MOBILE BODY CONTROL METHOD AND MOBILE BODY CONTROL SYSTEM

Abstract

The present disclosure addressed the problem of facilitating smooth movement of a moving body holding an object. This moving body control method has a determination process and a control process. The determination process is a process for determining, with regard to a moving body (1) that is in a state of transferring an object (X1), whether the moving body (1), including the object (X1), strays from a movement path (C1) through which passage is permitted. The control process (first control process) is a process for controlling the moving body (1) on the basis of the result of the determination process.

Description

[Technical field]

[0001] The present disclosure generally relates to a mobile object control method, and Mobile Control System To More specifically, the present invention relates to a mobile object control method for controlling a mobile object equipped with a detection unit that detects an object, and Mobile Control System To Regarding. [Background technology]

[0002] Patent Document 1 discloses a pallet truck (mobile body) that transports pallets (objects). In this pallet truck, forks are attached to the rear side (fork side) of the truck body so that they can be raised and lowered by a lifting mechanism. In this pallet truck, small wheels are attached to the tips of the forks.

[0003] For example, in a method for controlling a moving body using a moving body (pallet truck) as described in Patent Document 1, it is desirable to move the moving body smoothly while holding a pallet as an object. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-81240 Summary of the Invention

[0005] The present disclosure has been made in consideration of the above-mentioned circumstances, and provides a moving body control method that makes it easy to smoothly move a moving body while holding an object; and Mobile Control System M The purpose is to provide.

[0006] A mobile object control method according to one aspect of the present disclosure includes an acquisition process for acquiring a detection result of a detection unit including distance information related to a distance between the mobile object and an object, a first estimation process for attempting to recognize all of a plurality of feature parts for estimating a position and orientation of the object based on the detection result, a second estimation process for estimating a recognizable position where all of the feature parts can be recognized based on the recognition result of the partial feature parts when only a portion of the plurality of feature parts can be recognized in the first estimation process and the position and orientation of the object cannot be estimated based on the recognition result of the partial feature parts, a sub-process for moving the mobile object to the recognizable position estimated in the second estimation process and then executing the first estimation process, and a control process for estimating a position and orientation of the object based on the recognition result in the first estimation process and controlling the mobile object based on the estimation result of the position and orientation of the object. The control process includes a main process for moving the mobile object to the object, and the main process is executed when the position and orientation of the object are estimated during the sub-process. The movement control method according to one aspect of the present disclosure includes an acquisition process of acquiring a detection result of a detection unit including distance information related to a distance between a moving body having the detection unit and an object, a first estimation process of attempting to recognize all of a plurality of feature parts for estimating the position and orientation of the object based on the detection result, and in the first estimation process, only a part of the plurality of feature parts can be recognized, and when the position and orientation of the object cannot be estimated from the recognition result of the part of the feature parts, a second estimation process of estimating a recognizable position at which all of the plurality of feature parts can be recognized based on the recognition result of the part of the feature parts, a sub-process of executing the first estimation process after moving the moving body to the recognizable position estimated in the second estimation process, and a control process of estimating the position and orientation of the object based on the recognition result in the first estimation process and controlling the moving body based on the estimation result of the position and orientation of the object. The control process includes a main process of moving the moving body to the object, and the main process is executed when the position and orientation of the object can be estimated based on the recognition result of the part of the feature parts recognized in the first estimation process 。

[0007] A mobile object control system according to an embodiment of the present disclosure includes a mobile object having a detection unit and a control system for controlling the mobile object. The control system includes an acquisition unit for acquiring a detection result of the detection unit including distance information related to a distance between the mobile object and an object, and a control unit. The control unit performs a first estimation process for attempting to recognize all of a plurality of feature parts for estimating a position and orientation of the object based on the detection result, a second estimation process for estimating a recognizable position where all of the feature parts can be recognized based on the recognition result of the partial feature parts when only a portion of the plurality of feature parts can be recognized in the first estimation process and the position and orientation of the object cannot be estimated based on the recognition result of the partial feature parts, a sub-process for moving the mobile object to the recognizable position estimated in the second estimation process and then executing the first estimation process, and a control process for estimating a position and orientation of the object based on the recognition result of the first estimation process and controlling the mobile object based on the estimation result of the position and orientation of the object. The control process includes a main process for moving the moving body to the target object, and the main process is executed when a position and an orientation of the target object are estimated during the sub-process. A mobile object control system according to an embodiment of the present disclosure includes a mobile object having a detection unit and a control system for controlling the mobile object. The control system includes an acquisition unit for acquiring a detection result of the detection unit including distance information related to a distance between the mobile object and an object, and a control unit. The control unit performs a first estimation process for attempting to recognize all of a plurality of feature parts for estimating a position and orientation of the object based on the detection result, a second estimation process for estimating a recognizable position where all of the feature parts can be recognized based on the recognition result of the partial feature parts when only a portion of the plurality of feature parts can be recognized in the first estimation process and the position and orientation of the object cannot be estimated based on the recognition result of the partial feature parts, a sub-process for moving the mobile object to the recognizable position estimated in the second estimation process and then executing the first estimation process, and a control process for estimating a position and orientation of the object based on the recognition result of the first estimation process and controlling the mobile object based on the estimation result of the position and orientation of the object. The control process includes a main process of moving the moving body to the target object, and the main process is executed when a position and an orientation of the target object can be estimated based on a recognition result of the part of the characteristic parts recognized in the first estimation process. 。 [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing the appearance of a moving object and an object in a moving object control system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a perspective view showing an external appearance of a moving object used in the moving object control system. [Diagram 3] FIG. 3 is a block diagram of the above-mentioned mobile object control system. [Figure 4] FIG. 4 is a flowchart showing a first operation example of the mobile object control system. [Diagram 5] 5A and 5B are schematic plan views showing a moving object and an object in a first operation example of the moving object control system according to the embodiment of the present invention. [Figure 6]FIG. 6 is a schematic plan view showing a moving object and an object in a first operation example of the moving object control system according to the embodiment. [Figure 7] FIG. 7 is a perspective view showing an appearance of the object when the object moves. [Figure 8] FIG. 8 is a flowchart showing a second operation example of the above mobile object control system. [Figure 9] FIG. 9 is a schematic plan view showing characteristic parts of a moving object and an object in a second operation example of the moving object control system according to the embodiment of the present invention. [Figure 10] FIG. 10 is a schematic plan view showing characteristic parts of a moving object and an object in a second operation example of the moving object control system according to the embodiment of the present invention. [Figure 11] FIG. 11 is a schematic plan view showing characteristic parts of a moving object and an object in a second operation example of the moving object control system according to the embodiment of the present invention. [Figure 12] FIG. 12 is a schematic plan view showing characteristic parts of the moving object and the target object in a second operation example of the moving object control system according to the embodiment of the present invention. [Figure 13] FIG. 13 is a schematic plan view showing characteristic parts of the moving object and the target object in a second operation example of the moving object control system according to the embodiment of the present invention. [Figure 14] 14A to 14D are schematic plan views showing a moving body and an object in a second operation example of the moving body control system according to the embodiment of the present invention. [Figure 15] 15A to 15C are schematic plan views showing a moving object and an object in a second operation example of the moving object control system according to the embodiment. [Figure 16] FIG. 16 is a schematic plan view showing a moving body and an object in an operation example of a moving body control system of a comparative example. [Figure 17] FIG. 17 is a flowchart showing a third operation example of the mobile object control system according to an embodiment of the present disclosure. [Figure 18] 18A and 18B are schematic plan views showing a moving object and an object in a third operation example of the moving object control system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] (1) Overview The mobile object control method according to this embodiment is a method for moving a mobile object 1 having a detection unit 11 to an object X1, as shown in Fig. 1. This mobile object control method is realized, for example, by a mobile object control system 100. As shown in Fig. 3, the mobile object control system 100 includes the mobile object 1 and a control system 3. The control system 3 is a system that controls the mobile object 1.

[0011] The moving body 1 is a device that moves on a moving surface 200 by one or more wheels (drive wheels) 23 (see FIG. 2). In this embodiment, the moving body 1 is a device for transporting an object X1. Hereinafter, unless otherwise specified, the "moving body" will be referred to as the "transportation device". The transportation device 1 is introduced in facilities such as logistics centers (including distribution centers), factories, offices, stores, schools, and hospitals. The moving surface 200 is the surface on which the transportation device 1 moves, and when the transportation device 1 moves within a facility, the floor surface of the facility or the like becomes the moving surface 200, and when the transportation device 1 moves outdoors, the ground or the like becomes the moving surface 200. The following describes the case where the transportation device 1 is introduced into a logistics center.

[0012] As shown in FIG. 1 and FIG. 2, the conveying device 1 includes a main body 2 and a detection unit 11. The main body 2 has wheels 23 and moves on a moving surface 200 by the wheels 23. In this embodiment, the main body 2 is capable of autonomous movement. The detection unit 11 is provided on the main body 2 and detects the situation around the main body 2. The "periphery of the main body" in this disclosure corresponds to the range that can be detected by the detection unit 11. In other words, the range indicated by the "periphery of the main body" depends on the performance of the detection unit 11. In other words, the "periphery of the main body" may be in all directions centered on the main body 2, or may be an area of ​​a predetermined angle with a specific point on the main body as a vertex.

[0013] Incidentally, in a moving body control method for moving this type of moving body 1 to the object X1, it is desirable to move the moving body 1 smoothly to the object X1. Also, when the moving body 1 is a conveying device 1, in a moving body control method for moving this type of conveying device (moving body) 1 that conveys the object X1, it is desirable to move the moving body 1 smoothly while holding the object X1.

[0014] Therefore, the moving object control method according to this embodiment aims to solve the above problems by the following three methods.

[0015] First, the mobile object control method includes an acquisition process and a control process (second control process). The acquisition process is a process for acquiring a detection result of the detection unit 11 including distance information related to the distance between the mobile object 1 and the target object X1. The control process is a process for controlling the mobile object 1 when a part of characteristic parts X10 among a plurality of characteristic parts X10 for estimating the position and orientation of the target object X1 is recognized based on the detection result.

[0016] In this method, as compared with a method in which the moving body 1 is moved only when all characteristic parts X10 of the target object X1 are recognized, it is possible to take some measures, such as moving the moving body 1 to a position where the characteristic parts X10 are easily recognized, once some of the characteristic parts X10 are recognized. In other words, this method has the advantage that it is easy to move the moving body 1 smoothly to the target object X1.

[0017] Secondly, the moving object control method includes a movement determination process and a control process (third control process). The movement determination process is a process for determining whether or not the object X1 has moved while the moving object 1 is being moved to the object X1. The control process is a process for controlling the moving object 1 when it is determined in the movement determination process that the object X1 has moved.

[0018] In this method, as compared with a method in which the moving body 1 is moved on an initially set trajectory regardless of whether the object X1 moves or not, when it is determined that the object X1 has moved, it is possible to take some measures, such as correcting the trajectory of the moving body 1. In other words, this method has the advantage that it is easy to move the moving body 1 smoothly to the object X1.

[0019] Thirdly, the moving body control method includes a determination process and a control process (first control process). The determination process is a process for determining whether or not the moving body 1, which is in a state of transporting an object X1, will protrude from a moving path C1 (see FIG. 16) that the moving body 1, including the object X1, is permitted to pass through. The boundaries of the moving path C1 may include boundaries with no substance that are virtually set on the moving surface 200 by the upper system 4, as well as boundaries with substance such as walls. The control process is a process for controlling the moving body 1 based on the result of the determination process.

