MOBILE BODY CONTROL SYSTEM, MOBILE BODY, AND MOBILE BODY CONTROL METHOD

Abstract

A mobile body control system (1A) according to the present disclosure includes a mobile body (10), a control unit (20) for controlling the mobile body (10), a reception unit (30) for receiving control information from the control unit (20), and a route specification unit (40) for specifying a route of a mobile body (10) on the basis of the control information. The route specification unit (40) modifies the route of the mobile body (10) according to the distance between the mobile body (10) and an obstacle to a route that avoids a dangerous region including the periphery of the obstacle.

Description

[Technical field]

[0001] The present disclosure relates to a mobile object control system, a mobile object, and a mobile object control method. [Background technology]

[0002] In recent years, moving objects capable of switching between human operation and autonomous control have been developed. When such moving objects are moving according to human operation and it is predicted that the moving object will come into contact with an obstacle, the moving object avoids the obstacle through autonomous control.

[0003] For example, Patent Document 1 describes a moving body that, when it is determined that a commanded path following a steering command from a pilot is unsafe, generates a corrected path by correcting the commanded path and travels according to the corrected path. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-112977 A Summary of the Invention [Problem to be solved by the invention]

[0005] Generally, the criteria used to determine whether the route of a moving object is safe are set with a certain margin of error. Patent Document 1 describes using the distance between the path of the moving body and an obstacle as the above-mentioned judgment criterion. However, if the distance of the above-mentioned judgment criterion is set with a margin, the moving body cannot be flexibly controlled. For example, in a narrow passage, the distance between the moving body and an obstacle (e.g., a wall, a pillar, etc.) is inevitably short, so that the distance of the above-mentioned judgment criterion cannot be set with a margin in the first place. Therefore, it becomes difficult to run the moving body in a narrow passage.

[0006] On the other hand, even if the above-mentioned judgment criterion distance is set to be very close to the obstacle, the moving body cannot be flexibly controlled. For example, if the above-mentioned judgment criterion distance is set to be very close to the obstacle, an error in the control of the moving body may lead to a collision between the moving body and the obstacle.

[0007] Therefore, an object of the present disclosure is to provide a mobile body control system, a mobile body, and a mobile body control method that can solve the above-mentioned problems and flexibly control a mobile body. [Means for solving the problem]

[0008] A mobile control system according to one aspect includes: A moving body, A control unit for controlling the moving body; Equipped with The moving body is a receiving unit that receives control information from the control unit; a route determination unit that determines a route of the moving object based on the control information; Including, The path identification unit modifies the path of the moving body to a path that avoids a danger area including the periphery of the obstacle, depending on the distance between the moving body and the obstacle.

[0009] According to one aspect, a moving body includes: A receiving unit that receives control information from a control unit; a route determination unit that determines a route of a moving object based on the control information; Including, The path identification unit modifies the path of the moving body to a path that avoids a danger area including the periphery of the obstacle, depending on the distance between the moving body and the obstacle.

[0010] A method for controlling a moving object according to one aspect includes the steps of: a receiving step of receiving control information from a control unit; a route determination step of determining a route of a moving object based on the control information; Including, In the path identification step, the path of the moving body is modified to a path that avoids a danger area including a periphery of the obstacle, depending on a distance between the moving body and the obstacle. Effect of the Invention

[0011] According to the above-described aspects, it is possible to provide a mobile object control system, a mobile object, and a mobile object control method that are capable of flexibly controlling a mobile object. [Brief description of the drawings]

