MOBILITY CONTROL DEVICE, MOBILITY CONTROL SYSTEM, MOBILITY CONTROL METHOD, AND PROGRAM

Abstract

To provide a movement controller, movement control system, movement control method, and program capable of smoothly shifting, even in a narrow passage, an advancing direction of a moving body, which includes wheels constituted more simply than ever.SOLUTION: A movement controller controls wheels of a moving body including: a first wheel capable of being driven and steered; a second wheel capable of being steered; and a third wheel capable of being steered. The movement controller includes: a rotation signal generation unit that generates a rotation signal with which each of the wheels is controlled so that an advancing direction of a moving body is shifted around one of the second and third wheels serving as a center of rotation when seen in a vertical direction; a translation signal generation unit that generates a translation signal with which each of the wheels is controlled so that, when the advancing direction of the moving body is shifted, one of the second and third wheels serving as the center of rotation is moved in one direction intersecting the advancing direction; a signal synthesis unit that generates a wheel control signal resulting from synthesis of the rotation signal and translation signal; and a wheel control unit that controls each of the wheels on the basis of the wheel control signal.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a mobility control device, a mobility control system, a mobility control method, and a program. [Background technology]

[0002] For example, Patent Document 1 discloses an omnidirectional vehicle equipped with four drivable and steerable wheels (omni-wheels). This omnidirectional vehicle can freely change direction even in a narrow passageway sandwiched between walls, for example. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-348678 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the omnidirectional mobile vehicle described in Patent Document 1, for example, when changing the direction of travel, it is necessary to drive all four wheels simultaneously with the same force (torque). This may require a larger structure for driving the four wheels or may require the driven wheels to be synchronized. Therefore, there is a demand for a mobile vehicle that can change direction in narrow passages while having wheels with a simpler configuration.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a movement control device, a movement control system, a movement control method, and a program that can smoothly change the direction of travel of a moving body equipped with wheels having a simpler configuration even in a narrow passage. [Means for solving the problem]

[0006] In order to solve the above problems, a mobile control device according to the present disclosure is a mobile control device that controls each wheel of a mobile body having a drivable and steerable first wheel, a steerable second wheel, and a steerable third wheel, and includes: a rotation signal generation unit that generates a rotation signal to control each wheel so that the traveling direction of the mobile body turns around one of the second wheel and the third wheel as a rotation center when viewed from the vertical direction; a translation signal generation unit that generates a translation signal to control each wheel so that one of the second wheel and the third wheel, which serves as the rotation center, moves in one direction intersecting the traveling direction when turning the traveling direction of the mobile body; a signal synthesis unit that generates a wheel control signal by synthesizing the rotation signal and the translation signal; and a signal synthesis unit that generates a wheel control signal by synthesizing the rotation signal and the translation signal based on the wheel control signal. one of the second wheel and the third wheel is steered so that the orientation of one of the second wheel and the third wheel is in the one direction, and then the first wheel and the other of the second wheel and the third wheel are rotated around one of the second wheel and the third wheel, and one of the second wheel and the third wheel, which is the rotation center, is moved in the one direction while being maintained in the one direction. and a wheel control unit for controlling each of the wheels.

[0007] A mobility control system according to the present disclosure includes the mobile body and the above-described mobility control device.

[0008] A movement control method according to the present disclosure is a movement control method for controlling each wheel of a moving body having a drivable and steerable first wheel, a steerable second wheel, and a steerable third wheel, the movement control method including: a rotation signal generation step for generating a rotation signal to control each wheel so that the traveling direction of the moving body turns around one of the second wheel and the third wheel as a rotation center when viewed from a vertical direction; a translation signal generation step for generating a translation signal to control each wheel so that one of the second wheel and the third wheel, which serves as the rotation center, moves in one direction intersecting the traveling direction when turning the traveling direction of the moving body; a signal synthesis step for generating a wheel control signal by synthesizing the rotation signal and the translation signal; and one of the second wheel and the third wheel is steered so that the orientation of one of the second wheel and the third wheel is in the one direction, and then the first wheel and the other of the second wheel and the third wheel are rotated around one of the second wheel and the third wheel, and one of the second wheel and the third wheel, which is the rotation center, is moved in the one direction while being maintained in the one direction. and a wheel control step for controlling each of the wheels.

[0009] Further, the program according to the present disclosure includes the steps of: generating a rotation signal for controlling each wheel of a mobile device having a drivable and steerable first wheel, a steerable second wheel, and a steerable third wheel so that the traveling direction of the mobile device turns around one of the second wheel and the third wheel as a rotation center when viewed from the vertical direction; generating a translation signal for controlling each wheel so that, when turning the traveling direction of the mobile device, one of the second wheel and the third wheel, which serves as the rotation center, moves in one direction intersecting the traveling direction; generating a wheel control signal by combining the rotation signal and the translation signal; and, based on the wheel control signal, one of the second wheel and the third wheel is steered so that the orientation of one of the second wheel and the third wheel is in the one direction, and then the first wheel and the other of the second wheel and the third wheel are rotated around one of the second wheel and the third wheel, and one of the second wheel and the third wheel, which is the rotation center, is moved in the one direction while being maintained in the one direction. and controlling each of said wheels. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to provide a movement control device, a movement control system, a movement control method, and a program that can smoothly change the direction of travel of a moving body equipped with wheels having a simpler configuration even in a narrow passage. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a perspective view showing an overall configuration of a mobile object control system according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a perspective view showing a configuration of a moving body according to a first embodiment of the present disclosure. [Figure 3] FIG. 2 is a diagram of the traveling mechanism according to the first embodiment of the present disclosure as viewed from above. [Figure 4] FIG. 2 is a functional block diagram of a mobile control device according to the first embodiment of the present disclosure. [Figure 5] 4 is a diagram for explaining an example of a pre-correction steering angle generated by a rotation signal generating unit according to the first embodiment of the present disclosure. FIG. [Figure 6] 10A and 10B are diagrams for explaining a state when the moving body according to the first embodiment of the present disclosure changes its traveling direction at a destination position. [Figure 7]4 is a flowchart illustrating an operation of the mobile control device according to the first embodiment of the present disclosure. [Figure 8] 3 is a flowchart showing a movement control method according to the first embodiment of the present disclosure. [Figure 9] FIG. 10 is a perspective view showing a configuration of a moving body according to a second embodiment of the present disclosure. [Figure 10] FIG. 10 is a diagram of a traveling mechanism according to a second embodiment of the present disclosure as viewed from above. [Figure 11] FIG. 10 is a functional block diagram of a mobile control device according to a second embodiment of the present disclosure. [Figure 12] 10 is a flowchart illustrating an operation of a mobile control device according to a second embodiment of the present disclosure. [Figure 13] 10 is a flowchart showing a movement control method according to a second embodiment of the present disclosure. [Figure 14] FIG. 1 is a hardware configuration diagram illustrating a configuration of a computer according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a mobile control device, a mobile control system, a mobile control method, and a program according to an embodiment of the present disclosure will be described with reference to the drawings.

