Mobile body, mobile body system, method and program for controlling a mobile body

Abstract

To provide a movable body, a movable body system, a movable body control method and a program that enable the following movable body to precisely track the preceding movable body.SOLUTION: A movable body 1000 according to the present disclosure includes a preceding movable body detecting unit 1100, a following movable body detecting unit 1200, and a movement control unit 1800. The preceding movable body detecting unit 1100 detects a relative position to a preceding movable body, which precedes the movable body 1000. The following movable body detecting unit 1200 detects a relative position to the following movable body, which follows the movable body 1000. The movement control unit 1800 controls the movement of the movable body 1000 so as to follow the preceding movable body on the basis of the relative position to the preceding movable body. Moreover, the movement control unit 1800 controls the movement of the movable body 1000 in such a way that the movable body 1000 is positioned within a predetermined range from the following movable body on the basis of the relative position to the following movable body.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a moving body, a moving body system, a method for controlling a moving body, and a program.

Background Art

[0002] When multiple mobilities such as autonomous vehicles and robots are used to form a column and perform queue following driving, the control of the follower side becomes simple, the control is easy, and the cost can be reduced. In addition, scalability is high, and it becomes possible to easily expand the workable area by increasing or decreasing the number of units. Also, in a situation where it is difficult to implement with a single high-performance device to achieve one purpose due to weight, passage width, time limit, etc., it may be possible to implement by sharing among multiple devices. Methods for performing following control include centralized control that is performed by looking at the entire moving body to be controlled, and autonomous decentralized control in which each moving body controls while looking at the following partner.

[0003] In autonomous decentralized control, that is, control in which a moving body grasps the operation of a preceding moving body and follows it, various techniques are known. For example, Patent Document 1 discloses a vehicle control system that is mounted on each of a plurality of vehicles including a lead vehicle driven manually, and controls the own vehicle to follow the preceding vehicle through wireless communication with the preceding vehicle. The vehicle control system includes a sensor that detects the state of the own vehicle, an actuator that adjusts the behavior of the own vehicle, and a control device that comprehensively controls the own vehicle. However, in Patent Document 1, the vehicle cannot acquire information for performing queue driving unless it uses wireless communication.

[0004] On the other hand, a marker is attached to the preceding moving body, and the subsequent moving body grasps the movement of the preceding moving body by reading the marker with a camera or the like. And a technique is known in which the subsequent moving body performs the same operation as the preceding moving body or calculates a target point and heads for the target point to perform following driving.

Prior Art Documents

Patent Documents

[0005] [Patent Document 1] Japanese Patent Publication No. 2019-189033 [Overview of the project] [Problems that the invention aims to solve]

[0006] However, the underlying technology had a problem in that if the preceding moving object performed complex movements, the following moving object could not accurately track it.

[0007] In light of such challenges, this disclosure aims to provide a mobile body, a mobile body system, a control method for a mobile body, and a program that enable a subsequent mobile body to accurately follow a preceding mobile body. [Means for solving the problem]

[0008] The mobile entity in this disclosure is It is a mobile object, A preceding moving body detection unit detects the relative position of the moving body with respect to a preceding moving body, A tracking moving body detection unit detects the relative position of the tracking moving body that follows the aforementioned moving body, The system includes a movement control unit that controls the movement of the moving body to follow the preceding moving body based on its relative position to the preceding moving body, and controls the movement of the moving body to position the following moving body within a predetermined range from the following moving body based on its relative position to the following moving body.

[0009] The mobile system of this disclosure is The first mobile unit, The system comprises a second moving body that follows the first moving body, The second mobile body is A preceding moving object detection unit that detects the relative position with respect to the first moving object, The system includes a movement control unit that controls the movement of the second moving body to follow the first moving body based on its relative position to the first moving body, The first mobile body is A tracking moving body detection unit that detects the relative position with respect to the second moving body, The system includes a movement control unit that controls the movement of the first moving body so that it is located within the detection range of the preceding moving body detection unit of the second moving body, based on its relative position to the second moving body.

[0010] A method for controlling a moving object as disclosed herein, A method for controlling a moving object, The relative position of the moving body with respect to a preceding moving body is detected. The relative position between the moving body and the following moving body that follows the moving body is detected. Based on its relative position to the preceding moving body, the movement of the moving body is controlled to follow the preceding moving body, and based on its relative position to the following moving body, the movement of the moving body is controlled so that it is located within a predetermined range from the following moving body.

[0011] The program disclosed herein is A program to be executed by a mobile device, The relative position of the moving body with respect to a preceding moving body is detected. The relative position between the moving body and the following moving body that follows the moving body is detected. The system causes the mobile body to perform a process that controls its movement to follow the preceding mobile body based on its relative position to the preceding mobile body, and also controls its movement to position itself within a predetermined range from the following mobile body based on its relative position to the following mobile body. [Effects of the Invention]

[0012] This disclosure provides a mobile body, a mobile body system, a control method for the mobile body, and a program that enable a subsequent mobile body to accurately follow a preceding mobile body. [Brief explanation of the drawing]

