Vehicle control device, route generation method, and program

Abstract

The purpose of the present invention is to provide a vehicle control device which can calculate a route for movement so as to take an intended attitude at a destination position. A vehicle control device (10) according to the present disclosure comprises: a calculation unit (11) that calculates a first straight line indicating a set of first relay points along which a vehicle can move to a destination position without changing the curvature and the turning direction from a first attitude, so that the vehicle can take an intended attitude at the destination position; and a route generation unit (12) that generates a first route for the vehicle to move from the current position to the first relay points on the first straight line such that the vehicle takes the first attitude at the first relay points, and a second route for the vehicle to move from the first relay points to the destination position such that the vehicle takes the intended attitude at the destination position without changing the curvature and the turning direction. The first relay points included in the first straight line are determined in accordance with the turning radius to be achieved when the vehicle moves to the destination position so as to take the intended attitude.

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control device, a route generation method, and a non-transitory computer-readable medium. [Background technology]

[0002] When performing cargo handling operations, a forklift that operates autonomously by remote control or the like must move to a position directly opposite the pallet to be lifted in order to lift the pallet.

[0003] Non-Patent Document 1 discloses an algorithm for calculating the shortest route between two points. Specifically, the algorithm disclosed in Non-Patent Document 1 calculates the shortest route between two points by combining movement with a minimum turning radius and movement in a straight line. [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] JA Reeds and 1 others “OPTIMAL PATHS FOR A CAR THAT GOES BOTH FORWARDS AND BACKWARDS”, PACIFIC JOURNAL OF MATHEMATICS 1990, Vol.145, No.2 Summary of the Invention [Problem to be solved by the invention]

[0005] When the shortest path calculation method disclosed in Non-Patent Document 1 is applied to an autonomously operating forklift, the forklift may proceed to the destination position in the shortest distance, and then, once approaching the destination position, may turn around several times to move directly opposite the pallet. Furthermore, the shortest path calculation method disclosed in Non-Patent Document 1 uses the minimum turning radius for movements other than straight-line movements. Therefore, when the forklift turns around to move directly opposite the pallet, there is a possibility that a path that will collide with the pallet may be calculated.

[0006] In view of the above-mentioned problems, one of the objectives of the present disclosure is to provide a vehicle control device, a route generation method, and a program that can calculate a route for moving to a target position and achieve a target attitude. [Means for solving the problem]

[0007] A vehicle control device according to a first aspect of the present disclosure includes a calculation unit that calculates a first straight line indicating a set of first intermediate points along which the vehicle can move from a first attitude to a destination position without changing the curvature or turning direction so that the vehicle assumes a destination attitude at the destination position; and a path generation unit that generates: a first path for the vehicle to move from a current position to the first intermediate point on the first straight line so that the vehicle assumes the first attitude at the first intermediate point; and a second path for the vehicle to move from the first intermediate point to the destination position so that the vehicle assumes the destination attitude at the destination position without changing the curvature or turning direction, wherein the first intermediate point included in the first straight line is determined according to the turning radius when moving to the destination position so as to assume the destination attitude.

[0008] A route control method according to a second aspect of the present disclosure calculates a first straight line indicating a set of first intermediate points along which the vehicle can move from a first attitude to a destination position without changing the curvature or turning direction so that the vehicle assumes a destination attitude at the destination position, and generates a first route for the vehicle to move from its current position to the first intermediate point on the first straight line so that the vehicle assumes the first attitude at the first intermediate point, and a second route for the vehicle to move from the first intermediate point to the destination position so that the vehicle assumes the destination attitude at the destination position without changing the curvature or turning direction, and the first intermediate points included in the first straight line are determined according to the turning radius when moving to the destination position so that the vehicle assumes the destination attitude.

[0009] A program according to a third aspect of the present disclosure causes a computer to calculate a first straight line indicating a set of first intermediate points along which the vehicle can move from a first attitude to a destination position without changing the curvature or turning direction so that the vehicle will assume a destination attitude at the destination position, the first intermediate points included in the first straight line being determined based on the turning radius when moving to the destination position so as to assume the destination attitude, and to generate a first route along which the vehicle moves from its current position to the first intermediate point on the first straight line so that the vehicle will assume the first attitude at the first intermediate point, and a second route along which the vehicle moves from the first intermediate point to the destination position so that the vehicle will assume the destination attitude at the destination position without changing the curvature or turning direction. [Effects of the Invention]