[0013] First Embodiment [Movement Control System] The movement control system is a system that controls the movement of a moving object. The movement control system in this embodiment controls the movement of a forklift as a moving object that performs cargo handling operations such as loading, unloading, and transporting cargo in a logistics facility such as a logistics center or warehouse.

[0014] 1, a moving object 10 in this embodiment travels through a passageway when moving a package from a predetermined position to a destination position within a logistics facility LF. The passageway is sandwiched between a pair of opposing walls W and extends in one direction.

[0015] The wall W in this embodiment may be, for example, a rack on which a plurality of packages are placed. Hereinafter, the direction in which the aisle extends will be referred to as the "aisle extension direction D1," and the aisle width direction in which the pair of walls W face each other will be referred to as the "aisle width direction D2." The aisle extension direction D1 and the aisle width direction D2 are directions perpendicular to each other.

[0016] The movement control system 1 includes a moving object 10, a movement control device 20, and a higher-level device 30.

[0017] (Mobile) The mobile object 10 is an industrial vehicle that moves cargo placed on pallets within the logistics facility LF. The mobile object 10 in this embodiment is, for example, a vehicle that travels autonomously in accordance with commands received from a higher-level device 30, and is a reach-type unmanned forklift (AGF: Automated Guided Forklift).

[0018] As shown in FIG. 2, the moving body 10 in this embodiment includes a vehicle body 11, straddle legs 12, a mast 13, forks 14, and a traveling mechanism 15.

[0019] (Body) The vehicle body 11 is the main body of the mobile body 10, and travels on the road surface within the logistics facility LF by means of a travel mechanism 15. For ease of explanation, the direction in which the vehicle body 11 travels (the direction in which the vehicle body 11 travels forward and backward) will be referred to as the "travel direction Ds." Furthermore, of both sides of the travel direction Ds, the forward side will be referred to as the "forward side Dsf," and the opposite backward side will be referred to as the "rear side Dsb."

[0020] The width direction of the vehicle body 11 is referred to as the "vehicle width direction Dw." Furthermore, of both sides of the vehicle width direction Dw, the right side when the vehicle body 11 is viewed from the rear side Dsb is referred to as the "one side Dwr," and the opposite side is referred to as the "other side Dwl."

[0021] The vehicle body 11 has an edge 11b located on one side Dwr and extending in the vertical direction Dv, and an edge 11c extending on the other side Dwl. The vehicle body 11 also has a front surface 11a that extends across the edge 11b on the one side Dwr and the edge 11c on the other side Dwl and faces the front side Dsf while being connected to the edge 11b in the vehicle width direction Dw. This front surface 11a has a convex curved surface that is convex toward the front side Dsf.

[0022] Hereinafter, for convenience of explanation, the side on which gravity acts in the vertical direction Dv will be referred to as the "lower side Dvd," and the opposite side will be referred to as the "upper side Dvu."

[0023] (Straddle leg) The straddle legs 12 are provided integrally with the vehicle body 11 on the rear side Dsb and lower side Dvd of the vehicle body 11. The straddle legs 12 are a pair of shaft-shaped members extending from the vehicle body 11 to the rear side Dsb. The pair of straddle legs 12 are arranged spaced apart from each other in the vehicle width direction Dw.

[0024] Hereinafter, of the pair of straddle legs 12, the straddle leg 12 positioned on one side Dwr will be referred to as the "right straddle leg 121", and the straddle leg 12 positioned on the opposite side (the other side Dwl) will be referred to as the "left straddle leg 122".

[0025] (mast) The mast 13 is movably provided on the straddle leg 12. The mast 13 is attached so as to span both the right straddle leg 121 and the left straddle leg 122. The mast 13 is movable in the traveling direction Ds on the straddle leg 12. The mast 13 extends upward Dvu from each of the right straddle leg 121 and the left straddle leg 122.

[0026] (fork) A pair of forks 14 are provided on the mast 13, extending rearward from the mast 13. The pair of forks 14 are spaced apart from each other in the vehicle width direction Dw and are attached to the mast 13 so as to be movable (up and down) in the vertical direction Dv.

[0027] The forks 14 are inserted into fork pockets of the pallet, for example, by moving to the upper side Dvu (lift up) and then moving to the rear side Dsb together with the mast 13 (reach out). By being inserted into the fork pockets, the forks 14 can move the cargo placed on the pallet together with the pallet.

[0028] (Traveling mechanism) The traveling mechanism 15 supports the vehicle body 11 and the straddle legs 12 from the lower side Dvd in the vertical direction Dv, and enables them to move on the road surface. As shown in FIGS. 2 and 3, the traveling mechanism 15 in this embodiment has a first wheel 151, a second wheel 152, and a third wheel 153.

[0029] The first wheel 151 is provided on the vehicle body. As shown in Fig. 3, the first wheel 151 has a first wheel body 151a that can rotate while in contact with the road surface, a drive motor 151c that rotates the first wheel body 151a while in contact with the road surface, and a first steering motor 151b that can turn the direction of the first wheel body 151a. The drive motor 151c and first steering motor 151b are connected to the first wheel body 151a.

[0030] The drive motor 151c rotates based on a signal indicating a drive instruction transmitted from the movement control device 20. Specifically, the drive motor 151c receives a signal indicating a rotation speed from the movement control device 20, and rotates at this rotation speed, thereby rotating the first wheel body 151a.

[0031] The first steering motor 151b is rotatable about a first rotation axis O1 extending in the vertical direction Dv. The first steering motor 151b steers the first wheel body 151a based on a signal indicating a steering instruction transmitted from the movement control device 20.

[0032] Specifically, the first steering motor 151b receives a signal indicating a rotation angle from the movement control device 20 and sets its own posture to this rotation angle. In other words, by rotating this first steering motor 151b, the inclination of the first wheel main body 151a with respect to the traveling direction Ds is adjusted, and as a result, the direction of the first wheel main body 151a is turned. In this embodiment, for example, the direction of the forward side Dsf is 0° of the rotation angle.

[0033] The second wheel 152 is provided at the end of the rear side Dsb of the right straddle leg 121. The second wheel 152 has a second wheel body 152a that can rotate while contacting the road surface, and a second steering motor 152b that can turn the direction of the second wheel body 152a.

[0034] The second steering motor 152b is connected to the second wheel body 152a. The second steering motor 152b is rotatable about a second rotation axis O2 extending in the vertical direction Dv. The second steering motor 152b steers the second wheel body 152a based on a signal indicating a steering instruction transmitted from the movement control device 20.