[0020] In this method, as compared with a method in which the moving body 1 is moved without considering deviation from the moving path C1, it is possible to take some measure, such as correcting the trajectory of the moving body 1, at the point in time when deviation from the moving path C1 is determined. In other words, this method has the advantage that it is easy to move the moving body 1 smoothly while holding the target object X1.

[0021] (2)Details Hereinafter, the configuration of the moving body control system 100 and the conveying device (moving body) 1 according to this embodiment will be described in detail with reference to FIG. 1 to FIG. 3. In the following, unless otherwise specified, the direction perpendicular to the moving surface 200 is the up-down direction, the conveying device 1 side as viewed from the moving surface 200 is the "upward" direction, and the opposite is the "downward" direction. In addition, in the following, the direction in which the conveying device 1 advances when moving forward is the "forward" direction, and the opposite is the "rearward" direction. In addition, in the following, the direction perpendicular to both the up-down direction and the front-rear direction is the left-right direction. However, the definition of these directions is not intended to limit the use mode of the conveying device 1. In addition, the arrows indicating each direction in the drawings are merely indicated for the purpose of explanation and do not have any substance. Furthermore, the arrows extending from the objects (for example, the conveying device 1 or the object X1, etc.) in the drawings merely indicate the direction in which the object moves and do not have any substance.

[0022] (2.1) Mobility Control System First, the overall configuration of a mobile object control system 100 according to this embodiment will be described.

[0023] 3, a mobile object control system 100 according to this embodiment includes a control system 3 and at least one transport device 1. In this embodiment, the mobile object control system 100 includes a plurality of transport devices 1.

[0024] In this embodiment, the control system 3 is mounted on the conveying device 1 and is integrated with the conveying device 1. In other words, one housing of the conveying device 1 contains components for realizing the functions of the conveying device 1 and components of the control system 3.

[0025] In this embodiment, since the mobile object control system 100 includes a plurality of conveying apparatuses 1, the mobile object control system 100 also includes a plurality of control systems 3 corresponding to the conveying apparatuses 1. In other words, the mobile object control system 100 includes a plurality of control systems 3 in one-to-one correspondence with the plurality of conveying apparatuses 1. In the following, unless otherwise specified, the description will focus on any one of the conveying apparatuses 1 and the control system 3 mounted on the conveying apparatus 1. The following description can be similarly applied to all of the remaining conveying apparatuses 1 and control systems 3.

[0026] In this embodiment, the moving object control system 100 further includes a host system 4 that remotely controls the conveying device 1, in addition to the conveying device 1 and the control system 3, as shown in FIG.

[0027] The upper system 4 and the control system 3 are configured to be able to communicate with each other. In the present disclosure, "able to communicate" means that information can be exchanged directly or indirectly via a network or a repeater, etc., by an appropriate communication method such as wired communication or wireless communication. In other words, the upper system 4 and the control system 3 can exchange information with each other. In this embodiment, the upper system 4 and the control system 3 can communicate with each other in both directions, and both the upper system 4 can transmit information to the control system 3 and the control system 3 can transmit information to the upper system 4.

[0028] The host system 4 remotely controls at least one (multiple in this embodiment) conveyance device 1. Specifically, the host system 4 communicates with the control system 3 to indirectly control the conveyance device 1 via the control system 3. In other words, the host system 4 controls the conveyance device 1 based on a command (conveyance command) transmitted from outside the conveyance device 1 to the control system 3 mounted on the conveyance device 1. The host system 4 transmits, for example, a command (conveyance command) and data such as an electronic map to the control system 3.

[0029] In this embodiment, the upper system 4 is, for example, a server, and is mainly composed of a computer system having one or more processors and a memory. The functions of the upper system 4 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided through a telecommunication line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0030] The host system 4 estimates at least the current position of the conveying device 1 from the detection result of the detection unit 11 of the conveying device 1 described later, and determines a movement path C1 (see FIG. 1) of the conveying device 1 to a target node C0 (see FIG. 1) (route planning). The host system 4 issues a command to the conveying device 1 via the control system 3 so that the conveying device 1 moves along the movement path C1. This realizes remote control of the conveying device 1.

[0031] (2.2) Transport device As shown in Figs. 1 and 2, the transport device 1 includes a main body 2, a detection unit 11, a drive unit 12, and a lifting mechanism 13. The transport device 1 further includes a control system 3, which will be described later. In this embodiment, the transport device 1 uses a processing unit that controls the detection unit 11, the drive unit 12, and the lifting mechanism 13 as a processing unit 30 (described later) of the control system 3. Of course, the transport device 1 may have a processing unit for controlling the detection unit 11, the drive unit 12, and the lifting mechanism 13, in addition to the processing unit 30 of the control system 3. The detection unit 11, the drive unit 12, the lifting mechanism 13, and the control system 3 are all mounted on the main body 2.

[0032] The transport device 1 autonomously travels on a flat moving surface 200 formed, for example, of a floor surface of a facility. As an example, the transport device 1 includes a storage battery and operates using electric energy stored in the storage battery. In this embodiment, the transport device 1 travels on the moving surface 200 with an object X1 loaded on the main body 2. This enables the transport device 1 to transport, for example, the object X1 placed at a certain location within a facility to another location within the facility.

[0033] In this embodiment, the object X1 may include a package X11, a product in a manufacturing plant, a product in the middle of manufacturing (semi-finished product), a pallet, or a pallet on which the package X11 is placed. That is, in this embodiment, the object X1 is an object to be transported by the moving body 1. The pallet is, for example, a roll box pallet (including a cold roll box pallet) or a flat pallet. In the following, the object X1 is a roll box pallet on which the package X11 is placed, unless otherwise specified.

[0034] The main body 2 is a rectangular parallelepiped that is longer in the front-rear direction than in the left-right direction and has smaller dimensions in the up-down direction than in the left-right and front-rear directions. As will be described in detail later, in this embodiment, the main body 2 slides under the object X1 and lifts it up, so that the object X1 is loaded onto the main body 2. Therefore, the dimension of the main body 2 in the up-down direction is set sufficiently smaller than the dimension of the main body 2 in the left-right direction so that the main body 2 can fit into the gap that occurs under the object X1.

[0035] The main body 2 has a vehicle body 21 and a plurality of lifting plates 22. In this embodiment, the main body 2 is made of metal. However, the main body 2 is not limited to being made of metal, and may be made of, for example, resin.

[0036] The body 21 is supported on a moving surface 200 by a plurality of wheels 23 (here, two) and a plurality of auxiliary wheels 24 (here, two).

[0037] The multiple wheels 23 are arranged at intervals in the width direction (left-right direction) of the vehicle body 21 in the center in the longitudinal direction (front-rear direction) of the vehicle body 21. Each of the multiple wheels 23 is capable of individually rotating upon receiving a driving force from the drive unit 12. Each wheel 23 is held by the main body 2 (vehicle body 21) in a state in which it can rotate around a rotation axis R1 extending in the left-right direction.

[0038] The multiple auxiliary wheels 24 are arranged at intervals in the longitudinal direction (front-rear direction) of the body section 21 at the center in the width direction (left-right direction) of the body section 21. Each of the multiple auxiliary wheels 24 can rotate individually without receiving a driving force from the drive section 12.

[0039] In this embodiment, all of the wheels 23 are drive wheels driven by the drive unit 12. The wheels 23 are driven individually by the drive unit 12, allowing the main body 2 to move in all directions. That is, the wheels 23 rotate at different angular velocities to turn in either the left or right direction, and rotate at the same angular velocity to travel in a straight line. Therefore, the main body 2 can move forward, backward, and turn left or right (including pivot turns and super pivot turns). The main body 2 can also move along a curved trajectory (i.e., a curve).

[0040] Each of the multiple lift plates 22 is disposed above the vehicle body 21 so as to cover at least a portion of the upper surface of the vehicle body 21. In this embodiment, the multiple lift plates 22 are provided so as to cover the four corners of the upper surface of the vehicle body 21, respectively. The upper surface of each lift plate 22 serves as a loading surface on which the object X1 is loaded when the transport device 1 transports the object X1. In this embodiment, the upper surface (loading surface) of each lift plate 22 has a larger coefficient of friction than the other portions of the lift plate 22, for example, by being subjected to an anti-slip treatment. Therefore, the object X1 loaded on each lift plate 22 is less likely to slip on each lift plate 22.

[0041] Here, each lift plate 22 can be raised and lowered relative to the vehicle body 21 by the lift mechanism 13. Therefore, when the main body 2 is submerged under the object X1, each lift plate 22 rises, whereby the object X1 is lifted by each lift plate 22. Conversely, when the object X1 is lifted by each lift plate 22, each lift plate 22 descends, whereby the object X1 is lowered from each lift plate 22.

[0042] The detection unit 11 detects the position of the main body part 2, the behavior of the main body part 2, the surrounding conditions of the main body part 2, etc. In the present disclosure, "behavior" means movement, appearance, etc. In other words, the behavior of the main body part 2 includes the operating state of the main body part 2 indicating whether the main body part 2 is moving / stopped, the speed (and speed change) of the main body part 2, the acceleration acting on the main body part 2, and the attitude of the main body part 2, etc. In the present disclosure, the "surrounding conditions" may include the conditions of the object X1 in the vicinity of the main body part 2.

[0043] Specifically, the detection unit 11 includes sensors such as LiDAR (Light Detection and Ranging), sonar sensors, and RADAR (Radio Detection and Ranging), and detects the surrounding situation of the main body 2 using these sensors. The LiDAR is a sensor that uses light (laser light) to measure the distance to the object X1 based on the reflected light from the object X1. The sonar sensor is a sensor that uses sound waves such as ultrasonic waves to measure the distance to the object X1 based on the reflected wave from the object X1. The radar is a sensor that uses electromagnetic waves such as microwaves (radio waves) to measure the distance to the object X1 based on the reflected wave from the object X1. That is, the detection result of the detection unit 11 (output of the detection unit 11) includes at least distance information related to the distance between the transport device 1 (main body 2) and the object X1. The "distance information" in the present disclosure may be information that reflects the distance between the transport device 1 and the object X1, that is, information that changes depending on the distance, and is not limited to information that represents the distance itself between the transport device 1 and the object X1. Furthermore, the detection unit 11 includes sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the behavior of the main body unit 2 with these sensors.

[0044] In this embodiment, the detection unit 11 has a sensor 110 which is a 2D-LiDAR (see FIG. 1). The sensor 110 is provided in the front of the main body 2 and is used mainly to detect the situation in front of the main body 2.

[0045] The detection unit 11 also measures the number of rotations of the drive wheels. Then, the processing unit 30, which will be described later, estimates the position of the main body unit 2 based on information such as the number of rotations of the drive wheels measured by the detection unit 11. That is, in this embodiment, the position of the main body unit 2 is estimated mainly based on an electronic map acquired in advance, the detection result of the detection unit 11 (sensor 110), and so-called dead-reckoning (DR).

[0046] The drive unit 12 directly or indirectly applies a driving force to drive wheels, which are at least a part of the plurality of wheels 23. In this embodiment, since all of the plurality of wheels 23 are drive wheels as described above, the drive unit 12 applies a driving force to all of the plurality of wheels 23. The drive unit 12 is built into the vehicle body unit 21. The drive unit 12 includes, for example, an electric motor, and indirectly applies a driving force generated by the electric motor to each wheel 23 via a gear box, a belt, or the like. The drive unit 12 may also be configured to directly apply a driving force to each wheel 23, such as an in-wheel motor. Based on a control signal input from the processing unit 30, the drive unit 12 drives each of the plurality of wheels 23 in a rotation direction and at a rotation speed according to the control signal.

