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

Abstract

To appropriately detect the position of a mobile body in the neighborhood of a parking area of a transportation vehicle.SOLUTION: A mobile body control method is a method of controlling a mobile body that automatically moves. A plurality of indicators indicating positions are arranged on the ceiling of sideward areas on a side of a first direction nearer than a parking area where a transportation vehicle is parked, in a second direction along the parking area crossing the first direction. The method includes: a step of acquiring mobile body position information by allowing the mobile body to detect at least one of the indicators; a step of moving the mobile body toward the second direction in the sideward area based on the mobile body position information; and a step of turning to move the mobile body to the opposite side of the first direction after moving the mobile body toward the second direction in the sideward area, so as to move the mobile body to the parking area.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control method for a moving body, a moving body, a movement control system, and a program. [Background technology]

[0002] There is known a technology for automatically moving a moving object such as a forklift. Such a moving object usually moves while successively detecting its own position. Patent Document 1 describes a pallet transport vehicle that transports pallets while recognizing its own position by detecting a sign on the floor or ceiling of a work area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 1-302408 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, the moving body may approach a parked transport vehicle when loading or unloading from the transport vehicle, etc. However, in the vicinity of the parking area of ​​the transport vehicle, due to reasons such as the traffic of the transport vehicle or the presence of multiple transport vehicles, the transport vehicle may get in the way and the position of the moving body may not be detected properly.

[0005] The present disclosure is intended to solve the above-mentioned problems, and aims to provide a method for controlling a moving body, a moving body, a movement control system, and a program that are capable of properly detecting the position of a moving body even in the vicinity of a parking area of ​​a transport vehicle. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objective, the method for controlling a moving body disclosed herein is a method for controlling an automatically moving moving body, in which a plurality of signs indicating a position are provided on the ceiling of a lateral area on the first direction side of a parking area in which a transport vehicle is parked, along a second direction intersecting the first direction and running along the parking area, and includes the steps of: acquiring position information of the moving body by having the moving body detect at least one of the signs; moving the moving body toward the second direction in the lateral area based on the position information of the moving body; and, after moving the moving body toward the second direction in the lateral area, moving the moving body toward the parking area by rotating and moving the moving body toward the opposite side to the first direction.

[0007] In order to solve the above-mentioned problems and achieve the object, the moving body of the present disclosure is an automatically moving moving body, and includes a self-position acquisition unit that acquires position information of the moving body by detecting at least one of a plurality of signs provided on the ceiling of a lateral area on the first direction side of a parking area where a transport vehicle is parked, along a second direction intersecting the first direction and running along the parking area, and a movement control unit that moves the moving body toward the second direction in the lateral area based on the position information of the moving body, and after moving the moving body toward the second direction in the lateral area, turns and moves the moving body toward the opposite side to the first direction, thereby moving the moving body toward the parking area.

[0008] In order to solve the above-mentioned problems and achieve the object, the mobility control system according to the present disclosure includes the mobile object and the sign.

[0009] In order to solve the above-mentioned problems and achieve the object, the program of the present disclosure is a program that causes a computer to execute a control method for an automatically moving mobile body, and causes the computer to execute the following steps: acquiring position information of the moving body by having the moving body detect at least one of a plurality of signs provided on the ceiling of a lateral area on the first direction side of a parking area where a transport vehicle is parked, along a second direction intersecting the first direction and running along the parking area; moving the moving body toward the second direction in the lateral area based on the position information of the moving body; and, after moving the moving body toward the second direction in the lateral area, moving the moving body toward the parking area by turning and moving the moving body in a direction opposite to the first direction. Effect of the Invention

[0010] According to the present disclosure, the position of a moving object can be appropriately detected in the vicinity of a parking area for a transport vehicle. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram of a mobility control system according to the present embodiment. [Diagram 2] FIG. 2 is a schematic diagram for explaining a transportation vehicle. [Diagram 3] FIG. 3 is a schematic diagram for explaining the sign. [Figure 4] FIG. 4 is a schematic diagram of the configuration of a moving body. [Diagram 5] FIG. 5 is a schematic block diagram of the management system. [Figure 6] FIG. 6 is a schematic block diagram of an information processing device. [Figure 7] FIG. 7 is a schematic block diagram of a control device for a moving object. [Figure 8] FIG. 8 is a schematic diagram illustrating a global path. [Figure 9] FIG. 9 is a schematic diagram illustrating the first pass. [Figure 10]FIG. 10 is a schematic diagram illustrating the second pass. [Figure 11] FIG. 11 is a flowchart illustrating a process flow of self-position detection according to this embodiment. [Figure 12] FIG. 12 is a schematic diagram illustrating another example of the shape of the sign. [Figure 13] FIG. 13 is a schematic diagram illustrating another example of the shape of the sign. [Figure 14] FIG. 14 is a schematic diagram showing another example of the sign. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes combinations of the embodiments.

[0013] (Overall configuration of the mobility control system) FIG. 1 is a schematic diagram of a movement control system according to the present embodiment. As shown in FIG. 1, the movement control system 1 according to the present embodiment includes a moving body 10, a management system 12, an information processing device 14, and a sign S1. The movement control system 1 is a system that controls the movement of a moving body 10 belonging to a facility W. The facility W is a facility that is managed by logistics, such as a warehouse. In the movement control system 1, the moving body 10 approaches a transportation vehicle V parked in a parking area AR0 in the facility W. The transportation vehicle V is a moving body that transports a loaded target P in a section inside and outside the facility W, and arrives at the facility W with the target P loaded, or the target P is loaded at the facility W and moves to another location. In the present embodiment, the transportation vehicle V is a truck, but is not limited thereto, and may be any moving body that transports the target P, such as a railroad car. In the present embodiment, the target P is a transport target with luggage loaded on a pallet. The target P has an opening Pb formed on the front surface Pa into which a fork 24 of the moving body 10, which will be described later, is inserted. However, the target object P is not limited to a pallet with cargo loaded on it, and may be in any form, for example, it may be cargo only without a pallet. In the following, the floor surface of the facility W is defined as the area AR, one direction along the area AR is defined as the direction X (first direction), and a direction along the area AR that intersects with the direction X is defined as the direction Y (second direction). In this embodiment, the direction Y is a direction perpendicular to the direction X. The directions X and Y may be said to be directions along a horizontal plane. The direction perpendicular to the directions X and Y, more specifically, the direction heading vertically upward, is defined as the direction Z.

[0014] (Transportation vehicles) The transportation vehicle V will be described in more detail. FIG. 2 is a schematic diagram for explaining the transportation vehicle. FIG. 2 is a schematic diagram of the transportation vehicle V parked in the parking area AR0 viewed from the rear end side of the transportation vehicle V. As shown in FIG. 2, the transportation vehicle V is provided with a storage room VA, a side door VB, a gate section VC, a rear door VD, and a tire VE. The storage room VA is a space formed in the loading platform of the vehicle V and stores the target object P. The side door VB is a door provided on the side of the storage room VA. When the side door VB is opened, the storage room VA communicates with the outside, and the target object P can be carried in and out. In this embodiment, the side door VB is provided on both sides, but is not limited thereto and may be provided only on one side. The gate section VC is a gate provided near the bottom surface on the side of the storage room VA. The rear door VD is a door provided on the rear side of the storage room VA. Opening the rear door VD also allows the storage room VA to communicate with the outside, making it possible to remove the target object P. In this embodiment, the side door VB is opened and the mobile body 10 approaches from both sides of the transport vehicle V, so that the target object P is loaded and unloaded from both sides. However, this is not limited to this, and for example, the target object P may be loaded and unloaded from only one side of the transport vehicle V, or the target object P may be loaded and unloaded from the rear of the transport vehicle V. Furthermore, the configuration of the transport vehicle V is not limited to that described in FIG. 2.

[0015] (Parking area AR0) The parking area AR0 shown in Fig. 1 will be described in more detail. The parking area AR0 is an area for parking the transport vehicle V, which is provided within the area AR of the facility W. In the parking area AR0, it is preferable that the transport vehicle V is parked so as not to protrude from the parking area AR0. In the example of Fig. 1, there is one parking area AR0, but multiple parking areas AR0 may be provided.

[0016] The parking area AR0 is set in advance as an area where the transportation vehicle V should be parked. That is, the position (coordinates), shape, and size of the parking area AR0 are set in advance, and the parking area AR0 may be divided by, for example, white lines. The parking area AR0 is preferably set to a shape and size that can specify the orientation of the transportation vehicle V parked in the parking area AR0. In this embodiment, the parking area AR0 is set to a shape and size such that the direction from the rear end to the front end of the transportation vehicle V faces the direction Y when the transportation vehicle V is parked in the parking area AR0. For example, in the example of FIG. 1, the parking area AR0 is a rectangular area extending along the direction X and the direction Y, and is set so that the length in the direction Y is longer than the length in the direction X. As a result, the transportation vehicle V, which is longer in the front-rear direction than the left-right direction, is parked in the parking area AR0 so that the direction from the rear end to the front end of the transportation vehicle V faces the direction Y. Therefore, within the parking area AR0, the transport vehicle V has one side facing the direction X and the other side facing the opposite side to the direction X, and the moving body 10 approaches the transport vehicle V from the direction X side or the opposite side to the direction X.