[0012] [Figure 1] 1 is a diagram illustrating a configuration example of a mobile object control system according to a first embodiment. [Diagram 2] 1 is a diagram showing a configuration example of a moving body according to a first embodiment; [Diagram 3] 4 is a diagram illustrating an example of the operation of a route identification unit according to the first embodiment. FIG. [Figure 4] FIG. 4 is a diagram showing a modified configuration example of the mobile object control system according to the first embodiment. [Diagram 5] 4 is a flowchart showing an example of a schematic operation flow of the mobile object control system according to the first embodiment. FIG. [Figure 6] FIG. 11 is a diagram illustrating a configuration example of a mobile object control system according to a second embodiment. [Figure 7] 11 is a sequence diagram showing an example of a schematic operation flow of a mobile object control system according to a second embodiment. FIG. [Figure 8] FIG. 13 is a diagram illustrating an example of a table held by a route specification unit according to another embodiment. [Figure 9] FIG. 13 is a diagram illustrating an example of a table held by a route specification unit according to another embodiment. [Figure 10] FIG. 13 is a diagram illustrating an example of a table held by a route specification unit according to another embodiment. [Figure 11] FIG. 2 is a block diagram showing an example of a hardware configuration of a computer that realizes a part of a moving object according to the first and second embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Note that the following description and drawings are omitted and simplified as appropriate for clarity of explanation. In addition, in each of the following drawings, the same elements are given the same reference numerals, and duplicated explanations are omitted as necessary. In addition, the specific numerical values ​​shown below are merely examples for facilitating understanding of the present disclosure, and are not limited thereto.

[0014] <Embodiment 1> First, a configuration example of a mobile object control system 1 according to the first embodiment will be described with reference to Fig. 1. As shown in Fig. 1, the mobile object control system 1 according to the first embodiment includes a mobile object 10 and a control unit 20. In Fig. 1, the mobile object 10 is shown as a plan view seen from a plan view.

[0015] The moving body 10 is configured to be switchable between control by the control unit 20 and autonomous control, and is realized, for example, as a robot, a transport vehicle for transporting goods, and the like. The moving body 10 also has a pair of two drive wheels 11L and 11R on the left and right, and is capable of moving straight ahead, turning, etc. The two drive wheels 11L and 11R can be driven independently. The straight-ahead movement is sufficient as long as the moving body 10 can move straight ahead at least in the forward direction, and it is optional whether the moving body 10 can move straight ahead in the backward direction or not.

[0016] The control unit 20 controls the moving body 10. For example, the control unit 20 may control the moving body 10 at a remote location. The control unit 20 may be operated by a person, or may be operated by a robot or other device.

[0017] Furthermore, the control unit 20 specifies control information, which is information for controlling the moving body 10, in response to the input, and transmits the specified control information to the moving body 10. Specifically, the control information is information indicating the motion (straight movement, turning movement, etc.) and speed of the moving body 10. When the subject controlling the moving body 10 is a person, the control unit 20 may generate the control information from an operation input by the person. The operation input is, for example, an input by operating a handle, a lever, a wireless communication device (a tablet or a smartphone), etc. When the subject controlling the moving body 10 is a robot or another device, the control unit 20 may generate the control information from an input from the robot or another device. Moreover, the robot or another device may generate the control information.

[0018] Next, a configuration example of the moving body 10 according to the first embodiment will be described with reference to Fig. 2. As shown in Fig. 2, the moving body 10 according to the first embodiment includes a receiving unit 30 and a route identifying unit 40. Note that components such as a drive unit that drives the drive wheels 11L, 11R are omitted in Fig. 2.

[0019] The receiving unit 30 receives control information from the control unit 20 . The path identification unit 40 identifies the path of the moving body 10 based on control information from the control unit 20. Then, the path identification unit 40 corrects the path of the moving body 10 to a path that avoids the danger area according to the distance between the moving body 10 and the obstacle. For example, the obstacle is a shelf, a wall, another moving body 10, an object, a desk, a work machine, a person, etc. Here, the danger area is an area that includes the periphery of the obstacle. The danger area is a distance set to avoid contact between the moving body 10 and the obstacle, and is set to provide a predetermined distance from the obstacle. Entering the danger area increases the risk of the moving body 10 coming into contact with the obstacle.

[0020] For example, the path identification unit 40 generates a control signal for controlling a drive unit that drives the drive wheels 11L, 11R, based on control information from the control unit 20. When correcting a path based on the control information from the control unit 20, the path identification unit 40 calculates an offset value for correcting the control signal so that the moving object 10 travels in a direction that avoids the dangerous area, and corrects the control signal based on the calculated offset value.

[0021] The operation of the path identification unit 40 will be described in detail below with reference to Fig. 3. Fig. 3 shows an example in which the obstacle is a wall W. 3, a first distance D1 and a second distance D2 are defined as the distance between the moving body 10 and the wall W. In the example of FIG. 3, the distance between the moving body 10 and the wall W is the distance between the center point of the moving body 10 and the wall W.

