mobile body 1 safely.

[0213] (Changes to the monitoring area 400 and emergency stop speed threshold based on logical sum) The change unit determines whether the rotation speed of each of the drive wheels is equal to or higher than a predetermined value, and changes the range of the monitoring area 400 and the emergency stop speed threshold based on the logical sum of "the logical product of the result of the determination" and "a calculated value indicating the movement speed of the omnidirectional moving body 1, etc., calculated using the rotation speed of each of the drive wheels." Specifically, as shown in Fig. 11, the change unit reduces the range of the protection area 401 and changes the emergency stop speed threshold when either one of the conditions (OR condition) is satisfied: the omnidirectional moving body 1, etc., travels at a low speed value Vs (e.g., 0.3 m / s) or less, or the main movement speed Vx is less than 0.

[0214] This makes it possible to appropriately reduce the range of the protection area 401 so that the object 500 to be transported is not detected as an obstacle not only when the omnidirectional mobile body 1 approaches the object 500 to be transported and travels at a low speed (low speed value Vs or less), but also when the object 500 to be transported travels at a lower speed or retreats, such as when adjusting its orientation (facing the object 500) relative to the object 500 to be transported. Furthermore, when the protection area 401 is reduced, it is possible to prevent the omnidirectional mobile body 1 from operating at a travel speed equal to or higher than the second emergency stop speed threshold. This makes it possible to improve the efficiency of transportation performed by the omnidirectional mobile body 1 and to operate the omnidirectional mobile body 1 safely.

[0215] (Change of monitoring area 400 based on operation signal) The change unit determines whether the rotation speed of each of the drive wheels is equal to or greater than a predetermined value, and changes the range of the monitoring area 400 and the emergency stop speed threshold based on the logical product of the "logical product of the determination result" and the "operation signal for switching the operation of the omnidirectional mobile body 1, etc., generated using the movement plan of the omnidirectional mobile body 1, etc." Specifically, as shown in FIG. 9, the change unit reduces the range of the protection area 401 and lowers the emergency stop speed threshold when both conditions (AND conditions) are met: the omnidirectional mobile body 1, etc. travels at a low speed value Vs (e.g., 0.3 m / s) or less, and an operation signal (e.g., a muting signal) is input. The operation signal is not limited to the muting signal, and may be a signal for reducing the range of the protection area 401 or a signal for reducing the range of the warning area 402.

[0216] This makes it possible to prevent the object detection unit from detecting the object 500 to be transported as an obstacle when the omnidirectional moving body 1 or the like travels at a low speed (low speed value Vs or less) near the position where the object 500 to be transported is placed. That is, even if the omnidirectional moving body 1 or the like travels at a low speed, the protection area 401 can be prevented from being reduced unless the object 500 to be transported is near the position where the object 500 to be transported is placed. Therefore, it is possible to prevent the safety from being reduced by reducing the range of the protection area 401 in a place other than near the object 500 to be transported. In addition, since the range of the protection area 401 can be reduced at a more appropriate timing, it is possible to improve the efficiency of transport performed by the omnidirectional moving body 1 or the like. In addition, since the speed threshold Vt for emergency stop can be prevented from being reduced in a place other than near the object 500 to be transported, it is possible to make it difficult to perform an emergency stop of the omnidirectional moving body 1. This makes it possible to prevent the movement efficiency of the omnidirectional moving body 1 from being reduced.

[0217] (Stopping when an abnormality is detected) The stopping unit stops the omnidirectional moving body 1, etc., when a calculated value indicating the state of the drive wheels calculated using the rotation speed of each of the drive wheels is equal to or greater than a threshold value indicating an abnormality. The calculated value indicating the state of the drive wheels calculated using the rotation speed of each of the drive wheels is, for example, the absolute value "|h|" of the value "h" obtained by the above-mentioned formula (5). The threshold value indicating an abnormality is, for example, "ξ" in the above-mentioned formula (6). The stopping unit stops the omnidirectional moving body 1, etc., when the calculated value "|h|" is equal to or greater than the threshold value "ξ" indicating an abnormality.

[0218] This makes it possible to stop the omnidirectional moving body 1 etc. when there is a rotation abnormality in the omnidirectional moving body 1 etc. or when there is an abnormality in the rotation speed detector 13. Therefore, it is possible to further improve safety.