[0017] In the storage room VA of the transport vehicle V, a plurality of targets P are arranged along the front-rear direction of the transport vehicle V (the direction from the rear end to the front end of the transport vehicle V). Therefore, in the parking area AR0, the targets P are arranged in a line in the direction Y in the storage room VA. In this embodiment, in the storage room VA, the targets P are also arranged in a line in the left-right direction of the vehicle V (the X direction in the parking area AR0). In the example of FIG. 1, in the parking area AR0, a plurality of targets P arranged in the direction Y are arranged in two rows in the direction X. Each target P is arranged so that the front surface Pa faces outward in the left-right direction of the transport vehicle V. In other words, it can be said that each target P is arranged in the parking area AR0 so that the front surface Pa faces the direction in which the moving body 10 approaches (facing the direction X side or the opposite direction to the direction X). For example, the targets P in the row on the direction X side are arranged so that their front faces Pa face the direction X side, and the targets P in the row on the opposite side of the direction X are arranged so that their front faces Pa face the opposite side of the direction X. However, the arrangement, number, and orientation of the front faces Pa of the targets P are not limited to the above description and may be arbitrary.

[0018] (1st and 2nd areas) As shown in FIG. 1, the area AR includes a first area AR1 and a second area AR2. The first area AR1 is an area located closer to the parking area AR0 than the second area AR2, and is an area in which the moving object 10 detects its own position by detecting a sign S1, as will be described in detail later. The first area AR1 can also be said to be an area within a predetermined distance from the sign S1 provided on the ceiling. The second area AR2 is an area in which the moving object 10 detects its own position by a method other than detecting the sign S1. The second area AR2 can also be said to be an area outside the predetermined distance from the sign S1 provided on the ceiling. The sign S1 and the self-position detection of the moving object 10 will be described later.

[0019] The first area AR1 includes a parking area AR0 and a side area AR1a. As shown in FIG. 1, the side area AR1a is an area located on the side of the direction from which the moving body 10 approaches the parking area AR0. In this embodiment, the moving body 10 approaches the transportation vehicle V in the parking area AR0 from the direction X side, so the side area AR1a is located on the direction X side of the parking area AR0. In addition, in this embodiment, the moving body 10 can approach the transportation vehicle V from the opposite side of the direction X, so the side area AR1a is also located on the opposite side of the direction X of the parking area AR0. That is, in this embodiment, the side area AR1aa on the direction X side of the parking area AR0 and the side area AR1ab on the opposite side of the direction X of the parking area AR0 are set. The side area AR1aa is adjacent to the parking area AR0 on the X direction side, and extends along the Y direction from a position on the X direction side of the end of the parking area AR0 on the opposite side to the Y direction to a position on the X direction side of the end of the parking area AR0 on the Y direction side. Similarly, the side area AR1ab is adjacent to the parking area AR0 on the opposite side to the X direction, and extends along the Y direction from a position on the opposite side to the X direction of the end of the parking area AR0 on the opposite side to the Y direction to a position on the opposite side to the X direction of the end of the parking area AR0 on the Y direction side. However, the size and shape of the side areas AR1aa and AR1b shown in FIG. 1 are only examples, and the side area AR1aa may be an area of ​​any size and shape adjacent to the parking area AR0 on the X direction side, and the side area AR1ab may be an area of ​​any size and shape adjacent to the parking area AR0 on the opposite side to the X direction.

[0020] In this embodiment, the first area AR1 includes only the parking area AR0 and the side area AR1a, so the area of ​​the area AR other than the parking area AR0 and the side area AR1a becomes the second area AR2. However, the first area AR1 may be any area including the side area AR1a. For example, the rear area AR3 on the opposite side of the parking area AR0 in the Y direction may also be included in the first area AR1.

[0021] (sign) 1 and 2, a sign S1 is provided on the ceiling CE of the facility W in the side area AR1a. That is, the sign S1 is provided in an area of ​​the ceiling CE of the facility W that overlaps with the side area AR1a in the Z direction. As shown in FIG. 1, a plurality of signs S1 are provided on the ceiling CE of the side area AR1a along the direction Y (along the parking area AR0). Note that a global path R0 (to be described later) which is the movement path of the moving object 10 is set to be along the Y direction in the side area AR1a, so it can be said that the signs S1 are lined up along the global path R0 in the side area AR1a.

[0022] The sign S1 is a sign including position information of the sign S1. The position information of the sign S1 is information indicating the position (coordinates) where the sign S1 is installed in the coordinate system of the area AR (facility W). As will be described in detail later, the moving body 10 obtains the position information of the sign S1 by detecting the sign S1 with the sensor 27. The sign S1 is a mark indicating its own position information, and may be, for example, a QR code (registered trademark) or an AR (Augumented Reality) marker indicating position information, but is not limited thereto, and may be any sign including position information.

[0023] FIG. 3 is a schematic diagram for explaining the sign. FIG. 3 is a diagram when the sign S1 is viewed from the opposite side to the Z direction. As shown in FIG. 2 and FIG. 3, the sign S1 is provided on the ceiling CE of the side area AR1a so as to face the opposite side to the Z direction (vertically downward side). In the example of this embodiment, a plurality of shaft parts T1 extending on the opposite side to the Z direction are provided along the Y direction on the ceiling CE of the side area AR1a, and a plate part T2 is connected to the tip of the shaft part T1 on the opposite side to the Z direction. The plate part T2 is a plate-shaped member extending in the Y direction, and a plurality of signs S1 are provided along the Y direction on the surface T2a on the opposite side to the Z direction. The plate part T2 is arranged so that the surface T2a is parallel to the side area AR1a (floor surface). Therefore, it can be said that the sign S1 is also provided so as to be parallel to the side area AR1a. However, the form in which the sign S1 is provided is not limited to this and may be arbitrary. For example, the sign S1 is not limited to being provided on the board portion T2, and may be provided directly on the ceiling CE. Also, the sign S1 is not limited to being provided parallel to the side area AR1a, and may be provided at an angle with respect to the side area AR1a.

[0024] As shown in FIG. 3, a line L is formed between the signs S1 adjacent to each other in the Y direction on the surface T2a of the plate part T2. The line L is a linear marker detectable by the sensor 27 of the moving body 10, and may be, for example, a white line. The line L is formed so as to extend in the Y direction. In this embodiment, the line L is provided at each position between the signs S1 adjacent to each other in the Y direction, so that it can be said that the line L extends in the Y direction from the sign S1 on the most opposite side to the Y direction to the sign S1 on the most Y direction side. However, the line L is not limited to being provided over the entire section from the sign S1 on the most opposite side to the Y direction to the sign S1 on the most Y direction side, and may be provided only in a part of that section. Moreover, the line L is not a required configuration.

[0025] As described above, the marker S1 is provided on the ceiling CE of the side area AR1a, but is not limited to the ceiling CE of the side area AR1a, and may also be provided on the ceiling of an area other than the side area AR1a in the first area AR1. For example, if the first area AR1 includes a rear area AR3, multiple markers S1 may also be provided on the ceiling CE of the rear area AR3 along the global path R0 in the rear area AR3. In other words, it can be said that multiple markers S1 are provided on the ceiling of at least a part of the first area AR1 along the global path R0. On the other hand, the marker S1 does not have to be provided on the ceiling of the second area AR2.

[0026] (Mobile) The moving body 10 is a device that can move automatically. In this embodiment, the moving body 10 is a forklift, or more specifically, a so-called AGV (Automated Guided Vehicle) or AGF (Automated Guided Forklift). As illustrated in FIG. 1, the moving body 10 moves on an area AR in a facility W. The moving body 10 approaches a transportation vehicle V parked in a parking area AR0, and unloads (picks up) a target object P mounted on the transportation vehicle V, or loads (drops) the target object P mounted on the moving body 10 onto the transportation vehicle V. Hereinafter, a case will be described in which the moving body 10 approaches the transportation vehicle V from the X-direction side of the parking area AR0 through a side area AR1a (side area AR1aa) on the X-direction side of the parking area AR0, and unloads the target object P mounted on the transportation vehicle V.

[0027] FIG. 4 is a schematic diagram of the configuration of the moving body. As shown in FIG. 4, the moving body 10 includes a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, forks 24, sensors 26 and 27, and a control device 28. The straddle legs 21 are provided at one end in the front-rear direction of the vehicle body 20 and are a pair of shaft-like members protruding from the vehicle body 20. The wheels 20A are provided at the tips of the respective straddle legs 21 and the vehicle body 20. That is, a total of three wheels 20A are provided, but the positions and numbers of the wheels 20A may be arbitrary. The mast 22 is movably attached to the straddle legs 21 and moves in the front-rear direction of the vehicle body 20. The mast 22 extends along the vertical direction (here, the Z direction) orthogonal to the front-rear direction. The forks 24 are movably attached to the mast 22 in the Z direction. The forks 24 may also be movable in the lateral direction of the vehicle body 20 (the direction intersecting the vertical direction and the front-rear direction) with respect to the mast 22. The forks 24 have a pair of claws 24A and 24B. The claws 24A and 24B extend from the mast 22 toward the front of the vehicle body 20. The claw 24A and the claw 24B are arranged apart from each other in the lateral direction of the mast 22. Hereinafter, in the front-rear direction, the direction on the side where the forks 24 are provided in the moving body 10 is defined as the front direction, and the direction on the side where the forks 24 are not provided is defined as the rear direction.

[0028] The sensor 26 detects at least one of the position and orientation of an object existing around the vehicle body 20. It can also be said that the sensor 26 detects the position of the object with respect to the moving body 10 and the orientation of the object with respect to the moving body 10. In the present embodiment, the sensors 26 are provided at the tips of the respective straddle legs 21 and on the rear side of the vehicle body 20. However, the position where the sensor 26 is provided is not limited to this, and it may be provided at an arbitrary position, and the number of sensors provided may also be arbitrary. For example, a safety sensor provided in the moving body 10 may be diverted as the sensor 26. By diverting the safety sensor, there is no need to newly provide a sensor.