[0022] The second distance D2 is a distance that defines a danger area. The danger area is from the obstacle to the second distance D2. The first distance D1 is the distance at which the moving body 10 starts to correct its route to avoid the dangerous area. The first distance D1 is a distance obtained by adding a predetermined margin to the second distance D2. If the first distance D1 is set to be short, the moving body 10 can be controlled without correcting its route until it is very close to the dangerous area. On the other hand, if the first distance D1 is set to be long, the route can be corrected to gradually avoid the dangerous area.

[0023] The path identification unit 40 generates a control signal for controlling the drive unit based on control information from the control unit 20, and controls the traveling of the moving body 10. In addition, the path identification unit 40 monitors the distance between the moving body 10 and the wall W while controlling the traveling of the moving body 10.

[0024] Here, in state ST1, it is assumed that the distance between the moving object 10 and the wall W becomes shorter than the first distance D1. In this case, the path identification unit 40 modifies the path based on the control information from the control unit 20 so as to avoid a dangerous area including the wall W (an area from the wall W to a second distance D2).

[0025] In the example of FIG. 3, the path based on the control information from the control unit 20 is a path in which the moving body 10 moves straight forward by a straight movement. Therefore, the path identification unit 40 corrects the path so that the moving body 10 turns rightward to avoid the dangerous area. In detail, the path identification unit 40 calculates an offset value that causes the moving body 10 to turn rightward, and corrects the control signal based on the calculated offset value. For example, the path identification unit 40 may correct the control signal based on the offset value so that the moving body 10 changes direction in multiple steps. In other words, the path identification unit 40 may correct the control signal so that the traveling trajectory of the moving body 10 becomes a curve. In addition, the path identification unit 40 may correct the control signal so that the moving body avoids the dangerous area with a single direction change.

[0026] The offset value at this time is, for example, an offset value that slows down the rotation speed of the right drive wheel 11R. Alternatively, the offset value may be calculated so that the traveling trajectory of the moving body 10 describes a curve that gradually approaches the second distance D2, assuming a circular motion or the like. Alternatively, the offset value may be calculated so that the velocity of the center of gravity of the moving body 10 is fixed, and the offset value becomes larger as the moving body 10 approaches the second distance D2, so that the moving body 10 starts turning when it reaches the second distance D2.

[0027] As a result, after passing through state ST2, in state ST3, the traveling trajectory of the moving object 10 becomes a trajectory that is substantially parallel to the wall W, and the dangerous area is avoided. Therefore, the path identification unit 40 returns to the control signal based on the control information from the control unit 20.

[0028] The receiving unit 30 and the route identification unit 40 are not limited to being provided inside the moving body 10. As in the moving body control system 1A shown in Fig. 4, the receiving unit 30 and the route identification unit 40 may be provided outside the moving body 10. In addition, the receiving unit 30 and the route identification unit 40 are not limited to being provided inside the same device, and may be provided independently of each other, for example, on the cloud.

[0029] Next, with reference to FIG. 5, an example of a schematic flow of operations of the mobile object control system 1 according to the first embodiment will be described. 5, first, the receiving unit 30 receives control information from the control unit 20 (step S101), and the path identifying unit 40 identifies the path of the moving body 10 (step S102). After that, based on the control information from the control unit 20, the path identifying unit 40 generates a control signal for controlling a drive unit that drives the drive wheels 11L, 11R, thereby controlling the traveling of the moving body 10. In addition, the path identifying unit 40 monitors the distance between the moving body 10 and an obstacle (for example, the wall W in FIG. 2).

[0030] Next, the route identification unit 40 determines whether or not the route of the moving body 10 needs to be corrected depending on the distance between the moving body 10 and the obstacle (step S103). For example, when the distance between the moving body 10 and the obstacle becomes shorter than the first distance D1, the route identification unit 40 determines that the route of the moving body 10 needs to be corrected. When it is determined in step S103 that the route of the moving body 10 does not need to be corrected (No in step S103), the process returns to step S103.

[0031] On the other hand, if it is determined in step S103 that the route of the moving body 10 needs to be corrected (Yes in step S103), the route identification unit 40 corrects the route of the moving body 10 to a route that avoids dangerous areas including the areas around obstacles (step S104).