[0047] The lifting mechanism 13 is a mechanism that lifts the object X1 by lifting each lift plate 22. In other words, the lifting mechanism 13 is a holding mechanism that holds the object X1 by lifting it. The lifting mechanism 13 moves each lift plate 22 in the vertical direction relative to the vehicle body 21, thereby raising or lowering the upper surface (loading surface) of each lift plate 22. The lifting mechanism 13 moves each lift plate 22 between a lower limit position and an upper limit position of the movable range of each lift plate 22. The lifting mechanism 13 is built into the main body 2 so as to be accommodated between the vehicle body 21 and each lift plate 22.

[0048] Furthermore, the transport device 1 may include other components as appropriate, such as a charging circuit for a storage battery, in addition to those described above.

[0049] (2.3) Control System 3, the control system 3 includes a processing unit 30, a storage unit 31, and a communication unit 32. The processing unit 30 also includes an acquisition unit 301, a control unit 302, a movement determination unit 303, and a determination unit 304. The acquisition unit 301, the control unit 302, the movement determination unit 303, and the determination unit 304 are realized as functions of the processing unit 30.

[0050] The processing unit 30 mainly comprises a computer system having one or more processors and a memory. The functions of the processing unit 30 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunication line such as the Internet, or may be provided by recording it on a non-transitory recording medium such as a memory card.

[0051] The acquisition unit 301 executes an acquisition process. The acquisition process is a process for acquiring the detection result of the detection unit 11 in the transport device (moving body) 1. As already described, the detection result of the detection unit 11 includes distance information related to the distance between the transport device 1 and the target object X1. The acquisition unit 301 acquires the detection result from the detection unit 11 at any time.

[0052] The control unit 302 executes a first estimation process and a second estimation process. The first estimation process is a process of recognizing at least a part of the multiple characteristic parts X10 based on the detection result of the detection unit 11, and estimating the position and orientation of the object X1 from the recognition result. In this embodiment, the first estimation process is a process of estimating the position and orientation of the object X1 by recognizing all of the multiple characteristic parts X10. The second estimation process is a process of recognizing at least a part of the multiple characteristic parts X10 based on the detection result of the detection unit 11, and estimating the type of the object X1 from the recognition result.

[0053] In the first estimation process, the control unit 302 recognizes the multiple characteristic parts X10 based on the detection result of the detection unit 11, and thereby estimates the relative position of each of the multiple characteristic parts X10 with respect to the transport device 1. Here, as already described, the processing unit 30 is capable of estimating the position of the main body unit 2 (i.e., the transport device 1) based on the detection result of the detection unit 11. Therefore, the control unit 302 is capable of estimating the position and orientation of the object X1 based on these estimated positions. In other words, in the process (first estimation process) for estimating the position and orientation of the object X1, relative position information of the object X1 (here, the characteristic part X10) with respect to the transport device (moving body) 1 is used.

[0054] In the second estimation process, the control unit 302 recognizes at least a part of a plurality of characteristic parts (here, wheels as described later) X10 based on the detection result of the detection unit 11. Then, the control unit 302 estimates the type of the object X1 corresponding to the characteristic part X10 based on the shape, size, design, etc. of the recognized characteristic part X10. The "type" of the object X1 in the present disclosure is, for example, the variety of the object X1, the shape of the object X1, the size of the object X1, the maximum load weight of the object X1, or the design of the object X1. As an example, the variety of the object X1 is a category classified according to the inherent function of the object X1, such as a roll box pallet or a flat pallet. In this embodiment, for example, even if the variety of two objects X1 is the same roll box pallet, if the maximum load weight is different, the types of the two objects X1 are different from each other.

[0055] Specifically, a plurality of models corresponding to a plurality of types of objects X1 are stored in the storage unit 31. Each of the plurality of models includes a template representing a corresponding characteristic portion X10. Therefore, in the second estimation process, the control unit 302 searches for a matching template from the plurality of templates stored in the storage unit 31 based on the recognition result of the characteristic portion X10. This enables the control unit 302 to estimate the type of object X1 corresponding to the recognized characteristic portion X10.

[0056] Moreover, the control unit 302 executes a holding process and a transport process. In other words, the mobile body control method includes a holding process and a transport process. The holding process is a process of making the transport device (mobile body) 1 enter below the object X1 and making the transport device 1 lift the object X1 and make the transport device 1 hold the object X1. Specifically, in the holding process, the control unit 302 controls the drive unit 12 to make the transport device 1 slip under the object X1 (roll box pallet). In the holding process, the control unit 302 controls the lift mechanism 13 to lift each lift plate 22, thereby making the transport device 1 lift the object X1. The transport process is a process of moving the transport device 1 to a destination while the object X1 is held by the transport device (mobile body) 1. Specifically, in the conveying process, the control unit 302 controls the drive unit 12 to move the conveying device 1 holding the target object X1 to the destination along the movement path C1 (see FIG. 1) set by the higher-level system 4.

[0057] The control unit 302 also executes a control process. The control process is a process for controlling the transport device (moving body) 1, and includes various processes. In this embodiment, the control process includes three control processes (first control process, second control process, and third control process) that are executed in three situations, broadly speaking.

[0058] The second control process is a process executed while the conveying device 1 is moving to the target object X1. Specifically, the second control process is a process that controls the conveying device (moving body) 1 when some of the characteristic parts X10 among a plurality of characteristic parts X10 for estimating the position and orientation of the target object X1 are recognized based on the detection result of the detection unit 11. Here, the second control process is executed in parallel with the first estimation process.

[0059] In this embodiment, as already described, the object X1 is a roll box pallet. In this embodiment, the multiple (four here) wheels of the roll box pallet correspond to the multiple characteristic parts X10. In other words, the multiple characteristic parts X10 include the legs (wheels) of the object X1 (roll box pallet). That is, in this embodiment, the second control process is a process of controlling the moving body 1 when some of the multiple wheels of the roll box pallet are recognized based on the detection result of the detection unit 11. The second control process is executed to move the conveying device 1 to the object X1, that is, to make the conveying device 1 capable of slipping under the object X1. A specific aspect of the second control process will be described in "(3.1) First operation example" described later.

[0060] The third control process is a process executed while the conveying device 1 is moving to the object X1, and is a process executed while the conveying device 1 starts moving to the object X1. Specifically, the third control process is a process for controlling the conveying device (moving body) 1 when a movement determination unit 303 (i.e., a movement determination process) described later determines that the object X1 has moved. The third control process is executed to move the conveying device 1 to the object X1, that is, to make the conveying device 1 able to slip under the object X1 even if the object X1 moves due to shaking or the like while the conveying device 1 is moving to the object X1. A specific aspect of the third control process will be described in "(3.2) Second Operation Example" described later.

[0061] The first control process is a process executed while the conveying device 1 holds the object X1 and conveys it to the destination. Specifically, the first control process is a process for controlling the conveying device (moving body) 1 when a determination unit 304 (i.e., a determination process) described later determines that the object X1 will protrude from the movement path C1. The first control process is executed while the conveying device 1 holds the object X1 and conveys it to the destination, in order to move the conveying device 1 to the destination in a state in which the moving body 1 including the object X1 is contained within the movement path C1. A specific aspect of the first control process will be described in "(3.3) Third operation example" described later.

[0062] The movement determination unit 303 executes a movement determination process. The movement determination process is a process for determining whether or not the object X1 has moved while the transport device (moving body) 1 is being moved to the object X1. The movement determination process is executed at any time while the transport device 1 is moving to the object X1. A specific aspect of the movement determination process will be described later in "(3.2) Second operation example."

[0063] The determination unit 304 executes a determination process. The determination process is a process for determining whether or not the conveying device (moving body) 1, which is in a state of conveying the object X1, will protrude from the movement path C1. The movement path C1 is a path through which the conveying device 1 is permitted to pass, including the object X1. The determination process is executed at any time while the conveying device 1 is holding the object X1 and conveying it to the destination. A specific aspect of the determination process will be described later in "(3.3) Third operation example."

[0064] The communication unit 32 communicates with the upper system 4 directly or indirectly via a network or a repeater. An appropriate communication method such as wireless communication or wired communication is adopted as the communication method between the communication unit 32 and the upper system 4. As an example in this embodiment, the communication unit 32 adopts wireless communication using radio waves as a communication medium, which complies with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio that does not require a license (specified low-power radio).

[0065] (3) Operation Hereinafter, the operation of the mobile object control system 100 of this embodiment will be described. First, a basic operation example of the mobile object control system 100 will be described. Here, as shown in FIG. 1, a case where an object X1 (roll box pallet) placed in a pallet yard is transported by a transport device 1 will be illustrated.

[0066] Also, in the basic operation example, it is assumed that the control unit 302 does not execute any of the first control process, the second control process, and the third control process. That is, in the basic operation example, it is assumed that the conveying device 1 recognizes all of the characteristic parts X10 (wheels) of the object X1 in the first estimation process for the first time after arriving in front of the object X1. Also, in the basic operation example, it is assumed that the object X1 does not move while the conveying device 1 moves to the object X1. Also, in the basic operation example, it is assumed that the object X1 does not protrude from the movement path C1 while the conveying device 1 holds the object X1 and conveys it to the destination.

[0067] First, the control system 3 moves the conveying device 1 toward the target node C0 set near the pallet storage area according to a command (conveyance command) from the upper system 4 and an electronic map. At this time, the conveying device 1 moves along a moving route C1 set by the upper system 4. When the conveying device 1 reaches the target node C0, the control system 3 determines that the conveying device 1 has arrived at the pallet storage area and stops the conveying device 1. At this time, the operation mode of the control system 3 transitions to a single mode. The single mode is an operation mode in which the control system 3 can control the conveying device 1 independently without receiving a command from the upper system 4. The control system 3 that transitions to the single mode executes the acquisition process and the first estimation process while keeping the conveying device 1 stopped on the target node C0. Here, since the detection unit 11 (sensor 110) captures the object X1, in the acquisition process, the control system 3 acquires the detection result of the detection unit 11 regarding the object X1.

[0068] In the first estimation process, the control system 3 recognizes the multiple characteristic parts X10 based on the detection results of the detection unit 11, and estimates the relative position of each of the multiple characteristic parts X10 with respect to the conveying device 1. Here, as already described, all of the characteristic parts X10 are recognized by this first estimation process. Therefore, the control system 3 estimates the position and orientation of the object X1 by this first estimation process. At this time, the control system 3 executes a second estimation process in conjunction with the first estimation process to estimate the type of the object X1.

[0069] Thereafter, the control system 3 executes the holding process. First, the control system 3 sets the position of the object X1 (here, the position below the object X1) as the target point based on the estimation results of the position, orientation, and type of the object X1. Then, the control system 3 moves the conveying device 1 to the target point (i.e., the object X1). Here, the control system 3 determines whether to move the conveying device 1 to the object X1 by combining turning and forward movement, or to move the conveying device 1 to the object X1 by drawing a curved trajectory, depending on the relative positions of the conveying device 1 and the object X1. Then, the control system 3 moves the conveying device 1 to the object X1 based on the determined mode. As a result, the conveying device 1 is in a state of being submerged under the object X1. When the movement of the conveying device 1 is completed, the control system 3 controls the lifting mechanism 13 to lift each lifting plate 22. As a result, the conveying device 1 is in a state of lifting and holding the object X1.

[0070] Then, the control system 3 executes the conveying process. The control system 3 controls the driving unit 12 to move the conveying device 1 holding the target object X1 to the destination along the movement path C1 set by the higher-level system 4.

[0071] (3.1) First operation example Next, a first operation example of the mobile object control system 100 of this embodiment will be described. The first operation example shows an example of an operation in a case where only some of the multiple characteristic parts X10 (wheels) can be recognized in the first estimation process in the basic operation example.