[0029] The sensor 26 is, for example, a sensor that irradiates laser light. The sensor 26 irradiates laser light while scanning in one direction (here, the horizontal direction), and detects the position and orientation of an object from the reflected light of the irradiated laser light. That is, the sensor 26 can be said to be a so-called two-dimensional (2D)-LiDAR (Light Detection And Ranging). However, the sensor 26 is not limited to the above, and may be a sensor that detects an object by any method, for example, a so-called three-dimensional (3D)-LiDAR that scans in multiple directions, or a camera.

[0030] The sensor 27 is a sensor that detects the sign S1. The sensor 27 is provided so as to face the Z direction side, and the Z direction side of the moving body 10 is set as a detection area. In the example of the present embodiment, the sensor 27 is provided on the surface of the vehicle body 20 on the Z direction side, but the position where the sensor 27 is provided may be arbitrary.

[0031] In this embodiment, the sensor 27 is a camera, and the Z direction side of the moving body 10 is an imaging area (detection area). The sensor 27 detects the sign S1 by capturing an image of the sign S1. That is, the sensor 27 captures an image of the imaging area sequentially, and when the sign S1 is captured in the imaging area, that is, when the sensor 27 receives reflected visible light from the sign S1, it can be said that the sensor 27 has detected the sign S1. However, the sensor 27 is not limited to being a camera, and may be any sensor that can detect the sign S1 and obtain position information of the sign S1. In addition, the sensor 27 is not limited to being a sensor separate from the sensor 26, and the sensor 26 or a safety sensor may be used as the sensor 27.

[0032] The control device 28 controls the movement of the moving body 10. The control device 28 will be described later.

[0033] (Management System) Figure 5 is a schematic block diagram of the management system. The management system 12 is a system for managing the logistics in the facility W. The management system 12 is a WMS (Warehouse Management System) in this embodiment, but it is not limited to the WMS and can be any system, for example, a backend system such as other production management systems may also be acceptable. The position where the management system 12 is provided is arbitrary. It may be provided within the facility W or at a position away from the facility W to manage the facility W from the remote position. The management system 12 is a computer and includes a communication unit 30, a storage unit 32, and a control unit 34 as shown in Figure 5.

[0034] The communication unit 30 is a module used by the control unit 34 to communicate with external devices such as the information processing device 14 and may include, for example, an antenna. The communication method by the communication unit 30 is wireless communication in this embodiment, but the communication method may be arbitrary. The storage unit 32 is a memory for storing various information such as the calculation content and programs of the control unit 34 and includes at least one of, for example, a main storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), and an external storage device such as an HDD (Hard Disk Drive).

[0035] The control unit 34 is an arithmetic unit and includes an arithmetic circuit such as a CPU (Central Processing Unit). The control unit 34 includes a work determination unit 36. The control unit 34 realizes the work determination unit 36 and executes its processing by reading and executing a program (software) from the storage unit 32. Note that the control unit 34 may execute the processing by one CPU or may include a plurality of CPUs and execute the processing with those plurality of CPUs. Also, the work determination unit 36 may be realized by a hardware circuit. Further, the program for the control unit 34 stored in the storage unit 32 may be stored in a recording medium readable by the management system 12.

[0036] The work determination unit 36 ​​determines the target object P to be transported. Specifically, the work determination unit 36 ​​determines the work content indicating the information of the target object P to be transported, for example, based on an input work plan. The work content can also be said to be information specifying the target object P to be transported. In the example of this embodiment, the work content determines which target object P in which facility is to be transported, by when, and to where. That is, the work determination unit 36 ​​determines the information indicating the facility in which the target object P is stored, the target object P, the destination of the target object P, and the transport time of the target object P. The work determination unit 36 ​​transmits the determined work content to the information processing device 14 via the communication unit 30. Note that the work determination unit 36 ​​is not an essential component in this embodiment.

[0037] (Information processing device) FIG. 6 is a schematic block diagram of an information processing device. The information processing device 14 is provided in the facility W and is a device that calculates at least information related to the movement of the mobile body 10, a so-called ground system. The information processing device 14 is a computer, and includes a communication unit 40, a storage unit 42, and a control unit 44 as shown in FIG. 6. The communication unit 40 is a module used by the control unit 44 to communicate with external devices such as the management system 12 and the mobile body 10, and may include, for example, an antenna. The communication method by the communication unit 40 is wireless communication in this embodiment, but the communication method may be arbitrary. The storage unit 42 is a memory that stores various information such as the calculation contents and programs of the control unit 44, and includes at least one of, for example, a RAM, a main storage device such as a ROM, and an external storage device such as an HDD. In this embodiment, the management system 12 and the information processing device 14 are separate devices, but they may be integrated devices. That is, the management system 12 may have at least a part of the functions of the information processing device 14, and the information processing device 14 may have at least a part of the functions of the management system 12.

[0038] The control unit 44 is a calculation device and includes a calculation circuit such as a CPU. The control unit 44 includes a task content acquisition unit 50, a moving object selection unit 52, and a global path acquisition unit 54. The control unit 44 realizes the task content acquisition unit 50, the moving object selection unit 52, and the global path acquisition unit 54 by reading and executing a program (software) from the storage unit 42, and executes the processes. The control unit 44 may execute these processes using one CPU, or may include multiple CPUs and execute the processes using the multiple CPUs. At least a part of the task content acquisition unit 50, the moving object selection unit 52, and the global path acquisition unit 54 may be realized by a hardware circuit. The program for the control unit 44 stored in the storage unit 42 may be stored in a recording medium that can be read by the information processing device 14.

[0039] (Work content acquisition unit and mobile unit selection unit) The work content acquisition unit 50 acquires information on the work content determined by the management system 12, that is, information on the target object P to be transported. The work content acquisition unit 50 identifies the parking area AR0 of the transport vehicle V on which the target object P is mounted, from the information on the target object P in the work content. For example, the storage unit 42 stores the target object P, the transport vehicle V on which the target object P is mounted, and the parking area AR0 of the transport vehicle V in association with each other, and the work content acquisition unit 50 identifies the parking area AR0 by reading out the information from the storage unit 42. The moving body selection unit 52 selects the target moving body 10. For example, the moving body selection unit 52 selects the target moving body 10 from a plurality of moving bodies belonging to the facility W. The moving body selection unit 52 may select the target moving body 10 by any method, but may select, for example, a moving body 10 suitable for transporting the target object P in the parking area AR0 based on the parking area AR0 identified by the work content acquisition unit 50 as the target moving body 10. It should be noted that the task content acquisition unit 50 and the moving object selection unit 52 are not essential components in this embodiment.

[0040] (Global Pass Acquisition Department) The global path acquisition unit 54 acquires information on the global path R0 heading toward the parking area AR0 identified by the work content acquisition unit 50. The global path acquisition unit 54 transmits the acquired information on the global path R0 to the target moving body 10 via the communication unit 40. The global path R0 is set in advance for each parking area AR0, for example. The global path acquisition unit 54 acquires the global path R0 set for the parking area AR0 identified by the work content acquisition unit 50, for example, from the storage unit 42. The global path R0 is set based on a coordinate system on a two-dimensional surface on the area AR (the coordinate system of the area AR), and therefore is a trajectory in the coordinate system of the area AR, but is not limited thereto, and may be a trajectory in the global coordinate system.

[0041] The global path R0 is set in advance based on map information of the facility W. The map information of the facility W includes position information of obstacles (pillars, etc.) installed in the facility W and paths through which the mobile body 10 can travel, and can be said to be information indicating an area in which the mobile body 10 can move within the area AR. The global path R0 may be set based on vehicle specification information of the mobile body 10 in addition to the map information of the facility W. The vehicle specification information is, for example, specifications that affect the route through which the mobile body 10 can move, such as the size and minimum turning radius of the mobile body 10. When the global path R0 is set based on the vehicle specification information as well, the global path R0 may be set for each mobile body. The global path R0 may be set by a person based on map information, vehicle specification information, etc., or may be automatically set by a device such as the information processing device 14 based on map information, vehicle specification information, etc. When automatically setting a global path R0, for example, a point (waypoint) that you want the robot to pass through can be specified. In this case, it is possible to set a global path R0 that passes through the desired point, while being the shortest and avoiding obstacles (fixed objects such as walls).

[0042] The global path acquisition unit 54 may set the global path R0 without reading out a preset global path R0. In this case, the global path acquisition unit 54 may generate a route from the current position of the mobile object 10 to the parking area AR0 as the global path R0, based on the position information of the target mobile object 10, the position information of the parking area AR0, and the map information of the facility W.

[0043] (Control device for moving objects) Next, the control device 28 of the moving body 10 will be described. FIG. 7 is a schematic block diagram of the control device of the moving body. The control device 28 controls the moving body 10 to make the moving body 10 approach the transportation vehicle V in the parking area AR0. The control device 28 is a computer, and includes a communication unit 60, a storage unit 62, and a control unit 64, as shown in FIG. 7. The communication unit 60 is a module used by the control unit 64 to communicate with an external device such as the information processing device 14, and may include, for example, an antenna. The communication method by the communication unit 60 is wireless communication in this embodiment, but the communication method may be arbitrary. The storage unit 62 is a memory that stores various information such as the calculation contents and programs of the control unit 64, and includes, for example, at least one of a RAM, a main storage device such as a ROM, and an external storage device such as an HDD.

