Mobile body trajectory calculation device, mobile body, remote control device, mobile body system, mobile body trajectory calculation method and program

Abstract

A moving-body path calculation device for calculating a path of movement of a moving body, the device comprising: a deviation acquisition means for acquiring a deviation of the moving body in a direction perpendicular to an ideal route; and a path calculation means for calculating the path of movement of the moving body on the basis of a complex parameter including a parameter indicating the deviation of the moving body acquired by the deviation acquisition means.

Description

[Technical Field]

[0001] The present invention relates to the technical field of a moving body trajectory calculation device that calculates the trajectory of a moving body. [Background technology]

[0002] Technologies for controlling the travel of moving bodies such as transport robots and transport vehicles have been developed. Examples of such technologies include those disclosed in the following Patent Documents 1 and 2. Patent Document 1 relates to a motion control method for controlling the motion of an object moving along a target path. This motion control method calculates a target drive operation amount from the distance between the target path and the moving mechanism and a target movement speed, and determines a target movement direction based on the calculated target drive operation amount.

[0003] The mobile object path control device described in Patent Document 2 includes a position recognition device, a storage device that stores the planned path of the mobile object together with the moving direction and speed at each point, a calculation device, and a drive control device. In this mobile object path control device, the calculation device sets the moving direction and speed of the mobile object so that it gradually approaches the reference values ​​based on the moving direction and speed at a corresponding point on the planned path that is the shortest distance from the current position, and the drive control device controls the movement of the mobile object so that it returns to the planned path based on the set direction and speed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 1997 / 036217 [Patent Document 2] Japanese Patent Publication No. 2000-089826 Summary of the Invention [Problem to be solved by the invention]

[0005] The motion control methods described in Patent Documents 1 and 2 have a problem in terms of calculating a suitable path.

[0006] One aspect of the present invention has been made in view of the above problems, and an object of the present invention is to provide a technique for calculating a suitable trajectory for the movement of a moving object. [Means for solving the problem]

[0007] A moving body trajectory calculation device according to one aspect of the present invention includes a deviation acquisition means for acquiring a deviation of a moving body in a direction perpendicular to an ideal path, and a trajectory calculation means for calculating a trajectory of movement of the moving body based on a composite parameter including a parameter indicating the deviation of the moving body acquired by the deviation acquisition means.

[0008] A moving body according to one aspect of the present invention includes a driving means for driving each of a plurality of wheels, a position detection means for detecting position information of the moving body, a deviation acquisition means for acquiring a deviation of the moving body in a direction perpendicular to an ideal path by referring to the position information of the moving body detected by the position detection means, a trajectory calculation means for calculating a trajectory of movement of the moving body based on a composite parameter including a parameter indicating the deviation of the moving body acquired by the deviation acquisition means, and a control means for determining the path of the moving body at each time from the trajectory calculated by the trajectory calculation means, calculating the speed of the plurality of wheels from the path, and controlling the driving means.

[0009] A remote control device according to one aspect of the present invention includes a communication means for receiving an image of a moving body that has been captured and transmitting the trajectory of the moving body's movement to the moving body, a deviation acquisition means for acquiring the deviation of the moving body in a direction perpendicular to the ideal path by referring to the image of the moving body received by the communication means, and a trajectory calculation means for calculating the trajectory of the moving body's movement based on a composite parameter including a parameter indicating the deviation of the moving body acquired by the deviation acquisition means, and transmitting the trajectory to the communication means.

[0010] A mobile body system according to one aspect of the present invention is a mobile body system comprising a mobile body, a remote control device, and an imaging device that images the mobile body, wherein the remote control device includes a communication means that receives an image of the mobile body captured by the imaging device and transmits the trajectory of the mobile body's movement to the mobile body, a deviation acquisition means that refers to the image of the mobile body received by the communication means to acquire the deviation of the mobile body in a direction perpendicular to the ideal path, and a trajectory calculation means that calculates the trajectory of the mobile body's movement based on a composite parameter including a parameter indicating the deviation of the mobile body acquired by the deviation acquisition means and transmits the trajectory to the communication means, and the mobile body includes a driving means that drives each of a plurality of wheels, a receiving means that receives the trajectory of the mobile body's movement from the remote control device, and a control means that determines the route of the mobile body at each time from the trajectory of the mobile body received by the receiving means, calculates the speed of the plurality of wheels from the route, and controls the driving means.

[0011] In one aspect of the present invention, a moving body trajectory calculation method includes a moving body trajectory calculation device that acquires a deviation of a moving body in a direction perpendicular to an ideal path, and calculates the trajectory of the moving body's movement based on a composite parameter that includes a parameter that indicates the acquired deviation of the moving body.

[0012] A recording medium according to one aspect of the present invention is a computer-readable recording medium having a moving body trajectory calculation program recorded thereon, which causes the computer to acquire the deviation of the moving body in a direction perpendicular to the ideal path, and calculate the trajectory of the moving body's movement based on a composite parameter including a parameter indicating the acquired deviation of the moving body. [Effects of the Invention]

[0013] According to one aspect of the present invention, it is possible to calculate a suitable trajectory for the movement of a moving object. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a block diagram showing a functional configuration of a moving object trajectory calculation device 12 according to a first embodiment of the present invention. [Figure 2]1 is a flowchart showing the flow of a moving object trajectory calculation method according to the first embodiment of the present invention. [Figure 3] 1 is a diagram showing a schematic configuration of a moving body to which the moving body trajectory calculation device described in the first embodiment is applied. [Figure 4] FIG. 10 is a diagram illustrating an example of travel control of a moving body. [Figure 5] FIG. 10 is a diagram illustrating another example of travel control of a moving body. [Figure 6] FIG. 10 is a block diagram showing the functional configuration of a moving body according to a third embodiment of the present invention. [Figure 7] FIG. 10 is a diagram showing an example of a trajectory of movement of a moving body according to a third embodiment of the present invention. [Figure 8] FIG. 10 is a diagram showing another example of the trajectory of movement of the moving body according to the third embodiment of the present invention. [Figure 9] 10 is a flowchart illustrating a processing procedure of a moving body according to a third embodiment of the present invention. [Figure 10] FIG. 10 is a block diagram showing the functional configuration of a remote control device according to a fourth embodiment of the present invention. [Figure 11] 10 is a flowchart illustrating a processing procedure of a remote control device according to a fourth embodiment of the present invention. [Figure 12] FIG. 10 is a block diagram showing the functional configuration of a mobile body system according to a fifth embodiment of the present invention. [Figure 13] 10 is a flowchart illustrating a processing procedure of a moving body according to a fifth embodiment of the present invention. [Figure 14] FIG. 2 illustrates an example of a hardware configuration of a computer. DETAILED DESCRIPTION OF THE INVENTION

[0015] [Embodiment 1] An embodiment of the present invention will be described in detail with reference to the drawings. This embodiment is a basic form of the embodiments described below.