[0010] The present disclosure makes it possible to provide a vehicle control device, a route generation method, and a program that can calculate a route for moving to a target position and achieve a target attitude. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a configuration diagram of a vehicle control device according to a first embodiment. [Figure 2] 10 is a flowchart of a route generation process according to the first embodiment; [Figure 3] FIG. 10 is a configuration diagram of a vehicle control device according to a second embodiment. [Figure 4] FIG. 10 is a diagram illustrating intersections calculated by an intersection calculation unit according to the second embodiment. [Figure 5] FIG. 10 is a diagram illustrating a travel route to a destination according to a second embodiment. [Figure 6] FIG. 10 is a diagram illustrating a travel route to a destination according to a second embodiment. [Figure 7] FIG. 10 is a diagram illustrating a travel route to a destination according to a second embodiment. [Figure 8] FIG. 10 is a diagram illustrating a travel route to a destination according to a second embodiment. [Figure 9] FIG. 10 is a diagram illustrating a travel route to a destination according to a second embodiment. [Figure 10] 10 is a flowchart of a route generation process according to the second embodiment; [Figure 11] FIG. 2 is a configuration diagram of a vehicle control device according to each embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Embodiment 1) Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. First, an example configuration of a vehicle control device 10 according to the first embodiment will be described with reference to FIG. 1. The vehicle control device 10 may be a computer device that operates when a processor executes a program stored in a memory. The vehicle control device 10 may be an information processing device, for example, a server device. The vehicle control device 10 may also be composed of multiple computer devices. In this case, the components or functions that make up the vehicle control device 10 may be distributed and arranged across the multiple computer devices. The multiple computers may be connected via a network or directly via a cable or the like.

[0013] The vehicle control device 10 has a calculation unit 11 and a route generation unit 12. The calculation unit 11 and the route generation unit 12 may be software or a module that performs processing by a processor executing a program stored in a memory, or the calculation unit 11 and the route generation unit 12 may be hardware such as a circuit or a chip.

[0014] The calculation unit 11 calculates a straight line indicating a set of intermediate points along which the vehicle can move from the first attitude to the destination position without changing the curvature and turning direction so that the vehicle assumes the destination attitude at the destination position. The vehicle may be an autonomously moving vehicle, a remotely controlled vehicle, or a vehicle that moves with computer-assisted driver operation, etc. The vehicle may also be a vehicle controlled by a non-holonomic system. The vehicle may also be a transport vehicle that transports luggage, such as a forklift. The vehicle may also be a mobile robot (steering robot) that turns by steering.

[0015] The destination position may be indicated using, for example, two-dimensional coordinates or three-dimensional coordinates. The destination attitude may be indicated using the angle of the vehicle's forward direction relative to a certain direction at the destination position. The vehicle's forward direction may be the vehicle's traveling direction.

[0016] The first attitude is the attitude at the intermediate point. The attitude at the intermediate point may be indicated using the angle of the vehicle's forward direction at the intermediate point, based on the direction used to indicate the destination attitude. Moving to the destination position without changing the curvature and turning direction may mean moving to the destination position on a circumference determined according to the turning radius, and then moving so as to assume the destination attitude at the destination position. The direction of the destination attitude and the direction of the first attitude may be a direction tangent to the circle on which the vehicle is moving and the traveling direction of the vehicle. In other words, the direction of the destination attitude may be a direction tangent to the circle on which the vehicle is moving at the destination position and the traveling direction of the vehicle, and the direction of the first attitude may be a direction tangent to the circle on which the vehicle is moving at the intermediate point and the traveling direction of the vehicle.

[0017] The relay points are determined according to the turning radius. In other words, the positions of the relay points change by changing the turning radius. The calculation unit 11 calculates a straight line connecting the positions of multiple relay points determined by changing the turning radius. The straight line is a line on two-dimensional coordinates or three-dimensional coordinates. The straight line uses the same two-dimensional coordinates or three-dimensional coordinates as the two-dimensional coordinates or three-dimensional coordinates used to indicate the destination position. In other words, the destination position and the relay points are indicated as different points on the same coordinates.

[0018] The path generating unit 12 generates a first path for the vehicle to move from the current position to a first relay point on a straight line so that the vehicle will assume a first attitude at the first relay point. Furthermore, the path generating unit 12 generates a second path for the vehicle to move from the first relay point to a destination position so that the vehicle will assume a destination attitude at the destination position without changing the curvature and turning direction.

[0019] The first path may include a straight path and a curved path, or may include only one of a straight path and a curved path.

[0020] Next, the flow of the route generation process according to the second embodiment will be described with reference to Fig. 2. First, the calculation unit 11 calculates a straight line indicating a set of intermediate points along which the vehicle can move from a first attitude to a destination position without changing the curvature and turning direction so that the vehicle will assume a destination attitude at the destination position (S11). Next, the route generation unit 12 generates a first route along which the vehicle moves from the current position to a first intermediate point on the straight line so that the vehicle will assume a first attitude at the first intermediate point (S12). Next, the route generation unit 12 generates a second route along which the vehicle moves from the first intermediate point to a destination position so that the vehicle will assume a destination attitude at the destination position without changing the curvature and turning direction (S13).