[0032] As described above, according to the first embodiment, the route identification unit 40 identifies the route of the moving object 10 based on the control information from the control unit 20, and thereafter, corrects the route of the moving object 10 to a route that avoids a dangerous area including the periphery of the obstacle, depending on the distance between the moving object 10 and the obstacle. This allows flexible control of the moving object 10.

[0033] At this time, the route identification unit 40 may modify the route of the moving object 10 when the distance between the moving object 10 and the obstacle becomes shorter than the first distance D1. In this way, by establishing a danger area including the periphery of the obstacle (the area from the obstacle to the second distance D2) and a distance (first distance D1) at which the moving body 10 begins autonomous control so that the moving body 10 avoids the danger area, more flexible control of the moving body 10 can be achieved.

[0034] Specifically, the moving object 10 can follow the control by the control unit 20 until it exceeds the first distance D1. Moreover, by gradually correcting the route after the moving body 10 exceeds the first distance D1, it is possible to control the moving body 10 so that it avoids the dangerous area even if an error occurs in the control of the moving body 10. As a result, the moving body 10 can avoid the dangerous area.

[0035] In addition, since the moving object 10 can be controlled to avoid the dangerous area, in other words, the moving object 10 is permitted to approach the dangerous area, so that the moving object 10 can also travel in narrow passages.

[0036] Furthermore, after the moving body 10 exceeds the first distance D1, the moving body 10 avoids the danger area through autonomous control, so that the moving body 10 does not reach the danger area and the movement efficiency of the moving body 10 does not decrease while waiting for further instructions from the control unit 20.

[0037] <Embodiment 2> The second embodiment is an example in which the configuration and operation of the moving object 10 according to the first embodiment described above are made more specific.

[0038] First, with reference to Fig. 6, a configuration example of a mobile object control system 2 according to the second embodiment will be described. As shown in Fig. 6, the mobile object control system 2 according to the second embodiment has the same overall configuration as the mobile object control system 1 according to the first embodiment described above, but the configuration of the mobile object 10 is different. That is, the mobile object 10 according to the second embodiment includes a receiving unit 30 and a path identifying unit 40, as well as a driving unit 50. The path identifying unit 40 includes a distance measuring unit 41, a correction necessity determining unit 42, an offset value calculating unit 43, and a control signal generating unit 44. Below, components different from those of the first embodiment described above will be described.

[0039] The distance measurement unit 41 is a distance measurement sensor that measures the distance between the moving body 10 and an obstacle. The distance measurement unit 41 may perform the above measurement periodically or when an instruction is received from the control unit 20. The type of distance measurement sensor is not limited, and any type such as an optical type, a radio wave type, or an ultrasonic type may be used. The distance measurement unit 41 may be provided outside the moving body 10. In this case, the moving body 10 may obtain information on the distance between the moving body 10 and an obstacle from the distance measurement unit 41 provided outside.

[0040] The correction necessity determination unit 42 determines whether or not the path of the moving body 10 needs to be corrected based on the control information from the control unit 20, based on the distance between the moving body 10 and the obstacle measured by the distance measurement unit 41. Specifically, the correction necessity determination unit 42 determines that the path needs to be corrected when the distance between the moving body 10 and the obstacle becomes shorter than the first distance D1. However, this is not limited to this. For example, depending on the current control information, it may be known that the moving body 10 will not reach the danger area. In such a case, the correction necessity determination unit 42 may determine that the path of the moving body 10 does not need to be corrected.

[0041] When the correction necessity determination unit 42 determines that correction of the path of the moving body 10 is necessary, the offset value calculation unit 43 calculates an offset value for correcting the control signal so that the moving body 10 avoids the danger area.

[0042] The control signal generating unit 44 normally generates a control signal based on control information from the control unit 20. However, when the correction necessity determining unit 42 determines that the operation by the control unit 20 needs to be corrected, the control signal generating unit 44 corrects the control signal based on the offset value calculated by the offset value calculating unit 43. The control signal generated or corrected by the control signal generating unit 44 is output to the driving unit 50.

[0043] The driving unit 50 drives the driving wheels 11L, 11R independently based on the control signal output by the control signal generating unit 44. This allows the rotation direction and rotation speed of the driving wheels 11L, 11R to be controlled independently, enabling the moving body 10 to move straight ahead, turn, and so on.