[0072] For example, as shown in Figures 5A and 5B, the detection unit 11 (sensor 110) of the conveying device 1 projects light (laser light) toward an area defined by a predetermined angle with the detection unit 11 as the apex. In Figures 5A and 5B, the dashed line extending from the sensor 110 represents the light projected from the sensor 110. The same applies to Figure 6, which will be described later. Then, when the projected light is reflected by a characteristic portion X10, the detection unit 11 measures the distance to the characteristic portion X10 based on the reflected light, that is, it is possible to recognize the characteristic portion X10.

[0073] Here, for example, as shown in Fig. 5A, when the detection unit 11 and multiple (here, two) characteristic portions X10 are arranged in a straight line, the light projected from the detection unit 11 is reflected by the characteristic portion X10 on the detection unit 11 side among the multiple characteristic portions X10. In this case, the light is blocked by the characteristic portion X10 on the detection unit 11 side at the other characteristic portions X10 among the multiple characteristic portions X10. That is, in this case, the detection unit 11 can only receive reflected light from some of the characteristic portions X10 (here, the characteristic portion X10 on the detection unit 11 side) among the multiple characteristic portions X10, and as a result, it can only recognize some of the characteristic portions X10.

[0074] Therefore, in the first operation example, the control system 3 executes the second control process. That is, in the first operation example, the control system 3 controls the conveying device 1 when it recognizes some of the multiple characteristic parts X10 based on the detection result of the detection unit 11. In this operation example, the control system 3 executes, as an example of the second control process, a process of moving the conveying device 1 to a position where it is estimated that all of the characteristic parts X10 can be recognized. That is, the control process (second control process) includes a sub-process of moving the conveying device (moving body) 1 to a position where all of the multiple characteristic parts X10 of the target object X1 can be recognized.

[0075] A series of flows of a first operation example of the mobile object control system 100 of this embodiment will be described below with reference to Fig. 4. In the flowchart shown in Fig. 4, the processes of steps S16: Yes, S15, and S18, or the processes of steps S16: No, S17a to S17d, S15, and S18 correspond to the second control process. The first operation example shown in Fig. 4 starts when the transport device 1 reaches a target node C0 set near the pallet storage area.

[0076] First, when the conveying device 1 reaches the target node C0, the control system 3 stops the conveying device 1 and puts the conveying device 1 on standby as described above (S10). Then, the operation mode of the control system 3 transitions to the standalone mode. After that, the control system 3 executes an acquisition process to acquire the detection result of the detection unit 11 (sensor 110) (S11). As a result, the control system 3 acquires the detection result of the detection unit 11 regarding one or more characteristic parts X10 of the target object X1.

[0077] Next, the control system 3 executes a first estimation process. That is, the control system 3 attempts to recognize all characteristic portions X10 of the object X1 based on the detection result of the detection unit 11 (S12). Then, the control system 3 executes a second estimation process in parallel with the first estimation process. That is, the control system 3 estimates the type of the object X1 by searching for a matching template from among multiple templates stored in the storage unit 31 based on the recognition result of the characteristic portion X10 in the first estimation process (S13).

[0078] Here, in the first estimation process, if the control system 3 can recognize all the characteristic parts X10 (S14: Yes), the control system 3 estimates the position and orientation of the object X1 based on the recognition results of all the characteristic parts X10 (S15). In addition, in the first estimation process, if only some of the characteristic parts X10 can be recognized (S14: No) but the position and orientation of the object X1 can be estimated based on the recognition results of some of the characteristic parts X10 (S16: Yes), the control system 3 estimates the position and orientation of the object X1 (S15). Such a situation may occur when the majority of the multiple characteristic parts X10 (e.g., three wheels out of four wheels) can be recognized, and more preferably, when the states of these characteristic parts X10 are the same (e.g., the orientations of the three wheels are the same), etc.

[0079] On the other hand, if only some of the characteristic parts X10 can be recognized in the first estimation process (S14: No) and the position and orientation of the object X1 cannot be estimated based on only the recognition results of some of the characteristic parts X10 (S16: No), the control system 3 executes the sub-process. This situation may occur when only half or less of the multiple characteristic parts X10 (for example, two of the four wheels) can be recognized.

[0080] In the sub-processing, the control system 3 estimates positions where all of the characteristic parts X10 can be recognized (hereinafter also referred to as "recognizable positions") based on the recognition results of some of the characteristic parts X10 (S17a). Then, the control system 3 moves the conveying device 1 to the estimated recognizable positions (S17b).

[0081] For example, as shown in Fig. 5A, it is assumed that the detection unit 11 (sensor 110) receives reflected light from two of the multiple (four here) characteristic parts X10 (wheels) on the detection unit 11 side. In this case, the control system 3 estimates, as a recognizable position, an area A1 on a normal line A10 passing through the center of a line segment connecting the two recognized characteristic parts X10 on the detection unit 11 side and a predetermined distance away from the target object X1. Then, the control system 3 moves the transport device 1 to the recognizable position as shown in Fig. 5B.

[0082] Specifically, the control system 3 first rotates the conveying device 1 (here, rotates right) so that the sensor 110 faces the area A1. Then, the control system 3 advances the conveying device 1 until the center of the conveying device 1 almost coincides with the center of the area A1. After that, the control system 3 rotates the conveying device 1 (here, rotates left) until the sensor 110 is located on the normal line A10. In this way, the control system 3 moves the conveying device 1 by combining rotation and advancement, thereby moving the conveying device 1 to the area A1 (i.e., the recognizable position). Then, at the recognizable position, the light projected from the detection unit 11 (sensor 110) can reach all the characteristic parts X10. Therefore, the control system 3 can recognize all the characteristic parts X10 by executing the acquisition process (S11) and the first estimation process (S12) again when the conveying device 1 is in the recognizable position. If the detection unit 11 still cannot recognize all of the characteristic portions X10, the control system 3 may change the recognizable positions by executing the sub-processing (S17a to S17d).

[0083] Then, after estimating the position and orientation of the object X1, the control system 3 sequentially executes the holding process and the transport process as in the basic operation example. That is, the control system 3 moves the transport device 1 to the target point (i.e., the object X1) (S18).

[0084] This operation example has the following advantages over a method (a mobile body control method of a first comparative example) in which the conveying device (mobile body) 1 is moved only when all characteristic parts X10 of the target object X1 are recognized. That is, in the mobile body control method of the first comparative example, measures may be required to improve the recognition accuracy of the conveying device 1, such as by increasing the number of sensors 110 used in the detection unit 11, so that all characteristic parts X10 can be recognized. Also, in the mobile body control method of the first comparative example, measures may be required to devise an arrangement of the target object X1 so that all characteristic parts X10 can be easily recognized.

[0085] In contrast, this operation example utilizes the autonomous travel capability of the transport device 1. In other words, in this operation example, when some characteristic parts X10 are recognized, it is possible to take some measure to move the transport device 1 to the target object X1 without taking the above-mentioned measures, such as moving the transport device 1 to a position (recognizable position) where the characteristic parts X10 are easily recognized. In other words, this operation example has the advantage that it is easy to smoothly move the transport device 1 to the target object X1.

[0086] Here, when the object X1 is placed at a predetermined position by a machine before the conveying device 1 conveys the object X1, the object X1 is placed at the predetermined position by the machine in a generally accurate position and orientation. In this case, the conveying device 1 can slip under the object X1 by simply moving forward after reaching the target node C0. On the other hand, when the object X1 is placed at a position previously set by a person, the object X1 may be placed away from the predetermined position or tilted from the predetermined position depending on the carefulness of the person conveying the object X1. In this case, a situation may arise in which the conveying device 1 cannot slip under the object X1 by simply moving forward after reaching the target node C0.

[0087] In this operation example, even in the latter case, the conveying device 1 can slip under the object X1 after reaching the goal node C0. In other words, this operation example has the advantage that it is not necessary to require the person who conveys the object X1 to a predetermined position to place the object X1 with precision.

[0088] In this operation example, the control system 3 executes the acquisition process and the first estimation process at any time even during the execution of the sub-process. Therefore, the control system 3 may be able to estimate the position and orientation of the object X1 while moving the transport device 1 to the recognizable position. In such a case (S17c: Yes), even during the execution of the sub-process, the control system 3 may interrupt the sub-process and execute the holding process and the transport process at the point when the position and orientation of the object X1 can be estimated (S15), that is, move the transport device 1 to the object X1 (S18). Note that, if the position and orientation of the object X1 cannot be estimated during the execution of the sub-process (S17c: No), the control system 3 continues to move the transport device 1 (S17b) until the transport device 1 completes the movement to the recognizable position (S17d: No). On the other hand, when the transport device 1 completes the movement to the recognizable position (S17d: Yes), the control system 3 executes the acquisition process (S11) and the first estimation process (S12) again.

[0089] That is, the control process (second control process) includes a main process (S18) for moving the conveying device (moving body) 1 to the target object X1. The main process may be executed when the position and orientation of the target object X1 are estimated during the sub-process (S17c: Yes, S15).

[0090] In this way, the main process also serves as part of the holding process (i.e., the process of moving the conveying device 1 below the object X1). Therefore, when executing the main process, the control system 3 only needs to execute the process of making the conveying device 1 lift the object X1 and hold the object X1 on the conveying device 1 in the holding process.

[0091] The main process (S18) is also executed when the second control process includes the process of steps S16: Yes, S15. Specifically, the main process is also executed when the position and orientation of the object X1 can be estimated using only some of the characteristic parts X10, rather than recognizing all of the characteristic parts X10. In other words, the control process (second control process) includes the main process. The main process may be executed by estimating the position and orientation of the object X1 based on the recognition results of some of the characteristic parts X10.

[0092] Incidentally, in the main processing, the control system 3 may cause the conveying device 1 to enter below the object X1 by combining turning and forward movement, or may cause the conveying device 1 to enter below the object X1 so as to draw a curved trajectory as shown in Fig. 6. In the example shown in Fig. 6, the control system 3 does not move the conveying device 1 to a recognizable position, but moves the conveying device 1 directly to the area A2 below the object X1. In other words, the main processing may include a process of moving the conveying device (moving body) 1 so as to draw a curved trajectory.

[0093] (3.2) Second operation example Next, a description will be given of a second operation example of the mobile object control system 100 of this embodiment. The second operation example shows an example of an operation during the holding process in the basic operation example in which the transport device 1 is moved to the target object X1.

[0094] For example, the object X1 may move while the conveying device 1 is being moved to the object X1. In the present disclosure, "movement of the object" includes movement to the extent that the position and orientation of the object X1 estimated in the first estimation process are shifted. Therefore, the movement of the object X1 may include a case in which the entire object X1 moves, as well as a case in which only a part of the object X1 (characteristic portion X10) moves. For example, the movement of the object X1 may occur when an external force is applied by a worker touching the object X1, or when the object X1 moves naturally due to gravity depending on the condition of the surface on which the object X1 is placed (e.g., the surface is tilted).

[0095] As an example, as shown in FIG. 7, when the object X1 is a roll box pallet, the movement of the object X1 may include a case where the entire roll box pallet moves, as well as a case where the wheels (characteristic part X10) of the roll box pallet rotate on the spot, causing the position to shift. In this case, the wheels are so-called swivel wheels. A swivel wheel is a wheel whose direction of travel is not fixed and can be freely changed. The swivel wheel is configured to be rotatable around the point where it is attached to the main body of the roll box pallet. For this reason, the rotation of the swivel wheel may cause the position of the characteristic part X10 to change, even if the position of the entire object X1 does not change.