[0021] As described above, the vehicle control device 10 generates a route from the current position to the destination position so that the vehicle assumes a destination attitude at the destination position. The route from the current position to the destination position includes intermediate points determined according to the turning radius of the vehicle. This allows the vehicle control device 10 to generate different routes depending on the turning radius. As a result, the number of times the vehicle must turn before moving to the destination position can be reduced, thereby preventing the vehicle from colliding with an obstacle present at the destination position. If the vehicle is a forklift, the obstacle may be, for example, a pallet to be transported.

[0022] (Embodiment 2) Next, a configuration example of the vehicle control device 20 according to the second embodiment will be described with reference to Fig. 3. The vehicle control device 20 may be a computer device that operates when a processor executes a program stored in a memory. The vehicle control device 20 controls the operation of a forklift, which is a vehicle. In the second embodiment, an example in which the vehicle control device 20 controls the operation of a forklift will be described, but the control target of the vehicle control device 20 is not limited to a forklift.

[0023] For example, the vehicle control device 20 may be mounted on a forklift and control the drive unit of the forklift. Alternatively, the vehicle control device 20 may communicate with a computer device that controls the drive unit of the forklift via a network and remotely control the forklift. Controlling the drive unit may, for example, be controlling the steering operation of the forklift. The steering operation may be determining the angle of the direction of movement of the forklift relative to the forward direction of the forklift. The steering operation is determined, for example, according to the turning radius of the forklift.

[0024] The vehicle control device 20 generates a path for a forklift to travel while performing loading and unloading operations, and the forklift travels along the path generated by the vehicle control device 20. The following describes an example in which the vehicle control device 20 generates a path for moving the forklift to a position directly opposite a pallet placed at a destination location. The position directly opposite the pallet is a position where the forks of the forklift can be inserted into holes in the pallet by moving the forklift forward. In other words, the position directly opposite the pallet may be a position where a line extending in the extension direction of the holes in the pallet into which the forks will be inserted coincides with a line extending in the extension direction of the forks of the forklift. Moving the forklift to a position directly opposite the pallet may also be referred to as an alignment process.

[0025] The vehicle control device 20 has a current position information acquisition unit 21, an intersection calculation unit 22, an intersection coordinate determination unit 23, a relay point calculation unit 24, and a route generation unit 25. Each of the components constituting the vehicle control device 20 may be software or a module that performs processing when a processor executes a program stored in a memory. Alternatively, each of the components constituting the vehicle control device 20 may be hardware such as a circuit or a chip. The calculation unit 11 in the vehicle control device 10 corresponds to the intersection calculation unit 22 and the relay point calculation unit 24 in the vehicle control device 20. Furthermore, the route generation unit 12 in the vehicle control device 10 corresponds to the route generation unit 25 in the vehicle control device 20.

[0026] The current position information acquisition unit 21 acquires information about the current position and current posture of the forklift. For example, the current position information acquisition unit 21 may estimate the current position and current posture of the forklift using an image captured by a camera attached to the forklift. Estimating may be rephrased as identifying. The camera may be attached, for example, to a position that can capture an image of the front of the forklift. The front of the forklift may be the direction of travel when the forklift is moving forward. Furthermore, the camera may also be attached to a position that can capture an image of the direction of travel when the forklift is moving backward. The image captured by the camera may be, for example, an RGB (Red Green Blue) image.

[0027] Here, an example of the process of estimating the current position and current posture of the forklift, executed by the current position information acquisition unit 21, will be described. Assume that readable identification information is attached to the pallet placed at the destination position of the forklift. The readable identification information may be, for example, a QR (Quick Response) marker or a QR code (registered trademark), or another marker.

[0028] The current position information acquisition unit 21 recognizes, from the RGB image, a QR (Quick Response) marker attached to the surface of the pallet. The surface of the pallet to which the QR marker is attached may have holes into which the forks of a forklift are inserted. For example, the current position information acquisition unit 21 estimates the position of the QR marker using two-dimensional coordinates in the RGB image. Furthermore, the current position information acquisition unit 21 converts the two-dimensional coordinates in the RGB image into a target position, i.e., a world coordinate system with the QR marker as the origin, and estimates the current position of the forklift in the world coordinate system. The method for converting the two-dimensional coordinates in the RGB image into the world coordinate system may be any commonly used method, and is not limited to a specific method.

[0029] Furthermore, the current position information acquisition unit 21 estimates the current posture of the forklift based on the position of the QR marker in the RGB image. The posture of the forklift may be expressed using a line extending vertically from the QR marker attached to the surface of the pallet as the reference line and the angle between the reference line and a line in front of the forklift.

[0030] Here, if the destination position is the position of the QR marker, the destination posture at the destination position is a state in which the forklift is facing the QR marker directly. In other words, the destination posture at the destination position is a state in which the angle between the line that serves as the reference for the forklift at the destination position and the line in front of the forklift is 0 degrees.

[0031] The intersection calculation unit 22 calculates a straight line indicating a set of intermediate points that can be used to move the forklift to the destination position without changing the curvature or turning direction from the current attitude so that the forklift will assume the destination attitude at the destination position. Furthermore, the intersection calculation unit 22 calculates the intersection between an extension of the direction in which the vehicle is facing at the current position and the straight line indicating the set of intermediate points.