[0013] [Figure 1] This is a block diagram showing an example of the configuration of a mobile body according to the first embodiment. [Figure 2] It is a block diagram showing an example of the configuration of a moving body according to the second embodiment. [Figure 3] It is a view of the moving body according to the second embodiment seen from above. [Figure 4] It is a view of the moving body according to the second embodiment seen from below. [Figure 5] It is a diagram showing an example of the configuration of a moving body system according to the second embodiment. [Figure 6] It is a flowchart showing an example of the operation of a moving body system according to the second embodiment. [Figure 7] It is a diagram showing an example of the movement control of each moving body of a moving body system according to the second embodiment. [Figure 8] It is a diagram showing an example of the movement control of each moving body of a moving body system according to the second embodiment. [Figure 9] It is a diagram showing an example of the movement control of each moving body of a moving body system according to the second embodiment. [Figure 10] It is a diagram showing an example of the movement control of each moving body of a moving body system according to the second embodiment. [Figure 11] It is a block diagram showing an example of the configuration of a moving body according to the third embodiment. [Figure 12] It is a block diagram showing the configuration of a computer according to this embodiment.

Embodiments for Carrying Out the Invention

[0014] Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. In each drawing, the same reference numerals are assigned to the same elements, and redundant descriptions are omitted as necessary for clarity of explanation.

[0015] (First Embodiment) First, the configuration of the moving body 1000 according to the first embodiment will be described using FIG. 1. The moving body 1000 includes a preceding moving body detection unit 1100, a following moving body detection unit 1200, and a movement control unit 1800.

[0016] The leading object detection unit 1100 detects the relative position of the moving object 1000 with respect to a leading object that is preceding it. The following object detection unit 1200 detects the relative position of the moving object 1000 with respect to a following object that is following it. The movement control unit 1800 controls the movement of the moving object 1000 to follow the leading object based on its relative position with respect to the leading object. The movement control unit 1800 also controls the movement of the moving object 1000 to be located within a predetermined range from the following object based on its relative position with respect to the following object.

[0017] Therefore, the moving body 1000 according to the first embodiment moves in such a way that a subsequent moving body (following moving body) can accurately follow the moving body 1000.

[0018] (Second embodiment) Next, the configuration of the mobile body 1000 according to the second embodiment will be explained using Figure 2. As shown in Figure 2, the mobile body 1000 is a mobile body that includes a leading mobile body detection unit 1100, a following mobile body detection unit 1200, a movement control unit 1800, and a movement mechanism unit 1900, and is, for example, a mobile body with wheels or tracks such as a vehicle or robot, or a mobile body with propellers such as a drone.

[0019] The preceding moving object detection unit 1100 is a sensor that detects the relative position of the moving object 1000 with a moving object preceding it (hereinafter referred to as the preceding moving object), and is, for example, an RGB camera, LiDAR, or a distance measuring sensor. Hereinafter, the relative position refers to the relative position in two-dimensional space or three-dimensional space. The relative position may also be expressed as the distance or angle between the moving objects.

[0020] The tracking object detection unit 1200 is a sensor that detects the relative position of a moving object that follows the moving object 1000 (hereinafter referred to as the tracking object), and is, for example, an RGB camera, LiDAR, or a distance measuring sensor.

[0021] The movement control unit 1800 controls the movement of the mobile body 1000 to follow the preceding mobile body based on its relative position to the preceding mobile body. Specifically, the movement control unit 1800 calculates a movement control amount to control the movement of the mobile body 1000 to follow the preceding mobile body from the relative position difference between its relative position to the preceding mobile body and a preset relative position to the preceding mobile body. Then, the movement control unit 1800 controls the movement of the mobile body 1000 according to the movement control amount.

[0022] In addition, the movement control unit 1800 controls the movement of the mobile body 1000 based on its relative position to the tracking mobile body, so that the mobile body 1000 is located within a predetermined range from the tracking mobile body. This predetermined range is the range in which the tracking mobile body does not lose sight of the mobile body 1000, and can be set individually. For example, this predetermined range is within the detection range of an RGB camera or sensor installed on the tracking mobile body for detecting the relative position to the mobile body. Specifically, the movement control unit 1800 determines the movement control amount based on its relative position to the tracking mobile body, so that when the mobile body 1000 is controlled by the aforementioned movement control amount, the mobile body 1000 is located within a predetermined range from the tracking mobile body.

[0023] Here, the preceding moving object detection unit 1100 of the moving object 1000 may generate an error when detecting the relative position with respect to the preceding moving object. If such a detection error occurs, the moving object 1000 may continue to move even though the preceding moving object is stationary. In addition to the above configuration, the moving object 1000 is equipped with the following configuration to reduce the possibility of it continuing to move due to such detection error. The movement control unit 1800 of the moving object 1000 controls the movement of the moving object 1000 to follow the preceding moving object if the relative position difference exceeds a predetermined threshold. On the other hand, the movement control unit 1800 stops controlling the movement of the moving object 1000 if the relative position difference is less than or equal to the predetermined threshold. Alternatively, the movement control unit 1800 may control the movement of the moving object 1000 to follow the preceding moving object with a predetermined probability. Furthermore, the movement control unit 1800 may control the movement of the moving object 1000 to follow the preceding moving object after a predetermined time has elapsed since detecting the relative position with respect to the preceding moving object.