[0044] The control unit 64 is a calculation device and includes a calculation circuit such as a CPU. The control unit 64 includes a global path acquisition unit 70, a self-location acquisition unit 72, a movement control unit 74, a detection control unit 76, a first path acquisition unit 78, a second path acquisition unit 80, and a fork control unit 82. The control unit 64 reads out a program (software) from the storage unit 62 and executes it to realize the global path acquisition unit 70, the self-location acquisition unit 72, the movement control unit 74, the detection control unit 76, the first path acquisition unit 78, the second path acquisition unit 80, and the fork control unit 82, and executes the processes. The control unit 64 may execute these processes by one CPU, or may include multiple CPUs and execute the processes by the multiple CPUs. At least a part of the global path acquisition unit 70, the self-location acquisition unit 72, the movement control unit 74, the detection control unit 76, the first path acquisition unit 78, the second path acquisition unit 80, and the fork control unit 82 may be realized by a hardware circuit. Furthermore, the program for the control unit 64 stored in the storage unit 62 may be stored in a recording medium that can be read by the control device 28.

[0045] (Global Pass Acquisition Department) The global path acquisition unit 70 acquires information on the global path R0. When the moving object 10 is selected as a work target, the global path acquisition unit 70 may acquire information on the global path R0 from the information processing device 14, or may read information on the global path R0 stored in advance in the storage unit 62. In addition, the global path acquisition unit 70 is not limited to acquiring the global path R0 from the information processing device 14, and may set the global path R0 by itself.

[0046] (Self-location acquisition unit) The self-position acquisition unit 72 sequentially acquires position information of the moving body 10. The position information of the moving body 10 is information indicating the position (coordinates) of the moving body 10 in the coordinate system of the area AR. When the moving body 10 is located in the first area AR1 (such as the lateral area AR1a), the self-position acquisition unit 72 acquires the position information of the moving body 10 by a first detection method that detects the sign S1, and when the moving body 10 is located outside the first area AR1 (such as the lateral area AR1a), the self-position acquisition unit 72 acquires the position information of the moving body 10 by a second detection method other than the first detection method. The processing of the self-position acquisition unit 72 will be described later.

[0047] (Movement control unit) The movement control unit 74 controls the movement mechanisms, such as the drive unit and steering, of the moving body 10 to control the movement of the moving body 10. Specific processing by the movement control unit 74 will be described later.

[0048] (Detection control unit) The detection control unit 76 causes the sensor 26 to detect the position and attitude of the transportation vehicle V and the position and attitude of the target P, and acquires the detection results of the position and attitude of the transportation vehicle V and the position and attitude of the target P by the sensor 26. Specific processing of the detection control unit 76 will be described later.

[0049] (First path acquisition section) The first path acquisition unit 78 acquires information on the first path R1 that is set based on the position and attitude of the transportation vehicle V. The specific processing of the first path acquisition unit 78 will be described later.

[0050] (Second path acquisition section) The second path acquisition unit 80 acquires information about the second path R2 that is set based on the position and orientation of the target P. The specific processing of the second path acquisition unit 80 will be described later.

[0051] (Fork control section) The fork control unit 82 controls the operation of the fork 24 of the moving body 10 .

[0052] (Control unit processing) Next, the process of the control device 28 when the moving body 10 approaches the transport vehicle V will be described.

[0053] (movement along a global path) FIG. 8 is a schematic diagram for explaining the global path. As shown in FIG. 8, the movement control unit 74 of the control device 28 moves the moving body 10 according to the global path R0 acquired by the global path acquisition unit 70. The global path R0 is generated on the premise that the vehicle V and the target object P in the parking area AR0 are in a preset reference position and attitude (for example, a position and attitude that is not displaced from the parking area AR0). That is, the global path R0 can be said to be a trajectory to a position (target position A1) where the moving body 10 is in a predetermined position and attitude with respect to the target object P in a reference position and attitude within the vehicle V in the parking area AR0. The target position A1 can be said to be a position and attitude where the moving body 10 can pick up the target object P when the vehicle V and the target object P are in a preset reference position and attitude.

[0054] In this embodiment, the global path R0 includes a trajectory R0a, a trajectory R0b, and a trajectory R0c. The trajectory R0a is a trajectory to the side area AR1a. The trajectory R0b is a trajectory connected to the trajectory R0a and extending in the lateral area AR1a in the Y direction. The trajectory R0c is a trajectory connected to the trajectory R0b and reaching the target position A1 from the lateral area AR1a in the opposite direction to the X direction. The trajectory R0c can be said to be a trajectory that turns the moving body 10 so as to switch the traveling direction of the moving body 10 from the direction toward the Y direction to the direction toward the opposite direction to the X direction. The trajectory R0c is a trajectory that is turned back from the trajectory R0b, but is not limited thereto and may be any trajectory that reaches the target position A1 in the opposite direction to the X direction. Note that the global path R0 is not limited to a trajectory that includes the trajectory R0a, the trajectory R0b, and the trajectory R0c. For example, the global path R0 does not have to be a trajectory to the target position A1, and may be, for example, a trajectory including the trajectory R0a and the trajectory R0b without including the trajectory R0c.

[0055] In this way, the moving body 10 moves along the global path R0, but since the transportation vehicle V and the target object P may deviate from the preset reference position and posture, in this embodiment, the positions and postures of the transportation vehicle V and the target object P are detected and the path is switched based on them. In this embodiment, the path is switched in the order of the global path R0, the first path R1, and the second path R2.

[0056] (Detection of transport vehicles on Global Path) The detection control unit 76 acquires the detection results of the position and attitude of the transportation vehicle V. Although the method of acquiring the detection results of the position and attitude of the transportation vehicle V is arbitrary, in this embodiment, the detection control unit 76 causes the sensor 26 to detect the position and attitude of the transportation vehicle V while the moving body 10 is moving along the global path R0. The detection control unit 76 causes the sensor 26 to perform detection toward the parking area AR0, the position of which is known, to detect the transportation vehicle V parked in the parking area AR0.

[0057] For example, in the case where the sensor 26 is configured to irradiate laser light, the detection control unit 76 causes the sensor 26 to scan laterally (horizontally) while the moving body 10 is moving on the global path R0, and causes the sensor 26 to irradiate laser light LT toward the parking area AR0. The transportation vehicle V parked in the parking area AR0 reflects the laser light LT from the sensor 26. The sensor 26 receives the reflected light from the transportation vehicle V. The detection control unit 76 acquires a point cloud, which is a collection of measurement points, based on the detection result of the reflected light received by the sensor 26. The measurement point is a point indicating the position (coordinate) where the laser light LT is reflected, and the point cloud refers to a collection of points indicating the position where the laser light LT is reflected. In this embodiment, the detection control unit 76 calculates the position (coordinate) of the location where the reflected light is reflected as the measurement point based on the detection result of the reflected light. The detection control unit 76 extracts a straight line using, for example, a RANSAC algorithm based on each measurement point (point cloud), and calculates the position and orientation of the straight line as the position and orientation of the transportation vehicle V. However, the method of calculating the position and orientation of the transportation vehicle V based on the detection result of the sensor 26 may be arbitrary.

[0058] 8, the transportation vehicle V is detected while the moving body 10 is moving on the track R0a, but the detection control unit 76 may detect the transportation vehicle V at any timing when the moving body 10 is located on the global path R0. For example, the detection control unit 76 may detect the transportation vehicle V while the moving body 10 is moving on the track R0b, or may detect the transportation vehicle V when it is stopped at any position on the global path R0.

[0059] Hereinafter, the information indicating the position and attitude of the transportation vehicle V detected by the sensor 26 will be referred to as the position and attitude information of the transportation vehicle V as appropriate. It can be said that the detection control unit 76 acquires the position and attitude information of the transportation vehicle V detected by the sensor 26. The detection of the position and attitude of the transportation vehicle V is not limited to being performed by the sensor 26, and is not limited to being acquired when the moving body 10 is located on the global path R0. For example, a sensor that detects the position and attitude of the transportation vehicle V may be provided in the facility W, and the detection control unit 76 may acquire the detection result of the position and attitude of the transportation vehicle V from the sensor. That is, the position and attitude information of the transportation vehicle V acquired by the detection control unit 76 is not limited to that detected by the sensor 26, and may be that detected by a sensor provided in the facility W, for example.

[0060] (First pass setting) FIG. 9 is a schematic diagram for explaining the first path. The first path acquisition unit 78 acquires information on the first path R1, which is set based on the position and posture information of the transportation vehicle V acquired while moving along the global path R0. The first path R1 is generated on the premise that the transportation vehicle V is in a position and posture detected by the sensor 26, and the target object P is in a preset reference position and posture (for example, a position and posture with no deviation from the transportation vehicle V). The first path R1 can be said to be a trajectory to a position (target position A2) where the moving body 10 is in a predetermined position and posture with respect to the target object P mounted so as to have a reference position and posture within the transportation vehicle V whose position and posture are detected by the sensor 26. In this embodiment, the target position A2 can be said to be a position and posture where the moving body 10 can pick up the target object P when the transportation vehicle V is in a position and posture detected by the sensor 26, and the target object P is in a reference position and posture.

[0061] More specifically, the first path R1 can be said to be a trajectory having the position of the moving body 10 when switching from the global path R0 to the first path R1 as the starting position and the target position A2 as the destination position. In this embodiment, the first path R1 includes the trajectory R1a and the trajectory R1b. The trajectory R1a is a trajectory that extends from the starting position in the lateral area AR1a toward the Y direction. The trajectory R1b ​​is a trajectory that is connected to the trajectory R1a and reaches the target position A2 from the lateral area AR1a in the opposite direction to the X direction. The trajectory R1b ​​can be said to be a trajectory that turns the moving body 10 so as to switch the traveling direction of the moving body 10 from the direction toward the Y direction to the direction toward the opposite direction to the X direction. In the example of FIG. 9, since the position and attitude information of the transportation vehicle V is acquired at the entrance of the lateral area AR1a, the first path R1 is a trajectory having the entrance of the lateral area AR1a as the starting position, but the starting position is not limited to the entrance of the lateral area AR1a. In addition, the first path R1 is not limited to including the trajectory R1a and the trajectory R1b. For example, when the starting position is a turning point of the moving body 10 in the side area AR1a, the first path R1 may include only the trajectory R0b.