[0032] The intersections calculated by the intersection calculation unit 22 will be described using FIG. 4. FIG. 4 shows two-dimensional coordinates (xy coordinates) with the destination position of the forklift as the origin. The destination posture coincides with the direction in which the x-axis extends. Specifically, the destination posture is a state in which the forklift is facing the negative direction of the x-axis at the origin, which is the destination position. The shaded area in FIG. 4 indicates a no-entry area for the forklift. For example, pallets are placed in the no-entry area, and if the forklift enters the no-entry area, it is expected that it will collide with the pallets. Furthermore, the circumference of circle C0 in FIG. 4 indicates the movement path of the forklift when moving at the minimum turning radius Rmin so as to assume the destination posture at the destination position. The minimum turning radius Rmin may be determined as a specification of the forklift. The forklift cannot move from within the area enclosed by circle C0 to assume the destination posture at the destination position without changing the curvature and turning direction. Therefore, the area enclosed by circle C0 is also considered a no-entry area. The no-entry area is shown, for example, as follows:

[0033] 0≦x≦Xmax, and x 2 +(y-Rmin) 2 ≧Rmin 2

[0034] Xmax is the x-coordinate value of the boundary between the entry-prohibited area and the movable area other than the entry-prohibited area.

[0035] p1, p2, and p3 respectively indicate the current positions of the forklift. Below, we will explain the operation when the current position of the forklift is p1, the operation when it is p2, and the operation when it is p3. The forklift is facing in the direction of the arrow in Figure 4 at p1, p2, and p3, and the posture of the forklift at its current position is an angle θ in all cases of p1, p2, and p3. The reference line when indicating the posture of the forklift using an angle is a line parallel to the x-axis.

[0036] The straight line f1 indicates a set of intermediate points that the forklift can move from the attitude at angle θ to the target attitude at the target position without changing the curvature or turning direction. The calculation of the equation that indicates the straight line f1 will be described below.

[0037] If the turning radius when proceeding from any intermediate point on the line f1 to the target position is R, the coordinates of the intermediate point are expressed as (R sinθ, R(1-cosθ)). Substituting R=x / sinθ into y=R(1-cosθ), we obtain the following equation 1, which shows the line f1.

[0038] (Formula 1) TIFF0007782688000001.tif2066

[0039] Here, if the current position of p1, p2, or p3 is (x0, y0), the extension line f2 of the direction in which the forklift is facing at its current position has a slope of tanθ and passes through (x0, y0), so it can be expressed as Equation 2 below.

[0040] (Formula 2) TIFF0007782688000002.tif989

[0041] The intersection of the straight line f1 and the extension line f2 is shown as follows:

[0042] TIFF0007782688000003.tif2996

[0043] The intersection coordinate determination unit 23 determines in which of the following areas the position of the intersection is included. Area 1: The intersection is located within the no-entry area, and the x-coordinate value of the intersection is greater than the threshold value Xt. Specifically, the intersection of Area 1 may be the position indicated by intersection n3 in FIG. Area 2: The intersection is located outside the no-entry area. Specifically, the intersection of Area 2 may be the position indicated by intersection n2 in FIG. Area 3: The intersection is located within the no-entry area, and the x-coordinate value of intersection 1 is smaller than threshold value Xt. Specifically, the intersection of Area 3 may be the position indicated by intersection n1 in FIG.

[0044] The threshold value Xt is a value greater than the value of Rmin, and any value may be used. For example, the threshold value Xt may be a value such as 2Rmin or 3Rmin, or may be set as Xmax / 2. If the x-coordinate of the intersection is greater than the threshold value Xt, it is assumed that the distance from the current position of the forklift to the destination position is sufficient, and a route can be set using a common technique to prevent the forklift from colliding with the pallet. In other words, the threshold value Xt may be set as a position at which a route can be set using a common technique to prevent the forklift from colliding with the pallet. The common technique may be, for example, the route setting method disclosed in Non-Patent Document 1.

[0045] If the intersection coordinate determination unit 23 determines that the intersection is included in the area 1, the route generation unit 25 generates a route to the destination position using a general method.

[0046] Furthermore, when the intersection coordinate determination unit 23 determines that the intersection is included in area 2, the path generation unit 25 generates a path for the forklift to move straight to intersection n2 while maintaining its current posture. Specifically, when intersection n2 is located in front of the forklift, the path generation unit 25 generates a path for the forklift to move forward and move straight to intersection n2 while maintaining its current posture. When intersection n2 is located behind the forklift, the path generation unit 25 generates a path for the forklift to move backward and move straight to intersection n2 while maintaining its current posture.

[0047] Furthermore, the path generating unit 25 generates a path that moves from the intersection n2 to the destination position without changing the curvature or turning direction. In other words, the path generating unit 25 generates a path that allows movement with a specific turning radius so as to achieve the destination attitude at the destination position.