[0024] Here, the movement control unit 1800 controls the movement of the moving body 1000 as described above by operating the movement mechanism unit 1900. The moving mechanism 1900 is a mechanism for moving the mobile body 1000, and may include, for example, tires, tracks, or propellers.

[0025] Next, using Figure 3, an example of the configuration of the mobile body 1000 according to the second embodiment, as viewed from above, will be explained. As shown in Figure 3, the mobile body 1000 is equipped with an RGB camera as a leading mobile body detection unit 1100 on one side, and an RGB camera as a following mobile body detection unit 1200 on the other side.

[0026] Next, using Figure 4, an example of the configuration of the mobile body 1000 according to the second embodiment, as viewed from below (ground side), will be explained. As shown in Figure 4, the mobile body 1000 consists of a left tire 1901, a right tire 1902, and a swivel wheel 1903 as the mobile mechanism section 1900, and constitutes a two-wheel drive type mobile mechanism. Here, an example of a two-wheel drive type mobile mechanism is shown, but it does not depend on the number of wheels (three wheels, four wheels, etc.) or the type of mobile mechanism.

[0027] Next, an example of the configuration of the mobile system 2 according to the second embodiment will be described using Figure 5. The mobile system 2 is a system comprising a plurality of mobile bodies 1000, in which the plurality of mobile bodies 1000 travel in a line. In the example shown in Figure 5, the mobile system 2 comprises mobile body 1010 (third mobile body), mobile body 1020 (first mobile body), and mobile body 1030 (second mobile body), and the three mobile bodies 1010, 1020, and 1030 travel in a line. Mobile bodies 1010, 1020, and 1030 each have the same configuration as mobile body 1000 described above. That is, mobile body 1010 comprises a leading mobile body detection unit 1110, a following mobile body detection unit 1210, a movement control unit 1810, and a movement mechanism unit 1910. The mobile body 1020 includes a leading mobile body detection unit 1120, a following mobile body detection unit 1220, a movement control unit 1820, and a movement mechanism unit 1920. The mobile body 1030 includes a leading mobile body detection unit 1130, a following mobile body detection unit 1230, a movement control unit 1830, and a movement mechanism unit 1930.

[0028] Mobile body 1010 is the leading mobile body of mobile body 1020. Mobile body 1020 is the following mobile body of mobile body 1010 and the leading mobile body of mobile body 1030. Mobile body 1030 is the following mobile body of mobile body 1020. Here, mobile bodies 1010 to 1030 are assumed to have exactly the same configuration, but the leading mobile body detection unit 1110 of mobile body 1010 and the following mobile body detection unit 1230 of mobile body 1030 are not used in the example shown in Figure 5 and may be omitted.

[0029] Mobile unit 1010 is the leading unit in a group of three. The method of leading the group is not limited to autonomous movement to the goal, but also to remote operation using a mechanism that can be remotely controlled by a person, such as a radio control system.

[0030] Mobile units 1020 and 1030 have, for example, the following configurations. The leading object detection unit 1120 of the moving object 1020 detects its relative position to the moving object 1010. Based on its relative position to the moving object 1010, it controls the movement of the moving object 1020 to follow the moving object 1010. The following object detection unit 1220 of the moving object 1020 also detects its relative position to the moving object 1030. Based on its relative position to the moving object 1030, the movement control unit 1820 controls the movement of the moving object 1020 so that it is within the detection range of the leading object detection unit 1130 (e.g., an RGB camera) of the moving object 1030. Here, the movement control unit 1820 calculates a movement control amount to control the movement of the moving object 1020 to follow the moving object 1010, based on its relative position to the moving object 1010. At the same time, the movement control unit 1820 determines the movement control amount based on the relative position with respect to the moving body 1030, so that when the moving body 1020 is controlled by the movement control amount, the moving body 1020 is located within the detection range of the preceding moving body detection unit 1130 of the moving body 1030.

[0031] The leading moving object detection unit 1130 of the moving object 1030 detects its relative position to the moving object 1020. The movement control unit 1830 controls the movement of the moving object 1030 to follow the moving object 1020 based on its relative position to the moving object 1020.

[0032] Furthermore, in the mobile body system 2, the detection error of the preceding mobile body detection unit for each mobile body accumulates as the number of stages being followed increases. For example, the number of stages being followed is the distance from the preceding mobile body, i.e., mobile body 1010, with mobile body 1020 having a stage of 1 and mobile body 1030 having a stage of 2. In addition to the above configuration, the mobile body system 2 includes a configuration that takes the number of stages into consideration and reduces the possibility of continuous movement due to the next detection error. The movement control unit 1820 of mobile body 1020 calculates the relative position difference between its relative position to mobile body 1010 and a preset relative position to mobile body 1010. If the relative position difference exceeds a first threshold, the movement control unit 1820 controls the movement of mobile body 1020 to follow mobile body 1010. Similarly, the movement control unit 1830 of mobile body 1030 calculates the relative position difference between its relative position to mobile body 1020 and a preset relative position to mobile body 1020. The movement control unit 1830 controls the movement of the moving body 1030 to follow the moving body 1020 if the relative position difference exceeds a second threshold which is higher than the first threshold.