[0219] (Other examples of stopping when an abnormality is detected) The stopping unit may stop the omnidirectional moving body 1 etc. based on the difference between each rotation speed indicated by the speed command value of each drive wheel and each rotation speed of the drive wheel detected by the rotation speed detection unit. Specifically, as another method for detecting rotation abnormality or an abnormality of the rotation speed detector 13, the stopping unit may detect an abnormality by regarding a difference between a target value of the rotation speed based on an instruction from the main controller 22 and an actual wheel rotation number detected by the rotation speed detection unit as being greater than a predetermined threshold.

[0220] Even in this case, the omnidirectional moving object 1 etc. can be stopped if there is a rotation abnormality in the omnidirectional moving object 1 etc. or if there is an abnormality in the rotation speed detector 13. Therefore, safety can be further improved.

[0221] (Example of using an averaging filter) The change unit changes the range of the monitoring area 400 and the emergency stop speed threshold based on whether or not a state indicated by a calculated value calculated using the rotation speed of each of the drive wheels continues for a certain period of time. The state indicated by the calculated value calculated using the rotation speed is, for example, a state indicating a rotation abnormality, that is, a state in which the calculated value "|h|" indicating the state of the drive wheels is equal to or greater than the threshold "ξ" indicating an abnormality, as shown in FIG. 15. To determine whether or not a certain period of time has continued, for example, an averaging filter is used. When the calculated value "|h|" indicating the state of the drive wheels has not been equal to or greater than the threshold "ξ" indicating an abnormality for a certain period of time, the change unit reduces the range of the protection area 401 and lowers the emergency stop speed threshold when the omnidirectional mobile object 1 travels at a low speed (low speed value Vs or less).

[0222] On the other hand, if the calculated value "|h|" indicating the state of the drive wheels continues to exceed the threshold value "ξ" indicating an abnormality for a certain period of time or more, the omnidirectional vehicle 1 is stopped regardless of whether the omnidirectional vehicle 1 is traveling at a low speed. This makes it possible to prevent the vehicle from being stopped due to a determination that a rotation abnormality has occurred due to noise or temporary wheel slippage.

[0223] The state that continues for a certain period of time is not limited to a state that indicates a rotation abnormality. The state that continues for a certain period of time may be, for example, a state in which the speed of the omnidirectional moving body 1 is equal to or lower than a low speed value Vs (e.g., 0.3 m / s) that indicates a low speed, a state that indicates that the omnidirectional moving body 1 is moving backward (e.g., main moving speed Vx<0), or a state that indicates a specific operation before entering a docking mode. If these states continue for a certain period of time, the protection area 401 and the speed threshold for emergency stop may be changed.

[0224] This makes it possible to prevent the protection area 401 from being reduced due to incorrectly determining that such a state exists due to noise or the like. This makes it possible to prevent the protection area 401 from being reduced at an inappropriate time, thereby further improving safety. In addition, it is possible to prevent the speed threshold for emergency stop from being lowered at an inappropriate time, thereby making it possible to prevent a decrease in the movement efficiency of the omnidirectional mobile body 1.

[0225] (Speed ​​monitoring outside of docking) In the above description, the monitoring area 400 and the emergency stop speed threshold are changed at the time of docking, but they may be changed at times other than docking. For example, the monitoring area 400 may be changed only according to the speed. For example, when the omnidirectional mobile object 1 travels at a low speed value Vs (e.g., 0.3 m / s) or less, the range of the warning area 402 may be reduced and the emergency stop speed threshold may be lowered. Then, when the omnidirectional mobile object 1 travels at a speed (high speed) exceeding the speed indicating a low speed, the range of the warning area 402 may be expanded and the emergency stop speed threshold may be returned to its original value.

[0226] Here, since the degree of harm in the event of a collision depends on the kinetic energy of the omnidirectional mobile body 1, etc., it is a general rule to reduce speed when there is a risk of collision with a person. Also, from the viewpoint of processing time for avoiding a collision, when moving at high speed, the time from non-contact detection of an obstacle to physical contact is short, and the action to avoid a collision may not be able to be taken in time. On the other hand, if moving at low speed, the action to avoid a collision can be taken in time. For this reason, by monitoring the speed, such as by changing the range of the monitoring area 400 according to the speed of the omnidirectional mobile body 1, etc., safety can also be improved when not docking.