[0035] Specifically, the second steering motor 152b adjusts its own posture to a rotation angle by receiving a signal indicating the rotation angle from the movement control device 20. In other words, by rotating the second steering motor 152b, the inclination of the second wheel main body 152a with respect to the traveling direction Ds is adjusted, and as a result, the orientation of the second wheel main body 152a is turned.

[0036] The third wheel 153 is provided at the end of the rear side Dsb of the left straddle leg 122. The third wheel 153 has a third wheel body 153a that can rotate while contacting the road surface, and a third steering motor 153b that can turn the direction of the third wheel body 153a.

[0037] The third steering motor 153b is connected to the third wheel body 153a. The third steering motor 153b is rotatable about a third rotation axis O3 extending in the vertical direction Dv. The third steering motor 153b steers the third wheel body 153a based on a signal indicating a steering instruction transmitted from the movement control device 20.

[0038] Specifically, the third steering motor 153b adjusts its own posture to a rotation angle by receiving a signal indicating the rotation angle from the movement control device 20. In other words, by rotating the third steering motor 153b, the inclination of the third wheel main body 153a with respect to the traveling direction Ds is adjusted, and as a result, the orientation of the third wheel main body 153a is turned.

[0039] In this embodiment, a first imaginary line L1 connecting the first rotation axis O1 and the second rotation axis O2, a second imaginary line L2 connecting the first rotation axis O1 and the third rotation axis O3, and a third imaginary line L3 connecting the second rotation axis O2 and the third rotation axis O3 form an imaginary triangle when viewed from the vertical direction Dv. For example, this triangle has an isosceles triangle shape in which the length of the first imaginary line L1 and the length of the second imaginary line L2 are equal when viewed from the vertical direction Dv.

[0040] That is, in a two-dimensional coordinate system formed by the passage extension direction D1 and the passage width direction D2, the distance between the first rotation axis O1 and the second rotation axis O2 (the length of the first virtual line L1) is equal to the distance between the first rotation axis O1 and the third rotation axis O3 (the length of the second virtual line L2). In this embodiment, the distance between the second rotation axis O2 and the third rotation axis O3 (the length of the third virtual line L3) is shorter than the lengths of the first virtual line L1 and the second virtual line L2. In this embodiment, the length of the third virtual line L3 is defined as "Lt".

[0041] Hereinafter, a case will be described in which a moving object 10 moves through a passage in a two-dimensional plane coordinate system defined by a passage extension direction D1 and a passage width direction D2. Also, a case where the traveling direction Ds of the moving body 10 is inclined by θ degrees with respect to the passage extending direction D1 will be described as an example.

[0042] (Movement control device) When the mobile body 10 arrives at the destination position X (see Figure 5) within the logistics facility LF, the mobile control device 20 controls each wheel (first wheel 151, second wheel 152, and third wheel 153) of the mobile body 10 to change the direction (travel direction Ds) of the mobile body 10.

[0043] The "destination position X" here means, for example, a position in the passage where the moving body 10 can perform loading or unloading work, and is a location where the direction (travel direction Ds) of the moving body 10 is changed. The destination position X is set, for example, by the host device 30. The movement control device 20 receives a signal indicating this destination position X from the host device 30. Note that the destination position X is not limited to a location in the passage where the moving body 10 can perform loading or unloading work.

[0044] As shown in FIG. 2, the movement control device 20 is provided inside the body 11 of the moving body 10, for example. As shown in FIG. 4, the movement control device 20 in this embodiment includes a movement information acquisition unit 21, a rotation center determination unit 22, a rotation signal generation unit 23, a translation signal generation unit 24, a signal synthesis unit 25, a wheel control unit 26, and a memory unit 27.

[0045] (Movement information acquisition unit) When the moving body 10 arrives at the destination position X, the movement information acquisition unit 21 acquires movement information that is information related to the movement of the moving body 10. The movement information acquired by the movement information acquisition unit 21 in this embodiment includes, for example, the target angular velocity of the moving body 10 and the translational velocity of the moving body 10.

[0046] The target angular velocity means the angular velocity of the moving body 10 with respect to the center of rotation when viewed from above Dvu in the vertical direction Dv. Hereinafter, this target angular velocity will be referred to as "ω". The translational speed is the speed at which the moving body 10 moves in one direction that intersects with the traveling direction Ds when viewed from above Dvu in the vertical direction Dv. In this embodiment, this one direction coincides with the passage width direction D2. Hereinafter, this translational speed will be referred to as "Vr."

[0047] The movement information acquisition unit 21 may acquire movement information by any method. For example, the movement information acquisition unit 21 may use a predetermined target angular velocity ω and translational velocity Vr stored in advance in the storage unit 27 as the movement information. Alternatively, the movement information acquisition unit 21 may receive, for example, a signal indicating a target angular velocity ω and translational velocity Vr set in advance by the higher-level device 30 from the higher-level device 30 and use the target angular velocity ω and translational velocity Vr as the movement information. Alternatively, the movement information acquisition unit 21 may set the target angular velocity ω and translational velocity Vr based on, for example, a load acting on the moving object 10 detected by a sensor (e.g., a weight sensor) provided on the moving object 10, and use the set target angular velocity ω and translational velocity Vr as the movement information. The movement information is not limited to the above, and may be input one by one by an operator via remote control. In this case, for example, an operator located away from the moving object 10 operates an input device for remotely controlling the moving object 10. The input device sets movement information based on the operation content by the worker, and transmits the set movement information to the movement information acquisition unit 21 of the movement control device 20. The movement information acquisition unit 21 sends the acquired movement information to the rotation signal generation unit 23 and the translation signal generation unit 24 .

[0048] (Rotation center determination unit) The rotation center determination unit 22 determines the rotation center of the moving body 10 when the moving body 10 arrives at the destination position X. In this embodiment, the rotation center determination unit 22 determines, as the rotation center of the moving body 10, one of the second rotation axis O2, which is the rotation center of the second steering motor 152b in the traveling mechanism 15, and the third rotation axis O3, which is the rotation center of the third steering motor 153b of the third wheel 153.

[0049] Any method may be used for the rotation center determination unit 22 to determine the rotation center of the movable body 10. For example, when the traveling direction Ds of the movable body 10 coincides with the passage extension direction D1, and the movable body 10 reaches out with the forks 14 to a pallet placed on a rack on the wall W on the right side when looking at the passage from the rear side Dsb, the rotation center determination unit 22 may determine the second pivot axis O2 as the rotation center of the movable body 10.

[0050] Furthermore, for example, when the traveling direction Ds of the moving body 10 coincides with the passage extension direction D1, when the moving body 10 accesses (reach out) with the forks 14 a pallet placed on a rack on the left wall W as viewed from the rear side Dsb, the rotation center determination unit 22 may determine the third rotation axis O3 as the rotation center of the moving body 10. Hereinafter, a case where the rotation center determination unit 22 determines the second rotation axis O2 as the rotation center will be described as an example.