[0048] Here, the route that is generated when the intersection coordinate determination unit 23 determines that the intersection is included in area 3 will be described with reference to FIGS.

[0049] Circle C0 indicates the circle C0 with the minimum turning radius Rmin in Figure 4. Circle C1 indicates the path when moving from p1 with the minimum turning radius Rmin. The center C of circle C1 is expressed as follows:

[0050] TIFF0007782688000004.tif2092

[0051] Furthermore, point A, which is tangent to circle C1 at angle φ, is expressed as follows. The angle φ is greater than the angle θ. x(1) min indicates the x-coordinate value of the point on the circle C1 with the minimum turning radius Rmin. y(1) min indicates that it is the y coordinate value of the point on the circle C1 of the minimum turning radius Rmin.

[0052] TIFF0007782688000005.tif13144

[0053] Furthermore, the equation (3) of the line f3 that is tangent to the circle C1 at an angle φ is expressed as follows:

[0054] (Formula 3) TIFF0007782688000006.tif16120

[0055] In FIG. 4, the straight line f3 is parallel to the y-axis, that is, an example is shown in which the angle φ is 90 degrees, but the angle φ is not limited to 90 degrees.

[0056] Next, equation 4 of the straight line f4 indicating the set of intermediate points that can be moved from the attitude at angle φ to the target attitude at the target position without changing the curvature and turning direction is expressed as follows.

[0057] (Formula 4) TIFF0007782688000007.tif2164

[0058] Moving to FIG. 6, the relay point calculation unit 24 calculates the intersection point Wφ of Equation 3 of the straight line f3 and Equation 4 of the straight line f4 min and calculates the intersection point Wφ min The x coordinate and y coordinate of are shown as follows.

[0059] TIFF0007782688000008.tif29129

[0060] Next, from the posture of the angle φ, at the minimum turning radius Rmin, the point B that can move to the target posture at the target position without changing the curvature and turning direction is shown as follows. x(0) min indicates that it is the value of the x coordinate of a point on the circle C0 with the minimum turning radius Rmin. y(0) min indicates that it is the value of the y coordinate of a point on the circle C0 with the minimum turning radius Rmin.

[0061] TIFF0007782688000009.tif19115

[0062] Here, when moving from point A towards the straight line f4 while maintaining the posture of the angle φ, among the selectable relay points on the straight line f4, the relay point Short_Wφ min closest to the target position is Short_Wφ min = max(B(x), Wφ min (x)). B(x) indicates the x coordinate of point B, and Wφ min (x) indicates the x coordinate of the intersection point Wφ min . The relay point to which the forklift moves is on the straight line f4 and satisfies x ≥ x(0) min , and x ≥ Wφ min 〖ID=40〗(x). That is, in FIG. 6, if the value of the x coordinate of the selectable relay point Wφ on the straight line f4 is set as Xa (Short_Wφ min (x) ≤ Xa < Xmax), the y coordinate value of the relay point Wφ is shown as follows.

[0063] TIFF0007782688000010.tif2473

[0064] Next, a description will be given of a line f5 connecting point p1 and a set of positions where the posture is at angle φ without changing the curvature and turning direction from point p1, using Figure 7. The positions where the posture is at angle φ without changing the curvature and turning direction from point p1 are determined according to the turning radius. In other words, the positions where the posture is at angle φ without changing the curvature and turning direction from point p1 change with changes in the turning radius.

[0065] Point A in FIG. 7 is a position on circle C1 where the attitude is angle φ when moving from point p1 with a turning radius of Rmin. Point A2 is a position on circle C2 where the attitude is angle φ when moving from point p1 with a turning radius of R2. Also, let C be the center of circle C1, and C2 be the center of circle C2. In this case, the angle of point C in the triangle connecting point p1, point A, and center C, and the angle of point C in the triangle connecting point p1, point A2, and center C2, are both φ-θ. Furthermore, the angle of point p1 in the triangle connecting point p1, point A, and center C, and the angle of point p1 in the triangle connecting point p1, point A2, and center C2 are the same. Therefore, point A2 exists on the extension line of the line connecting point p1 and point A in the triangle connecting point p1, point A, and center C. As a result, the set of positions where the attitude is angle φ when turning from point p1 with an arbitrary turning radius is a straight line. This line is designated as f5, and the line f5 is expressed as equation 5 below.

[0066] (Formula 5) TIFF0007782688000011.tif20114

[0067] The relay point calculation unit 24 calculates the intersection W1 between the line f5 and the line f6, which is an extension of the direction in which the forklift truck is facing at the relay point Wφ and is oriented at the angle φ. The intersection W1 between the line f5 and the line f6, which is an extension of the direction in which the forklift truck is facing at the relay point Wφ and is oriented at the angle φ, will be described using Figure 8.