[0227] (Examples of speed monitoring use cases) Here, the normal control system Nr may control muting of the safety laser scanner 31. Specifically, when the omnidirectional moving object 1, etc. exceeds a first speed (speed limit) with the range of the protection area 401 of the safety laser scanner reduced, the speed monitoring module 32 may stop the omnidirectional moving object 1, etc. Also, regardless of the size of the protection area 401 of the safety laser scanner 31 and the muting state, when the second speed (speed threshold for emergency stop) is exceeded, the speed monitoring module 32 may stop the omnidirectional moving object 1, etc.

[0228] (Regarding the release of the protection area 401 and the speed threshold for emergency stop) In the above description, the conditions for changing the protection area 401 and the emergency stop speed threshold are that an operation signal (muting signal) is input from the main controller 22, or that the moving speed of the omnidirectional moving body 1, etc. is equal to or lower than the threshold (for example, equal to or lower than the low speed value Vs). The conditions for canceling the changed protection area 401 and emergency stop speed threshold are that the operation signal (muting signal) is no longer input from the main controller 22, or that the moving speed of the omnidirectional moving body 1, etc. exceeds the threshold.

[0229] The safety laser scanner 31 reduces the protection area 401 in response to a switching signal input from the speed monitoring module 32. The safety laser scanner 31 returns the reduced range of the protection area 401 to the normal range in response to the cancellation of the output of the switching signal from the speed monitoring module 32. In order to prevent chattering when switching the range of the protection area 401, the threshold value of the moving speed may be different between when the switching signal is output and when the output of the switching signal is cancelled.

[0230] (Another example of the speed monitoring module 32) Next, another example of the speed monitoring module 32 will be described. In the above description, the speed monitoring module 32 includes a change unit and a stop unit. Here, as another example of the speed monitoring module 32, a speed monitoring module 32 including only a change unit will be described. The speed monitoring module 32 is used by connecting it to a safety laser scanner 31. When the safety laser scanner 31 detects a surrounding object within the monitoring area 400, it outputs a signal to slow down or stop the operation of a machine (for example, the omnidirectional mobile object 1, etc.).

[0231] Furthermore, the speed monitoring module 32 (changing unit) is used by being connected to the safety laser scanner 31, and changes the range of the monitoring area 400 of the safety laser scanner 31. The speed monitoring module 32 inputs rotation speed signals from three or more independent rotation speed detectors 13. The speed monitoring module 32 outputs a signal for changing the range of the monitoring area 400 based on each of the input rotation speed signals. As a result, the safety laser scanner 31 changes the range of the monitoring area 400. Furthermore, the speed monitoring module 32 changes the emergency stop speed threshold of the omnidirectional moving body 1, etc., based on each of the input rotation speed signals.

[0232] According to such a speed monitoring module 32, the range of the monitoring area 400 (protection area 401) and the emergency stop speed threshold can be changed based on the rotation speed signal from the rotation speed detector 13. Therefore, the range of the protection area 401 can be reduced and the emergency stop speed threshold can be changed with a simple configuration without providing multiple sensors or the like. Therefore, it is possible to prevent the machine (omnidirectional mobile object 1) from stopping near the transport object 500 by determining the transport object 500 as an obstacle, or from operating at a moving speed equal to or higher than the second emergency stop speed threshold. As a result, the safety of the machine can be improved. Therefore, according to another example of the speed monitoring module 32, the machine can be operated simply and appropriately.

[0233] (About Surrounding Object Detector) Next, a description will be given focusing on the surrounding object detector. The surrounding object detector has, for example, the function of the object detection unit described above. Specifically, the surrounding object detector is realized by, for example, a safety laser scanner 31. When the surrounding object detector detects a surrounding object within the monitoring area 400, it outputs a signal for slowing down or stopping the operation of a machine (for example, the omnidirectional mobile object 1, etc.).

[0234] Furthermore, the surrounding object detector changes the range of the monitoring area 400 based on the rotation speed signals output from the three or more independent rotation speed detectors 13. Specifically, for example, when the machine speed obtained from the rotation speed signal becomes equal to or lower than a low speed value Vs (e.g., 0.3 m / s), the surrounding object detector reduces the range of the protection area 401 in the monitoring area 400.