[0051] (Rotation signal generator) The rotation signal generating unit 23 generates a rotation signal for controlling each wheel of the traveling mechanism 15 so that when the moving body 10 arrives at the destination position X, the traveling direction Ds of the moving body 10 turns around the second rotation axis O2 or the third rotation axis O3 as the rotation center.

[0052] Specifically, the rotation signal generating unit 23 generates a rotation signal indicating the steering angle of each wheel according to the center of rotation and the movement speed of the first wheel main body 151a based on the target angular velocity ω received from the movement information acquiring unit 21.

[0053] Hereinafter, for convenience of explanation, the steering angle of each wheel indicated by this rotation signal will be referred to as the "pre-correction steering angle." The pre-correction steering angle includes the pre-correction steering angle of the first wheel body 151a, the pre-correction steering angle of the second wheel body 152a, and the pre-correction steering angle of the third wheel body 153a.

[0054] The pre-correction steering angle of the second wheel body 152a, which is the center of rotation of the moving body 10, i.e., the pre-correction steering angle of the second steering motor 152b, is set by the rotation signal generating unit 23 so that the second wheel body 152a faces the above-mentioned direction that intersects the traveling direction Ds.

[0055] The pre-correction steering angle of the first wheel body 151a, i.e., the pre-correction steering angle of the first steering motor 151b, is set by the rotation signal generating unit 23 so that when the first wheel body 151a rotates together with the drive motor 151c, the first wheel body 151a rotates around the second rotation axis O2 when viewed from the upper side Dvu.

[0056] The pre-correction steering angle of the third wheel body 153a, i.e., the pre-correction steering angle of the third steering motor 153b, is set by the rotation signal generating unit 23 so that when the first wheel body 151a rotates together with the drive motor 151c, the third wheel body 153a turns around the second rotation axis O2 as viewed from the upper side Dvu. The third wheel body 153a rotates in conjunction with the rotation of the first wheel body 151a.

[0057] Here, an example of the pre-correction steering angle will be described using specific numerical values ​​with reference to Fig. 5. In this example, for ease of explanation, a case is shown in which the traveling direction Ds of the moving body 10 and the passage extending direction D1 coincide (θ = 0°).

[0058] If the traveling direction Ds of the moving body 10 as viewed from the upper side Dvu is 0°, the pre-correction steering angle of the second wheel body 152a is 90° clockwise as viewed from the upper side Dvu. Also, if the angle formed by the first virtual line L1 and the second virtual line L2 is "θ1", the pre-correction steering angle of the first wheel body 151a is 270-(θ1 / 2)° clockwise. Also, the pre-correction steering angle of the third wheel body 153a is 180° clockwise.

[0059] The movement speed of the first wheel main body 151a is derived from the target angular velocity ω as movement information by the rotation signal generating unit 23. Specifically, the rotation signal generating unit 23 can obtain the movement speed of the first wheel main body 151a by using the following equations (i) and (ii). The third wheel main body 153a moves in accordance with the movement of the first wheel main body 151a.

[0060] Vx1=ω·Lt / 2 ···(i) Vy1=ω·Lw ···(ii)

[0061] Here, Vx1 represents the speed in the traveling direction Ds of the first wheel main body 151a, and Vy1 represents the speed in the vehicle width direction Dw of the first wheel main body 151a. Furthermore, Lw in the above formula (ii) is the shortest distance between the first rotation axis O1 and the third imaginary line L3 shown in FIG. The rotation signal generating unit 23 sends to the signal combining unit 25 a rotation signal indicating the pre-correction steering angle of each wheel and the moving speed (Vx1, Vy1) of the first wheel main body 151a.

[0062] (Translational signal generation section) When changing the traveling direction Ds of the moving body 10, the translation signal generating unit 24 generates a translation signal for controlling each wheel so that either the second wheel 152, which has its rotation center on the second rotation axis O2, or the third wheel 153, which has its rotation center on the third rotation axis O3, is moved in the above-mentioned direction.

[0063] Specifically, the translation signal generation unit 24 receives the translation speed Vr for moving each wheel in the above-mentioned one direction from the movement information acquisition unit 21, and generates a translation signal indicating a corrective steering angle of each wheel from this translation speed Vr. The corrective steering angle indicates a positive or negative value. Hereinafter, the corrective steering angle of the first wheel main body 151a is referred to as "α1," and the corrective steering angle of the third wheel main body 153a is referred to as "α2."

[0064] The translation signal generating unit 24 can obtain the movement speed of the first wheel body 151a for moving the second wheel body 152a in the above-mentioned one direction by decomposing the translation speed Vr using the following equations (iii) and (iv). The third wheel body 153a moves at the same movement speed as the movement of the first wheel body 151a. Note that Figs. 5 and 6 show the case where θ = 0°.

[0065] Vx2=Vr·cos(θ+90°) ···(iii) Vy2=Vr·sin(θ+90°) ···(iv)

[0066] Here, Vx2 represents the moving speed of the first wheel main body 151a in the tangential direction from the first rotation axis O1 of a circle whose radius is the moving radius (first virtual line L1) connecting the second rotation axis O2 and the first rotation axis O1 as viewed from the vertical direction Dv. Vy2 represents the moving speed of the first wheel main body 151a in the direction in which the moving radius extends.

[0067] The translation signal generation unit 24 calculates corrective steering angles α1, α2 of each wheel corresponding to Vx2 and Vy2. Specifically, as shown in (b) of Fig. 6, the translation signal generation unit 24 calculates the corrective steering angle α1 of the first wheel main body 151a and the corrective steering angle α2 of the third wheel main body 153a so that the moving object 10 is subjected to velocities of Vx2 and Vy2 in the one direction. The translation signal generation unit 24 sends signals indicating the corrective steering angles (α1, α2) of each wheel main body (first wheel main body 151a, third wheel main body 153a) and the moving velocity (Vx2, Vy2) of the first wheel main body 151a to the signal synthesis unit 25 as translation signals.

[0068] (Signal synthesis section) The signal synthesis unit 25 generates a wheel control signal by synthesizing the rotation signal generated by the rotation signal generation unit 23 and the translation signal generated by the translation signal generation unit 24. Specifically, the signal synthesis unit 25 synthesizes the vector (Vx1, Vy1) calculated by the rotation signal generation unit 23 and the vector (Vx2, Vy2) calculated by the translation signal generation unit 24 to calculate the corrected steering angle of the first wheel main body 151a and the corrected steering angle of the third wheel main body 153a.

[0069] Moreover, the signal synthesis unit 25 calculates the synthesis speed V of the first wheel main body 151a using the following formulas (v) to (vii).