[0068] The line f6, which is an extension of the direction in which the forklift truck, which is oriented at an angle φ at the relay point Wφ, is shown as the following equation 6. Wφ(x) indicates the x-coordinate value at the relay point Wφ, and Wφ(y) indicates the y-coordinate value at the relay point Wφ.

[0069] (Formula 6) TIFF0007782688000012.tif10133

[0070] If φ=90 degrees, the intersection of the lines f5 and f6 is expressed as follows: W1(x) represents the x coordinate of the intersection W1, and W1(y) represents the y coordinate of the intersection W1.

[0071] TIFF0007782688000013.tif24136

[0072] Furthermore, when φ is not 90 degrees, the intersection of the lines f5 and f6 is expressed as follows.

[0073] TIFF0007782688000014.tif49166

[0074] Next, referring to Figure 9, we will explain the turning radius Rn when moving from point p1 to intersection point W1 without changing the curvature and turning direction. n ,y n ), the distance d between point p1 and point W1 is expressed as the following equation 7.

[0075] (Formula 7) TIFF0007782688000015.tif12122

[0076] In this case, the turning radius Rn is expressed as the following equation 8 using the distance d.

[0077] (Formula 8) TIFF0007782688000016.tif2375

[0078] If intersection n1 is included in area 3, the path generation unit 25 calculates the turning radius Rn using equation 8 and identifies path 1, which moves from point p1 to intersection W1 at turning radius Rn. Furthermore, the path generation unit 25 identifies path 2, which moves from intersection W1 to intermediate point Wφ while maintaining an attitude at angle φ. For example, path 2 is identified as a straight path. Furthermore, the path generation unit 25 identifies path 3, which moves from intermediate point Wφ so as to assume a target attitude at a target position without changing the curvature or turning direction. The path generation unit 25 controls the driving unit of the forklift to move the forklift along the generated path. Alternatively, the path generation unit 25 transmits information about the path to a computer device controlling the driving unit of the forklift so as to move the forklift along the generated path.

[0079] Next, the flow of the route control process according to the second embodiment will be described with reference to Fig. 10. First, the current position information acquisition unit 21 acquires information on the current position and current posture of the forklift (S21). The current position may be indicated using two-dimensional coordinates based on the position where the pallet is placed. The current posture may be indicated using the angle between a line directly facing the pallet and a line in the front direction of the forklift.

[0080] Next, the intersection calculation unit 22 calculates a straight line indicating a set of intermediate points along which the robot can move from the current attitude to the target attitude at the target position without changing the curvature or turning direction (S22). For example, the intersection calculation unit 22 calculates a straight line f1 shown in Equation 1.

[0081] Next, the intersection calculation unit 22 calculates the intersection of the straight line f1 and an extension of the direction in which the forklift is facing at the current position (S23). The extension of the direction in which the forklift is facing is the extension line f2 shown in Equation 2.

[0082] Next, the intersection coordinate determination unit 23 determines whether the intersection is located within a no-entry area (S24). A no-entry area is an area where obstacles such as pallets, shelves, and equipment are located, and if a forklift enters the no-entry area, it is expected that the forklift will collide with the obstacles.

[0083] If the intersection coordinate determination unit 23 determines that the intersection is not located within the entry-prohibited area, that is, that the intersection is located outside the entry-prohibited area, the path generation unit 25 performs path control for when the intersection is included in area 2 (S25). The intersection included in area 2 is designated as intersection n2. Path control for when the intersection is included in area 2 may involve generating a path that allows the forklift to move straight to intersection n2 while maintaining its current posture, and may also involve generating a path that moves from intersection n2 to the destination position without changing the curvature or turning direction. Generating a path that moves from intersection n2 to the destination position without changing the curvature or turning direction means generating a path that allows the forklift to move from intersection n2 to the destination position with a specific turning radius and with the destination posture at the destination position.

[0084] In step S24, if the intersection coordinate determination unit 23 determines that the intersection is located within the entry-prohibited area, it determines whether the x-coordinate of the intersection is greater than the threshold value Xt (S26). If the intersection coordinate determination unit 23 determines that the x-coordinate of the intersection is greater than the threshold value Xt, the path generation unit 25 performs path control for when the intersection is included in area 1 (S27). The intersection included in area 1 is designated as intersection n3. The path control for when the intersection is included in area 1 may be to generate a path to the destination position using a general method aimed at preventing the forklift from colliding with a pallet or the like.

[0085] If the intersection coordinate determination unit 23 determines that the x coordinate of the intersection is equal to or less than the threshold value Xt, the route generation unit 25 performs route control for the case where the intersection is included in area 3 (S28). The intersection included in area 3 is set as intersection n1. The route control for the case where the intersection is included in area 3 may be to generate the routes described with reference to FIGS. 5 to 8.