[0235] According to such a surrounding object detector, the range of the monitoring area 400 (protected area 401) is changed based on the rotation speed signal from the rotation speed detector 13, so that the range of the protected area 401 can be reduced with a simple configuration without providing multiple sensors or the like. Therefore, it is possible to prevent the machine (omnidirectional mobile body 1) from stopping near the transported object 500 due to the transported object 500 being identified as an obstacle. As a result, the safety of the machine can be improved. Therefore, according to the surrounding object detector, the machine can be operated simply and appropriately by utilizing the function of the surrounding object detector.

[0236] (Regarding surveillance equipment) Next, the monitoring device will be described. In the above description, the safety laser scanner 31 and the speed monitoring module 32 are provided separately. However, the present invention is not limited to this, and a monitoring device in which the safety laser scanner 31 and the speed monitoring module 32, which is an example of a control device, are provided integrally may be used. The surrounding object detector described here has, for example, the function of the object detection unit described above. Specifically, the surrounding object detector is realized by, for example, the safety laser scanner 31. When the surrounding object detector detects a surrounding object within the monitoring area 400, it outputs a signal for decelerating or stopping the omnidirectional mobile object 1 or the like having three or more independent driving wheels.

[0237] The speed monitoring module 32 is used in connection with the surrounding object detector, and changes the range of the monitoring area 400 and the speed threshold for emergency stop of the surrounding object detector. The speed monitoring module 32 changes the range of the monitoring area 400 and the speed threshold for emergency stop based on an operation signal output from the main controller 22 that moves the mobile body according to a movement plan. As a result, the surrounding object detector changes the range of the monitoring area 400.

[0238] According to such a monitoring device, the range of the monitoring area 400 (protection area 401) and the emergency stop speed threshold can be changed based on the operation signal output from the main controller 22. Therefore, the range of the protection area 401 can be reduced and the emergency stop speed threshold can be changed with a simple configuration without providing multiple sensors or the like. Therefore, it is possible to prevent the machine (omnidirectional mobile object 1) from stopping near the transport object 500 by determining the transport object 500 as an obstacle, and to prevent the machine from operating at a moving speed equal to or higher than the second emergency stop speed threshold when the protection area 401 is reduced. As a result, the safety of the machine can be improved. Therefore, according to the monitoring device, the machine can be operated simply and appropriately.

[0239] At least a part of the functions of the omnidirectional moving body 1 in the above-mentioned embodiment may be realized by a computer. In that case, a program for realizing the functions may be recorded in a computer-readable recording medium. The program recorded in the recording medium may be read into a computer system and executed to realize the functions. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. The term "computer-readable recording medium" refers to a storage device such as a hard disk built into the computer system. The storage device also includes portable media such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, a DVD-ROM, and a USB memory. The term "computer-readable recording medium" may also refer to a device that dynamically holds a program for a short period of time. Specifically, the storage device may be a communication line for transmitting a program via a network such as the Internet or a communication line such as a telephone line. The term "computer-readable recording medium" may also include a device that holds a program for a certain period of time. Specifically, the storage device may be a volatile memory inside a computer system that is a server or a client. The above-mentioned program may also be a device for realizing a part of the above-mentioned functions. The above-mentioned program may also be a device that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0240] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0241] 1, 1600, 1700...Omnidirectional mobile body, 11a to 11d...Mecanum wheel, 12a to 12d...Drive motor, 13a to 13d...Rotational speed detector, 21...External communication device, 22...Main controller, 23...Motor control circuit, 31...Safety laser scanner, 32...Speed ​​monitoring module, 32, 33...Circuit breaker, 201...Barrel roller, 400...Monitoring area, 401...Protection area, 402...Warning area, 500...Transported object, 1601a to 1601d...Omni wheel, 1701a to 1701c...Omni wheel

Claims

1. Three or more drive wheels provided on the moving body and each of which is driven independently; a rotation speed detection unit for detecting a rotation speed of each of the drive wheels; a movement speed detection unit that detects a movement speed of the moving object using each of the rotation speeds detected by the rotation speed detection unit; an object detection unit that detects an object within a monitoring area set around the moving object; A first control unit that moves the moving object according to a movement plan; A second control unit that stops the moving body; Equipped with The second control unit is a change unit that controls the object detection unit to reduce or disable the range of the monitoring area based on an operation signal output from the first control unit, and sets the speed threshold of the moving speed to be lowered in response to the control; a stop unit that controls the moving object to stop when the moving speed detected by the moving speed detection unit reaches a set speed threshold; A mobile body comprising:

2. the change unit performs the control to change the range of the monitoring area when the moving speed detected by the moving speed detection unit is equal to or less than a predetermined value, and sets a speed threshold of the moving speed to be lowered in accordance with the control. The moving body according to claim 1 .