[0096] If the object X1 moves while the conveying device 1 is being moved to the object X1, the object X1 will deviate from the position and orientation estimated in the first estimation process. In this case, if the control system 3 continues to move the conveying device 1 to the object X1, the object X1 will deviate from the estimated position and orientation, and therefore the conveying device 1 may not reach the object X1 or may collide with the object X1. In other words, the control system 3 may not achieve the purpose of moving the conveying device 1 to the object X1 (here, moving the conveying device 1 below the object X1).

[0097] Therefore, in the second operation example, the control system 3 executes a movement determination process. That is, in the second operation example, the control system 3 determines whether or not the object X1 has moved while moving the conveying device 1 to the object X1. In this operation example, the control system 3 continuously monitors the multiple characteristic parts X10 (wheels) of the object X1 by acquiring the detection result of the detection unit 11 (sensor 110) at any time (that is, executing the acquisition process at any time). Then, the control system 3 determines whether or not the object X1 has moved based on the movement of one or more of the multiple characteristic parts X10. That is, the movement determination process determines whether or not the object X1 has moved based on the movement of one or more of the multiple monitoring targets (characteristic parts X10) included in the object X1.

[0098] Moreover, in the second operation example, the control system 3 executes a third control process. That is, in the second operation example, the control system 3 controls the conveying device 1 when it is determined in the movement determination process that the object X1 has moved. In this operation example, as an example of the third control process, the control system 3 corrects the trajectory of the conveying device 1 relative to the object X1, and then attempts to move the conveying device 1 to the object X1 again. That is, the control process (third control process) includes a retry process of correcting the trajectory of the conveying device (moving body) 1 relative to the object X1, and moving the conveying device 1 to the object X1 on the corrected trajectory.

[0099] A series of flows of the second operation example of the mobile object control system 100 of this embodiment will be described below with reference to Figs. 8 to 15C. In the flowchart shown in Fig. 8, the processes of steps S21, S23 to S26 correspond to the movement determination process, and the processes of steps S27 and S28 correspond to the third control process. The second operation example shown in Fig. 8 starts when the control system 3 completes the estimation of the position and orientation of the object X1 by the first estimation process.

[0100] First, when the estimation of the position and orientation of the object X1 is completed, the control system 3 starts the holding process as already described. That is, the control system 3 sets the position of the object X1 (here, a position below the object X1) as a target point based on the estimation results of the position, orientation, and type of the object X1, and starts the process of moving the conveying device 1 to the object X1. At this time, the control system 3 sets a monitoring area B1 (see FIG. 9) before starting the holding process (S21).

[0101] Specifically, as shown in FIG. 9, the control system 3 sets a monitoring area B1 for each of the multiple characteristic parts X10 recognized in the first estimation process. In this disclosure, a "monitoring area" is a fixed area that includes the entire characteristic part X10. In other words, the number of monitoring areas B1 matches the number of the multiple characteristic parts X10. Also, in this disclosure, "setting a monitoring area" refers to the control system 3 setting a fixed range (i.e., monitoring area B1) that includes the position (coordinates) of the characteristic part X10 as a monitoring target. In other words, the number of monitoring targets matches the number of the multiple characteristic parts X10.

[0102] When the setting of the monitoring area B1 is completed, the control system 3 starts moving the conveying device 1 to the object X1 (S22). While the conveying device 1 is moving to the object X1, the control system 3 acquires the detection result of the detection unit 11 (sensor 110) at any time (i.e., executes the acquisition process at any time) (S23). Then, the control system 3 monitors at any time whether the positions of the multiple characteristic parts X10 based on the detection result of the detection unit 11 are within the corresponding monitoring area B1 (S24). In other words, the movement determination process determines whether the object X1 has moved or not based on the detection result of the detection unit 11 of the conveying device (moving body) 1.

[0103] Specifically, the control system 3 monitors whether or not a predetermined number or more of the characteristic parts X10 corresponding to the monitoring area B1 are contained within the monitoring area B1 (S25). In this embodiment, all of the characteristic parts X10 (wheels) are free-wheeling wheels. In other words, one or more monitoring targets include free-wheeling wheels. For this reason, in this embodiment, the corresponding characteristic parts X10 may fall outside the monitoring area B1 not only when the entire object X1 moves, but also when the free-wheeling wheels rotate (see FIGS. 10 and 11).

[0104] In this operation example, the control system 3 determines that the object X1 is not moving if the number of characteristic parts X10 contained in the monitoring area B1 is more than half the number of the multiple characteristic parts X10. On the other hand, the control system 3 determines that the object X1 is moving if the number of characteristic parts X10 contained in the monitoring area B1 is half or less the number of the multiple characteristic parts X10.

[0105] In the example shown in FIG. 10, the characteristic portion X10 is contained in each of three of the four monitoring areas B1. Therefore, in the example shown in FIG. 10, the number of characteristic portions X10 contained in the monitoring area B1 is "3", which is more than half of the number of the plurality of characteristic portions X10, "4", so the control system 3 determines that the object X1 is not moving. On the other hand, in the example shown in FIG. 11, the characteristic portion X10 is contained in each of two of the four monitoring areas B1. Therefore, in the example shown in FIG. 11, the number of characteristic portions X10 contained in the monitoring area B1 is "2", which is less than half of the number of the plurality of characteristic portions X10, "4", so the control system 3 determines that the object X1 is moving.

[0106] 8, if the characteristic portions X10 corresponding to the predetermined number or more of the monitoring regions B1 are within the area (S25: Yes), the control system 3 continues to move the conveying device 1 to the target object X1 (S22). On the other hand, if the characteristic portions X10 corresponding to the predetermined number or more of the monitoring regions B1 are not within the area (S25: No), the control system 3 determines that the target object X1 is moving (S26). Then, the control system 3 determines whether or not the conveying device 1 can continue to move to the target object X1 without correcting the trajectory of the conveying device 1 (S27).

[0107] Specifically, as shown in Fig. 12 and Fig. 13, the control system 3 determines whether the conveying device 1 can continue moving to the target object X1 by determining whether at least a part of the characteristic parts X10 overlaps with the set target point (area surrounded by a two-dot chain line). In the example shown in Fig. 12, since none of the characteristic parts X10 overlaps with the set target point, the control system 3 determines that the conveying device 1 can continue moving to the target object X1. On the other hand, in the example shown in Fig. 13, since the characteristic parts X10 overlap with the set target point, the control system 3 determines that the conveying device 1 cannot continue moving to the target object X1.

[0108] 8, when it is determined that the movement of the conveying device 1 to the object X1 can be continued (S27: Yes), the control system 3 continues to move the conveying device 1 to the object X1 (S22). On the other hand, when it is determined that the movement of the conveying device 1 to the object X1 cannot be continued (S27: No), the control system 3 executes a retry process (S28). In this operation example, the control system 3 can execute two processes (a first retry process and a second retry process) as the retry process.

[0109] The first retry process is a process of returning the conveying device 1 to a position before starting movement to the target point, and then going through the acquisition process and the first estimation process, resetting the target point again and moving the conveying device 1 to the object X1. In other words, the retry process includes a process of returning the conveying device 1 (moving body) to the position where the conveying device 1 started moving to the object X1 before correcting the trajectory.

[0110] A specific example of the first retry process will be described with reference to Figs. 14A to 14D. In the example shown in Figs. 14A to 14D, it is assumed that the entire object X1 moves while the transport device 1 is moving to the object X1. Fig. 14A shows the time when the transport device 1 starts moving to the object X1. At this time, the object X1 has not moved. Fig. 14B shows a state in which the object X1 has moved while the transport device 1 is moving to the object X1. At this time, the control system 3 judges that the object X1 has moved by the movement judgment process. Fig. 14C shows a state in which the control system 3 returns the transport device 1 to a position before the start of the movement to the target point (i.e., the position where the transport device 1 is located in Fig. 14A) by executing the first retry process. Fig. 14D shows a time when the control system 3 executes the first retry process to reset the target point to the position where the object X1 after the movement is located, and starts the process of moving the transport device 1 to the object X1 again. The first retry process may be executed, for example, when it is difficult to correct the trajectory from the point where it is determined that the object X1 has moved.

[0111] The second retry process is a process of resetting the target point again through the acquisition process and the first estimation process at the point where it is determined that the object X1 has moved, and moving the conveying device 1 to the object X1. In other words, the retry process includes a process of moving the conveying device (moving body) 1 to the object X1 so as to follow the movement of the object X1.

[0112] A specific example of the second retry process will be described with reference to Figs. 15A to 15C. In the example shown in Figs. 15A to 15C, it is assumed that the entire object X1 moves while the transport device 1 is moving to the object X1. Fig. 15A shows the time when the transport device 1 starts moving to the object X1. At this time, the object X1 has not moved. Fig. 15B shows a state in which the object X1 has moved while the transport device 1 is moving to the object X1. At this time, the control system 3 judges that the object X1 has moved by the movement judgment process. Fig. 15C shows the time when the control system 3 executes the second retry process, resets the target point to the position where the object X1 after the movement is located, and starts the process of moving the transport device 1 to the object X1 again. Thus, in the second retry process, unlike the first retry process, the process of returning the transport device 1 to the point before the movement to the target point is started is not executed. The second retry process may be executed, for example, when it is possible to sufficiently correct the trajectory even from the point where it is determined that the object X1 has moved.

[0113] This operation example has the following advantages over a method (the mobile body control method of the second comparative example) in which the transport device (mobile body) 1 continues to move to the object X1 regardless of whether the object X1 moves or not. That is, in the mobile body control method of the second comparative example, the transport device 1 continues to move to the object X1 even if the object X1 deviates from the estimated position and orientation due to movement. For this reason, in the mobile body control method of the second comparative example, there is a possibility that the objective of moving the transport device 1 to the object X1 cannot be achieved, for example, the transport device 1 does not reach the object X1 or the transport device 1 collides with the object X1.

[0114] In contrast, in this operation example, when it is determined that the object X1 is moving, it is possible to take some measures, such as correcting the trajectory of the transport device 1. Therefore, in this operation example, it is difficult for obstacles such as the transport device 1 not reaching the object X1 or the transport device 1 colliding with the object X1, as occurs in the mobile body control method of the second comparative example, and it is easy to achieve the goal of moving the transport device 1 to the object X1. In other words, this operation example has the advantage that it is easy to move the transport device (mobile body) 1 smoothly to the object X1.

[0115] In this operation example, the control system 3 may execute a notification process to notify that the object X1 has moved, instead of or in parallel with the retry process. That is, the control process (third control process) may include a process to notify that the object X1 has moved. In the notification process, the control system 3 may notify the surroundings that the object X1 has moved, for example, by outputting a notification message from a speaker installed in the transport device 1. In this case, a worker who hears the notification message can take measures such as returning the object X1 to its original position. In addition, in the notification process, the control system 3 may notify the upper system 4 via the communication unit 32 that the object X1 has moved. In this case, the manager of the upper system 4 can take measures such as returning the object X1 to its original position by heading to the site himself or instructing a worker to be dispatched to the site.

[0116] In addition, in this operation example, the control system 3 may stop the conveying device 1 when the movement determination process determines that the object X1 is moving and the object X1 has moved to a position that is a predetermined distance or more away from the target point. In other words, the control process (third control process) may include a process of stopping the movement of the conveying device (moving body) 1 to the object X1 when the object X1 deviates from a predetermined area. This aspect has the advantage that it is easy to prevent the conveying device 1 from entering an area under the jurisdiction of another conveying device 1 and interfering with the operation of the other conveying device 1.