[0070] Vx = Vx1 + Vx2 (v) Vy = Vy1 + Vy2 (vi) V=(Vx^2+Vy^2)^1 / 2 (vii)

[0071] Here, Vx represents the speed in the traveling direction Ds of the first wheel main body 151a, and Vy represents the speed in the vehicle width direction Dw of the first wheel main body 151a.

[0072] The wheel control signal includes the corrected steering angle of the first wheel main body 151a, the corrected steering angle of the third wheel main body 153a, and the combined speed V of the first wheel main body 151a. The signal combiner 25 sends this wheel control signal to the wheel controller 26.

[0073] (Wheel control unit) The wheel control unit 26 controls each wheel based on the wheel control signal generated by the signal synthesis unit 25. Specifically, the wheel control unit 26 sends a signal to the first steering motor 151b indicating a drive instruction so that the first wheel main body 151a has a post-correction steering angle. The wheel control unit 26 also sends a signal to the second steering motor 152b indicating a drive instruction so that the second wheel 152 has a pre-correction steering angle. The wheel control unit 26 also sends a signal to the third steering motor 153b indicating a drive instruction so that the third wheel 153 has a post-correction steering angle.

[0074] After the first wheel body 151a, the second wheel body 152a, and the third wheel body 153a indicate the corrected steering angles, the wheel control unit 26 sends a signal to the drive motor 151c indicating a drive instruction so that the first wheel body 151a moves at the combined speed V.

[0075] As a result of the wheel control unit 26 performing the above control, the second wheel body 152a moves in only one direction while maintaining its rotation angle, as shown in (b) to (d) in Fig. 6. At the same time, the first wheel body 151a and the third wheel body 153a rotate about the second rotation axis O2. Therefore, the moving object 10 moves in one direction (passage width direction D2) while turning its traveling direction Ds about the second rotation axis O2.

[0076] (Operation of the movement control device) Next, an example of the operation of the mobile control device 20 in this embodiment will be described with reference to FIG. When the moving object 10 arrives at the destination position X, the movement information acquisition unit 21 acquires movement information that is information related to the movement of the moving object 10 (step S11).

[0077] Next, when the moving body 10 arrives at the destination position X, the rotation center determination unit 22 determines the rotation center of the moving body 10 (step S12). The rotation center determination unit 22 determines one of the second rotation axis O2, about which the second steering motor 152b serves as the rotation center, and the third rotation axis O3, about which the third steering motor 153b of the third wheel 153 serves as the rotation center, as the rotation center of the moving body 10. The order of the processes in steps S12 and S11 may be reversed. Also, the processes in steps S12 and S11 may be performed in parallel.

[0078] Next, when the moving body 10 arrives at the destination position X, the rotation signal generating unit 23 generates a rotation signal for controlling each wheel of the traveling mechanism 15 so that the traveling direction Ds of the moving body 10 changes direction around the rotation axis (second rotation axis O2 or third rotation axis O3) determined by the rotation center determining unit 22 as the rotation center (step S13).

[0079] Next, when changing the traveling direction Ds of the moving body 10, the translation signal generating unit 24 generates a translation signal for controlling each wheel (second wheel 152 or third wheel 153) so that the wheel (second rotation axis O2 or third rotation axis O3) rotates in one direction around the rotation axis determined by the rotation center determining unit 22 (step S14). The order of the processes in steps S14 and S13 may be reversed. Also, the processes in steps S14 and S13 may be performed in parallel.

[0080] Next, the signal synthesis unit 25 synthesizes the rotation signal generated by the rotation signal generation unit 23 and the translation signal generated by the translation signal generation unit 24 to generate a wheel control signal (step S15). Next, the wheel control unit 26 controls each wheel based on the wheel control signal generated by the signal synthesis unit 25 (step S16).

[0081] The above-described processing from step S11 to step S16 is repeatedly executed while the moving body 10 is in operation (while the movement control system 1 is in operation).

[0082] (Movement control method) As shown in FIG. 8, the movement control method in this embodiment executes a movement information acquisition step S1, a rotation center determination step S2, a rotation signal generation step S3, a translation signal generation step S4, a signal synthesis step S5, and a wheel control step S6.

[0083] (Movement information acquisition process) The movement information acquisition step S1 is a step of acquiring movement information, which is information relating to the movement of the moving body 10, when the moving body 10 arrives at the destination position X. The movement information acquired in the movement information acquisition step S1 includes the target angular velocity ω of the moving body 10 and the translational velocity Vr of the moving body 10.

[0084] (Rotation center determination process) The rotation center determination step S2 is a step executed after the movement information acquisition step S1. In the rotation center determination step S2, the rotation center of the moving body 10 is determined when the moving body 10 arrives at the destination position X. In the rotation center determination step S2, one of the second rotation axis O2, which is the rotation center of the second steering motor 152b in the traveling mechanism 15, and the third rotation axis O3, which is the rotation center of the third steering motor 153b of the third wheel 153, is determined as the rotation center of the moving body 10.

[0085] The order of the rotation center determination step S2 and the movement information acquisition step S1 may be reversed.Furthermore, the rotation center determination step S2 and the movement information acquisition step S1 may be performed in parallel.

[0086] (Rotation signal generation process) The rotation signal generating step S3 is a step executed after the rotation center determining step S2. In the rotation signal generating step S3, a rotation signal is generated to control each wheel of the traveling mechanism 15 so that, when the moving body 10 arrives at the destination position X, the traveling direction Ds of the moving body 10 turns around the second rotation axis O2 or the third rotation axis O3 determined in the rotation center determining step S2 as the rotation center.

[0087] (Translational signal generation process) The translation signal generating step S4 is a step executed after the rotation signal generating step S3. In the translation signal generating step S4, a translation signal is generated to control each wheel so that the wheel moves in one direction around the rotation axis determined in the rotation center determining step S2 as the center of rotation when turning the traveling direction Ds of the moving body 10.

[0088] The order of the translation signal generating step S4 and the rotation signal generating step S3 may be reversed.Furthermore, the translation signal generating step S4 and the rotation signal generating step S3 may be performed in parallel.

[0089] (signal synthesis process) The signal synthesis step S5 is a step executed after the translation signal generation step S4. In the signal synthesis step S5, the rotation signal generated in the rotation signal generation step S3 and the translation signal generated in the translation signal generation step S4 are synthesized to generate a wheel control signal.

[0090] (Wheel control process) The wheel control step S6 is a step executed after the signal synthesis step S5. In the wheel control step S6, each wheel is controlled based on the wheel control signal generated in the signal synthesis step S5.

[0091] (Action and effect) According to the above, the vehicle control signal for controlling the wheels of the moving body 10 is a combination of a rotation signal and a translation signal, so that the traveling direction Ds of the moving body 10 is turned around the second wheel 152 or the third wheel 153 as the center of rotation, and at the same time, the moving body 10 moves in a direction intersecting the traveling direction Ds. This makes it possible to prevent the moving body 10 from colliding with other obstacles, for example, compared to a case where the traveling direction Ds of the moving body 10 is turned without moving in a single direction. As a result, the traveling direction Ds of the moving body 10, which has wheels with a simpler configuration, can be turned smoothly even in a narrow passage.