[0016] (Configuration of moving object trajectory calculation device) The configuration of a moving object trajectory calculation device 12 according to this embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the functional configuration of a moving object trajectory calculation device 12 according to the first embodiment of the present invention. The moving object trajectory calculation device 12 includes a deviation acquisition unit 121 and a trajectory calculation unit 122.

[0017] The deviation acquisition unit 121 acquires a parameter y indicating the deviation of the moving object from the ideal path (for example, in a direction perpendicular to a straight path). Here, the deviation of the moving object from the ideal path in the direction perpendicular to the straight path refers to, for example, the length of a perpendicular line from the moving object to the ideal path.

[0018] The deviation acquisition unit 121 may be configured to acquire, in addition to the parameter y, values ​​such as the square of the speed of the right wheel of the moving object and the square of the speed of the left wheel of the moving object. Although the ideal path is described as a straight path as an example, this does not limit the present embodiment. The ideal path may be a curved path, or a combination of a curved path and a straight path. If the ideal curve includes a curved path, the curved path may be locally approximated by a straight line, and the deviation of the moving object in a direction perpendicular to the approximated straight line may be used as the parameter y.

[0019] The trajectory calculation unit 122 calculates the trajectory of the movement of the moving object based on a composite parameter including the parameter y indicating the deviation of the moving object acquired by the deviation acquisition unit 121. Here, the trajectory of the movement of the moving object refers to the path (coordinates) of the moving object at each time until the moving object returns to the target path, but is not limited to this. For example, it may be the path of the moving object for a predetermined period of time until the moving object returns to the target path.

[0020] Furthermore, the composite parameter including the parameter y may include, as an example, in addition to the parameter y, a parameter T indicating the time (required time) required for the moving body to return to the ideal path, a parameter θ indicating the angle between the ideal path and the moving direction of the moving body, and the like, but this does not limit this embodiment.

[0021] As described above, the moving object trajectory calculation device 12 according to this embodiment employs a configuration for calculating the trajectory of the moving object based on a composite parameter including the parameter y indicating the deviation of the moving object. Therefore, the moving object trajectory calculation device 12 according to this embodiment has the advantage of being able to suitably calculate the trajectory of the moving object, which is made up of the path of the moving object at each time.

[0022] (Flow of the moving object trajectory calculation method) The flow of the moving object trajectory calculation method according to this embodiment will be described with reference to Fig. 2. Fig. 2 is a flow diagram showing the flow of the moving object trajectory calculation method according to the first embodiment of the present invention. First, the deviation acquisition unit 121 acquires a parameter y indicating the deviation of the moving object in a direction perpendicular to the target route (S1).

[0023] Next, the trajectory calculation unit 122 calculates the trajectory of the movement of the moving object from the index represented by the composite parameter including the parameter y indicating the displacement of the moving object acquired by the displacement acquisition unit 121 (S2).

[0024] Finally, it is determined whether or not the process is to be ended (S3). If the process is to be ended, for example, if the running of the moving object is to be ended (S3, Yes), the process is ended as is. If the process is not to be ended (S3, No), the process returns to step S1 and the subsequent processes are repeated.

[0025] As described above, the moving object trajectory calculation method according to this embodiment employs a configuration in which the trajectory of the moving object is calculated based on a composite parameter including the parameter y indicating the deviation of the moving object. Therefore, the moving object trajectory calculation method according to this embodiment has the advantage of being able to suitably calculate the trajectory of the moving object, which is made up of the path of the moving object at each time.

[0026] [Embodiment 2] Another embodiment of the present invention will be described in detail with reference to the drawings. Note that components having the same functions as those described in the first embodiment will be given the same reference numerals, and their description will be omitted as appropriate.

[0027] In addition to parameter y, which indicates the deviation of the moving body, the composite parameters may include parameter T, which indicates the time required for the moving body to return to the ideal path, and parameter θ, which indicates the angle between the ideal path and the moving direction of the moving body.

[0028] The trajectory calculation unit 122 calculates the trajectory of the movement of the moving object so that the index represented by the composite parameter becomes the minimum.

[0029] As an example, in this embodiment, the trajectory calculation unit 122 uses an index I shown in the following (Equation 1) as an index based on a composite parameter. Here, y is a parameter indicating the deviation of the moving body, θ is a parameter indicating the angle between the ideal path and the moving direction of the moving body, and α is a constant. Note that in addition to the parameter y, values ​​such as the square of the speed of the right wheel of the moving body and the square of the speed of the left wheel of the moving body may be added to the index I as part of the composite parameter.

[0030]

number

[0031] In this way, in this embodiment, the parameter y itself is calculated by multiplying the coefficient parameters a i Therefore, y itself can be expressed as a composite parameter.

[0032]

number

[0033] sinθ=(dy / dt) / v (Equation 4) Therefore, the trajectory calculation unit 122 can calculate the index I including sin θ by substituting (Equation 4) for the index I (where the symbol " / " represents division (same below)).

[0034] Here, a condition that y=0 at t=T is added. In other words, a condition that the ideal path is returned to at t=T is added. That is, the trajectory calculation unit 122 integrates the index I from t=0 to t=T, and then calculates ∂I / ∂a i = 0, ∂I / ∂T = 0, and calculate a trajectory that minimizes the index I. In this way, the parameter T, which indicates the time required for the moving object to return to the ideal path, becomes the upper limit of the integral in (Equation 1).