[0117] In this embodiment, the control system 3 may detect the direction in which the object X1 has moved. That is, the control process (third control process) may include a process of detecting the direction in which the object X1 has deviated from a predetermined area. This process can be executed, for example, by tracking the position of the characteristic part X10 based on the detection result of the detection unit 11 (sensor 110). This embodiment has the advantage that the position of the object X1 after movement is easily grasped. In this embodiment, when it is determined that the object X1 has moved to an area under the jurisdiction of another transport device 1, the control system 3 may notify the host system 4 of this fact via the communication unit 32. In this embodiment, the host system 4 can instruct the other transport device 1 to transport the moved object X1.

[0118] Furthermore, the control system 3 may determine the process (retry process, notification process, etc.) to be executed in the third control process according to the determination result of the movement determination process. In other words, the content of the control process (third control process) may be determined according to the manner of movement of the object X1. In the movement determination process, it is possible to determine the movement, moving direction, and moving speed of the object X1, as well as deviation from the detectable area of ​​the object X1.

[0119] (3.3) Third operation example Next, a description will be given of a third operation example of the mobile object control system 100 of this embodiment. The third operation example shows an example of an operation performed when the transport device 1 holds the object X1 and transports it to the destination in the transport process in the basic operation example.

[0120] While the conveying device 1 holds the object X1 and conveys it to the destination, the conveying device 1 may turn to change direction. In the example shown in FIG. 16, the conveying device 1 holds the object X1 by lifting it up while entering below the object X1, and then returns to the original position (goal node C0) and moves to the destination along the moving path C1. Here, the moving path C1 includes an area C10 in which the object X1 is placed and in which the conveying device 1 is allowed to move. The area C10 is, for example, a pallet storage area. A plurality of such areas C10 may be set on the moving surface 200. In the example shown in FIG. 16, three areas C10 are set on the moving surface 200.

[0121] In the example shown in FIG. 16, the conveying device 1 conveys an object X1 placed in the central area C10 among the three areas C10. Here, as already described, when the object X1 is placed in the area C10 by a person, for example, the object X1 may be placed away from the predetermined position D1 or tilted from the predetermined position D1 depending on the carefulness of the person who carries the object X1. In the example shown in FIG. 16, the object X1 is placed at a position shifted from the predetermined position D1. In this case, when the conveying device 1 holding the object X1 turns at the point where the object X1 is held, the object X1 may protrude from the area C10 (i.e., the moving path C1) into the adjacent area C10. In this case, the object X1 may come into contact with another object X1 or equipment in the adjacent area C10.

[0122] Therefore, in the third operation example, the control system 3 executes a determination process. That is, in the third operation example, the control system 3 determines whether or not the conveying device (moving body) 1, which is in a state of conveying the object X1, will protrude from the moving path C1, which the conveying device 1 is permitted to pass through, including the object X1. Here, the determination process may determine whether or not protrusion from the moving path C1 will occur at the present time, or whether or not protrusion from the moving path C1 will occur several tens of seconds or several minutes from the present time.

[0123] In this operation example, the control system 3 judges whether or not the conveying device 1 including the target object X1 will protrude from the area C10 while the conveying device 1 is turning while holding the target object X1. That is, the judgment process includes a process of judging whether or not the conveying device (moving body) 1 will protrude from the area C10 (movement path C1) while turning.

[0124] Moreover, in the third operation example, the control system 3 executes a first control process. That is, in the third operation example, when the control system 3 determines in the determination process that the object X1 will stray from the area C10 (movement path C1), the control system 3 controls the conveying device (moving body) 1. In this operation example, as an example of the first control process, the control system 3 attempts an adjustment process to correct the trajectory so that the conveying device 1 including the target object X1 does not stray from the area C10. That is, the control process (first control process) includes a process to adjust the position of the turning center when the conveying device (moving body) 1 turns so that the object X1 does not stray from the area C10 (movement path C1).

[0125] A series of flows of the third operation example of the mobile object control system 100 of this embodiment will be described below with reference to Fig. 17 and Fig. 18. In the flowchart shown in Fig. 17, the processes of steps S32 and S33 correspond to the determination process, and the process of step S34 corresponds to the first control process. The third operation example shown in Fig. 17 starts when the control system 3 completes the holding process, that is, when the transport device 1 lifts and holds the target object X1.

[0126] First, when the holding process is completed, the control system 3 starts the transport process as already described. That is, the control system 3 starts the process of moving the transport device 1 along the movement path C1 to the destination (S31). While the transport device 1 is moving to the destination, the control system 3 acquires the detection result of the detection unit 11 at any time. The detection result of the detection unit 11 acquired here is not the detection result of the sensor 110, but the number of rotations of the drive wheels, etc. That is, the control system 3 continues to monitor the position of the main body unit 2 (transport device 1) by acquiring the detection result of the detection unit 11 at any time.

[0127] Here, the control system 3 has estimated the type of the object X1 by the already completed second estimation process. Therefore, the control system 3 knows the shape, size, etc. of the object X1 held by the transport device 1. Therefore, the control system 3 can continue to monitor the area occupied by the transport device 1 including the object X1 based on the detection result of the detection unit 11 and the estimation result of the second estimation process. Then, the control system 3 constantly determines whether the area occupied by the transport device 1 including the object X1 is contained within the area C10 (S32). That is, the determination process determines whether the object X1 protrudes from the area C10 (movement path C1) based on the shape and size of the object X1.

[0128] If the area occupied by the transport device 1 including the object X1 is within the area C10, that is, does not extend beyond the area C10 (S33: No), the control system 3 continues to move the transport device 1 to the destination (S31). On the other hand, if the area occupied by the transport device 1 including the object X1 is not within the area C10, that is, extends beyond the area C10 (S33: Yes), the control system 3 executes an adjustment process to adjust the position of the transport device 1 (S34).

[0129] A specific example of the adjustment process will be described below with reference to FIG. 18A and FIG. 18B. FIG. 18A shows a state immediately before the target object X1 protrudes from the area C10 while the conveying device 1 is turning (turning left). At this point in time, the control system 3 determines that the object X1 may protrude from the moving path C1 (area C10) by the determination process. Then, the control system 3 adjusts the position of the turning center of the conveying device 1 by moving the conveying device 1 to a position where the conveying device 1 does not protrude from the area C10 even if the conveying device 1 turns. In FIG. 18B, the control system 3 adjusts the position of the turning center of the conveying device 1 by moving the conveying device 1 backward to the center of the width direction of the area C10. When the adjustment process is completed, the control system 3 resumes the movement of the conveying device 1 to the destination (S31).

[0130] This operation example has the following advantages compared to a method of moving the conveying device 1 without considering protrusion from the moving path C1 (the moving body control method of the third comparative example). That is, in the moving body control method of the third comparative example, the conveying device 1 continues to move even if the object X1 protrudes from the area C10 (moving path C1), so there is a possibility that the object X1 may come into contact with another object X1 or equipment in the adjacent area C10. In order to avoid such a situation, it is possible to widen the width of the area C10, but there is a limit to widening the width of the area C10 when the area of ​​the moving surface 200 in the facility is taken into consideration. In addition, if the width of the area C10 is widened, the number of areas C10 that can be set on the moving surface 200 will decrease, and as a result, the number of places where the object X1 can be placed will decrease.

[0131] In contrast, in this operation example, when it is determined that the object X1 is protruding from the moving path C1, some measure can be taken, such as correcting the trajectory of the conveying device 1. Therefore, in this operation example, it is difficult for the object X1 to come into contact with another object X1 or equipment in the adjacent area C10, as in the moving body control method of the third comparative example. In other words, this operation example has the advantage that it is easy to smoothly move the conveying device (moving body) 1 while holding the object X1. In addition, in this operation example, there is no need to widen the width of the area C10, so there is also the advantage that problems that may occur when the width of the area C10 is widened do not occur.

[0132] Incidentally, in this operation example, the control system 3 may execute a process of changing the moving path C1 instead of executing the adjustment process. Specifically, when the control system 3 determines in the determination process that the conveying device 1 will stray from the current moving path C1, it may search for a path along which the conveying device 1 can move without straying, and set the searched path as a new moving path C1. In other words, the control process (first control process) may include a process of changing the moving path C1 to a path along which the conveying device (moving body) 1 can move without straying.

[0133] In addition, in this operation example, the control system 3 may execute a notification process to notify that deviation from the moving path C1 will occur, instead of executing the adjustment process, or in parallel with the adjustment process. That is, the control process (first control process) may include a process to notify that deviation from the moving path C1 will occur. In the notification process, the control system 3 may notify the surroundings that deviation from the moving path C1 may occur, for example, by outputting a notification message from a speaker installed in the conveyance device 1. In this case, a worker who hears the notification message can take measures such as temporarily moving other objects X1 or equipment, etc. in an area adjacent to the moving path C1 away from the moving path C1. In the notification process, the control system 3 may notify the upper system 4 via the communication unit 32 that deviation from the moving path C1 may occur. In this case, the administrator of the higher-level system 4 can take measures such as temporarily moving other objects X1 or equipment in areas adjacent to the travel route C1 away from the travel route C1 by going to the site himself or instructing workers to be dispatched to the site.

[0134] In the above-mentioned area C10, the conveying device 1 is permitted to turn, but depending on the moving path C1, the conveying device 1 may not be permitted to turn. In this operation example, the control system 3 may determine the contents of the first control process, such as whether to execute an adjustment process including turning or to stop the conveying device 1 and execute a notification process, depending on whether turning is permitted on the moving path C1. In other words, the control process (first control process) may include a process of determining whether to turn the conveying device 1 based on information on whether turning of the conveying device (moving body) 1 is permitted.

[0135] In this operation example, the control system 3 may continue the movement of the conveyance device 1 to the destination regardless of the result of the determination process if the control system 3 has been permitted in advance by, for example, the upper system 4 to stray from the movement path C1. In other words, the control process (first control process) may include a process of permitting the conveyance device 1 to stray from the movement path C1 regardless of the determination result of the determination process if a predetermined permission condition is satisfied. For example, the upper system 4 permits the control system 3 to stray from the movement path C1 if the target object X1 or the like is not placed in the adjacent area C10 (movement path C1) and there is space (that is, if a predetermined condition is satisfied).

[0136] Also, in this operation example, the control system 3 may notify the result of the determination process to the upper system 4 via the communication unit 32 without executing the first control process. That is, the control system 3 may further execute an output process to output the result of the determination process to the upper system 4 that remotely controls the conveying device (moving body) 1. In this embodiment, the upper system 4 that receives the determination result can take measures such as notifying the other conveying devices 1 of a command to temporarily prohibit the movement of the corresponding other conveying devices 1 on other moving paths C1 adjacent to the moving path C1.

[0137] (4) Variations The above-described embodiment is merely one of various embodiments of the present disclosure. The above-described embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. In addition, functions similar to the mobile object control method and mobile object control system 100 according to the above-described embodiment may be embodied in a computer program, a non-transitory recording medium on which a computer program is recorded, or the like.

[0138] A program according to one embodiment is a program for causing one or more processors to execute the above-mentioned mobile object control method (including the acquisition process and the first control process). Also, a program according to one embodiment is a program for causing one or more processors to execute the above-mentioned mobile object control method (including the movement determination process and the second control process). Also, a program according to one embodiment is a program for causing one or more processors to execute the above-mentioned mobile object control method (including the determination process and the third control process).

[0139] Modifications of the embodiment are listed below. The modifications described below can be applied in appropriate combination.