[0044] Next, with reference to FIG. 7, an example of a schematic flow of operations of the mobile object control system 2 according to the first embodiment will be described. 7, first, the receiving unit 30 receives control information from the control unit 20 (step S201), and outputs the received control information to the offset value calculation unit 43 and the control signal generation unit 44 (step S202). The control signal generation unit 44 generates a control signal based on the control information (step S203), and outputs the generated control signal to the driving unit 50 (step S204). Steps S201 to S204 are repeated while the control information is being received from the control unit 20.

[0045] Meanwhile, the distance measurement unit 41 measures the distance between the moving object 10 and the obstacle (step S205), and outputs distance information indicating the measured distance to the correction necessity determination unit 42 and the offset value calculation unit 43 (step S206).

[0046] The correction necessity determination unit 42 determines whether or not the route of the moving object 10 needs to be corrected based on the control information from the control unit 20, based on the distance information (step S207). Specifically, the correction necessity determination unit 42 determines that the route needs to be corrected when the distance between the moving object 10 and the obstacle becomes shorter than the first distance D1. If it is determined in step S207 that the correction does not need to be corrected (No in step S207), the process returns to step S207.

[0047] On the other hand, if it is determined in step S207 that path correction is necessary (Yes in step S207), the correction necessity determination unit 42 outputs a calculation instruction to the offset value calculation unit 43 to calculate an offset value for correcting the control signal (step S208).

[0048] Next, the offset value calculation unit 43 calculates an offset value based on the control information and the distance information so that the moving body 10 avoids the dangerous area (step S209), and outputs the calculated offset value to the control signal generation unit 44 (step S210).

[0049] Thereafter, the control signal generating unit 44 corrects the control signal based on the offset value (step S211), and outputs the corrected control signal to the driving unit 50 (step S212).

[0050] As described above, according to the second embodiment, the path identification unit 40 generates a control signal for controlling the drive unit 50 based on control information from the control unit 20. In this state, when the distance between the moving object 10 and the obstacle becomes shorter than the first distance D1, the path identification unit 40 calculates an offset value so that the moving object 10 avoids a dangerous area including the obstacle, and corrects the control signal based on the calculated offset value.

[0051] Thus, according to the second embodiment, the path identification unit 40 corrects the path of the moving body 10 to a path that avoids a dangerous area including the periphery of the obstacle, in accordance with the distance between the moving body 10 and the obstacle, in the same manner as in the first embodiment described above. This allows flexible control of the moving body 10, in the same manner as in the first embodiment described above.

[0052] <Other embodiments> In the above-described embodiment, the first distance D1 is provided and the second distance D2 is provided to define the danger area, but the first distance D1 and the second distance D2 do not have to be fixed values.

[0053] For example, the faster the moving body 10 moves, the faster it approaches an obstacle, and the greater the risk that the moving body 10 will collide with the obstacle. Therefore, when the speed of the moving object 10 instructed by the control information is high, the first distance D1 and the second distance D2 may be changed to larger values.

[0054] In this manner, the first distance D1 and the second distance D2 may be changed according to the speed of the moving object 10 instructed by the control information from the control unit 20. To achieve the above-mentioned operation, the path identification unit 40 may hold, for example, a table as shown in Fig. 8. In the table shown in Fig. 8, a first distance D1 and a second distance D2 according to the speed of the moving body 10 instructed by the control information are set. In this case, the path identification unit 40 may refer to the table shown in Fig. 8 and identify the first distance D1 and the second distance D2 (i.e., the danger area) from the speed of the moving body 10 instructed by the control information.

[0055] Furthermore, if the obstacle is a dynamic obstacle that moves (for example, a person, a carrier vehicle, or a robot), the risk of the moving body 10 colliding with the obstacle increases. Therefore, when the obstacle is a dynamic obstacle, the first distance D1 and the second distance D2 may be changed to values ​​larger than those in the case of a static obstacle.