[0033] On the other hand, the mobile system 2 may have the following configuration: The movement control unit 1820 of the mobile body 1020 controls the movement of mobile body 1020 to follow mobile body 1010 with a first probability. Also, the movement control unit 1830 of the mobile body 1030 controls the movement of mobile body 1030 to follow mobile body 1020 with a second probability, which is lower than the first probability. Furthermore, the movement control unit 1820 of the mobile body 1020 controls the movement of the mobile body 1020 to follow the mobile body 1010 after a first waiting period has elapsed following the detection of its relative position with the mobile body 1010. The movement control unit 1830 of the mobile body 1030 controls the movement of the mobile body 1030 to follow the mobile body 1020 after a second waiting period, which is longer than the first waiting period, has elapsed following the detection of its relative position with the mobile body 1020.

[0034] Next, using Figure 6, the operation of mobile bodies 1010, 1020, and 1030 in the mobile system 2 according to the second embodiment will be explained. Here, the operation of mobile body 1020, which has both a leading mobile body and a following mobile body, will be explained, but the operation of mobile bodies 1010 and 1030 is the same except that neither a leading mobile body nor a following mobile body is present. In this embodiment, a configuration of three units is shown, but the operation is the same for two or more units.

[0035] The movement control unit 1820 of the moving body 1020 detects the relative position VS with respect to the leading moving body 1010 using a leading moving body detection unit 1120 such as an RGB camera (step S101). In the following description, the relative position is the relative position in two-dimensional space or three-dimensional space and is represented by a vector quantity. The relative position may also be expressed as the distance and angle between the moving bodies.

[0036] The movement control unit 1820 of the moving body 1020 detects its relative position to the preceding moving body 1010 in the following way. For example, a two-dimensional barcode is attached to the preceding moving body 1010. The preceding moving body detection unit 1120 of the moving body 1020 detects the two-dimensional barcode. The movement control unit 1820 calculates the relative position VS from its shape and size. Specifically, the relative angle is determined from the shape of the detected two-dimensional barcode, and the relative distance is determined from the size of the two-dimensional barcode, and these are used as the relative position VS. If the tracking surface of the preceding moving body 1010 is flat, the moving body 1020 may use a LiDAR sensor to detect the inclination and size of that surface.

[0037] Next, the movement control unit 1820 calculates the relative position difference VD between the preset relative position VB with respect to the preceding moving object 1010 and the detected relative position VS with respect to the preceding moving object 1010 (step S102). The relative position VB indicates the position of the moving object 1020 when it is following the preceding moving object 1010. The relative position difference VD is a vector quantity and is calculated as VD = VB - VS.

[0038] Next, the movement control unit 1820 determines whether the calculated relative position difference VD is greater than the threshold α (step S103). If the relative position difference VD is less than or equal to the threshold α, the system returns to step S101 without performing any movement control (No in step S103). On the other hand, if the relative position difference VD is greater than the threshold α (Yes in step S103), the system calculates the movement control amount VA that minimizes the relative position difference VD (step S104). The movement control amount VA is expressed as a vector quantity and is calculated, for example, as VA = -VD.

[0039] The threshold α mentioned above is a parameter used to determine whether or not to perform movement control. If the threshold α is sufficiently small, there will be no delay in tracking operations such as starting or stopping movement. However, if detection errors in the preceding moving object detection unit 1120 cause the detected value to have a certain range even when the object is stationary, the moving object 1020 will continue to move indefinitely. Therefore, it is desirable for the threshold α to have a certain magnitude. On the other hand, if the threshold α is sufficiently large, the moving object 1020 will not continue to move indefinitely, but the time it takes for the moving object 1020 to start moving or stop, and the time it takes to stop, will increase, causing the moving object 1020 to follow the preceding moving object 1010 with a delay.

[0040] Here, the larger the number of tracking stages, the more the detection error of each preceding moving object detection unit accumulates. The more this detection error accumulates, the higher the probability that the moving object will continue to move indefinitely. Therefore, the threshold α mentioned above is increased as the number of tracking stages increases, reducing the probability that the moving object will continue to move indefinitely. For example, the threshold α of the tracking moving object 1030 is set higher than the threshold α of the moving object 1020.

[0041] In step S103, the decision of whether or not to control movement is made based on the magnitude of the threshold α, but the movement control unit 1820 may also control the movement of the moving body 1020 with a predetermined probability. As the number of stages to follow increases, detection errors accumulate, so the probability is set lower as the number of stages to follow increases, reducing the possibility that each moving body will continue to move indefinitely. For example, the probability of the following moving body 1030 is set lower than the probability of the moving body 1020.

[0042] Furthermore, although step S103 determines whether or not to control movement based on the magnitude of the threshold α, the movement control unit 1820 may perform the processing in step S104 after a predetermined waiting time has elapsed. As the number of stages to follow increases, detection errors accumulate, so the waiting time is set to be longer as the number of stages to follow increases, reducing the possibility that each moving object will continue to move indefinitely. For example, the waiting time of the following moving object 1030 is set to be longer than the waiting time of the moving object 1020.

[0043] Next, the movement control unit 1820 calculates the relative position VR with respect to the tracking moving object 1030 using the tracking moving object detection unit 1220, such as an RGB camera (step S105).