[0140] In the mobile object control system 100 in the present disclosure, the control system 3 and the upper system 4 include a computer system. The computer system is mainly composed of a processor and a memory as hardware. The functions of the control system 3 and the upper system 4 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through an electric communication line, or may be provided by being recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The integrated circuits such as IC or LSI referred to here are called by different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of the LSI, or a logic device that can reconfigure the connection relationship inside the LSI or the circuit partition inside the LSI, can also be adopted as a processor. The electronic circuits may be integrated in one chip or distributed among multiple chips. The chips may be integrated in one device or distributed among multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Thus, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0141] Furthermore, it is not essential for the mobile object control system 100 that the multiple functions of the control system 3 and the upper system 4 are integrated into one housing. In other words, the components of the control system 3 and the upper system 4 may be distributed across multiple housings. Furthermore, at least some of the functions of the control system 3 and the upper system 4, for example, some of the functions of the upper system 4, may be realized by the cloud (cloud computing) or the like.

[0142] In the above embodiment, in the first estimation process, the position and orientation of the object X1 may be estimated using the detection result of the detection unit 11 (sensor 110) and the imaging result of the camera. That is, in the process (first estimation process) for estimating the position and orientation of the object X1, the imaging result of the camera capturing the surroundings of the conveying device (mobile body) 1 may be further used. The camera is installed, for example, in a facility in which the mobile body control system 100 is employed. The camera is preferably installed in a position that allows a bird's-eye view of the object X1 in the facility. This aspect has the advantage that the accuracy of estimating the position and orientation of the object X1 can be improved compared to the case where only the detection result of the detection unit 11 is used. Note that the control system 3 may use the imaging result of the camera from the first first estimation process, or may use the imaging result of the camera from the second or subsequent first estimation process, that is, when only a part of the characteristic portion X10 can be recognized.

[0143] In the above-described embodiment, the detection unit 11 is not limited to a LiDAR, a sonar sensor, and a radar, and may include a sensor such as a stereo camera or a motion stereo camera.

[0144] In the above-described embodiment, the host system 4 is not an essential component of the moving body control system 100 and can be omitted as appropriate. In this embodiment, the control system 3 may control the transport device (moving body) 1 by itself.

[0145] In the above embodiment, the conveying device 1 conveys the object X1 by lifting it up, but the present invention is not limited to this. For example, the conveying device 1 may convey the object X1 by pulling it, by pushing it, by gripping it, or by adsorbing it.

[0146] In the above-described embodiment, the conveying device 1 may be configured to convey, for example, a carriage for feeder replacement as the target object X1. In this configuration, the conveying device 1 may convey the carriage to an electronic component mounting device (mounter) and attach the carriage to the electronic component mounting device.

[0147] In the above-described embodiment, the moving body 1 may include an automated guided vehicle (AGV), a moving robot, a drone, and the like. The "moving robot" in this disclosure is, for example, a wheeled or caterpillar-type robot. In addition, the moving body 1 does not need to have a function of transporting the object X1, and may have a function of performing tasks such as picking, welding, mounting, display, customer service, security, assembly, or inspection.

[0148] In the above-described embodiment, the control system 3 needs to execute at least the control process, and need not execute other processes. As an example, the determination process may be executed by the host system 4 instead of by the determination unit 304 of the control system 3. In this case, the host system 4 needs to acquire information required for the determination process (such as the shape and size of the object X1 held by the transport device 1) from the transport device (moving body) 1.

[0149] (summary) As described above, the moving body control method according to the first aspect includes a determination process and a control process (first control process). The determination process is a process for determining whether or not a moving body (1) in a state of transporting an object (X1) will protrude from a moving path (C1) that is permitted for the moving body (1) to pass, including the object (X1). The control process is a process for controlling the moving body (1) based on the result of the determination process.

[0150] This embodiment has the advantage that the moving body (1) can be moved smoothly while holding the object (X1).

[0151] In the moving object control method according to the second aspect, in the first aspect, the determination process includes a process of determining whether or not the moving object (1) will stray from the moving path (C1) when turning.

[0152] This embodiment has the advantage that it is easy to take measures to prevent the moving body (1) from going off the moving path (C1) when turning.

[0153] In the moving body control method according to the third aspect, in the second aspect, the control process includes a process of adjusting the position of the center of rotation of the moving body (1) when the moving body (1) turns so as not to stray from the movement path (C1).

[0154] This embodiment has the advantage that the moving body (1) can easily turn without straying from the moving path (C1).

[0155] In a moving object control method according to a fourth aspect, in any one of the first to third aspects, the control process includes a process of changing the moving route (C1) to a route along which the moving object (1) can move without straying from the route.

[0156] This embodiment has the advantage that the moving body (1) can be moved smoothly while holding the object (X1).

[0157] In a moving object control method according to a fifth aspect, in any one of the first to fourth aspects, the control process includes a process of notifying that deviation from the movement path (C1) will occur.

[0158] This embodiment has the advantage that a person around the moving body (1) or a manager of the system (host system (4)) including the moving body (1) can easily take measures against deviation from the moving path (C1).

[0159] In a moving body control method according to a sixth aspect, in any of the first to fifth aspects, the control process includes a process of determining whether or not to turn the moving body (1) based on information on whether or not turning of the moving body (1) is permitted.

[0160] This embodiment has the advantage that some measure can be taken even on the movement path (C1) where turning of the moving body (1) is not permitted.

[0161] In a moving body control method according to a seventh aspect, in any of the first to sixth aspects, the control process includes a process of permitting deviation from the moving path (C1) regardless of the judgment result of the judgment process if a predetermined permission condition is satisfied.

[0162] According to this embodiment, the moving body (1) can continue moving without waiting for the result of the determination process, which has the advantage that the time required to move the moving body (1) to the destination can be shortened.

[0163] A moving object control method according to an eighth aspect is any of the first to seventh aspects, further comprising an output process of outputting a result of the determination process to a host system (4) that remotely controls the moving object (1).

[0164] This embodiment has the advantage that the administrator of the host system (4) can easily take measures against deviation from the movement route (C1).

[0165] In a moving object control method according to a ninth aspect, in any of the first to eighth aspects, the determination process determines whether or not the object (X1) will protrude from the movement path (C1) based on the shape and size of the object (X1).

[0166] This embodiment has the advantage that it is easy to determine whether the object (X1) protrudes from the movement path (C1).

[0167] In a moving object control method according to a tenth aspect, in any one of the first to ninth aspects, the determination process is executed in the moving object (1).

[0168] According to this embodiment, there is an advantage that the process for smoothly moving the moving body (1) while holding the object (X1) can be completed by the moving body (1).

[0169] In a moving object control method according to an eleventh aspect, in any one of the first to ninth aspects, the determination process is executed by a host system (4) that remotely controls the moving object (1).

[0170] According to this embodiment, for example, when there are multiple moving bodies (1), there is an advantage that the processing for smoothly moving the moving bodies (1) while holding the target object (X1) can be performed collectively by the host system (4).

[0171] In a moving body control method according to a twelfth aspect, in any one of the first to eleventh aspects, the moving body (1) has a detection unit (11). The moving body control method further has an acquisition process and a second control process. The acquisition process is a process of acquiring a detection result of the detection unit (11) including distance information related to the distance between the moving body (1) and an object (X1). The second control process is a process of controlling the moving body (1) when a part of characteristic parts (X10) among a plurality of characteristic parts (X10) for estimating the position and orientation of the object (X1) is recognized based on the detection result, separately from the first control process as the above-mentioned control process.

[0172] This embodiment has the advantage that the moving body (1) can be moved smoothly to the target object (X1).

[0173] A moving object control method according to a thirteenth aspect is any of the first to twelfth aspects, and further includes a movement determination process and a third control process. The movement determination process is a process for determining whether or not the object (X1) has moved while the moving object (1) is being moved to the object (X1). The third control process is a process for controlling the moving object (1) when it is determined in the movement determination process that the object (X1) has moved, separate from the first control process as the above control process.

[0174] This embodiment has the advantage that the moving body (1) can be moved smoothly to the target object (X1).

[0175] A mobile object control system (100) according to a fourteenth aspect includes a mobile object (1) that transports an object (X1) and a control system (3) that controls the mobile object (1). The control system (3) has a determination unit (304) and a control unit (302). The determination unit (304) determines whether or not the mobile object (1) transporting the object (X1) will stray from a travel path (C1) that is permitted for the mobile object (1) including the object (X1). The control unit (302) controls the mobile object (1) based on the result of the determination unit (304).

[0176] This embodiment has the advantage that the moving body (1) can be moved smoothly while holding the object (X1).

[0177] A program according to a fifteenth aspect is a program for causing one or more processors to execute the moving object control method according to any one of the first to thirteenth aspects.

[0178] This embodiment has the advantage that the moving body (1) can be moved smoothly while holding the object (X1).

[0179] The methods according to the second to thirteenth aspects are not essential to the moving object control method and may be omitted as appropriate.

[0180] A moving object control method according to a sixteenth aspect includes a movement determination process and a control process (third control process). The movement determination process is a process for determining whether or not the object (X1) has moved while the moving object (1) is being moved to the object (X1). The control process is a process for controlling the moving object (1) when it is determined in the movement determination process that the object (X1) has moved.

[0181] This embodiment has the advantage that the moving body (1) can be moved smoothly to the target object (X1).

[0182] In a moving body control method according to a seventeenth aspect, in the sixteenth aspect, the control process includes a retry process of correcting a trajectory of the moving body (1) relative to the target object (X1) and moving the moving body (1) to the target object (X1) on the corrected trajectory.

[0183] According to this embodiment, there is an advantage that it is less likely that obstacles will occur, such as the conveying device (1) not reaching the object (X1) or the conveying device (1) colliding with the object (X1), and it is easier to achieve the goal of moving the conveying device (1) to the object (X1).

[0184] In the moving body control method according to the 18th aspect, in the 17th aspect, the retry process includes a process of returning the moving body (1) to the position where the moving body (1) started moving toward the target object (X1) before correcting the trajectory.

[0185] This embodiment has the advantage that it is easier to achieve the goal of moving the conveying device (1) to the object (X1) even if it is difficult to correct the trajectory from the point where it is determined that the object (X1) has moved.

[0186] In a moving object control method according to a nineteenth aspect, in the seventeenth aspect, the retry process includes a process of moving the moving object (1) to the object (X1) so as to follow the movement of the object (X1).

[0187] This embodiment has the advantage that the time required to move the conveying device (1) to the target object (X1) can be shortened compared to the case where the moving body (1) is returned to the position where the moving body (1) started moving to the target object (X1).

[0188] In a moving object control method according to a twentieth aspect, in any of the sixteenth to nineteenth aspects, the control process includes a process of notifying that the object (X1) has moved.

[0189] This embodiment has the advantage that a person around the moving body (1) or a manager of a system (host system (4)) including the moving body (1) can easily take measures regarding the movement of the target object (X1).

[0190] In a moving object control method according to a 21st aspect, in any of the 16th to 20th aspects, the control process includes a process of stopping the movement of the moving object (1) to the target object (X1) when the target object (X1) moves out of a predetermined area.

[0191] This embodiment has the advantage that it is easy to prevent the moving body (1) from entering an area under the jurisdiction of another moving body (1) and interfering with the operation of the other moving body (1).

[0192] In a moving object control method according to a 22nd aspect, in the 21st aspect, the control process includes a process of detecting a direction in which the object (X1) has deviated from a predetermined area.

[0193] This embodiment has the advantage that the position of the object (X1) after it has been moved can be easily grasped.

[0194] In a mobile object control method according to a 23rd aspect, in any of the 16th to 22nd aspects, the movement determination process determines whether or not the object (X1) has moved based on the movement of one or more monitoring targets (characteristic portions (X10)) included in the object (X1).

[0195] This embodiment has the advantage that it is easy to determine at any time whether the object (X1) is moving or not.

[0196] A moving object control method according to a twenty-fourth aspect of the present invention is the twenty-third aspect, wherein the one or more monitored objects include a swivel wheel.