[0092] Furthermore, since the second wheel 152 or the third wheel 153, which is the center of rotation, moves in only one direction, wear and tear on the second wheel 152 or the third wheel 153 can be suppressed compared to, for example, when the steering angle of the second wheel 152 or the third wheel 153 is changed while the moving body 10 is turning in the direction of travel Ds (ground cutting).

[0093] Furthermore, according to the above, since one direction intersecting the traveling direction Ds coincides with the passage width direction D2, when the moving object 10 turns its traveling direction Ds in the passage, the second wheel 152 or the third wheel 153, which serves as the center of rotation, does not move in the direction in which the passage extends. Therefore, for example, when the moving object 10 turns its traveling direction Ds, the distance that the moving object 10 moves in the direction in which the passage extends can be reduced compared to when the second wheel 152 or the third wheel 153 moves in a direction other than the passage width direction D2. As a result, the traveling direction Ds of the moving object 10 can be turned more smoothly.

[0094] Furthermore, according to the above, the front surface 11a of the vehicle body 11 facing the front side Dsf, which extends from the edge 11b on one side Dwr to the edge 11c on the other side Dwl, is convexly curved, so that the edges 11b and 11c are recessed toward the rear side Dsb, compared to when the front surface 11a is flat. Therefore, when the traveling direction Ds of the moving object 10 is changed in the passage, it is possible to prevent the front surface 11a of the vehicle body 11 from hitting the wall W of the passage.

[0095] Second Embodiment Next, a second embodiment of the mobility control system 1 and mobility control method according to the present disclosure will be described with reference to Figures 9 to 13. In the second embodiment described below, components common to the first embodiment will be denoted by the same reference numerals in the figures, and descriptions thereof will be omitted.

[0096] (Mobile) As shown in FIG. 9, a moving body 10 in this embodiment includes a vehicle body 11, straddle legs 12, a mast 13, a fork 14, a traveling mechanism 15, and a sensor 16.

[0097] (sensor) The sensor 16 detects the position and posture of a surrounding object by emitting a laser beam to the surroundings and detecting (receiving) the reflected light from the surrounding object. The sensor 16 is a laser scanner that scans the laser beam in the horizontal direction. The sensor 16 in this embodiment is a 2D-LiDAR (Light Detection And Ranging) sensor. The sensor 16 is provided, for example, on a surface of the vehicle body 11 facing the upward Dvu.

[0098] 10, when the moving object 10 moves through the passage, the sensor 16 detects the contours of the pair of walls W and the contour of the moving object 10 by scanning the laser light in the horizontal direction. Specifically, the sensor 16 acquires data indicating the contours of the wall W using a plurality of plots. Each plot of the data indicating the contours of the wall W is associated with a coordinate in a two-dimensional plane coordinate system.

[0099] The sensor 16 also detects a first portion P1 that is closest to one wall W in the moving object 10, and a second portion P2 that is closest to the other wall W in the moving object 10. Specifically, the sensor 16 acquires data indicating the contour of the moving object 10 using multiple plots. Each plot of the data indicating the contour of the moving object 10 is associated with coordinates in a two-dimensional plane coordinate system. The sensor 16 transmits the acquired contour data of the wall W and contour data of the moving object 10 including the first portion P1 and the second portion P2 to the movement control device 20a.

[0100] (Movement control device) As shown in FIG. 11, the movement control device 20a in this embodiment includes a movement information acquisition unit 21, a rotation center determination unit 22, a rotation signal generation unit 23, a translation signal generation unit 24, a signal synthesis unit 25, a wheel control unit 26, a clearance detection unit 28, a translation signal update unit 29, and a memory unit 27.

[0101] (Clearance detection unit) The clearance detection unit 28 detects the clearance between one of the pair of walls W and the moving body 10, and the clearance between the other wall W and the moving body 10. The clearance detection unit 28 in this embodiment detects a first clearance L1, which is the distance from the sensor 16 between the wall W on one side and a first portion P1 in the moving body 10, and a second clearance L2, which is the distance between the wall W on the other side and a second portion P2 in the moving body 10.

[0102] (Translational signal update section) The translation signal update unit 29 updates the translation signal generated by the translation signal generation unit 24 based on the first clearance L1 and the second clearance L2 detected by the clearance detection unit 28 so that the difference between the first clearance L1 and the second clearance L2 becomes smaller.

[0103] The translational signal update unit 29 in this embodiment generates a translational speed Vr' based on the first clearance L1 and the second clearance L2, instead of the translational speed Vr used when generating the translational speed Vr of each wheel body. The translational signal update unit 29 calculates the translational speed Vr' using the following equation (viii).

[0104] Vr´=k·(L1-L2) ···(viii)

[0105] Here, k represents a gain (control parameter) of a predetermined magnitude determined, for example, by the specifications of sensor 16, the width dimension of the passage, etc. The translation signal update unit 29 updates the translation signal generated by the translation signal generation unit 24 by sending the generated translation speed to the translation signal generation unit 24.

[0106] (Operation of the movement control device) Next, an example of the operation of the mobile control device 20a in this embodiment will be described with reference to Fig. 12. Steps S11 to S14 and step S16 are the same as the processes described in the first embodiment.

[0107] After step S14, the clearance detection unit 28 detects a first clearance L1 between one of the pair of walls W and the moving body 10, and a clearance L2 between the other wall W and the moving body 10 (step S20).

[0108] Note that step S20 may be performed between the processes before step S14, or may be performed first, or the process of step S20 and the process before step S14 may be performed in parallel.

[0109] Next, the translation signal update unit 29 updates the translation signal generated by the translation signal generation unit 24 based on the first clearance L1 and the second clearance L2 detected by the clearance detection unit 28 so that the difference between the first clearance L1 and the second clearance L2 becomes smaller (step S21).

[0110] Next, the signal synthesis unit 25 synthesizes the rotation signal generated by the rotation signal generation unit 23 and the translation signal updated by the translation signal update unit 29 to generate a wheel control signal (step S15').

[0111] The processes of steps S11 to S14, S16, S20, S21, and S15' described above are repeatedly executed while the moving body 10 is in operation (while the movement control system 1 is in operation).

[0112] (Movement control method) As shown in FIG. 13, the movement control method in this embodiment executes a movement information acquisition process S1, a rotation center determination process S2, a rotation signal generation process S3, a translation signal generation process S4, a signal synthesis process S5', a wheel control process S6, a clearance detection process S7, and a translation signal update process S8. The movement information acquisition step S1, the rotation center determination step S2, the rotation signal generation step S3, the translation signal generation step S4, and the wheel control step S6 are the same as the steps described in the first embodiment.