[0044] Next, the movement control unit 1820 determines, based on the relative position VR, whether the moving object 1020 is within the detection range of the following moving object 1030 when the moving object 1020 is controlled by the movement control amount VA (step S106). In other words, the movement control unit 1820 determines whether the moving object 1020 will not be lost by the following moving object 1030 when the movement is controlled. The detection range of the following moving object 1030 is the detection range of the leading moving object detection unit 1130 of the following moving object 1030, and is calculated from the specifications of the leading moving object detection unit 1130 (e.g., RGB camera) (e.g., field of view and pixels) and the size of the marker to be detected. The moving object 1020 has the detection range of the following moving object 1030 stored in advance.

[0045] If the moving body 1020 is not within the detection range of the following moving body 1030 (Yes in step S107), the movement control unit 1820 modifies the movement control amount VA so that the moving body 1020 is within the detection range of the following moving body 1030 when the movement control amount VA is used to move the moving body 1020 (step S108). In this case, the movement control unit 1820 modifies the movement control amount VA so that it decreases linearly, that is, so that the vector amount is small. On the other hand, if the moving body 1020 is within the detection range of the following moving body 1030 (Yes in step S107), the movement control unit 1820 does not modify the movement control amount VA in step S108.

[0046] Next, the movement control unit 1820 instructs the movement mechanism unit 1900 to move the moving body 1020 by a movement control amount VA (step S109). In step S109, the movement control unit 1820 stores instructions to the movement mechanism unit 1900 to move the moving body 1020 by the movement control amount VA. Based on the stored instructions, the movement control unit 1820 may choose not to control the same movement if the moving body 1020 makes the same movement within a predetermined time. This reduces the possibility that the moving body 1020 may continue to move indefinitely due to detection errors by the preceding moving body detection unit 1120.

[0047] Next, using Figures 7-10, we will explain an example of movement control for mobile bodies 1010, 1020, and 1030 in the mobile system 2. In the example shown in Figure 7, the leading mobile body 1010 is controlled to avoid being lost sight of by mobile body 1020. Next, in the example shown in Figure 8, mobile body 1020 is controlled to avoid being lost sight of by following mobile body 1030. In other words, all mobile bodies can control their movement without losing sight of the leading mobile body. Figures 7 and 8 show an example where the mobile bodies move in a straight line, but the same applies even if the mobile bodies rotate and the angle changes, as shown in Figures 9 and 10.

[0048] In this embodiment, the leading object detection unit 1120 and the following object detection unit 1220 are configured separately, but they may be a single unit.

[0049] As described above, in the mobile system 2 according to the second embodiment, the mobile body 1000 controls its movement to follow the preceding mobile body based on its relative position to the preceding mobile body. Accordingly, the mobile body 1000 controls its movement to be located within a predetermined range from the following mobile body based on its relative position to the following mobile body. In other words, the movement of the mobile body 1000 is controlled so that it does not lose sight of the following mobile body, or is not lost sight of by the following mobile body. With the mobile body 1000, the subsequent mobile body can follow accurately.

[0050] Furthermore, in the mobile system 2, the mobile body 1000 uses a threshold α, probability, and elapsed time to determine whether or not to control its movement. Therefore, the possibility that the mobile body 1000 will continue to move indefinitely due to detection errors when detecting its relative position to a preceding mobile body can be reduced.

[0051] Furthermore, in the mobile system 2, the aforementioned threshold α, probability, and elapsed time are changed according to the number of stages of each mobile body that constitutes the system. Therefore, each mobile body can reduce the possibility that each mobile body will continue to move indefinitely, by taking into account the accumulation of detection errors when detecting the relative position with respect to the preceding mobile body.

[0052] Furthermore, in the mobile system 2, the mobile body 1000 is controlled to prevent it from performing the same action within a predetermined time by storing instructions to move with a movement control amount VA. Therefore, the possibility of the mobile body 1000 constantly moving due to detection errors when detecting its relative position with a preceding mobile body can be reduced.

[0053] (Third embodiment) Next, an example of the configuration of the mobile body 2000 according to the third embodiment will be described using Figure 11. As shown in Figure 11, the mobile body 2000 is configured by adding an operation information detection unit 1600 and an operation information transmission unit 1700 to the mobile body 1000 according to the second embodiment.

[0054] The motion information transmission unit 1700 transmits control information (e.g., movement control amount) determined by the movement control unit 1800 to the follower of the mobile body 2000. The motion information transmission unit 1700 transmits this information by at least one means of communication, light, and sound, such as light from a display or LED, sound from a buzzer or speaker, or wireless communication. The motion information transmission unit 1700 may also transmit control information to the preceding mobile body of the mobile body 2000.

[0055] Furthermore, the motion information transmission unit 1700 causes the mobile body 2000 to perform a preliminary action corresponding to the upcoming action information of the mobile body 2000 before the mobile body 2000 performs an action. For example, the preliminary action is stored and linked to the upcoming action information of the mobile body 2000, such as moving left, right, or straight ahead. The motion information transmission unit 1700 may also transmit the preliminary action by at least one means of communication, light, or sound, such as light from a display or LED, sound from a buzzer or speaker, or wireless communication.