[0197] According to this embodiment, there is an advantage that the presence or absence of movement of the object (X1) can be determined not only from the movement of the entire object (X1) but also from the movement of a part (swivel) of the object (X1).

[0198] In a moving body control method according to a 25th aspect, in any of the 16th to 24th aspects, the movement determination process determines whether or not the target object (X1) has moved based on a detection result of a detection unit (11) possessed by the moving body (1).

[0199] According to this embodiment, there is an advantage that it is possible to determine whether the target object (X1) is moving or not without receiving information from a system (host system (4)) other than the moving body (1).

[0200] In a moving object control method according to a 26th aspect, in any one of the 16th to 25th aspects, the target object (X1) is an object to be transported by the moving object (1).

[0201] According to this embodiment, there is an advantage that the transport device (1), which is the moving body (1) that transports the object (X1), can be easily and smoothly moved to the object (X1).

[0202] A moving body control method according to a 27th aspect is the same as in the 26th aspect, and further includes a holding process and a transport process. The holding process is a process of moving the moving body (1) below the object (X1) and having the moving body (1) lift the object (X1) and hold the object (X1) on the moving body (1). The transport process is a process of moving the moving body (1) to a destination while the object (X1) is held by the moving body (1).

[0203] According to this embodiment, there is an advantage that the transport device (1), which is the moving body (1) that transports the object (X1), can easily transport the object (X1) smoothly to the destination.

[0204] In a moving object control method according to a 28th aspect, in any one of the 16th to 27th aspects, the content of the control process is determined according to the manner of movement of the target object (X1).

[0205] This embodiment has the advantage that appropriate measures can be easily taken depending on the manner in which the object (X1) moves.

[0206] A moving object control system (100) according to a 29th aspect includes a moving object (1) and a control system (3) that controls the moving object (1). The control system (3) has a movement determination unit (303) and a control unit (302). The movement determination unit (303) determines whether or not the object (X1) has moved while the moving object (1) is being moved to the object (X1). The control unit (302) controls the moving object (1) when the movement determination unit (303) determines that the object (X1) has moved.

[0207] This embodiment has the advantage that the moving body (1) can be moved smoothly to the target object (X1).

[0208] A program according to a 30th aspect is a program for causing one or more processors to execute the moving object control method according to any one of the 16th to 28th aspects.

[0209] This embodiment has the advantage that the moving body (1) can be moved smoothly to the target object (X1).

[0210] The methods according to the seventeenth to twenty-eighth aspects are not essential to the moving object control method and may be omitted as appropriate.

[0211] Also, a mobile object control method according to a 31st aspect includes an acquisition process and a control process (second control process). The acquisition process is a process of acquiring a detection result of the detection unit (11) including distance information related to a distance between a mobile object (1) having the detection unit (11) and an object (X1). The control process is a process of controlling the mobile object (1) when a part of characteristic parts (X10) among a plurality of characteristic parts (X10) for estimating a position and orientation of the object (X1) is recognized based on the detection result.

[0212] This embodiment has the advantage that the moving body (1) can be moved smoothly to the target object (X1).

[0213] In a moving body control method according to a 32nd aspect, in the 31st aspect, the control process includes a sub-process of moving a moving body (1) to a position where all of a plurality of characteristic portions (X10) of an object (X1) can be recognized.

[0214] This aspect has the advantage that the accuracy of estimating the position and orientation of the object (X1) can be improved.

[0215] In a moving object control method according to a 33rd aspect, in the 32nd aspect, the control process includes a main process of moving the moving object (1) to an object (X1). The main process is executed when the position and orientation of the object (X1) are estimated during the sub-processing.

[0216] This embodiment has the advantage that the time required to move the moving object (1) to the target object (X1) can be shortened, compared to the case where the main process is executed after the sub process is completed.

[0217] In the movement control method according to the 34th aspect, in the 31st aspect, the control process includes the main process of moving the moving body (1) to the object (X1). The main process is executed when estimating the position and orientation of the object (X1) based on the recognition results of some feature parts (X10).

[0218] According to this aspect, there is an advantage that the time required to move the moving body (1) to the object (X1) can be shortened compared to the case of executing the sub-process.

[0219] In the movement control method according to the 35th aspect, in the 33rd or 34th aspect, the main process includes the process of moving the moving body (1) so as to draw a curved trajectory.

[0220] According to this aspect, there is an advantage that the time required to move the moving body (1) to the object (X1) can be shortened compared to the case of moving the moving body (1) by combining turning and forward movement.

[0221] In the movement control method according to the 36th aspect, in any of the 31st to 35th aspects, the plurality of feature parts (X10) include the legs of the object (X1).

[0222] According to this aspect, there is an advantage that the feature part (X10) is easy to recognize even when the height of the moving body (1) is lower than the height of the object (X1).

[0223] In the movement control method according to the 37th aspect, in any of the 31st to 36th aspects, in the process (first estimation process) for estimating the position and orientation of the object (X1), relative position information of the object (X1) with respect to the moving body (1) is used.

[0224] According to this aspect, there is an advantage that the position and orientation of the object (X1) can be estimated using information that can be relatively easily acquired by the moving body (1).

[0225] In a moving body control method according to a 38th aspect, in the 37th aspect, the process (first estimation process) for estimating the position and orientation of the target object (X1) further uses the imaging results of a camera that images the surroundings of the moving body (1).

[0226] According to this aspect, there is an advantage that the accuracy of estimating the position and orientation of the object (X1) can be improved by using the imaging result of the camera in addition to the distance information.

[0227] In a moving object control method according to a thirty-ninth aspect, in any one of the thirty-first to thirty-eighth aspects, the target object (X1) is an object to be transported by the moving object (1).

[0228] According to this embodiment, there is an advantage that the transport device (1), which is the moving body (1) that transports the object (X1), can be easily and smoothly moved to the object (X1).

[0229] The moving body control method according to the 40th aspect is the same as in the 39th aspect, and further includes a holding process and a transport process. The holding process is a process of moving the moving body (1) below the object (X1) and having the moving body (1) lift the object (X1) and hold the object (X1) on the moving body (1). The transport process is a process of moving the moving body (1) to a destination while the object (X1) is held by the moving body (1).

[0230] According to this embodiment, there is an advantage that the transport device (1), which is the moving body (1) that transports the object (X1), can easily transport the object (X1) smoothly to the destination.

[0231] A mobile object control system (100) according to a forty-first aspect includes a mobile object (1) having a detection unit (11) and a control system (3) that controls the mobile object (1). The control system (3) includes an acquisition unit (301) and a control unit (302). The acquisition unit (301) acquires a detection result of the detection unit (11) including distance information related to a distance between the mobile object (1) and an object (X1). The control unit (302) controls the mobile object (1) when it recognizes a part of a plurality of characteristic parts (X10) for estimating a position and an orientation of the object (X1) based on the detection result.

[0232] This embodiment has the advantage that the moving body (1) can be moved smoothly to the target object (X1).

[0233] A program according to a 42nd aspect is a program for causing one or more processors to execute the moving object control method according to any one of the 31st to 40th aspects.

[0234] This embodiment has the advantage that the moving body (1) can be moved smoothly to the target object (X1).

[0235] The methods according to the thirty-second to fortieth aspects are not essential to the moving object control method and may be omitted as appropriate. [Explanation of symbols]

[0236] 1. Transport device (moving body) 11 Detection unit 3. Control System 301 Acquisition Department 302 Control section 303 Movement determination section 304 Judgment section 4. Upper System 100 Mobile Control System C1 Movement Path X1 Object X10 Features (Monitoring Target)

Claims

1. An acquisition process for acquiring a detection result of the detection unit, the detection result including distance information related to a distance between a moving body having a detection unit and an object; a first estimation process for attempting to recognize all of a plurality of feature parts for estimating a position and an orientation of the object based on the detection result; a second estimation process for estimating a recognizable position where all of the plurality of feature parts can be recognized based on the recognition result of the partial feature parts, when the first estimation process can only recognize some of the plurality of feature parts and the position and orientation of the object cannot be estimated based on the recognition result of the partial feature parts; and a sub-process of executing the first estimation process after moving the moving object to the recognizable position estimated in the second estimation process; a control process of estimating a position and an orientation of the object based on a recognition result in the first estimation process, and controlling the moving object based on the estimation result of the position and orientation of the object, the control process includes a main process for moving the moving object to the target object, The main process is executed when the position and orientation of the object are estimated during the sub-process. A method for controlling a moving object.

2. An acquisition process for acquiring a detection result of the detection unit, the detection result including distance information related to a distance between a moving body having a detection unit and an object; a first estimation process for attempting to recognize all of a plurality of feature parts for estimating a position and an orientation of the object based on the detection result; a second estimation process for estimating a recognizable position where all of the plurality of feature parts can be recognized based on the recognition result of the partial feature parts, when the first estimation process can only recognize some of the plurality of feature parts and the position and orientation of the object cannot be estimated based on the recognition result of the partial feature parts; and a sub-process of executing the first estimation process after moving the moving object to the recognizable position estimated in the second estimation process; a control process of estimating a position and an orientation of the object based on a recognition result in the first estimation process, and controlling the moving object based on the estimation result of the position and orientation of the object, the control process includes a main process for moving the moving object to the target object, the main processing is executed when a position and an orientation of the object can be estimated based on a recognition result of the part of the characteristic parts recognized in the first estimation processing. A method for controlling a moving object.

3. the plurality of features includes a foot of the object; The moving object control method according to claim 1 or 2.

4. The process for estimating the position and orientation of the object uses relative position information of the object with respect to the moving body. The moving object control method according to any one of claims 1 to 3.

5. A moving body having a detection unit; A control system for controlling the moving object, The control system includes: an acquisition unit that acquires a detection result of the detection unit, the detection result including distance information related to a distance between the moving body and an object; A control unit, The control unit is a first estimation process for attempting to recognize all of a plurality of feature parts for estimating a position and an orientation of the object based on the detection result; a second estimation process for estimating a recognizable position where all of the plurality of feature parts can be recognized based on the recognition result of the partial feature parts, when the first estimation process can only recognize some of the plurality of feature parts and the position and orientation of the object cannot be estimated based on the recognition result of the partial feature parts; and a sub-process of executing the first estimation process after moving the moving object to the recognizable position estimated in the second estimation process; estimating a position and an orientation of the object based on a recognition result in the first estimation process, and controlling the moving body based on the estimation result of the position and orientation of the object; the control process includes a main process for moving the moving object to the target object, The main process is executed when the position and orientation of the object are estimated during the sub-process. Mobile control system.

6. A moving body having a detection unit; A control system for controlling the moving object, The control system includes: an acquisition unit that acquires a detection result of the detection unit, the detection result including distance information related to a distance between the moving body and an object; A control unit, The control unit is a first estimation process for attempting to recognize all of a plurality of feature parts for estimating a position and an orientation of the object based on the detection result; a second estimation process for estimating a recognizable position where all of the plurality of feature parts can be recognized based on the recognition result of the partial feature parts, when the first estimation process can only recognize some of the plurality of feature parts and the position and orientation of the object cannot be estimated based on the recognition result of the partial feature parts; and a sub-process of executing the first estimation process after moving the moving object to the recognizable position estimated in the second estimation process; a control process of estimating a position and an orientation of the object based on a recognition result in the first estimation process, and controlling the moving object based on the estimation result of the position and orientation of the object; the control process includes a main process for moving the moving object to the target object, the main processing is executed when a position and an orientation of the object can be estimated based on a recognition result of the part of the characteristic parts recognized in the first estimation processing. Mobile control system.

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