[0035] a i is n+1 parameters with i=0,1,2,…,n, and the index I is differentiated by each parameter, ∂I / ∂a i Therefore, the trajectory calculation unit 122 can derive n+1 equations from the condition ∂I / ∂T=0 by solving n+2 simultaneous equations including the equation ∂I / ∂T=0. i and T can be calculated.

[0036] From the above, the trajectory calculation unit 122 calculates the calculated parameter a i By applying this to the above (Equation 2), y(t) at each time can be obtained. Furthermore, the trajectory calculation unit 122 can calculate a parameter x(t) that indicates the position of the moving object in a direction parallel to the ideal path using the following (Equation 3). Here, v in (Equation 3) represents the magnitude of the velocity of the moving object, similar to v in (Equation 4).

[0037]

number

[0038] When the moving body according to this embodiment is an automated guided vehicle (AGV), the trajectory calculation unit 122 may appropriately change the value of α in the index I according to each automated guided vehicle, or may change the deviation y of the automated guided vehicle in the direction perpendicular to the ideal path to another parameter.

[0039] For example, the weight of the load may be acquired from the moving object, and the value of α may be set to have a positive correlation with the acquired weight. By setting it in this way, if the deviation of θ is small, the heavier the load is, the more gradual the change in angle will be generated, making it possible to generate a trajectory that can transport the load stably.

[0040] Furthermore, a configuration may be adopted in which, in addition to parameter y, whether or not the difference between the square of the speed of the right wheel and the square of the speed of the left wheel is used as index I is switched depending on the acquired luggage weight and other information. By adaptively switching the parameters used for index I in this way, it is possible to generate an optimal route depending on the situation. In this case, the difference between the square of the speed of the right wheel and the square of the speed of the left wheel may be approximated by numerical integration or a rational expression and then applied to index I.

[0041] As described above, the moving body trajectory calculation device 12 according to this embodiment employs a configuration for calculating the trajectory of the moving body so that the index I represented by a composite parameter including the parameter y indicating the deviation of the moving body is minimized. Therefore, the moving body trajectory calculation device 12 according to this embodiment has the advantage of being able to suitably calculate the trajectory of the moving body so that the index I including the parameter y indicating the deviation of the moving body is minimized.

[0042] Furthermore, the moving object trajectory calculation device 12 according to this embodiment employs a configuration in which the composite parameter includes a parameter T indicating the time required for the moving object to return to the ideal path and a parameter y indicating the deviation of the moving object. Therefore, the moving object trajectory calculation device 12 according to this embodiment has the advantage of being able to suitably calculate the trajectory of the moving object, which is made up of paths (x(t), y(t)) at each time until the time T at which the moving object returns to the target path.

[0043] Furthermore, the moving body trajectory calculation device 12 according to this embodiment employs a configuration in which the composite parameter further includes a parameter θ that indicates the angle between the ideal path and the moving direction of the moving body. Therefore, the moving body trajectory calculation device 12 according to this embodiment can obtain the trajectory of the moving body using the index I represented by the deviation y and angle θ of the moving body, thereby achieving the effect of being able to calculate the trajectory of the moving body more accurately.

[0044] Furthermore, according to the moving object trajectory calculation device 12 of this embodiment, ∂I / ∂a i = 0, ∂I / ∂T = 0. Therefore, the moving object trajectory calculation device 12 according to this embodiment calculates a trajectory that minimizes the index I from ∂I / ∂a i = 0, ∂I / ∂T = 0, the composite parameters can be calculated by solving the simultaneous equations, and the trajectory of the moving object can be easily obtained.

[0045] Furthermore, the moving object trajectory calculation device 12 according to this embodiment employs a configuration in which a parameter x indicating the position of the moving object in a direction parallel to the ideal path is derived from y at which the index I is minimized. Therefore, the moving object trajectory calculation device 12 according to this embodiment has the advantage of being able to easily calculate the path (x(t), y(t)) of the moving object at each time.

[0046] [Embodiment 3] Another embodiment of the present invention will be described in detail with reference to the drawings. Note that components having the same functions as those described in the first embodiment will be denoted by the same reference numerals, and the description thereof will not be repeated.

[0047] 3 is a diagram showing a schematic configuration of a moving body to which the moving body trajectory calculation device 12 described in embodiment 1 is applied. The moving body 1 includes a position detection unit 11, a right wheel 16, a left wheel 17, a first drive unit 14 that drives the right wheel 16, and a second drive unit 15 that drives the left wheel 17. These will be described in detail later.

[0048] Although the traveling of the moving object 1 is controlled so as to follow the ideal path, there is a deviation between the actual traveling direction of the moving object 1 and the direction of the ideal path. The angle between the traveling direction of the moving object 1 and the direction of the ideal path is defined as θ. In other words, as shown in FIG. 3, the angle between the velocity vector v of the moving object 1 and the direction vector of the ideal path is defined as θ. Also, as shown in FIG. 3, the distance between the right wheel 16 and the left wheel 17 of the moving object 1 is defined as D.

[0049] 4 and 5 are diagrams showing an example of travel control of a moving body. FIG. 4 shows an example of a movement path according to a comparative example, and FIG. 5 shows an example of a trajectory calculated by the moving body trajectory calculation device 12 of the moving body 1. In FIG. 4, the trajectory of the movement of the moving body changes gradually until the moving body returns to the ideal path. On the other hand, the moving body trajectory calculation device 12 according to this embodiment uses the index I shown in the above-mentioned (Equation 1) as an index based on a composite parameter, so as shown in FIG. 5, the direction of the moving body 1 until it returns to the ideal path changes more significantly compared to the example shown in FIG. 4. This reduces the time it takes for the moving body 1 to return to the ideal path.

[0050] Furthermore, from the perspective of the amount of deviation from the ideal path, the trajectory shown in Fig. 4 changes gradually, but the total amount of deviation from the ideal path is large. On the other hand, the trajectory of the moving object 1 shown in Fig. 5 changes significantly, but the total amount of deviation from the ideal path is small. In this embodiment, by using the index I shown in the above-mentioned (Equation 1) as the index based on the composite parameter, the amount of deviation from the ideal path can be kept small.

[0051] Note that Figure 5 shows the trajectory of movement of the moving body 1 when α in Equation 1 is set to 0 or a small value, so the trajectory fluctuates greatly, but the trajectory fluctuation can be made smoother by setting an appropriate α.