[0056] Furthermore, among static obstacles (e.g., walls, pillars, etc.), there are obstacles that the moving body 10 may approach. For example, when it is desired to move the moving body 10 close to a wall from the viewpoint of space, or when the destination of the moving body 10 is close to a wall, the wall becomes an obstacle that the moving body 10 may approach. Therefore, when the obstacle is a static obstacle that the moving body 10 may approach, the first distance D1 and the second distance D2 may be changed to smaller values ​​than in the case of a dynamic obstacle.

[0057] In this way, the first distance D1 and the second distance D2 may be changed depending on the type of obstacle. In order to realize the above-mentioned operation, the path identification unit 40 may hold, for example, a table as shown in Fig. 9. In the table shown in Fig. 9, a first distance D1 and a second distance D2 according to the type of obstacle are set. In this case, the path identification unit 40 may refer to the table shown in Fig. 9 and identify the first distance D1 and the second distance D2 (i.e., the danger area) from the type of obstacle.

[0058] However, the method of classifying the types of obstacles is not limited to the example in Fig. 9. For example, even if the obstacle is a person, which is a dynamic obstacle, the risk of collision changes depending on whether the person faces the moving body 10 or not. Therefore, when the obstacle is a person, the first distance D1 and the second distance D2 when the person does not face the moving body 10 may be changed to values ​​larger than the first distance D1 and the second distance D2 when the person faces the moving body 10.

[0059] Furthermore, due to an error in the control of the moving body 10 or dynamic movement of an obstacle, the moving body 10 may exceed the second distance D2 and approach the obstacle. However, depending on the motion of the moving body 10, even if there is an obstacle close to the moving body 10, there may be a low risk of the moving body 10 colliding with the obstacle. For example, a turning motion is a motion that changes the traveling direction, so there is a low possibility that the moving body 10 will exceed the distance at that time and approach the obstacle.

[0060] Therefore, the path identification unit 40 may identify the danger area according to the movement of the moving body instructed by the control information. A third distance D3 may be set as a distance that defines the danger area when the moving body 10 is turning. When the moving body 10 turns, the danger area is from the obstacle to the third distance D3. The third distance D3 is the same as or shorter than the second distance D2. When the moving body 10 is turning and the distance between the moving body 10 and the obstacle is shorter than the first distance D1, the path of the moving body 10 may be corrected so that the distance between the moving body 10 and the obstacle is longer than the third distance D3.

[0061] In order to realize the above-mentioned operation, the path identification unit 40 may hold, for example, a table as shown in FIG. 10. In the table shown in FIG. 10, a first distance D1 and a second distance D2 according to the movement and speed of the moving body 10 instructed by the control information by the control unit 20 are set, and further, for the turning movement of the moving body 10, a third distance D3 according to the speed of the moving body 10 instructed by the control information may be set. In this case, the path identification unit 40 may refer to the table shown in FIG. 10 and, when the movement of the moving body 10 instructed by the control information is a turning movement, specify the third distance D3 from the speed of the moving body 10 instructed by the control information. Then, when the movement of the moving body 10 instructed by the control information is a turning movement and the distance between the moving body 10 and the obstacle is shorter than the first distance D1, the path identification unit 40 may correct the path of the moving body 10 so that the distance between the moving body 10 and the obstacle is longer than the third distance D3.

[0062] There may be cases where the moving body 10 approaches an obstacle beyond the third distance D3. For example, this may be the case when a dynamic obstacle such as a person approaches the moving body 10. In this case, for safety reasons (to avoid scaring people), the path identification unit 40 may not permit the moving body 10 to make any turning motion and may keep the moving body 10 immobile.

[0063] <Hardware configuration of a moving body according to an embodiment> Next, with reference to FIG. 11, a hardware configuration of a computer 90 that realizes a part of the moving object 10 according to the above-mentioned first embodiment will be described.

[0064] 11, a computer 90 includes a processor 91, a memory 92, a storage 93, an input / output interface (input / output I / F) 94, and a communication interface (communication I / F) 95. The processor 91, the memory 92, the storage 93, the input / output interface 94, and the communication interface 95 are connected by a data transmission path for transmitting and receiving data to and from each other.

[0065] The processor 91 is, for example, an arithmetic processing device such as a central processing unit (CPU) or a graphics processing unit (GPU). The memory 92 is, for example, a random access memory (RAM) or a read only memory (ROM). The storage 93 is, for example, a storage device such as a hard disk drive (HDD), a solid state drive (SSD), or a memory card. The storage 93 may also be a memory such as a RAM or a ROM.