[0086] As described above, the path generating unit 25 can change the path along which the forklift vehicle travels so as to assume a target posture at the target position, depending on the position of the intersection of the straight line f1 and the extension line f2. Furthermore, the path generating unit 25 can move the forklift vehicle so as to assume a posture with an arbitrary angle φ at the intersection W1 and the intermediate point Wφ by adjusting the turning radius. Furthermore, since the forklift vehicle can travel to the target position from the intermediate point Wφ without changing the curvature or turning direction, it is possible to avoid a turning operation near the target position. As a result, when the forklift vehicle travels to the position of the pallet at the target position, it is possible to prevent the forklift vehicle from colliding with the pallet due to a turning operation near the pallet.

[0087] FIG. 11 is a block diagram showing an example configuration of the vehicle control device 10 and vehicle control device 20 (hereinafter referred to as the vehicle control device 10, etc.) described in the above-mentioned embodiment. Referring to FIG. 11, the vehicle control device 10, etc. includes a network interface 1201, a processor 1202, and a memory 1203. The network interface 1201 may be used to communicate with a network node. The network interface 1201 may include, for example, a network interface card (NIC) conforming to the IEEE 802.3 series. IEEE stands for Institute of Electrical and Electronics Engineers.

[0088] The processor 1202 reads and executes software (computer programs) from the memory 1203 to perform the processing of the vehicle control device 10 and the like described using flowcharts in the above-described embodiments. The processor 1202 may be, for example, a microprocessor, an MPU, or a CPU. The processor 1202 may include multiple processors.

[0089] The memory 1203 is configured by a combination of volatile memory and non-volatile memory. The memory 1203 may include storage located remotely from the processor 1202. In this case, the processor 1202 may access the memory 1203 via an I / O (Input / Output) interface (not shown).

[0090] 11, the memory 1203 is used to store software modules. The processor 1202 reads and executes these software modules from the memory 1203, thereby performing the processing of the vehicle control device 10 and the like described in the above-described embodiment.

[0091] As explained using FIG. 11, each of the processors possessed by the vehicle control device 10, etc. in the above-described embodiment executes one or more programs including a group of instructions for causing a computer to perform the algorithm explained using the drawings.

[0092] In the above examples, the program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0093] The technical ideas of the present disclosure are not limited to the above-described embodiments, and can be modified as appropriate within the scope of the gist of the present disclosure.

[0094] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes. (Appendix 1) a calculation means for calculating a first straight line indicating a set of first intermediate points along which the vehicle can move from a first attitude to a target position without changing the curvature and turning direction so that the vehicle will assume a target attitude at the target position; a route generating means for generating a first route for the vehicle to move from a current position to the first relay point on the first straight line so as to assume the first attitude at the first relay point, and a second route for the vehicle to move from the first relay point to a destination position so as to assume the destination attitude at the destination position without changing the curvature and turning direction, The first relay point included in the first straight line is A vehicle control device that determines the target attitude based on the turning radius when moving to the target position. (Appendix 2) The route generation means 2. The vehicle control device according to claim 1, wherein the first route is generated to include a route along which the vehicle moves in a straight line to the first relay point while maintaining the first attitude. (Appendix 3) The route generation means 3. The vehicle control device according to claim 2, wherein the first path is generated to include a path that moves from the current position to a position where the first attitude is achieved without changing the curvature and turning direction. (Appendix 4) 4. The vehicle control device according to claim 3, wherein a position from the current position where the first attitude is achieved without changing the curvature and turning direction is determined according to a turning radius. (Appendix 5) The calculation means calculating an intersection between a second straight line indicating a set of second intermediate points along which the vehicle can move to the destination position without changing the curvature and turning direction from the second attitude at the current position, so that the vehicle will assume a destination attitude at the destination position; and an extension of the direction in which the vehicle is facing at the current position; The route generation means 5. The vehicle control device according to claim 1, further comprising: determining a route control process for generating a route to the destination position based on the position of the intersection. (Appendix 6) The route generation means A vehicle control device as described in Appendix 5, which generates a third route in which the vehicle moves in a straight line from the current position to the second relay point while maintaining the second attitude, and a fourth route in which the vehicle moves from the second relay point to the destination position without changing the curvature or turning direction so that the vehicle assumes the destination attitude at the destination position, when the intersection is located outside a no-entry area that prohibits the vehicle from entering. (Appendix 7) The route generation means A vehicle control device as described in Appendix 5, which generates the first route and the second route when the intersection is located inside a no-entry area that prohibits the vehicle from entering and the distance from the destination position to the intersection is within a threshold. (Appendix 8) The route generation means 8. A vehicle control device according to any one of claims 1 to 7, which controls a drive means of the vehicle so that the vehicle moves along the generated route. (Appendix 9) The route generation means 8. A vehicle control device according to any one of claims 1 to 7, wherein the vehicle transmits information about the generated route to a computer device that controls a drive means of the vehicle so as to move along the generated route. (Appendix 10) The vehicle is 10. The vehicle control device according to any one of appendixes 1 to 9, which is a forklift that moves to a position directly opposite a pallet placed at a destination position and transports the pallet. (Appendix 11) calculating a first straight line indicating a set of first intermediate points along which the vehicle can move from a first attitude to a destination position without changing the curvature and turning direction so that the vehicle assumes a destination attitude at the destination position; generating a first route for the vehicle to move from a current position to the first relay point on the first straight line so as to assume the first attitude at the first relay point, and a second route for the vehicle to move from the first relay point to a destination position so as to assume the destination attitude at the destination position without changing the curvature and turning direction; The first relay point included in the first straight line is A path generation method in which the path is determined according to a turning radius when moving to the target position so as to achieve the target attitude. (Appendix 12) a first straight line indicating a set of first intermediate points along which the vehicle can move from a first attitude to the destination position without changing the curvature or turning direction so that the vehicle will assume a destination attitude at the destination position, the first intermediate points included in the first straight line being determined according to a turning radius when the vehicle moves to the destination position so as to assume the destination attitude; A non-transitory computer-readable medium storing a program that causes a computer to generate a first route for the vehicle to move from a current position to a first relay point on the first straight line so as to assume the first attitude at the first relay point, and a second route for the vehicle to move from the first relay point to a destination position so as to assume the destination attitude at the destination position without changing the curvature or turning direction. [Explanation of symbols]