[0052] The value of α may be set in advance by an administrator, or may be adaptively set by the moving body trajectory calculation device 12 as described in embodiment 2 depending on the weight of the luggage carried by the moving body 1, etc.

[0053] (Configuration of mobile unit 1) 6 is a block diagram showing the functional configuration of the moving body 1 in this embodiment. The moving body 1 includes a position detection unit 11, a moving body trajectory calculation device 12, a control unit 13, a first driving unit 14, and a second driving unit 15. In another configuration of the moving body 1, the control unit 13 may include the moving body trajectory calculation device 12.

[0054] The position detection unit 11 detects the position information of the moving object 1, for example, by measuring the distance to a wall using a distance measurement sensor, and detects the position information of the moving object 1 based on the distance to the wall. In this case, the direction of the ideal path is set based on a path where the distance to the wall is constant.

[0055] The position detection unit 11 may also be configured with an imaging device. The imaging device captures an image of the area ahead and detects the position of the moving object 1 by analyzing the image.

[0056] The position detection unit 11 may also detect the position of the mobile object 1 using satellite information such as the Global Positioning System (GPS) and the Quasi-Zenith Satellite System (QZSS).

[0057] Furthermore, as will be described later, an imaging device provided outside the moving body 1 may capture an image of the moving body 1, and the position of the moving body 1 may be detected by analyzing the captured image.

[0058] The deviation acquisition unit 121 refers to the position information of the moving object 1 detected by the position detection unit 11, acquires a parameter y relating to the deviation of the moving object 1 in a direction perpendicular to the ideal path, and outputs the parameter y to the trajectory calculation unit 122.

[0059] The trajectory calculation unit 122 calculates the trajectory of movement of the moving body 1 based on the composite parameter including the parameter y indicating the displacement of the moving body acquired by the displacement acquisition unit 121, and outputs the calculated trajectory to the control unit 13. The method for calculating the trajectory of movement of the moving body 1 is as described in the first and second embodiments.

[0060] The control unit 13 obtains the path of the moving object 1 at each time from the trajectory of the moving object 1 received from the trajectory calculation unit 122, and calculates the speed Vr of the right wheel 16 and the speed Vl of the left wheel 17 from the path. The control unit 13 can obtain Vr and Vl from the simultaneous equations shown in the following Equations 5 and 6. Here, it is assumed that the speed V is constant.

[0061] V=(Vr+Vl) / 2 (Formula 5) d(arctan((dy / dt) / (dx / dt))) / dt=(Vr-Vl) / 2D (Equation 6) The first drive unit 14 and the second drive unit 15 are each composed of a servo motor and an inverter circuit that controls the servo motor, and drive the right wheel 16 and the left wheel 17. The control unit 13 commands the inverter circuit of the first drive unit 14 to calculate the speed Vr of the right wheel 16, and commands the inverter circuit of the second drive unit 15 to calculate the speed Vl of the left wheel 17. The inverter circuit of the first drive unit 14 controls the servo motor so that the speed of the right wheel 16 becomes Vr. Similarly, the inverter circuit of the second drive unit 15 controls the servo motor so that the speed of the left wheel 17 becomes Vl.

[0062] When the moving body 1 in this embodiment is an automated guided vehicle, the trajectory calculation unit 122 may appropriately change the value of α in the index I depending on each automated guided vehicle, or may change the deviation y of the automated guided vehicle in the direction perpendicular to the ideal path to another parameter.

[0063] For example, the weight of the load may be acquired from the moving object, and the value of α may be set to have a positive correlation with the acquired weight. By setting it in this way, the heavier the load, the more gradual the change in angle of the generated trajectory, making it possible to generate a trajectory that can transport the load stably.

[0064] 7 and 8 are diagrams showing the trajectory of movement of the moving object 1 in this embodiment. In FIGS. 7 and 8, the horizontal axis represents time t (seconds) and the vertical axis represents the deviation y (meters) of the moving object 1. FIGS. 7 and 8 show cases where α in Equation 1 is different, with FIG. 7 showing a larger value of α than FIG. 8, but it can be seen that in both cases the deviation y of the moving object 1 converges to 0. In this way, by changing the value of α, it is possible to change the time it takes for the moving object 1 to first match the ideal path.

[0065] 9 is a flowchart for explaining the processing procedure of the moving object 1 according to the embodiment 3. First, the position detection unit 11 detects the position of the moving object 1 and outputs the position information to the deviation acquisition unit 121 (S11).

[0066] The deviation acquisition unit 121 refers to the position information of the moving object 1 output from the position detection unit 11, acquires a parameter y relating to the deviation of the moving object 1 in a direction perpendicular to the ideal path, and outputs it to the trajectory calculation unit 122 (S12).

[0067] The trajectory calculation unit 122 calculates the trajectory of movement of the moving body 1 to return to the ideal route based on the composite parameters including the parameter y indicating the deviation of the moving body output from the deviation acquisition unit 121, and outputs it to the control unit 13 (S13).

[0068] The control unit 13 calculates the speed Vr of the right wheel 16 and the speed Vl of the left wheel 17 from the trajectory of the moving body 1 received from the trajectory calculation unit 122 (S14), and controls the first drive unit 14 and the second drive unit 15 so that the speeds of the respective wheels become Vr and Vl (S15).

[0069] Finally, it is determined whether or not to end the process (S16). If the process is to be ended, for example, if the traveling of the moving object 1 is to be ended (S16, Yes), the process ends as is. On the other hand, if the process is not to be ended (S16, No), the process returns to step S11 and the subsequent processes are repeated.

[0070] As described above, the moving body 1 according to this embodiment employs a configuration in which the control unit 13 calculates the speed Vr of the right wheel 16 and the speed Vl of the left wheel 17 from the trajectory of the moving body 1 received from the trajectory calculation unit 122, and controls the first driving unit 14 and the second driving unit 15. Therefore, according to the moving body 1 according to this embodiment, in addition to the effects achieved by the moving body trajectory calculation device 12 according to the first and second embodiments, an effect is obtained in that the moving body 1 can move along the calculated trajectory.