[0066] The storage 93 stores programs that realize the functions of the components of the moving body 10. The processor 91 executes each of these programs to realize the functions of the components of the moving body 10. Here, when the processor 91 executes each of the above programs, the processor 91 may read these programs onto the memory 92 before executing them, or may execute them without reading them onto the memory 92. The memory 92 and the storage 93 also serve to store information and data held by the components of the moving body 10.

[0067] The above-mentioned program can be stored using various types of non-transitory computer readable media and can be supplied to a computer (including the computer 90). The non-transitory computer readable medium includes various types of tangible storage media. Examples of the non-transitory computer readable medium include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), compact disc-ROMs (CD-ROMs), CD-recordables (CD-Rs), CD-rewritables (CD-R / Ws), semiconductor memories (e.g., mask ROMs, programmable ROMs (PROMs), erasable PROMs (EPROMs), flash ROMs, and RAMs). The program can also be supplied to a computer by various types of transitory computer readable media. Examples of the transitory computer readable medium include electric signals, optical signals, and electromagnetic waves. The transitory computer readable medium can supply the program to a computer via a wired communication path such as an electric wire and an optical fiber, or via a wireless communication path.

[0068] The input / output interface 94 is connected to a display device 941, an input device 942, a sound output device 943, and the like. The display device 941 is a device that displays a screen corresponding to drawing data processed by the processor 91, such as an LCD (Liquid Crystal Display), a CRT (Cathode Ray Tube) display, or a monitor. The input device 942 is a device that accepts an operation input by an operator, and is, for example, a keyboard, a mouse, or a touch sensor. The display device 941 and the input device 942 may be integrated and realized as a touch panel. The sound output device 943 is a device that acoustically outputs a sound corresponding to the sound data processed by the processor 91, such as a speaker.

[0069] The communication interface 95 transmits and receives data to and from an external device. For example, the communication interface 95 communicates with the external device via a wired communication path or a wireless communication path.

[0070] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by a person skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure.

[0071] Furthermore, some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes. (Appendix 1) A moving body, A control unit for controlling the moving body; Equipped with The moving body is a receiving unit that receives control information from the control unit; a route determination unit that determines a route of the moving object based on the control information; Including, the path identification unit modifies the path of the moving body to a path that avoids a danger area including a periphery of the obstacle, in accordance with a distance between the moving body and the obstacle; Mobile control system. (Appendix 2) the path identification unit performs the correction when a distance between the moving body and the obstacle becomes shorter than a first distance for the moving body to avoid the dangerous area. 2. A vehicle control system as described in claim 1. (Appendix 3) The path identification unit identifies the first distance and the danger area according to a type of the obstacle. 3. A vehicle control system as described in appendix 2. (Appendix 4) the path identification unit identifies the first distance and the danger area in accordance with a speed of the moving object instructed by the control information. 3. A vehicle control system as described in appendix 2. (Appendix 5) The path identification unit identifies the danger area in accordance with a movement of the moving object instructed by the control information. 3. A mobile control system according to claim 1 or 2. (Appendix 6) The moving body is Drive wheels and A drive unit that drives the drive wheel, The route identification unit is generating a control signal for controlling the drive unit based on the control information; When the control information is to be corrected, the control signal is corrected according to a route taken by the moving body to avoid the danger area. A mobile object control system according to any one of appendix 2 to 5. (Appendix 7) A receiving unit that receives control information from a control unit; a route determination unit that determines a route of a moving object based on the control information; Including, the path identification unit modifies the path of the moving body to a path that avoids a dangerous area including a periphery of the obstacle, in accordance with a distance between the moving body and the obstacle; Mobile body. (Appendix 8) the path identification unit performs the correction when a distance between the moving body and the obstacle becomes shorter than a first distance for the moving body to avoid the dangerous area. 8. A moving object as described in appended claim 7. (Appendix 9) The path identification unit identifies the first distance and the danger area according to a type of the obstacle. 9. A moving object as described in appended claim 8. (Appendix 10) the path identification unit identifies the first distance and the danger area in accordance with a speed of the moving object instructed by the control information. 9. A moving object as described in appended claim 8. (Appendix 11) The path identification unit identifies the danger area in accordance with a movement of the moving object instructed by the control information. 9. A moving object according to claim 7 or 8. (Appendix 12) Drive wheels and A drive unit that drives the drive wheel, The route identification unit is generating a control signal for controlling the drive unit based on the control information; When the control information is to be corrected, the control signal is corrected according to a route taken by the moving body to avoid the danger area. 12. A mobile object according to any one of claims 8 to 11. (Appendix 13) a receiving step of receiving control information from a control unit; a route determination step of determining a route of a moving object based on the control information; Including, In the path identification step, a path of the moving body is corrected to a path that avoids a dangerous area including a periphery of the obstacle, according to a distance between the moving body and the obstacle. A method for controlling a moving object. (Appendix 14) In the path identification step, when a distance between the moving body and the obstacle becomes shorter than a first distance for the moving body to avoid the dangerous area, the correction is performed. A moving object control method as described in Supplementary Note 13. (Appendix 15) In the path identification step, the first distance and the danger area are identified according to a type of the obstacle. A moving object control method as described in Supplementary Note 14. (Appendix 16) In the path identification step, the first distance and the danger area are identified in accordance with a speed of the moving object instructed by the control information. A moving object control method as described in Supplementary Note 14. (Appendix 17) In the path identification step, the danger area is identified in accordance with a movement of the moving object instructed by the control information. 15. A moving object control method according to claim 13 or 14. (Appendix 18) The moving body is Drive wheels and A drive unit that drives the drive wheel, In the route specification step, generating a control signal for controlling the drive unit based on the control information; When the control information is to be corrected, the control signal is corrected according to a route taken by the moving body to avoid the danger area. A moving object control method according to any one of appendix 14 to 17. [Explanation of symbols]