[0113] (Clearance detection process) The clearance detection step S7 is a step performed after the translation signal generation step S4. In the clearance detection step S7, the clearance between one of the pair of walls W and the moving body 10, and the clearance between the other wall W and the moving body 10 are detected.

[0114] The clearance detection step S7 may be performed between steps before the translation signal generation step S4. Alternatively, the clearance detection step S7 may be performed first. Alternatively, the clearance detection step S7 and the steps before the translation signal generation step S4 may be performed in parallel.

[0115] (Translation signal update process) The translation signal updating step S8 is a step performed after the clearance detection step S7. In the translation signal updating step S8, the translation signal generated in the translation signal generating step S4 is updated based on the first clearance L1 and the second clearance L2 detected in the clearance detection step S7 so that the difference between the first clearance L1 and the second clearance L2 becomes smaller.

[0116] (Action and effect) According to the above, the clearance detection step S7 detects the first clearance L1 and the second clearance L2, which are the distances between the moving object 10 and a pair of walls W, based on the data detected by the sensor 16, thereby determining the bias (difference) of the position of the moving object 10 toward one of the walls W in the width direction of the passage. Furthermore, the translation signal update step S8 updates the translation speed based on this bias so that the difference between the first clearance L1 and the second clearance L2 becomes smaller. Therefore, the position of the moving object 10 can be brought closer to the center in the passage width direction D2, and as a result, it is possible to prevent the moving object 10 from colliding with the wall W.

[0117] (Other embodiments) The above describes in detail the embodiments of the present disclosure with reference to the drawings, but the specific configuration is not limited to the configuration of the embodiment, and additions, omissions, substitutions, and other modifications to the configuration are possible within the scope that does not deviate from the gist of the present disclosure.

[0118] FIG. 14 is a hardware configuration diagram showing the configuration of a computer 1100 according to this embodiment. The computer 1100 includes a processor 1110 , a main memory 1120 , storage 1130 , and an interface 1140 .

[0119] The above-described mobile control devices 20, 20a are implemented in a computer 1100. The operations of the above-described processing units are stored in the form of a program in a storage 1130. The processor 1110 reads the program from the storage 1130, loads it into the main memory 1120, and executes the above-described processing in accordance with the program. The processor 1110 also allocates a storage area in the main memory 1120 corresponding to the above-described storage unit 27 in accordance with the program.

[0120] The program may be for realizing part of the functions to be performed by the computer 1100. For example, the program may be for performing the functions by combining with another program already stored in the storage 1130 or by combining with another program installed in another device.

[0121] Furthermore, the computer 1100 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions implemented by the processor 1110 may be implemented by the integrated circuit.

[0122] Examples of storage 1130 include a magnetic disk, a magneto-optical disk, a semiconductor memory, etc. Storage 1130 may be an internal medium directly connected to the bus of computer 1100, or an external medium connected to computer 1100 via interface 1140 or a communication line.

[0123] Furthermore, when this program is distributed to the computer 1100 via a communication line, the computer 1100 that receives the program may load the program into the main memory 1120 and execute the above processing. In the above embodiment, the storage 1130 is a non-transitory tangible storage medium.

[0124] The program may also be for realizing part of the above-mentioned functions. Furthermore, the program may be a so-called differential file (differential program) that realizes the above-mentioned functions in combination with another program already stored in the storage 1130.

[0125] The second wheel 152 described in the above embodiment may further include a drive motor 151c that rotates the second wheel main body 152a while it is in contact with the road surface. The third wheel 153 may further include a drive motor 151c that rotates the third wheel main body 153a while it is in contact with the road surface. Therefore, the second wheel 152 and the third wheel 153 may be drivable and steerable.

[0126] In the above embodiment, the triangle formed by the first virtual line L1, the second virtual line L2, and the third virtual line L3 forms an equilateral triangle when viewed from the vertical direction Dv, but this is not limited to this. For example, the first virtual line L1, the second virtual line L2, and the third virtual line L3 may form an equilateral triangle of the same length.

[0127] Furthermore, the configurations of the movement control system 1 described in each of the above embodiments are not limited to independent configurations, and the movement control system 1 may be configured by appropriately combining the components described in each embodiment.

[0128] <Additional Notes> The mobile control device, mobile control system, mobile control method, and program described in each embodiment can be understood, for example, as follows.

[0129] (1) The mobile control device 20, 20a according to the first aspect is a mobile control device 20, 20a that controls each wheel of a mobile body 10 having a drivable and steerable first wheel 151, a steerable second wheel 152, and a steerable third wheel 153, and includes: a rotation signal generation unit 23 that generates a rotation signal to control each wheel so that the traveling direction Ds of the mobile body 10 turns around one of the second wheel 152 and the third wheel 153 as the center of rotation when viewed from the vertical direction Dv; a translation signal generation unit 24 that generates a translation signal to control each wheel so that one of the second wheel 152 and the third wheel 153, which serves as the center of rotation, moves in a direction intersecting the traveling direction Ds when turning the traveling direction Ds of the mobile body 10; a signal synthesis unit 25 that generates a wheel control signal by synthesizing the rotation signal and the translation signal; and a wheel control unit 26 that controls each wheel based on the wheel control signal.

[0130] This makes it possible to prevent the moving body 10 from colliding with other obstacles, compared to when the moving body 10 turns its traveling direction Ds without moving in one direction. Also, because the wheel serving as the center of rotation moves in one direction, progress of wear and the like on the wheel serving as the center of rotation can be prevented, compared to when the wheel serving as the center of rotation changes its steering angle while the moving body 10 is turning.

[0131] (2) The movement control device 20, 20a according to the second aspect is the movement control device 20, 20a of (1), and the one direction may coincide with the width direction of the passageway sandwiched between a pair of opposing wall bodies W when the moving body 10 moves through the passageway.

[0132] As a result, when the moving body 10 changes its traveling direction Ds in the passage, the wheels that are the center of rotation do not move in the direction in which the passage extends.

[0133] (3) A mobile control device 20a according to a third aspect may be the mobile control device 20a of (2), further comprising a clearance detection unit 28 that detects a first clearance L1 between one of the pair of wall bodies W and the moving body 10, and a second clearance L2 between the other wall body W and the moving body 10, and a translation signal update unit 29 that updates the translation signal generated by the translation signal generation unit 24 based on the first clearance L1 and the second clearance L2 detected by the clearance detection unit 28 so that the difference between the first clearance L1 and the second clearance L2 becomes smaller.

[0134] This allows the position of the moving body 10 to be closer to the center in the width direction of the passage, and as a result, the moving body 10 can be prevented from hitting the wall W.

[0135] (4) A movement control system 1 according to a fourth aspect includes the moving body 10 and a movement control device 20, 20a according to any one of (1) to (3).