[0056] The motion information detection unit 1600 detects control information of the preceding mobile body 2000 by at least one means of communication, light, or sound. The movement control unit 1800 controls the movement of the mobile body 2000 using the control information of the preceding mobile body.

[0057] Furthermore, the motion information detection unit 1600 detects preliminary movements of the preceding moving object. The motion information detection unit 1600 is, for example, an RGB camera. The movement control unit 1800 uses the preliminary movements of the preceding moving object to control the movement of the moving object 2000. In this case, the preliminary movements are stored in association with information about future movements that the preceding moving object will perform, such as moving left, right, or straight ahead.

[0058] Next, an example of the configuration of a mobile system 3 (not shown) according to the third embodiment will be described. The mobile system 3 is a system comprising a plurality of mobile bodies 2000, wherein the plurality of mobile bodies 2000 travel in a line. For example, the mobile system 3 comprises mobile bodies 2010, 2020, and 2030, wherein the three mobile bodies 2010, 2020, and 2030 travel in a line.

[0059] Mobile bodies 2010, 2020, and 2030 of mobile system 3 correspond to mobile bodies 1010, 1020, and 1030 of mobile system 2 according to the second embodiment, respectively (see Figure 5). Here, mobile body 2020 includes a leading mobile body detection unit 1120, a following mobile body detection unit 1220, a movement control unit 1820, and a movement mechanism unit 1920, in addition to an operation information transmission unit 1720. Mobile body 2030 includes a leading mobile body detection unit 1130, a following mobile body detection unit 1230, a movement control unit 1830, and a movement mechanism unit 1930, in addition to an operation information detection unit 1630.

[0060] Specifically, the motion information transmission unit 1720 of the mobile unit 2020 transmits control information of the mobile unit 2020 to the mobile unit 2030 by at least one means of communication, light, or sound. The motion information detection unit 1630 of the mobile unit 2030 then detects the control information of the mobile unit 2020. The movement control unit 1830 of the mobile unit 2030 controls the movement of the mobile unit 2030 based on the control information of the mobile unit 2020.

[0061] Furthermore, the motion information transmission unit 1700 of the mobile unit 2020 causes the mobile unit 2020 to perform preliminary actions corresponding to the motion information to be executed in the future. The motion information detection unit 1600 of the mobile unit 2030 detects the preliminary actions of the preceding mobile unit. The movement control unit 1830 of the mobile unit 2030 controls the movement of the mobile unit 2030 based on the preliminary actions of the mobile unit 2020.

[0062] As described above, the mobile body 2000 according to the third embodiment detects movement control information and future operation information of the preceding mobile body or the following mobile body. By using the detected information, the mobile body 2000 can better understand the operation of the preceding mobile body or the following mobile body and control its movement with greater precision.

[0063] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. For example, the mobile bodies 1000 and 2000 described above are not limited to mobile bodies with wheels, but may also be mobile bodies that move three-dimensionally in the air, such as drones. In this case, the mobile bodies 1000 and 2000 do not need to have the configuration of the mobile mechanism 1900. Alternatively, for example, by using an RGB camera to detect a preceding moving object and preliminary movements in the aforementioned moving object 2000, the motion information detection unit 1600 and the following moving object detection unit 1200 may be configured as a single unit.

[0064] <Hardware Configuration> Next, using Figure 12, examples of the hardware configuration of the computer 500 of the mobile body 1000 and mobile body 2000 according to the first, second, and third embodiments will be described. In Figure 12, the computer 500 has a processor 501 and a memory 502. The processor 501 may be, for example, a microprocessor, an MPU (Micro Processing Unit), or a CPU (Central Processing Unit). The processor 501 may include multiple processors. The memory 502 is composed of a combination of volatile memory and non-volatile memory. The memory 502 may include storage located away from the processor 501. In this case, the processor 501 may access the memory 502 via an I / O interface that is not shown.

[0065] Furthermore, each configuration in the above-described embodiment may consist of hardware, software, or both, and may consist of one piece of hardware or software, or multiple pieces of hardware or software. The functions (processes) of each configuration in the above-described embodiment may be implemented by a computer. For example, a program for performing the method in the embodiment may be stored in memory 502, and each function may be implemented by executing the program stored in memory 502 with a processor 501.

[0066] These programs, when loaded into a computer, include a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments. The programs may be stored on non-temporary computer-readable media or tangible storage media. Examples, but not limited to, include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drives (SSDs), or other memory technologies, CD-ROMs, digital versatile discs (DVDs), Blu-ray® discs, or other optical disc storage, magnetic cassettes, magnetic tapes, magnetic disk storage, or other magnetic storage devices. The programs may be transmitted over temporary computer-readable media or communication media. Examples, but not limited to, include electrical, optical, acoustic, or other forms of propagating signals.