[0071] [Embodiment 4] Other embodiments of the present invention will be described in detail with reference to the drawings. Note that components having the same functions as those described in the first to third embodiments will be denoted by the same reference numerals, and the description thereof will not be repeated.

[0072] (Configuration of remote control device 2) 10 is a block diagram showing the functional configuration of the remote control device 2 according to this embodiment. The remote control device 2 includes a communication unit 21 connected to the communication network 3, a moving object trajectory calculation device 12a, and a control unit 22. In another configuration of the remote control device 2, the control unit 22 may include the moving object trajectory calculation device 12a.

[0073] The communication unit 21 is connected to a communication network 3 such as a LAN (Local Area Network). The communication unit 21 communicates with the moving object and the imaging device via the communication network 3. Specifically, the communication unit 21 receives an image of a space including the moving object from the imaging device, and transmits the trajectory of the moving object to the moving object.

[0074] The deviation acquisition unit 121a detects the position of the moving object by analyzing the image of the space including the moving object output from the communication unit 21. Then, it acquires a parameter y relating to the deviation of the moving object in a direction perpendicular to the ideal path and outputs it to the trajectory calculation unit 122a. Note that the method of detecting the position of the moving object 1a from the analysis result of the image of the space including the moving object 1a is widely known, and therefore will not be described in detail here.

[0075] The trajectory calculation unit 122a calculates the trajectory of the movement of the moving body 1a based on the composite parameter including the parameter y indicating the displacement of the moving body acquired by the displacement acquisition unit 121a, and outputs the calculated trajectory to the control unit 22. The method for calculating the trajectory of the movement of the moving body 1a is as described in the first and second embodiments.

[0076] The control unit 22 transmits the trajectory of the movement of the moving object 1a received from the trajectory calculation unit 122a to the moving object 1a via the communication unit .

[0077] When the moving body 1a according to this embodiment is an automated guided vehicle, the trajectory calculation unit 122a may appropriately change the value of α in the index I according to each automated guided vehicle, or may change the deviation y of the automated guided vehicle in the direction perpendicular to the ideal path to another parameter.

[0078] For example, the weight of the load may be acquired from the moving object, and the value of α may be set to have a positive correlation with the acquired weight. By setting it in this way, the heavier the load, the more gradual the change in angle of the generated trajectory, making it possible to generate a trajectory that can transport the load stably.

[0079] 11 is a flowchart for explaining the processing procedure of the remote control device 2 according to embodiment 4. First, the communication unit 21 receives an image of the space including the moving object 1a from the imaging device 4, and outputs the image to the deviation acquisition unit 121a (S21).

[0080] The deviation acquisition unit 121a detects the position of the moving object 1a by referring to the image of the space including the moving object 1a output from the communication unit 21 (S22). Then, the deviation acquisition unit 121a acquires a parameter y relating to the deviation of the moving object 1a in the direction perpendicular to the ideal path, and outputs the parameter y to the trajectory calculation unit 122a (S23).

[0081] The trajectory calculation unit 122a calculates the trajectory of movement of the moving body 1a to return to the ideal route based on the composite parameters including the parameter y indicating the deviation of the moving body output from the deviation acquisition unit 121a, and outputs it to the control unit 22 (S24).

[0082] The control unit 22 transmits the trajectory of the movement of the moving object 1a received from the trajectory calculation unit 122a to the moving object 1a via the communication unit 21 (S25).

[0083] Finally, it is determined whether or not to end the process (S26). If the process is to be ended, for example, if the traveling of the moving body 1a is to be ended (S26, Yes), the process ends as is. On the other hand, if the process is not to be ended (S26, No), the process returns to step S21 and the subsequent processes are repeated.

[0084] As described above, the remote control device 2 according to this embodiment is configured such that the control unit 22 transmits the trajectory of the movement of the moving object 1a received from the trajectory calculation unit 122a to the moving object 1a via the communication unit 21. Therefore, according to the remote control device 2 according to this embodiment, in addition to the effects achieved by the moving object trajectory calculation device 12 according to the first and second embodiments, it is no longer necessary for the moving object 1a to calculate the trajectory of the movement of the moving object 1a, thereby providing the effect of reducing the processing load on the moving object 1a.

[0085] [Embodiment 5] Other embodiments of the present invention will be described in detail with reference to the drawings. Note that components having the same functions as those described in the first to fourth embodiments will be denoted by the same reference numerals, and the description thereof will not be repeated.

[0086] (Configuration of mobile system 100) 12 is a block diagram showing the functional configuration of a mobile body system 100 according to this embodiment. The mobile body system 100 includes a mobile body 1a, a remote control device 2, and an imaging device 4 connected to a communication network 3. The configuration and processing procedure of the remote control device 2 are the same as those described in the fourth embodiment.

[0087] The moving body 1a includes a control unit 13a, a first driving unit 14, a second driving unit 15, and a receiving unit 18. The receiving unit 18 is connected to a communication network 3 such as a LAN, receives the trajectory of movement of the moving body 1a from the remote control device 2, and outputs it to the control unit 13a.

[0088] The control unit 13a obtains the path of the moving body 1a at each time from the trajectory of the moving body 1a received from the receiving unit 18, and calculates the speed Vr of the right wheel 16 and the speed Vl of the left wheel 17 from this path. The control unit 13a then controls the first driving unit 14 so that the speed of the right wheel 16 becomes Vr, and controls the second driving unit 15 so that the speed of the left wheel 17 becomes Vl.

[0089] 13 is a flowchart for explaining the processing procedure of the moving object 1a. First, the receiving unit 18 receives the trajectory of the movement of the moving object 1a from the remote control device 2 and outputs it to the control unit 13a (S31).

[0090] The control unit 13a calculates the speed Vr of the right wheel 16 and the speed Vl of the left wheel 17 from the trajectory of the moving body 1a received from the receiving unit 18 (S32), and controls the first driving unit 14 so that the speed of the right wheel 16 becomes Vr, and controls the second driving unit 15 so that the speed of the left wheel 17 becomes Vl (S33).

[0091] Finally, it is determined whether or not to end the process (S34). If the process is to be ended, for example, if the traveling of the moving body 1a is to be ended (S34, Yes), the process ends as is. On the other hand, if the process is not to be ended (S34, No), the process returns to step S31 and the subsequent processes are repeated.