[0062] In this embodiment, the first path acquisition unit 78, that is, the moving body 10 itself, sets the first path R1 based on the position and attitude information of the transportation vehicle V. However, this is not limited thereto, and an entity other than the moving body 10 (e.g., the information processing device 14) may set the first path R1, and the first path acquisition unit 78 may acquire information on the first path R1 set by that entity via the communication unit 60.

[0063] (movement along the first path) When the first path acquisition unit 78 acquires the first path R1, the movement control unit 74 switches from the global path R0 to the first path R1 and moves the moving object 10 according to the first path R1.

[0064] However, it is not essential to set the first path R1 based on the position and attitude information of the transportation vehicle V. For example, the global path R0 may be treated as the first path R1, and the movement control unit 74 may move the moving body 10 along the global path R0 until switching to the second path R2 described later.

[0065] (1st pass target detection) The detection control unit 76 acquires the detection results of the position and orientation of the target P. Although the method of acquiring the detection results of the position and orientation of the target P is arbitrary, in this embodiment, the detection control unit 76 causes the sensor 26 to detect the position and orientation of the target P while the moving body 10 is moving along the first path R1. The detection control unit 76 causes the sensor 26 to perform detection toward the parking area AR0, the position of which is known, thereby detecting the target P within the parking area AR0.

[0066] For example, in the case where the sensor 26 is configured to irradiate laser light, the detection control unit 76 causes the sensor 26 to scan laterally (horizontally) while the moving body 10 is moving on the first path R1, and causes the sensor 26 to irradiate laser light LT toward the parking area AR0. The target P reflects the laser light LT from the sensor 26. The sensor 26 receives the reflected light from the target P. The detection control unit 76 acquires a point cloud, which is a collection of measurement points, based on the detection result of the reflected light received by the sensor 26. In this embodiment, the detection control unit 76 calculates the position (coordinates) of the location where the reflected light is reflected as the measurement point based on the detection result of the reflected light. The detection control unit 76 extracts a straight line using, for example, a RANSAC algorithm based on each measurement point (point cloud), and calculates the position and orientation of the straight line as the position and orientation of the target P. However, the calculation method of the position and orientation of the target P based on the detection result of the sensor 26 may be arbitrary.

[0067] 9, the target object P is detected while the moving object 10 is moving on the track R1a, but the detection control unit 76 may detect the target object P at any timing when the moving object 10 is located on the first path R1. For example, the detection control unit 76 may detect the target object P while the moving object 10 is moving on the track R1b, or may detect the transportation vehicle V when it is stopped at any position on the first path R1.

[0068] Hereinafter, information indicating the position and orientation of the target P detected by the sensor 26 will be referred to as position and orientation information of the target P as appropriate. It can be said that the detection control unit 76 acquires the position and orientation information of the target P detected by the sensor 26. Note that the detection of the position and orientation of the target P is not limited to being performed by the sensor 26, and is not limited to being acquired when the moving body 10 is located on the first path R1. For example, a sensor that detects the position and orientation of the target P may be provided in the facility W, and the detection control unit 76 may acquire the detection result of the position and orientation of the target P from the sensor. That is, the position and orientation information of the target P acquired by the detection control unit 76 is not limited to that detected by the sensor 26, and may be that detected by a sensor provided in the facility W, for example.

[0069] (2nd pass setting) FIG. 10 is a schematic diagram for explaining the second path. The second path acquisition unit 80 acquires information on the second path R2, which is set based on the position and orientation information of the target P acquired during movement along the first path R1. The second path R2 is generated on the premise that the target P is in a position and orientation detected by the sensor 26. The second path R2 can be said to be a trajectory to a position (target position A3) where the moving body 10 has a predetermined position and orientation with respect to the target P in the position and orientation detected by the sensor 26. In this embodiment, the target position A3 can be said to be a position and orientation where the moving body 10 can pick up the target P when the target P is in the position and orientation detected by the sensor 26.

[0070] More specifically, the second path R2 can be said to be a trajectory in which the position of the moving body 10 when switching from the first path R1 to the second path R2 is the starting position, and the target position A3 is the destination position. In this embodiment, the second path R2 is a trajectory that reaches the target position A3 in the opposite direction to the X direction from the starting position in the side area AR1a. The second path R2 can be said to be a trajectory that turns the moving body 10 so as to switch the traveling direction of the moving body 10 from the direction toward the Y direction to the direction toward the opposite direction to the X direction. In the example of FIG. 10, the second path R2 is a trajectory in which the position and orientation information of the target P is acquired at a position on the direction Y side of the target P in the side area AR1a, the position on the direction Y side of the target P is set as the starting position, and the second path R2 is turned back from the starting position to reach the target position A3. However, the starting position is not limited to being a position on the direction Y side of the target P. For example, the second path R2 may include a starting position that is on the opposite side of the target P in the direction Y, a trajectory that travels in the Y direction from the starting position to the turning position within the lateral area AR1a, and a trajectory that travels in the opposite direction to the X direction from the turning position to the target position A3.

[0071] In this embodiment, the second path acquisition unit 80, that is, the moving body 10 itself, sets the second path R2 based on the position and orientation information of the target P. However, this is not limited thereto, and an entity other than the moving body 10 (e.g., the information processing device 14) may set the second path R2, and the second path acquisition unit 780 may acquire information on the second path R2 set by that entity via the communication unit 60.

[0072] (movement along the second path) When the second path acquisition unit 80 acquires the second path R2, the movement control unit 74 switches from the first path R1 to the second path R2 and moves the moving object 10 according to the second path R2.

[0073] When the moving body 10 reaches the target position A3 by moving along the second path R2, the fork control unit 82 moves the fork 24 to insert the fork 24 into the opening Pb and picks up the target P. The movement control unit 74 transports the moving body 10 that has picked up the target P to a set destination. Here, while the moving body 10 is moving along the second path R2, the moving body 10 may successively detect the position of the opening Pb of the target P and move the fork 24 by feedback control so as to align the position of the opening Pb with the position of the fork 24. In this case, for example, the fork control unit 82 may move the fork 24 laterally (side shift) to align the position of the opening Pb with the position of the fork 24.

[0074] However, it is not essential to set the second path R2 based on the position and orientation information of the target P. For example, the first path R1 or the global path R0 may be treated as the second path R2, and the movement control unit 74 may move the moving object 10 to the target P along the first path R1 or the global path R0.

[0075] In this embodiment, the moving body 10 moves with the side opposite to the fork 24 in front up to the trajectory R0b or the trajectory R1a, and moves toward the target P in the opposite direction to the X direction while turning back so that the fork 24 side is in front on the trajectory R0c, the trajectory R1b, or the second path R2. However, the trajectory R0c, the trajectory R1b, or the second path R2 is not limited to a trajectory that turns back, and may be a trajectory that turns toward the target P in the opposite direction to the X direction without turning back. In this case, for example, the moving body 10 moves with the fork 24 in front even up to the trajectory R1a, and switches to the trajectory R0c, the trajectory R1b, or the second path R2 while keeping the fork 24 in front.

[0076] In the above description, the moving body 10 unloads the target object P from the transport vehicle V, but the moving body 10 may load the target object P onto the transport vehicle V. In this case, the moving body 10 may set a first path R1 to a target position that is a preset position to load the target object P, without setting a second path R2 based on the position and posture of the target object P in the transport vehicle V, and approach the target position along the first path R1. For example, the moving body 10 may cause the sensor 26 to detect the position to load the target object P in the transport vehicle V, set a point where the target object P is in a predetermined position and posture relative to the position to load the target object P as the target position A3, set a second path R2 to the target position A3, and approach the target position A3 along the second path R2. In this case, for example, the position at which the target object P should be loaded within the transport vehicle V may be determined by detecting the position and posture of the wall or other target object P within the storage room VA using the sensor 26, and a position a reference distance away from the wall or other target object P may be detected as the position at which the target object P should be loaded.

[0077] (Self-location detection) Here, the moving body 10 moves under the control of the movement control unit 74 while detecting its own position (the position of the moving body 10) by the self-position acquisition unit 72. When the moving body 10 is moving in the second area AR2 far from the parking area AR0, it moves while detecting its own position using the second detection method, and when the moving body 10 is moving in the first area AR1 close to the parking area AR0, it moves while detecting its own position using the first detection method for detecting the sign S1. Note that the moving body 10 moves while detecting its own position on each of the global path R0, the first path R1, and the second path R2. In this embodiment, since the global path R0 is a route from the second area AR2 to the first area AR1, the self-position acquisition unit 72 detects its own position using the second detection method when moving in the section of the global path R0 in the second area AR2, and detects its own position using the first detection method when moving in the section of the global path R0 in the first area AR1. On the other hand, in this embodiment, since the first path R1 and the second path R2 are routes within the first area AR1, the self-location acquisition unit 72 detects its own location using the first detection method when moving on the first path R1 and the second path R2. However, at least one of the first path R1 and the second path R2 may extend from the second area AR2 to the first area AR1. In this case, the self-location acquisition unit 72 detects its own location using the second detection method when moving on the section of the first path R1 and the second path R2 within the second area AR2, and detects its own location using the first detection method when moving on the section of the first path R1 and the second path R2 within the first area AR1.