3. The change unit is capable of changing the speed threshold of the moving speed to a different speed depending on a traveling direction of the moving object.

3. A moving body according to claim 1 or 2.

4. The drive wheels are four Mecanum wheels. A moving body according to any one of claims 1 to 3.

5. the change unit performs the control based on the operation signal during a docking operation with the transport object, and sets the speed threshold of the moving speed to be lowered in response to the control. A moving body according to any one of claims 1 to 4.

6. a rotation speed detection unit provided on the moving body and configured to detect the rotation speed of each of three or more drive wheels that are driven independently; a movement speed detection unit that detects a movement speed of the moving object using each of the rotation speeds detected by the rotation speed detection unit; an object detection unit that detects an object within a monitoring area set around the moving object; A first control unit that moves the moving object according to a movement plan; A second control unit that stops the moving body; A control device for use in the moving body, comprising: The second control unit is a change unit that controls the object detection unit to reduce or disable the range of the monitoring area based on an operation signal output from the first control unit, and sets the speed threshold of the moving speed to be lowered in response to the control; a stop unit that controls the moving object to stop when the moving speed detected by the moving speed detection unit reaches a set speed threshold; A control device comprising:

7. the change unit performs the control based on the operation signal during a docking operation with the transport object, and sets the speed threshold of the moving speed to be lowered in response to the control. The control device according to claim 6.

8. a surrounding object detector having an output for decelerating or stopping a moving body having three or more independently driven wheels when a surrounding object is detected within a monitoring area; a control unit adapted to be connected to the surrounding object detector and adapted to vary the range and speed threshold of the monitoring area of ​​the surrounding object detector; Equipped with the control device controls the surrounding object detector so as to reduce or disable the range of the monitoring area based on an operation signal output from a first control unit that moves the moving body according to a movement plan, and sets a speed threshold of the moving speed of the moving body to be lowered according to the control; Controlling the moving object so as to stop the moving object when the moving speed of the moving object reaches a set speed threshold value. monitoring equipment.

9. the control device performs the control based on the operation signal during the docking operation with the transport object, and sets the speed threshold of the moving speed to be lowered in response to the control.

9. The monitoring device according to claim 8.

10. Three or more drive wheels provided on the moving body and each of which is driven independently; a rotation speed detection unit for detecting a rotation speed of each of the drive wheels; a movement speed detection unit that detects a movement speed of the moving object using each of the rotation speeds detected by the rotation speed detection unit; an object detection unit that detects an object within a monitoring area set around the moving object; A computer used in the mobile object, comprising: a first control step of moving the moving object according to a movement plan; a second control step of stopping the moving body; Perform a process including The second control step includes: a change process of performing control to reduce or disable the range of the monitoring area based on the operation signal output in the first control process, and setting the speed threshold of the moving speed to be lowered in response to the control; a stopping step of controlling the moving object so as to stop when the moving speed detected by the moving speed detection unit reaches a set speed threshold; Including, In the stopping step, the moving object is stopped when the speed threshold value changed in the changing step is reached. A control method for performing a process.

11. In the change step, the control is performed based on the operation signal during docking with the transport object, and the speed threshold of the moving speed is set to be lowered in response to the control. The control method according to claim 10.

12. Three or more drive wheels provided on the moving body and each of which is driven independently; a rotation speed detection unit for detecting a rotation speed of each of the drive wheels; a movement speed detection unit that detects a movement speed of the moving object using each of the rotation speeds detected by the rotation speed detection unit; an object detection unit that detects an object within a monitoring area set around the moving object; A computer used in the mobile object, comprising: a first control step of moving the moving object according to a movement plan; a second control step of stopping the moving body; Execute a process including The second control step includes: a change process of controlling the object detection unit so as to reduce or disable the range of the monitoring area based on the operation signal output in the first control process, and setting the speed threshold of the moving speed to be lowered in response to the control; a stopping step of controlling the moving object so as to stop when the moving speed detected by the moving speed detection unit reaches a set speed threshold; Including, In the stopping step, the moving object is stopped when the speed threshold value changed in the changing step is reached. A program that executes a process.