[0092] As described above, the mobile body system 100 according to this embodiment employs a configuration in which the control unit 13a calculates the speed Vr of the right wheel 16 and the speed Vl of the left wheel 17 from the movement trajectory of the mobile body 1a received from the remote control device 2. Therefore, according to the mobile body system 100 according to this embodiment, in addition to the effects achieved by the mobile body trajectory calculation device 12 according to the first and second embodiments, it is no longer necessary for the mobile body 1a to calculate the movement trajectory of the mobile body 1a, thereby providing an effect of reducing the processing load on the mobile body 1a.

[0093] Although the third and fifth embodiments have been described with reference to a case where the moving body has two wheels, the trajectory of the moving body can be calculated and the traveling of the moving body can be controlled based on the trajectory even when the moving body has four wheels. For example, by using trajectory tracking control based on model predictive control (MPC), it is possible to control the traveling of the moving body along the calculated trajectory even when the moving body has four wheels. Furthermore, by controlling the traveling of the moving body using feedback control such as PID control (Proportional-Integral-Differential Controller), it is possible to control the traveling of the moving body along the calculated trajectory even when the moving body has four wheels.

[0094] [Software implementation example] The control blocks of the moving bodies 1, 1a, remote control device 2, and moving body trajectory calculation devices 12 and 12a (particularly the control units 13, 13a, 22, deviation acquisition units 121, 121a, and trajectory calculation units 122, 122a) may be realized by logic circuits (hardware) formed on an integrated circuit (IC chip) or the like, or by software.

[0095] In the latter case, the moving bodies 1, 1a, the remote control device 2, and the moving body trajectory calculation devices 12 and 12a are each equipped with a computer that executes instructions of a program, which is software that realizes each function. This computer is equipped with, for example, at least one processor (control device) and at least one computer-readable recording medium that stores the program.

[0096] 14 is a diagram showing an example of the hardware configuration of a computer 5. The computer 5 includes a processor 51 and a memory 52 that stores a program P recorded on a recording medium 6, and these are connected via an internal bus 53.

[0097] In the computer 5, the object of the present invention is achieved by the processor 51 reading and executing the program P from the recording medium 6. The processor 51 may be, for example, a CPU (Central Processing Unit). The recording medium 6 may be a "non-transitory tangible medium," such as a CD-ROM (Compact Disc-Read Only Memory), a DVD (Digital Versatile Disc), or a ROM (Read Only Memory), as well as a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. The memory 52 for storing the program P may include a RAM (Random Access Memory). The program P may also be supplied to the computer 5 via any transmission medium capable of transmitting the program P (such as a communication network or broadcast waves). Note that one aspect of the present invention may also be realized in the form of a data signal embedded in a carrier wave, in which the program P is embodied by electronic transmission.

[0098] [Appendix 1] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. For example, embodiments obtained by appropriately combining the technical means disclosed in the above-described embodiments are also included in the technical scope of the present invention.

[0099] [Appendix 2] Some or all of the above-described embodiments can also be described as follows: However, the present invention is not limited to the following described aspects.

[0100] The moving body trajectory calculation device according to the first aspect includes a deviation acquisition means for acquiring a deviation of the moving body in a direction perpendicular to an ideal path, and a trajectory calculation means for calculating the trajectory of movement of the moving body based on a composite parameter including a parameter indicating the deviation of the moving body acquired by the deviation acquisition means.

[0101] According to the above configuration, it is possible to calculate the trajectory of the movement of the moving object, which is made up of the path of the moving object at each time.

[0102] In the moving body trajectory calculation device according to the second aspect, in addition to the configuration of the first aspect, a configuration is adopted in which the trajectory calculation means calculates the trajectory of the moving body so that the index represented by the composite parameter is minimized.

[0103] According to the above configuration, the trajectory of the movement of the moving object can be calculated so that the index represented by the composite parameter becomes the minimum.

[0104] In the moving body trajectory calculation device of aspect 3, in addition to the configuration of aspect 1 or 2, a configuration is adopted in which the composite parameter includes a parameter indicating the time required for the moving body to return to the ideal path and a parameter indicating the deviation of the moving body acquired by the deviation acquisition means.

[0105] According to the above configuration, it is possible to calculate the trajectory of the movement of the moving object, which is made up of the route at each time until the time when the moving object returns to the target route.

[0106] In the moving body trajectory calculation device according to the fourth aspect, in addition to the configuration of the third aspect, the composite parameters further include a parameter indicating the angle between the ideal path and the moving direction of the moving body.

[0107] According to the above configuration, the trajectory of the moving body can be determined using an index represented by the deviation of the moving body and the angle between the ideal path and the moving direction of the moving body, thereby making it possible to calculate the trajectory of the moving body more accurately.

[0108] In a moving body trajectory calculation device according to a fifth aspect, in addition to the configuration of the fourth aspect, the trajectory calculation means calculates ∂I / ∂a using the following formulas 1 and 2, where T is a parameter indicating the time required to return to the ideal trajectory, y is a parameter indicating the deviation of the moving body acquired by the deviation acquisition means, and θ is a parameter indicating the angle between the ideal trajectory and the moving direction of the moving body. i= 0, ∂I / ∂T = 0, and calculate the orbit where I is minimized.

number

[0109]

number

[0110] In the moving body trajectory calculation device according to the sixth aspect, in addition to the configuration of the fifth aspect, the trajectory calculation means derives a parameter x indicating the position of the moving body in a direction parallel to the ideal path from y at which I is minimized, using the following equation 6:

[0111] According to the above configuration, the path (x(t), y(t)) of the moving body at each time can be easily calculated.

[0112] A moving body according to aspect 7 includes a driving means for driving each of a plurality of wheels, a position detection means for detecting position information of the moving body, a deviation acquisition means for acquiring a deviation of the moving body in a direction perpendicular to an ideal path by referring to the position information of the moving body detected by the position detection means, a trajectory calculation means for calculating a trajectory of movement of the moving body based on a composite parameter including a parameter indicating the deviation of the moving body acquired by the deviation acquisition means, and a control means for determining a path of the moving body at each time from the trajectory calculated by the trajectory calculation means, calculating the speed of the plurality of wheels from the path, and controlling the driving means.