[0067] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) It is a mobile object, A preceding moving body detection unit detects the relative position of the moving body with respect to a preceding moving body, A tracking moving body detection unit detects the relative position of the tracking moving body that follows the aforementioned moving body, The system includes a movement control unit that controls the movement of the moving body to follow the preceding moving body based on its relative position to the preceding moving body, and controls the movement of the moving body to be located within a predetermined range from the following moving body based on its relative position to the following moving body. A mobile object. (Note 2) The aforementioned movement control unit, Based on the relative position with respect to the preceding moving body, a movement control amount is calculated to control the movement of the moving body so that it follows the preceding moving body, Based on the relative position with respect to the tracking moving body, the movement control amount is determined such that when the moving body is controlled by the movement control amount, the moving body is positioned within a predetermined range from the tracking moving body. The mobile body described in Appendix 1. (Note 3) The aforementioned movement control unit, The relative position difference between the relative position with respect to the preceding moving body and the predetermined relative position with respect to the preceding moving body is calculated. If the relative position difference exceeds a predetermined threshold, the movement of the moving body is controlled to follow the preceding moving body. The mobile body described in Appendix 1. (Note 4) The aforementioned movement control unit, The movement of the moving body is controlled to follow the preceding moving body with a predetermined probability. The mobile body described in Appendix 1. (Note 5) The aforementioned movement control unit, After detecting the relative position to the preceding moving body and a predetermined time has elapsed, the movement of the moving body is controlled to follow the preceding moving body. The mobile body described in Appendix 1. (Note 6) The system further comprises an operation information transmission unit that transmits control information of the mobile body to the following mobile body by at least one means of communication, light, or sound. The mobile body described in Appendix 1. (Note 7) The system further comprises an operation information detection unit that detects control information of the preceding moving object by at least one means of communication, light, and sound, The aforementioned movement control unit, Based on the control information of the preceding moving body, control the movement of the moving body. The mobile body described in Appendix 1. (Note 8) The aforementioned movement control unit, The mobile body is instructed to perform a preliminary action corresponding to the action information it will perform in the future. The mobile body described in Appendix 1. (Note 9) The system further includes an operation information detection unit that detects preliminary actions corresponding to operation information to be performed by the preceding moving object in the future. Based on the action information that the preceding moving body will perform in the future, the movement of the moving body is controlled. The mobile body described in Appendix 1. (Note 10) The first mobile unit, The system comprises a second moving body that follows the first moving body, The second mobile body is A preceding moving object detection unit that detects the relative position with respect to the first moving object, The system includes a movement control unit that controls the movement of the second moving body to follow the first moving body based on its relative position to the first moving body, The first mobile body is A tracking moving body detection unit that detects the relative position with respect to the second moving body, The system includes a movement control unit that controls the movement of the first moving body so that it is located within the detection range of the preceding moving body detection unit of the second moving body, based on its relative position to the second moving body. Mobile system. (Note 11) The system further comprises a third mobile body preceding the first mobile body, The first mobile body is A preceding moving object detection unit that detects the relative position with respect to the third moving object, The system further comprises a movement control unit that controls the movement of the first moving body to follow the third moving body based on its relative position to the third moving body, The movement control unit of the first moving body is: Based on the relative position with respect to the third moving body, a movement control amount is calculated to control the movement of the first moving body so that it follows the third moving body, Based on the relative position with respect to the second moving body, the movement control amount is determined such that when the first moving body is controlled by the movement control amount, the first moving body is located within the detection range of the preceding moving body detection unit of the second moving body. The mobile system described in Appendix 10. (Note 12) The system further comprises a third mobile body preceding the first mobile body, The first mobile body is A preceding moving object detection unit that detects the relative position with respect to the third moving object, The system further comprises a movement control unit that controls the movement of the first moving body to follow the third moving body based on its relative position to the third moving body, The movement control unit of the first moving body is: The relative position difference between the relative position of the third moving body and a preset relative position of the third moving body is calculated, and if the relative position difference exceeds a first threshold, the movement of the first moving body is controlled to follow the third moving body. The movement control unit of the second moving body is: The relative position difference between the first moving body and a preset relative position is calculated, and if the relative position difference exceeds a second threshold that is higher than the first threshold, the movement of the second moving body is controlled to follow the first moving body. The mobile system described in Appendix 10. (Note 13) The system further comprises a third mobile body preceding the first mobile body, The first mobile body is A preceding moving object detection unit that detects the relative position with respect to the third moving object, The system further comprises a movement control unit that controls the movement of the first moving body to follow the third moving body based on its relative position to the third moving body, The movement control unit of the first moving body is: With a first probability, the movement of the first moving object is controlled to follow the third moving object. The movement control unit of the second moving body is: With a second probability lower than the first probability, the movement of the second moving object is controlled to follow the first moving object. The mobile system described in Appendix 10. (Note 14) The first mobile unit further comprises an operation information transmission unit that transmits control information of the first mobile unit to the second mobile unit by means of at least one of communication, light, and sound. The second mobile body further comprises an operation information detection unit that detects control information of the first mobile body, The movement control unit of the second moving body is: Based on the control information of the first mobile body, the movement of the second mobile body is controlled. The mobile system described in Appendix 10. (Note 15) The movement control unit of the first moving body is: The first mobile body is instructed to perform a preliminary operation corresponding to the operation information to be performed by the first mobile body in the future. The second mobile body further includes an operation information detection unit that detects the preliminary operation of the first mobile body, The movement control unit of the second moving body is: Based on the operation information that the first mobile body will perform in the future, corresponding to the preliminary operation of the first mobile body, the movement of the second mobile body is controlled. The mobile system described in Appendix 10. (Note 16) The system further comprises a third mobile body preceding the first mobile body, The first mobile body is A preceding moving object detection unit that detects the relative position with respect to the third moving object, The device further comprises a movement control unit that controls the movement of the device to follow the third moving object based on its relative position to the third moving object, The movement control unit of the first moving body is: After detecting the relative position with respect to the third moving body and after a first waiting period has elapsed, the movement of the first moving body is controlled to follow the third moving body. The movement control unit of the second moving body is: After detecting the relative position to the first moving object and after a second waiting period longer than the first waiting period has elapsed, the movement of the second moving object is controlled to follow the first moving object. The mobile system described in Appendix 10. (Note 17) A method for controlling a moving object, The relative position of the moving body with respect to a preceding moving body is detected. The relative position between the moving body and the following moving body that follows the moving body is detected. Based on its relative position to the preceding moving body, the movement of the moving body is controlled to follow the preceding moving body, and based on its relative position to the following moving body, the movement of the moving body is controlled so that it is located within a predetermined range from the following moving body. A method for controlling a moving object. (Note 18) A program to be executed by a mobile device, The relative position of the moving body with respect to a preceding moving body is detected. The relative position between the moving body and the following moving body that follows the moving body is detected. The mobile body is instructed to perform a process that controls its movement to follow the preceding mobile body based on its relative position to the preceding mobile body, and also controls its movement to position itself within a predetermined range from the following mobile body based on its relative position to the following mobile body. program. [Explanation of Symbols]