[0078] (Second detection method) The second detection method during movement in the second area AR2 will be described below. FIG. 8 shows an example of movement in the second area AR2 along the global path R0. When the moving body 10 moves in the second area AR2 along the global path R0, the self-position acquisition unit 72 sequentially acquires position information of the moving body 10 using the second detection method. The position information of the moving body 10 refers to the position and attitude of the moving body 10. The position of the moving body 10 here refers to the position (coordinates) of the moving body 10 in the coordinate system of the equipment W. In addition, the attitude of the moving body 10 refers to the yaw angle (rotation angle) of the moving body 10 when viewed from a direction Z perpendicular to the directions X and Y, with the X direction being 0°. The position in this embodiment may refer to the coordinates in the coordinate system of the equipment W unless otherwise specified, and similarly, the attitude in this embodiment may refer to the yaw angle when viewed from the direction Z with the X direction being 0°, unless otherwise specified. Note that Figure 8 shows an example in which the second area AR2 moves along the global path R0, but as described above, even if the second area AR2 moves along the first path R1 or the second path R2, the position information of the moving body 10 is similarly obtained using the second detection method.

[0079] The second detection method may be any method different from the first detection method described below for detecting the sign S1 to acquire the position information of the moving body 10. In the example of this embodiment, a plurality of detection bodies S2 capable of reflecting laser light are provided in the facility W, and the self-position acquisition unit 72 acquires the position information of the moving body 10 based on the reflected light from the detection body S2 in the second detection method. Specifically, the self-position acquisition unit 72 causes a position detection sensor provided in the moving body 10 to irradiate laser light toward each detection body S2. Each detection body S2 reflects the laser light from the position detection sensor, and the position detection sensor receives the reflected light from the detection body S2. The self-position acquisition unit 72 calculates the position and attitude of the moving body 10 based on at least one of the timing at which the position detection sensor receives the reflected light and the traveling direction of the reflected light, and acquires it as the position information of the moving body 10. Note that, in the example of FIG. 8, four detection bodies S2 are provided, but the number of detection bodies S2 is arbitrary. The position of the detection object S2 is not limited to the example in Fig. 8, and may be any position different from the marker S1. The sensor for detecting the position of the moving object 10 used in the second detection method may be any sensor capable of emitting and receiving laser light, and for example, the sensor 26 may be used as the position detection sensor.

[0080] The second detection method is not limited to using the detection object S2 as described above, and may be any method different from the first detection method. For example, the second detection method may use a self-location estimation technique such as SLAM (Simultaneous Localization and Mapping). In SLAM, for example, the movement control unit 74 acquires map information of the facility W, and acquires the location information of the moving object 10 based on the positional relationship between the location of a reference object (e.g., a pillar) in the facility W in the map information and the location of the reference object detected by a sensor (e.g., the sensor 26), that is, by using a map matching technique.

[0081] While moving within the second area AR2, the moving body 10 moves along a path (global path R0 in the example of FIG. 8) within the second area AR2 under the control of the movement control unit 74 based on the position information of the moving body 10 acquired by the self-position acquisition unit 72 using the second detection method. For example, the movement control unit 74 estimates the position and attitude of the moving body 10 by odometry, and moves the moving body 10 so that the estimated position and estimated attitude of the moving body 10 are along the path within the second area AR2. Then, when the self-position acquisition unit 72 acquires the position information of the moving body 10, the movement control unit 74 corrects the estimated position and estimated attitude of the moving body 10 using the position and attitude of the moving body 10 acquired by the self-position acquisition unit 72, and continues the movement of the moving body 10 so that the corrected estimated position and estimated attitude of the moving body 10 are along the path within the second area AR2. The movement control unit 74 corrects the estimated position and the estimated attitude of the moving body 10 every time the self-position acquisition unit 72 acquires the position information of the moving body 10.

[0082] (Switching from the second detection method to the first detection method) When the moving body 10 reaches the boundary position between the second area AR2 and the first area AR1, that is, when the estimated position of the moving body 10 reaches the boundary position, the self-position acquisition unit 72 switches the self-position detection method between the second detection method and the first detection method. In the description of this embodiment, since the moving body 10 is moving from the second area AR2 toward the first area AR1, the self-position acquisition unit 72 switches the self-position detection method from the second detection method to the first detection method when the moving body 10 reaches the boundary position between the second area AR2 and the first area AR1. Note that, when the moving body 10 is moving from the first area AR1 toward the second area AR2, the self-position acquisition unit 72 switches the self-position detection method from the first detection method to the second detection method when the moving body 10 reaches the boundary position.

[0083] In this embodiment, the boundary position is predefined, and when the moving body 10 reaches the predefined position, i.e., when the estimated position of the moving body 10 by the self-position acquisition unit 72 becomes the predefined position, it is determined that the moving body 10 has reached the boundary position, and the second detection method and the first detection method are switched over. However, the determination of whether the boundary position has been reached is not limited to this, and for example, the boundary position does not need to be predefined. In this case, for example, when determining to switch from the second detection method to the first detection method, the self-position acquisition unit 72 may determine that the moving body 10 has reached the boundary position and switch over from the second detection method to the first detection method when the detection accuracy in the first detection method becomes equal to or less than a threshold value. For example, the self-position acquisition unit 72 may determine that the detection accuracy in the second detection method becomes equal to or less than a threshold value and switch over from the second detection method to the first detection method when at least one of the following conditions is satisfied: the intensity of the reflected light from the detection object S2 becomes equal to or less than a predetermined value, and the number of detection objects S2 that can receive the reflected light becomes equal to or less than a predetermined number. Similarly, when determining whether to switch from the first detection method to the second detection method, the self-location acquisition unit 72 may determine that the moving object 10 has reached a boundary position and switch from the first detection method to the second detection method when the detection accuracy in the first detection method becomes equal to or less than a threshold. For example, when the self-location acquisition unit 72 is unable to acquire position information of the sign S1 from the captured image data by the sensor 27, the self-location acquisition unit 72 may determine that the detection accuracy in the first detection method becomes equal to or less than a threshold and switch from the first detection method to the second detection method.

[0084] (First detection method) The first detection method during movement within the first area AR1 will be described below. FIG. 9 shows an example of movement within the lateral area AR1a of the first area AR1 in the Y direction. When the moving object 10 moves within the lateral area AR1a in the Y direction, the self-position acquisition unit 72 sequentially acquires position information of the moving object 10 using the first detection method. Note that FIG. 9 shows an example of movement within the lateral area AR1a in the Y direction along the first path R1, but even when moving within the lateral area AR1a in the Y direction along the global path R0 or the second path R2, the position information of the moving object 10 is similarly acquired using the first detection method.

[0085] In the first detection method, the self-position acquisition unit 72 acquires position information of the moving body 10 by having the sensor 27 detect at least one of the signs S1. Specifically, the self-position acquisition unit 72 causes the sensor 27 to capture an image of at least one of the signs S1 arranged in a line in the Y direction on the ceiling of the side area AR1a. The self-position acquisition unit 72 reads out position information of the sign S1 from image data of the sign S1 captured by the sensor 27 and acquires the position information of the sign S1. The self-position acquisition unit 72 calculates the position and attitude of the moving body 10 based on the position information of the sign S1 and acquires it as the position information of the moving body 10. For example, the self-position acquisition unit 72 calculates the position and attitude of the moving body 10 relative to the sign S1 based on the captured image of the sensor 27, and calculates the position and attitude of the moving body 10 from the position and attitude of the moving body 10 relative to the sign S1 and the position information of the sign S1. The self-position acquisition unit 72 can calculate the position and attitude of the moving object 10 relative to the sign S1 based on the position and size of the sign S1 in the captured image.

[0086] The moving body 10 moves in the Y direction in the lateral area AR1a, and the self-position acquisition unit 72 sequentially detects the sign S1 to sequentially acquire position information of the moving body 10. For example, the movement control unit 74 estimates the position and attitude of the moving body 10 by odometry, and moves the moving body 10 so that the estimated position and estimated attitude of the moving body 10 are along a path in the Y direction in the lateral area AR1a. Then, when the self-position acquisition unit 72 acquires the position information of the moving body 10, the movement control unit 74 corrects the estimated position and estimated attitude of the moving body 10 by the position and attitude of the moving body 10 acquired by the self-position acquisition unit 72, and continues the movement of the moving body 10 so that the corrected estimated position and estimated attitude of the moving body 10 are along a path in the Y direction in the lateral area AR1a. The movement control unit 74 corrects the estimated position and estimated attitude of the moving body 10 every time the self-position acquisition unit 72 acquires the position information of the moving body 10.

[0087] Note that a plurality of signs S1 are provided along the Y direction, which is the movement direction of the moving body 10. Therefore, the self-position acquiring unit 72 can switch the sign S1 to be detected by the sensor 27 to a sign S1 closer to the moving body 10 as the moving body 10 moves in the Y direction, and can acquire the position information of the moving body 10 with high accuracy.

[0088] In addition, when the movement control unit 74 moves the moving body 10 in the Y direction within the side area AR1a, it is preferable that the movement control unit 74 moves the moving body 10 so as to follow the line L connecting the signs S1. In this case, the self-position acquisition unit 72 causes the sensor 27 to sequentially detect (take an image of) the line L, and acquires the position information of the line L from the image captured by the sensor 27. The movement control unit 74 moves the moving body 10 in the Y direction so that the distance between the line L and the estimated position of the moving body 10 in a direction perpendicular to the Y direction, which is the traveling direction of the moving body 10 (here, in the X direction), falls within a predetermined range. This allows the moving body 10 to move appropriately in the Y direction without being deviated in the X direction. In addition, for example, if the attitude angle of the transportation vehicle V has been detected, the movement control unit 74 may run the moving body 10 so as to be parallel to the side of the transportation vehicle V according to the attitude angle of the transportation vehicle V.