13. In the change step, the control is performed based on the operation signal during docking with the transport object, and the speed threshold of the moving speed is set to be lowered in response to the control. The program according to claim 12.

14. Three or more drive wheels provided on the moving body and each of which is driven independently; a rotation speed detection unit for detecting a rotation speed of each of the drive wheels; a movement speed detection unit that detects a movement speed of the moving object using each of the rotation speeds detected by the rotation speed detection unit; an object detection unit that detects an object within a monitoring area set around the moving object; A movement control unit that moves the moving object according to a movement plan; a change unit that controls the object detection unit so as to reduce or disable the range of the monitoring area based on an operation signal output from the movement control unit, and sets the speed threshold of the movement speed to be lowered in response to the control; a stop unit that stops the moving object when the moving speed detected by the moving speed detection unit reaches a speed threshold; A mobile body comprising:

15. a rotation speed detection unit provided on the moving body and configured to detect the rotation speed of each of three or more drive wheels that are driven independently; a movement speed detection unit that detects a movement speed of the moving object using each of the rotation speeds detected by the rotation speed detection unit; an object detection unit that detects an object within a monitoring area set around the moving object; A movement control unit that moves the moving object according to a movement plan; A control device for use in the moving body, comprising: a change unit that controls the object detection unit so as to reduce or disable the range of the monitoring area based on an operation signal output from the movement control unit, and sets the speed threshold of the movement speed to be lowered in response to the control; a stop unit that stops the moving object when the moving speed detected by the moving speed detection unit reaches a speed threshold; A control device comprising:

16. a surrounding object detector having an output for decelerating or stopping a moving body having three or more independently driven wheels when a surrounding object is detected within a monitoring area; a control unit adapted to be connected to the surrounding object detector and adapted to vary the range and speed threshold of the monitoring area of ​​the surrounding object detector; Equipped with the control device controls the surrounding object detector so as to reduce or disable the range of the monitoring area based on an operation signal output from a movement control unit that moves the moving body according to a movement plan, and sets a speed threshold of the moving speed of the moving body to be lowered according to the control; Controlling the moving object so as to stop the moving object when the moving speed of the moving object reaches a set speed threshold value. monitoring equipment.

17. Three or more drive wheels provided on the moving body and each of which is driven independently; a rotation speed detection unit for detecting a rotation speed of each of the drive wheels; a movement speed detection unit that detects a movement speed of the moving object using each of the rotation speeds detected by the rotation speed detection unit; an object detection unit that detects an object within a monitoring area set around the moving object; A movement control unit that moves the moving object according to a movement plan; A computer used in the mobile object, comprising: a change step of controlling the object detection unit so as to reduce or disable the range of the monitoring area based on an operation signal output from the movement control unit, and setting the speed threshold of the movement speed to be lowered in response to the control; a stopping step of stopping the moving object when the moving speed detected by the moving speed detection unit reaches a speed threshold; Including, In the stopping step, the moving object is stopped when the speed threshold value changed in the changing step is reached. A control method for performing a process.

18. Three or more drive wheels provided on the moving body and each of which is driven independently; a rotation speed detection unit for detecting a rotation speed of each of the drive wheels; a movement speed detection unit that detects a movement speed of the moving object using each of the rotation speeds detected by the rotation speed detection unit; an object detection unit that detects an object within a monitoring area set around the moving object; A movement control unit that moves the moving object according to a movement plan; A computer used in the mobile object, comprising: a change step of controlling the object detection unit so as to reduce or disable the range of the monitoring area based on an operation signal output from the movement control unit, and setting the speed threshold of the movement speed to be lowered in response to the control; a stopping step of stopping the moving object when the moving speed detected by the moving speed detection unit reaches a speed threshold; Including, In the stopping step, the moving object is stopped when the speed threshold value changed in the changing step is reached. A program that executes a process.

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