[0072] 1,1A,2 Mobile control system 10 Mobile 11L, 11R Drive wheels 20 Control section 30 Receiving section 40 Route Identification Unit 41 Distance measurement unit 42 Correction necessity determination section 43 Offset value calculation section 44 Control signal generator 50 Drive unit 90 Computer 91 Processor 92 Memory 93 Storage 94 Input / Output Interface 941 Display device 942 Input Device 943 Sound output device 95 Communication Interface D1 First distance D2 Second distance D3 Third distance

Claims

1. A moving body, A control unit for controlling the moving body; Equipped with The moving body is a receiving unit that receives control information from the control unit; a route identification unit that identifies a route of the moving body based on the control information, and modifies the route of the moving body to a route that avoids a dangerous area including a periphery of the obstacle according to a distance between the moving body and the obstacle; Including, The route identification unit is performing the correction when a distance between the moving object and the obstacle becomes shorter than a first distance for the moving object to avoid the danger area; determining the first distance and the danger area according to a type of the obstacle; Mobile control system.

2. A receiving unit that receives control information from a control unit; a route identification unit that identifies a route of the moving body based on the control information and modifies the route of the moving body to a route that avoids a dangerous area including a periphery of the obstacle according to a distance between the moving body and the obstacle; Including, The route identification unit is performing the correction when a distance between the moving object and the obstacle becomes shorter than a first distance for the moving object to avoid the danger area; determining the first distance and the danger area according to a type of the obstacle; Mobile body.

3. the path identification unit identifies the first distance and the danger area in accordance with a speed of the moving object instructed by the control information; The moving body according to claim 2.

4. The path identification unit identifies the danger area in accordance with a movement of the moving object instructed by the control information. The moving body according to claim 2.

5. Drive wheels and A drive unit that drives the drive wheel, The route identification unit is generating a control signal for controlling the drive unit based on the control information; When the control information is to be corrected, the control signal is corrected according to a route taken by the moving body to avoid the danger area. A moving body according to any one of claims 2 to 4.

6. a receiving step of receiving control information from a control unit; a route specification step of specifying a route of the moving body based on the control information, and correcting the route of the moving body to a route that avoids a dangerous area including a periphery of the obstacle according to a distance between the moving body and the obstacle; Including, In the route specification step, performing the correction when a distance between the moving object and the obstacle becomes shorter than a first distance for the moving object to avoid the danger area; determining the first distance and the danger area according to a type of the obstacle; A method for controlling a moving object.

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