[0089] In the above description, the self-position detection during the movement in the Y direction in the side area AR1a has been described, but the self-position detection during the movement from the side area AR1a toward the target P in the opposite direction to the X direction is also performed using the first detection method. That is, as shown in FIG. 10, the moving body 10 moves toward the target P in the opposite direction to the X direction, while the self-position acquisition unit 72 sequentially detects the sign S1 provided on the ceiling of the side area AR1a, thereby sequentially acquiring the position information of the moving body 10. For example, the movement control unit 74 estimates the position and attitude of the moving body 10 by odometry, and moves the moving body 10 so that the estimated position and estimated attitude of the moving body 10 are along a path toward the target P (the second path R2 in the example of FIG. 10). Then, when the self-position acquiring unit 72 acquires position information of the moving body 10, the movement control unit 74 corrects the estimated position and estimated attitude of the moving body 10 using the position and attitude of the moving body 10 acquired by the self-position acquiring unit 72, and continues the movement of the moving body 10 so that the corrected estimated position and estimated attitude of the moving body 10 are along a path toward the target object P. The movement control unit 74 corrects the estimated position and estimated attitude of the moving body 10 every time the self-position acquiring unit 72 acquires position information of the moving body 10.

[0090] (Processing flow) Next, a process flow of self-location detection will be described. FIG. 11 is a flowchart for explaining a process flow of self-location detection according to this embodiment. As shown in FIG. 11, when the moving object 10 is located in the second area AR2, the moving object 10 moves along a set path (for example, a global path R0) based on the position information of the moving object 10 under the control of the movement control unit 74 while the self-location acquisition unit 72 acquires the position information of the moving object 10 by the second detection method (step S10). Then, when the moving object 10 reaches the first area AR1 (step S12; Yes), the moving object 10 switches the method of self-location detection from the second detection method to the first detection method, and while the self-location acquisition unit 72 acquires the position information of the moving object 10 by the first detection method (by detecting the sign S1), the moving object 10 moves along a set path (for example, a first path R1 or a second path R2) based on the position information of the moving object 10 under the control of the movement control unit 74 (step S14). For example, when the moving object 10 is located within a side area AR1a within the first area AR1, the self-position acquisition unit 72 acquires position information of the moving object 10 using the first detection method (by detecting the sign S1), while the moving object 10 moves in the Y direction within the side area AR1a based on the position information of the moving object 10 under the control of the movement control unit 74. Note that if the moving object 10 does not reach the first area AR1 (step S12: No), the process returns to step S10 and continues self-position detection using the second detection method and movement within the second area AR2.

[0091] In the above description, the moving body 10 moves toward the transport vehicle V in order to pick up the target object P carried on the transport vehicle V or to drop the target object P from the transport vehicle V. However, the above processing can also be applied to a case where the moving body 10 moves from the transport vehicle V to the first area AR1 after dropping the target object P on the transport vehicle V, or a case where the moving body 10 moves from the transport vehicle V to the first area AR1 after picking up the target object P from the transport vehicle V. That is, for example, the moving body 10 is located in the first area AR1 when the moving body 10 drops or picks up the target object P on the transport vehicle V. While the moving body 10 is located in the first area AR1, the moving body 10 moves toward the second area AR2 under the control of the movement control unit 74 while acquiring the position information of the moving body 10 by the first detection method (by detecting the sign S1). Then, when the moving body 10 reaches the second area AR2, the method of detecting its own position is switched from the first detection method to the second detection method, and the moving body 10 continues to move under the control of the movement control unit 74 while the self-position acquisition unit 72 acquires position information of the moving body 10 using the second detection method.

[0092] In this manner, in the present embodiment, the method of detecting the self-location is switched depending on the location of the moving body 10, but it is not essential to switch the method of detecting the self-location. For example, the moving body 10 may detect its own location using only the first detection method without using the second detection method.

[0093] As described above, the moving body 10 according to this embodiment detects the signs S1 arranged along the Y direction on the ceiling of the side area AR1a on the side of the parking area AR0 to detect its own position, and moves in the side area AR1a along the Y direction based on the detected own position. In this way, by providing the signs S1 on the ceiling of the side area AR1a, even when the moving body 10 moves in a place close to the parking area AR0, it is possible to properly detect the signs S1 without being disturbed by the transportation vehicle V, etc., and it is possible to properly detect the position of the moving body 10 even in the vicinity of the parking area. In addition, by arranging the signs S1 along the Y direction, which is the traveling direction of the moving body 10 in the side area AR1a, the self-position acquisition unit 72 can switch the sign S1 to be detected by the sensor 27 to the sign S1 close to the moving body 10 as the moving body 10 moves in the Y direction. Therefore, the position information of the moving body 10 can be acquired with high accuracy. In this embodiment, the vehicle's own position is detected by a first detection method using the sign S1 in a first area AR1 close to the parking area AR0, and the vehicle's own position is detected by a second detection method not using the sign S1 in a second area AR2 far from the parking area AR0. Therefore, the position information of the vehicle 10 can be obtained with high accuracy according to the position of the vehicle 10.

[0094] (Other examples of signs) Next, another example of the sign S1 will be described.

[0095] 12 and 13 are schematic diagrams for explaining other examples of the shape of the marker. As shown in FIG. 12, the marker S1 may include a first marker S1a and a second marker S1b adjacent to the first marker S1a. The first marker S1a is a marker (e.g., a mark) including position information of the marker S1, and is arranged on a first surface parallel to the first area AR1 (side area AR1a) directly below the marker S1, i.e., to the floor surface directly below the marker S1. In the example of FIG. 12, the first marker S1a is provided on the surface (first surface) of the plate part T2a opposite to the Z direction. The surface of the plate part T2a opposite to the Z direction is parallel to the floor surface directly below the marker S1. On the other hand, the second marker S1b is a marker (e.g., a mark) including position information of the marker S1, and is arranged on a second surface inclined to the first area AR1 (side area AR1a) directly below the marker S1, i.e., to the floor surface directly below the marker S1. More specifically, the second marker S2a is located on the opposite side in the X direction (the parking area AR0 side) to the first marker S1a. The second surface is inclined toward the Z direction (vertically upward) with respect to the first area AR1 (side area AR1a) directly below it, i.e., with respect to the floor surface directly below, as it approaches the opposite side in the X direction (the parking area AR0 side). In the example of FIG. 12, the second marker S1b is provided on the surface (second surface) of the plate part T2b on the opposite side in the Z direction. The surface of the plate part T2a on the opposite side in the Z direction is inclined toward the Z direction with respect to the floor surface directly below as it approaches the opposite side in the X direction.

[0096] As shown in FIG. 12, by providing the first marker S1a and the second marker S1b, when moving the lateral region AR1a in the Y direction, the self-position can be detected by detecting the first marker S1a, and when moving while turning to the side opposite to the X direction toward the target object P, the self-position can be detected by detecting the second marker S1b, and the self-position detection during each movement can be performed with high precision. That is, since the first marker S1a is provided on a plane parallel to the floor surface, when the moving body 10 moves the lateral region AR1a in the Y direction, the inclination angle of the optical axis of the sensor 27 with respect to the central axis of the first marker S1a becomes small, so that the first marker S1a appears large in the captured image, and the first marker S1a can be appropriately detected to detect the self-position with high precision. And since the second marker S1b is provided on a plane inclined toward the Z direction side as it goes toward the parking region AR0 side, when the moving body 10 turns and moves toward the parking region AR0 side, the inclination angle of the optical axis of the sensor 27 with respect to the central axis of the second marker S1b becomes small, and the second marker S1b appears large in the captured image, and the second marker S1b can be appropriately detected to detect the self-position with high precision.

[0097] In the example of FIG. 12, the first marker S1a was formed on a plane parallel to the floor surface, but it is not limited thereto. For example, as shown in the example of FIG. 13, the first marker S1a may be provided on a plane inclined toward the Z direction side as it goes toward the side opposite to the parking region AR0.

[0098] FIG. 14 is a schematic diagram showing another example of the sign. As shown in FIG. 14, the first area AR1 (side area AR1a) may be inclined toward the opposite side of the Z direction (vertically downward) as it approaches the Y direction, for example, to drain water on the floor surface to the outside. Also, the ceiling CE of the first area AR1 (side area AR1a) may be inclined toward the Z direction side (vertically upward) as it approaches the Y direction. Even in such a case, it is preferable that the signs S1 are arranged in a plurality along the Y direction on a surface that is inclined toward the opposite side of the Z direction (vertically downward) as it approaches the Y direction so as to be parallel to the first area AR1 (side area AR1a). That is, in such a case, it can be said that it is preferable that the surface of the plate part T2 opposite to the Z direction is provided so as to be inclined toward the opposite side of the Z direction (vertically downward) as it approaches the Y direction so as to be parallel to the first area AR1 (side area AR1a).

[0099] (effect) As described above, the control method for the moving body 10 according to this embodiment is a control method for the moving body 10 that moves automatically, and a plurality of signs S1 indicating positions are provided along the Y direction (second direction) that intersects with the X direction and runs along the parking area AR0 on the ceiling CE of the side area AR1a on the X direction (first direction) side of the parking area AR0 where the transportation vehicle V is parked. This control method includes the steps of: acquiring position information of the moving body 10 by having the moving body 10 detect at least one of the signs S1; moving the moving body 10 toward the Y direction (second direction) in the side area AR1a based on the position information of the moving body 10; and moving the moving body 10 toward the parking area AR0 by turning and moving the moving body 10 toward the opposite side to the X direction (first direction) after moving the moving body 10 toward the Y direction (second direction) in the side area AR1a. In this way, by providing the sign S1 on the ceiling of the side area AR1a, even when the moving object 10 moves in a place close to the parking area AR0, it is possible to properly detect the sign S1 without being obstructed by the transportation vehicle V, etc., and it is possible to properly detect the position of the moving object 10 even in the vicinity of the parking area AR0. In addition, by arranging the sign S1 along the Y direction, which is the traveling direction of the moving object 10 in the side area AR1a, the self-position acquisition unit 72 can switch the sign S1 to be detected by the sensor 27 to the sign S1 close to the moving object 10 as the moving object 10 moves in the Y direction. Therefore, the position information of the moving object 10 can be acquired with high accuracy.