[0113] According to the above configuration, the moving body can move along the calculated trajectory.

[0114] The remote control device of aspect 8 includes a communication means for receiving an image of a moving body that has been captured and transmitting the trajectory of the moving body's movement to the moving body, a deviation acquisition means for acquiring the deviation of the moving body in a direction perpendicular to the ideal path by referring to the image of the moving body received by the communication means, and a trajectory calculation means for calculating the trajectory of the moving body's movement based on a composite parameter including a parameter indicating the deviation of the moving body acquired by the deviation acquisition means, and transmitting the trajectory to the communication means.

[0115] According to the above configuration, the moving body does not need to calculate the trajectory of the moving body, and the processing load on the moving body can be reduced.

[0116] A mobile body system according to aspect 9 is a mobile body system comprising a mobile body, a remote control device, and an imaging device for imaging the mobile body, wherein the remote control device includes a communication means for receiving an image of the mobile body captured by the imaging device and transmitting the trajectory of the mobile body's movement to the mobile body, a deviation acquisition means for acquiring the deviation of the mobile body in a direction perpendicular to the ideal path by referring to the image of the mobile body received by the communication means, and a trajectory calculation means for calculating the trajectory of the mobile body's movement based on a composite parameter including a parameter indicating the deviation of the mobile body acquired by the deviation acquisition means and transmitting the trajectory to the communication means, and the mobile body includes a driving means for driving each of the multiple wheels, a receiving means for receiving the trajectory of the mobile body's movement from the remote control device, and a control means for determining the route of the mobile body at each time from the trajectory of the mobile body received by the receiving means, calculating the speed of the multiple wheels from the route, and controlling the driving means.

[0117] According to the above configuration, the moving body does not need to calculate the trajectory of the moving body, and the processing load on the moving body can be reduced.

[0118] In a moving body trajectory calculation method according to aspect 10, a moving body trajectory calculation device acquires a deviation of a moving body in a direction perpendicular to an ideal path, and calculates a trajectory of the moving body's movement based on a composite parameter including a parameter indicating the acquired deviation of the moving body.

[0119] According to the above configuration, it is possible to calculate the trajectory of the movement of the moving object, which is made up of the path of the moving object at each time.

[0120] A recording medium having a moving body trajectory calculation program according to aspect 11 recorded thereon is a computer-readable recording medium that causes the computer to acquire the deviation of the moving body in a direction perpendicular to the ideal path, and calculate the trajectory of the moving body's movement based on a composite parameter including a parameter indicating the acquired deviation of the moving body.

[0121] According to the above configuration, it is possible to calculate the trajectory of the movement of the moving object, which is made up of the path of the moving object at each time. [Explanation of symbols]

[0122] 1,1a Mobile 2 Remote control device 3. Communication Network 4. Imaging device 5. Computer 6. Recording media 11 Position detection unit 12 Mobile object trajectory calculation device 13, 13a, 22 Control section 14 First drive unit 15 Second drive unit 16 Right wheel 17 Left wheel 18 Receiving unit 21 Communications Department 51 processors 52 memory 53 Internal Bus 100 Mobile Systems 121, 121a Deviation acquisition unit 122,122a Orbit calculation part P Program

Claims

1. a deviation acquisition means for acquiring a deviation of the moving object in a direction perpendicular to the ideal path; a trajectory calculation means for calculating in advance a trajectory of the moving body at each time until the moving body returns to the ideal path, based on a composite parameter including a parameter indicating the deviation of the moving body acquired by the deviation acquisition means and a parameter indicating a time required for the moving body to return to the ideal path, The composite parameters include: a parameter indicating an angle between the ideal path and the moving direction of the moving object is further included; where T is a parameter indicating the time required to return to the ideal path, y is a parameter indicating the deviation of the moving body acquired by the deviation acquisition means, and θ is a parameter indicating the angle between the ideal path and the moving direction of the moving body, the trajectory calculation means uses the following equations 1, 2 and 4, with at least the position of the moving body at t = 0 as a boundary condition, and treats at least a0 of the parameters ai (i = 0, 1, 2, ..., n) as known, and solves simultaneous equations derived from ∂I / ∂ai = 0 and ∂I / ∂T = 0 to calculate unknown parameters among the parameters ai (i = 0, 1, 2, ..., n) and T, thereby calculating a trajectory that minimizes I: A moving body trajectory calculation device, wherein the value of α is set so as to have a positive correlation with the weight of the luggage of the moving body. [Equation 1] (Here, the integration range is 0 to t to T.) [Equation 2] (Equation 3) sinθ=(dy / dt) / v (Formula 4)

2. a driving means for driving each of the plurality of wheels; a position detection means for detecting position information of a moving object; a deviation acquisition means for acquiring a deviation of the moving object in a direction perpendicular to an ideal path by referring to the position information of the moving object detected by the position detection means; a trajectory calculation means for calculating in advance a trajectory of the moving object at each time until the moving object returns to the ideal trajectory, based on a composite parameter including a parameter indicating the deviation of the moving object acquired by the deviation acquisition means and a parameter indicating a time required for the moving object to return to the ideal trajectory; a control means for determining a route of the moving body at each time from the trajectory calculated by the trajectory calculation means, and for calculating a speed of the plurality of wheels from the route to control the drive means; The composite parameters include: a parameter indicating an angle between the ideal path and the moving direction of the moving object is further included; where T is a parameter indicating the time required to return to the ideal path, y is a parameter indicating the deviation of the moving body acquired by the deviation acquisition means, and θ is a parameter indicating the angle between the ideal path and the moving direction of the moving body, the trajectory calculation means uses the following equations 1, 2 and 4, with at least the position of the moving body at t = 0 as a boundary condition, and treats at least a0 of the parameters ai (i = 0, 1, 2, ..., n) as known, and solves simultaneous equations derived from ∂I / ∂ai = 0 and ∂I / ∂T = 0 to calculate unknown parameters among the parameters ai (i = 0, 1, 2, ..., n) and T, thereby calculating a trajectory that minimizes I: A mobile body, wherein the value of α is set to have a positive correlation with the weight of luggage of the mobile body. [Equation 1] (Here, the integration range is 0 to t to T.) [Equation 2] (Equation 3) sinθ=(dy / dt) / v (Formula 4)