[0095] 10 Vehicle control device 11 Calculation section 12 Route generation unit 20 Vehicle control device 21 Current location information acquisition unit 22 Intersection calculation part 23 Intersection coordinate determination section 24 Relay point calculation unit 25 Route generation unit

Claims

1. a calculation means for calculating a first straight line indicating a set of first intermediate points along which the vehicle can move from a first attitude to a target position without changing its curvature and turning direction so that the vehicle will assume a target attitude at the target position; a route generating means for generating a first route for the vehicle to move from a current position to the first relay point on the first straight line so as to assume the first attitude at the first relay point, and a second route for the vehicle to move from the first relay point to a destination position so as to assume the destination attitude at the destination position without changing the curvature and turning direction, The first relay point included in the first straight line is A vehicle control device that determines the target attitude based on the turning radius when moving to the target position.

2. The route generation means The vehicle control device according to claim 1 , wherein the first route is generated to include a route along which the vehicle moves in a straight line to the first relay point while maintaining the first attitude.

3. The route generation means The vehicle control device according to claim 2 , wherein the first path is generated to include a path that moves from the current position to a position where the first attitude is achieved without changing the curvature or turning direction.

4. The vehicle control device according to claim 3 , wherein a position from the current position where the first attitude is achieved without changing the curvature and turning direction is determined according to a turning radius.

5. The calculation means calculating an intersection between a second straight line indicating a set of second intermediate points along which the vehicle can move from a second attitude at the current position to the destination position without changing the curvature and turning direction, so that the vehicle will assume a destination attitude at the destination position; and The route generation means The vehicle control device according to claim 1 , further comprising: determining a route control process for generating a route to the destination position based on the positions of the intersections.

6. The route generation means 6. The vehicle control device according to claim 5, wherein, when the intersection is located outside a no-entry area that prohibits entry of the vehicle, a third route is generated in which the vehicle moves in a straight line from the current position to the second relay point while maintaining the second attitude, and a fourth route is generated in which the vehicle moves from the second relay point to the destination position without changing the curvature or turning direction so as to assume the destination attitude at the destination position.

7. The route generation means 6. The vehicle control device according to claim 5, wherein when the intersection is located inside a no-entry area that prohibits entry of the vehicle, and when the distance from the destination position to the intersection is within a threshold, the first route and the second route are generated.

8. The route generation means The vehicle control device according to claim 1 , further comprising: controlling a driving means of the vehicle so that the vehicle moves along the generated route.

9. calculating a first straight line indicating a set of first intermediate points along which the vehicle can move from a first attitude to a target position without changing the curvature and turning direction so that the vehicle assumes a target attitude at the target position; generating a first route for the vehicle to move from a current position to the first relay point on the first straight line so as to assume the first attitude at the first relay point, and a second route for the vehicle to move from the first relay point to a destination position so as to assume the destination attitude at the destination position without changing the curvature and turning direction; The first relay point included in the first straight line is A path generation method in which the path is determined according to a turning radius when moving to the target position so as to achieve the target attitude.

10. a first straight line indicating a set of first intermediate points along which the vehicle can move from a first attitude to the destination position without changing the curvature or turning direction so that the vehicle will assume a destination attitude at the destination position, the first intermediate points included in the first straight line being determined according to a turning radius when the vehicle moves to the destination position so as to assume the destination attitude; A program that causes a computer to generate a first route for the vehicle to move from its current position to the first relay point on the first straight line so as to assume the first attitude at the first relay point, and a second route for the vehicle to move from the first relay point to a destination position so as to assume the destination attitude at the destination position without changing the curvature or turning direction.

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