[0100] In this control method, when the moving body 10 is located in the first area AR1 including the side area AR1a, the moving body 10 is moved based on the position information of the moving body 10 acquired by the first detection method that detects the sign S1. On the other hand, when the moving body 10 is located in the second area AR2 that is farther from the parking area AR0 than the first area AR1, the moving body 10 is moved based on the position information of the moving body 10 acquired by the second detection method different from the first detection method. In this way, in the first area AR1 close to the parking area AR0, the moving body 10 is caused to detect its own position by the first detection method using the sign S1, and in the second area AR2 far from the parking area AR0, the moving body 10 is caused to detect its own position by the second detection method that does not use the sign S1, so that the position information of the moving body 10 can be acquired with high accuracy according to the position of the moving body 10.

[0101] In this control method, when the moving object 10 reaches the boundary point between the first area AR1 and the second area AR2, the second detection method and the first detection method are switched. By switching the detection method using the arrival of the moving object 10 at a predetermined boundary position as a trigger, it is possible to obtain position information of the moving object 10 with high accuracy according to the position of the moving object 10.

[0102] In the second detection method, the moving object 10 irradiates a laser beam toward a detection object S2 provided at a location different from the marker S1, and receives the reflected light of the laser beam by the detection object S2 to obtain position information of the moving object 10. In this control method, when the detection accuracy of the received reflected light falls below a threshold, the second detection method is switched to the first detection method. By switching the detection method using the detection accuracy falling below the threshold as a trigger, position information of the moving object 10 can be obtained with high accuracy according to the position of the moving object 10.

[0103] This control method further includes a step of detecting the position and attitude of the transportation vehicle V in the parking area AR0, and a step of setting a first path R1 toward the transportation vehicle V based on the position and attitude of the transportation vehicle V. In this control method, since the first path R1 is set based on the position and attitude of the transportation vehicle V, the transportation vehicle V can be appropriately approached even if the parking position of the transportation vehicle V is misaligned.

[0104] This control method further includes a step of detecting the position and attitude of a target P placed in a transportation vehicle V, a step of setting a second path R2 to a target position A3 that is a predetermined position and attitude with respect to the target P based on the position and attitude of the target P, and a step of switching from the first path R1 to the second path R2 and moving the moving body 10 along the second path R2 based on the detected position of the moving body 10. In this control method, since the second path R2 is set based on the position and attitude of the target P, it is possible to appropriately approach the target P even if the position of the target P is shifted.

[0105] A line L connecting the signs S1 to each other is provided on the ceiling CE of the side area AR1a, and in the step of moving the moving object 10, the moving object 10 is moved in the side area AR1a along the line L. By moving the moving object 10 along the line L, the moving object 10 can be appropriately moved in the Y direction in the side area AR1a.

[0106] The markers S1 include a first marker S1a arranged on a first surface parallel to the floor surface of the side area AR1a, and a second marker S1b arranged adjacent to the first marker S1a on a second surface that slopes vertically upward with respect to the floor surface of the side area AR1a as it moves toward the parking area AR0. Therefore, it is possible to detect the self-position with high accuracy both when moving in the Y direction in the side area AR1a and when moving toward the target P while turning in the opposite direction to the X direction.

[0107] The moving body 10 moves automatically, and includes a self-position acquisition unit 72 that acquires position information of the moving body 10 by detecting at least one of the signs S1 provided along the Y direction intersecting with the X direction on the ceiling CE of the side area AR1a on the X direction side of the parking area AR0 where the transportation vehicle V is parked, and a movement control unit 74 that moves the moving body 10 toward the Y direction in the side area AR1a based on the position information of the moving body 10. After moving the moving body 10 toward the Y direction (second direction) in the side area AR1a, the movement control unit 74 moves the moving body 10 toward the parking area AR0 by turning the moving body 10 toward the opposite side to the X direction (first direction). The moving body 10 can appropriately detect its own position even in the vicinity of the parking area AR0.

[0108] The movement control system 1 includes a moving object 10 and a sign S1. Therefore, the movement control system 1 can appropriately detect the position of the moving object 10 even in the vicinity of the parking area AR0.

[0109] Although the embodiment of the present disclosure has been described above, the embodiment is not limited by the contents of this embodiment. In addition, the above-mentioned components include those that a person skilled in the art can easily imagine, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-mentioned components can be appropriately combined. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the gist of the above-mentioned embodiment. [Explanation of symbols]

[0110] 10 Mobile 27 Sensors 70 Global Pass Acquisition Department 72 Self-location acquisition unit 74 Movement control section 76 Detection control section 78 First Path Acquisition Section 80 2nd Path Acquisition Section AR0 Parking Area AR1 1st area AR1a lateral region AR2 2nd area P target R0 Global Path R1 1st pass R2 2nd pass S1 sign V Transport vehicle

Claims

1. A method for controlling an automatically moving object, comprising: A plurality of signs indicating positions are provided on a ceiling of a side area on the first direction side of a parking area in which a transportation vehicle is parked, along a second direction intersecting the first direction and along the parking area; The signs include a first sign and a second sign that is provided adjacent to the first sign and is disposed on a surface that slopes upward in a vertical direction with respect to a floor surface of the side area as it approaches the parking area, acquiring location information of the moving object by causing the moving object to detect at least one of the markers; moving the moving object in the second direction in the lateral region based on position information of the moving object; moving the moving body toward the parking area by turning the moving body toward an opposite direction to the first direction after moving the moving body toward the second direction in the side area; Including, In the step of moving the moving object in the second direction, the moving object is moved based on position information of the moving object acquired by detecting the first sign, In the step of moving the moving object toward the parking area, the moving object is moved based on position information of the moving object acquired by detecting the second sign. A method for controlling a moving object.

2. 2. The method for controlling a moving body as described in claim 1, wherein, when the moving body is located within a first area including the side area, the moving body is moved based on position information of the moving body obtained by a first detection method for detecting the sign, and when the moving body is located within a second area farther from the parking area than the first area, the moving body is moved based on position information of the moving body obtained by a second detection method different from the first detection method.

3. The method for controlling a moving object according to claim 2 , further comprising switching between the second detection method and the first detection method when the moving object reaches a boundary point between the first area and the second area.

4. the second detection method is to irradiate a laser beam from the moving body toward a detection body provided at a position different from the marker, and to receive a reflected light of the laser beam from the detection body, thereby acquiring position information of the moving body; When the detection accuracy of the received reflected light becomes equal to or lower than a threshold, the detection method is switched from the second detection method to the first detection method. The method for controlling a moving object according to claim 2.

5. Detecting the position and attitude of the transportation vehicle within the parking area; The method for controlling a moving body according to claim 1 , further comprising the step of: setting a first path toward the transportation vehicle based on a position and an attitude of the transportation vehicle.

6. Detecting the position and orientation of a target disposed within the transportation vehicle; setting a second path to a target position that is a predetermined position and orientation with respect to the target based on the position and orientation of the target; 6. The method for controlling a moving object according to claim 5, further comprising the step of switching from the first path to the second path and moving the moving object along the second path based on the detected position of the moving object.

7. A line connecting the signs is provided on the ceiling of the side area, The method for controlling a moving body according to claim 1 , wherein in the step of moving the moving body, the moving body is moved along the line in the lateral region.

8. The method for controlling a moving body according to claim 1 , wherein the first marker is arranged on a plane parallel to a floor surface of the side area.

9. A moving object that moves automatically, a self-location acquisition unit that acquires location information of the moving body by detecting at least one of a plurality of signs provided on a ceiling of a side area on a first direction side of a parking area in which the transportation vehicle is parked, along a second direction intersecting the first direction and along the parking area; a movement control unit that moves the moving body in the second direction in the side area based on position information of the moving body, and after moving the moving body in the second direction in the side area, turns and moves the moving body in a direction opposite to the first direction, thereby moving the moving body toward the parking area; Including, The signs include a first sign and a second sign that is provided adjacent to the first sign and is disposed on a surface that slopes upward in a vertical direction with respect to a floor surface of the side area as it approaches the parking area, The movement control unit is When moving the moving object in the second direction in the side area, the moving object is moved based on position information of the moving object acquired by detecting the first marker; When the moving body is turned so as to face the opposite direction to the first direction and moved toward the parking area, the moving body is moved based on position information of the moving body acquired by detecting the second sign. Mobile body.

10. A vehicle comprising the moving body according to claim 9 and the marker. Movement control system.

11. A program for causing a computer to execute a method for controlling an automatically moving object, A step of acquiring position information of the moving body by making the moving body detect at least one of a plurality of signs provided on a ceiling of a side area on a first direction side of a parking area in which a transportation vehicle is parked, along a second direction intersecting the first direction and along the parking area; moving the moving object in the second direction in the lateral region based on position information of the moving object; moving the moving body toward the parking area by turning the moving body toward an opposite direction to the first direction after moving the moving body toward the second direction in the side area; The computer executes the following: The signs include a first sign and a second sign that is provided adjacent to the first sign and is disposed on a surface that slopes upward in a vertical direction with respect to a floor surface of the side area as it approaches the parking area, In the step of moving the moving object in the second direction, the moving object is moved based on position information of the moving object acquired by detecting the first sign, In the step of moving the moving object toward the parking area, the moving object is moved based on position information of the moving object acquired by detecting the second sign. program.

Images