3. a communication means for receiving an image of the moving object and transmitting a trajectory of the moving object to the moving object; a deviation acquisition means for acquiring a deviation of the moving object in a direction perpendicular to an ideal path by referring to an image of the moving object received by the communication means; a trajectory calculation means for calculating in advance a trajectory of the moving object at each time until the moving object returns to the ideal trajectory based on a composite parameter including a parameter indicating the deviation of the moving object acquired by the deviation acquisition means and a parameter indicating a time required for the moving object to return to the ideal trajectory, and for transmitting the calculated trajectory to the communication means; The composite parameters include: a parameter indicating an angle between the ideal path and the moving direction of the moving object is further included; where T is a parameter indicating the time required to return to the ideal path, y is a parameter indicating the deviation of the moving body acquired by the deviation acquisition means, and θ is a parameter indicating the angle between the ideal path and the moving direction of the moving body, the trajectory calculation means uses the following equations 1, 2 and 4, with at least the position of the moving body at t = 0 as a boundary condition, and treats at least a0 of the parameters ai (i = 0, 1, 2, ..., n) as known, and solves simultaneous equations derived from ∂I / ∂ai = 0 and ∂I / ∂T = 0 to calculate unknown parameters among the parameters ai (i = 0, 1, 2, ..., n) and T, thereby calculating a trajectory that minimizes I: A remote control device in which the value of α is set to have a positive correlation with the weight of luggage of the moving object. [Equation 1] (Here, the integration range is 0 to t to T.) [Equation 2] (Equation 3) sinθ=(dy / dt) / v (Formula 4)

4. A mobile body system including a mobile body, a remote control device, and an imaging device that images the mobile body, the remote control device includes a communication means for receiving an image of the moving object captured by the imaging device and transmitting a trajectory of the moving object to the moving object; a deviation acquisition means for acquiring a deviation of the moving object in a direction perpendicular to an ideal path by referring to an image of the moving object received by the communication means; a trajectory calculation means for calculating in advance a trajectory of the moving object at each time until the moving object returns to the ideal trajectory based on a composite parameter including a parameter indicating the deviation of the moving object acquired by the deviation acquisition means and a parameter indicating a time required for the moving object to return to the ideal trajectory, and for transmitting the trajectory to the communication means; The moving body includes: a driving means for driving each of a plurality of wheels; a receiving means for receiving a trajectory of movement of the moving object from the remote control device; a control means for determining a route of the moving body at each time from the trajectory of the moving body received by the receiving means, and for calculating the speeds of the plurality of wheels from the route to control the driving means; The composite parameters include: a parameter indicating an angle between the ideal path and the moving direction of the moving object is further included; where T is a parameter indicating the time required to return to the ideal path, y is a parameter indicating the deviation of the moving body acquired by the deviation acquisition means, and θ is a parameter indicating the angle between the ideal path and the moving direction of the moving body, the trajectory calculation means uses the following equations 1, 2 and 4, with at least the position of the moving body at t = 0 as a boundary condition, and treats at least a0 of the parameters ai (i = 0, 1, 2, ..., n) as known, and solves simultaneous equations derived from ∂I / ∂ai = 0 and ∂I / ∂T = 0 to calculate unknown parameters among the parameters ai (i = 0, 1, 2, ..., n) and T, thereby calculating a trajectory that minimizes I: A mobile system in which the value of α is set to have a positive correlation with the weight of luggage of the mobile system. [Equation 1] (Here, the integration range is 0 to t to T.) [Equation 2] (Equation 3) sinθ=(dy / dt) / v (Formula 4)

5. A moving object trajectory calculation device Obtaining a deviation of the moving object in a direction perpendicular to the ideal path; calculating in advance a trajectory of the moving object at each time until the moving object returns to the ideal path based on a composite parameter including the acquired parameter indicating the deviation of the moving object and a parameter indicating the time required for the moving object to return to the ideal path; The composite parameters include: a parameter indicating an angle between the ideal path and the moving direction of the moving object is further included; where T is a parameter indicating the time required to return to the ideal path, y is a parameter indicating the acquired deviation of the moving body, and θ is a parameter indicating the angle between the ideal path and the moving direction of the moving body, the moving body trajectory calculation device uses the following equations 1, 2, and 4, with at least the position of the moving body at t=0 as a boundary condition, treats at least a0 of the parameters ai (i=0, 1, 2, ..., n) as known, and solves simultaneous equations derived from ∂I / ∂ai=0 and ∂I / ∂T=0 to calculate unknown parameters among the parameters ai (i=0, 1, 2, ..., n) and T, thereby calculating a trajectory that minimizes I: A moving body trajectory calculation method, wherein the value of α is set so as to have a positive correlation with the weight of the luggage of the moving body. [Equation 1] (Here, the integration range is 0 to t to T.) [Equation 2] (Equation 3) sinθ=(dy / dt) / v (Formula 4)

6. On the computer, A process of acquiring a deviation of the moving object in a direction perpendicular to the ideal path; and calculating in advance a trajectory of the moving object at each time until the moving object returns to the ideal path based on a composite parameter including the acquired parameter indicating the deviation of the moving object and a parameter indicating the time required for the moving object to return to the ideal path; The composite parameters include: a parameter indicating an angle between the ideal path and the moving direction of the moving object is further included; a process in which, using the following equations 1, 2, and 4, at least a0 of parameters ai (i=0, 1, 2, ..., n) is treated as known, and unknown parameters among parameters ai (i=0, 1, 2, ..., n) and T are calculated by solving simultaneous equations derived from ∂I / ∂ai=0 and ∂I / ∂T=0, where T is a parameter indicating the time required to return to the ideal path, y is a parameter indicating the acquired deviation of the moving body, and θ is a parameter indicating the angle between the ideal path and the moving direction of the moving body, and thereby calculating a trajectory that minimizes I; and setting the value of α so that it has a positive correlation with the weight of the luggage of the moving object. [Equation 1] (Here, the integration range is 0 to t to T.) [Equation 2] (Equation 3) sinθ=(dy / dt) / v (Formula 4)

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