[0136] (5) A movement control method according to a fifth aspect is a movement control method for controlling each wheel of a moving body 10 having a drivable and steerable first wheel 151, a steerable second wheel 152, and a steerable third wheel 153, and includes the following steps: a rotation signal generation step S3 for generating a rotation signal to control each wheel so that the traveling direction Ds of the moving body 10 turns around one of the second wheel 152 and the third wheel 153 as a rotation center when viewed from the vertical direction Dv; a translation signal generation step S4 for generating a translation signal to control each wheel so that one of the second wheel 152 and the third wheel 153, which serves as the rotation center, moves in a direction intersecting the traveling direction Ds when turning the traveling direction Ds of the moving body 10; a signal synthesis step S5, S5' for generating a wheel control signal by synthesizing the rotation signal and the translation signal; and a wheel control step S6 for controlling each wheel based on the wheel control signal.

[0137] (6) The program according to the sixth aspect causes the computer 1100 of the mobile control device 20, 20a, which controls each wheel of a mobile body 10 having a drivable and steerable first wheel 151, a steerable second wheel 152, and a steerable third wheel 153, to execute the following steps: generating a rotation signal to control each wheel so that the traveling direction Ds of the mobile body 10 turns around one of the second wheel 152 and the third wheel 153 as the center of rotation when viewed from the vertical direction Dv; generating a translation signal to control each wheel so that when turning the traveling direction Ds of the mobile body 10, one of the second wheel 152 and the third wheel 153, which serves as the center of rotation, moves in a direction intersecting the traveling direction Ds; generating a wheel control signal by combining the rotation signal and the translation signal; and controlling each wheel based on the wheel control signal. [Explanation of symbols]

[0138] 1...Movement control system 10...Moving body 11...Vehicle body 11a...Front surface 11b, 11c...Edge 12...Straddle leg 13...Mast 14...Fork 15...Traveling mechanism 16...Sensor 20, 20a...Movement control device 21...Movement information acquisition unit 22...Rotation center determination unit 23...Rotation signal generation unit 24...Translation signal generation unit 25...Signal synthesis unit 26...Wheel control unit 27...Memory unit 28...Clearance detection unit 29...Translation signal update unit 30...Host device 121...Right straddle leg 122...Left straddle leg 151...First wheel 151a...First wheel body 151b...First steering motor 151c...Drive motor 152...Second wheel 152a...Second wheel body 152b...Second steering motor 153...Third wheel 153a...Third wheel body 153b...Third steering motor 1100...Computer 1110...Processor 1120...Main memory 1130...Storage 1140...Interface D1...Corridor extension direction D2...Corridor width direction Ds...Progression direction Dsb...Rear side Dsf...Front side Dv...Vertical direction Dvd...Downward side Dvu...Upward side Dw...Vehicle width direction Dwl...Other side Dwr...One side L1...First clearance L2...Second clearance LF...Logistics facility O1...First rotation axis O2...Second rotation axis O3...Third rotation axis P1...First part P2...Second part S1...Movement information acquisition process S2...Rotation center determination process S3...Rotation signal generation process S4...Translation signal generation process S5, S5'...Signal synthesis process S6...Wheel control process S7...Clearance detection process S8...Translation signal update process W...Wall body X...Destination position

Claims

1. A mobile control device that controls each wheel of a mobile body having a drivable and steerable first wheel, a steerable second wheel, and a steerable third wheel, a rotation signal generating unit that generates a rotation signal to control each wheel so that the traveling direction of the moving body turns around one of the second wheel and the third wheel as a rotation center when viewed in a vertical direction; a translation signal generation unit that generates a translation signal to control each wheel so that one of the second wheel and the third wheel, which serve as a rotation center, moves in one direction intersecting the traveling direction when turning the traveling direction of the moving body; a signal synthesis unit that synthesizes the rotation signal and the translation signal to generate a wheel control signal; a wheel control unit that controls each of the wheels so that one of the second wheel and the third wheel is steered based on the wheel control signal so that the orientation of one of the second wheel and the third wheel is in the one direction, and then the first wheel and the other of the second wheel and the third wheel are rotated around the one of the second wheel and the third wheel, and the one of the second wheel and the third wheel that serves as a rotation center is moved in the one direction while maintaining the orientation in the one direction; A movement control device comprising:

2. The movement control device according to claim 1 , wherein the one direction coincides with a width direction of the passageway sandwiched between a pair of opposing walls when the moving object moves through the passageway.

3. a clearance detection unit that detects a first clearance between one of the pair of walls and the moving body and a second clearance between the other of the pair of walls and the moving body; a translation signal updating unit that updates the translation signal generated by the translation signal generating unit based on the first clearance and the second clearance detected by the clearance detecting unit so that a difference between the first clearance and the second clearance becomes smaller; The movement control device according to claim 2 , further comprising:

4. The moving body; A movement control device according to any one of claims 1 to 3; A movement control system comprising:

5. A movement control method for controlling each wheel of a moving body having a drivable and steerable first wheel, a steerable second wheel, and a steerable third wheel, the method comprising: a rotation signal generating step of generating a rotation signal for controlling each wheel so that the traveling direction of the moving body turns around one of the second wheel and the third wheel as a rotation center when viewed in a vertical direction; a translation signal generation step of generating a translation signal for controlling each wheel so that one of the second wheel and the third wheel, which serve as a rotation center, moves in one direction intersecting the traveling direction when turning the traveling direction of the moving body; a signal synthesis step of generating a wheel control signal by synthesizing the rotation signal and the translation signal; a wheel control process of steering one of the second wheel and the third wheel based on the wheel control signal so that one of the second wheel and the third wheel faces in the one direction, and then turning the first wheel and the other of the second wheel and the third wheel around the one of the second wheel and the third wheel, and controlling each wheel so that one of the second wheel and the third wheel, which serves as a rotation center, moves in the one direction while maintaining the orientation in the one direction; A movement control method for performing the above.

6. A computer of a movement control device that controls each wheel of a moving body having a drivable and steerable first wheel, a steerable second wheel, and a steerable third wheel, generating a rotation signal for controlling each wheel so that the traveling direction of the moving body turns around one of the second wheel and the third wheel as a rotation center when viewed in a vertical direction; generating a translation signal for controlling each wheel so that one of the second wheel and the third wheel, which serves as a rotation center, moves in one direction intersecting the traveling direction when turning the traveling direction of the moving body; generating a wheel control signal by combining the rotation signal and the translation signal; a step of steering one of the second wheel and the third wheel based on the wheel control signal so that one of the second wheel and the third wheel faces in the one direction, and then turning the first wheel and the other of the second wheel and the third wheel around the one of the second wheel and the third wheel, and controlling each of the wheels so that one of the second wheel and the third wheel, which serves as a rotation center, moves in the one direction while maintaining the orientation in the one direction; A program that executes the following.

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