[0068] 2, 3 Mobile Systems 500 Computers 501 Processor 502 memory 1000, 2000 Mobile Units 1010, 2010 Mobile Unit (Third Mobile Unit) 1020, 2020 Mobile Unit (First Mobile Unit) 1030, 2030 Mobile Unit (Second Mobile Unit) 1100 Preceding Moving Object Detection Unit 1200 Tracking Moving Object Detection Unit 1600 Operation Information Detection Unit 1700 Operation Information Transmission Unit 1800 Mobile Control Unit 1900 Moving mechanism section 1901 Left tire 1902 Right tire 1903 Free wheel 1910 Moving mechanism section 1920 Moving mechanism section 1930 Moving mechanism section

Claims

1. It is a mobile object, A preceding moving body detection unit detects the relative position of the moving body with respect to a preceding moving body, A tracking moving body detection unit detects the relative position of the tracking moving body that follows the aforementioned moving body, Based on the relative position with respect to the preceding moving body, the movement of the moving body is controlled to follow the preceding moving body, and based on the relative position with respect to the following moving body, the movement of the moving body is controlled so that the moving body is located within a predetermined range from the following moving body. The relative position difference between the relative position with respect to the preceding moving body and the predetermined relative position with respect to the preceding moving body is calculated. The system includes a movement control unit that controls the movement of the moving body to follow the preceding moving body when the relative position difference exceeds a predetermined threshold. A mobile object.

2. The aforementioned movement control unit, Based on the relative position with respect to the preceding moving body, a movement control amount is calculated to control the movement of the moving body so that it follows the preceding moving body, Based on the relative position with respect to the tracking moving body, the movement control amount is determined such that when the moving body is controlled by the movement control amount, the moving body is positioned within a predetermined range from the tracking moving body. The mobile body according to claim 1.

3. The aforementioned movement control unit, The movement of the moving body is controlled to follow the preceding moving body with a predetermined probability. The mobile body according to claim 1.

4. The system further comprises an operation information detection unit that detects control information of the preceding moving object by at least one means of communication, light, and sound, The aforementioned movement control unit, Based on the control information of the preceding moving body, control the movement of the moving body. The mobile body according to claim 1.

5. The system further includes an operation information detection unit that detects preliminary actions corresponding to operation information to be performed by the preceding moving object in the future. Based on the action information that the preceding moving body will perform in the future, the movement of the moving body is controlled. The mobile body according to claim 1.

6. The first mobile unit, The system comprises a second moving body that follows the first moving body, The second mobile body is A preceding moving object detection unit that detects the relative position with respect to the first moving object, The system includes a movement control unit that controls the movement of the second moving body to follow the first moving body based on its relative position to the first moving body, The first mobile body is A tracking moving body detection unit that detects the relative position with respect to the second moving body, The system includes a movement control unit that controls the movement of the first moving body so that it is located within the detection range of the preceding moving body detection unit of the second moving body, based on its relative position to the second moving body. Mobile system.

7. The system further comprises a third mobile body preceding the first mobile body, The first mobile body is A preceding moving object detection unit that detects the relative position with respect to the third moving object, The system further comprises a movement control unit that controls the movement of the first moving body to follow the third moving body based on its relative position to the third moving body, The movement control unit of the first moving body is: Based on the relative position with respect to the third moving body, a movement control amount is calculated to control the movement of the first moving body so that it follows the third moving body. Based on the relative position with respect to the second moving body, the movement control amount is determined such that when the first moving body is controlled by the movement control amount, the first moving body is located within the detection range of the preceding moving body detection unit of the second moving body. The mobile system according to claim 6.

8. A method for controlling a moving object, The relative position of the moving body with respect to a preceding moving body is detected. The relative position between the moving body and the following moving body that follows the moving body is detected. Based on the relative position with respect to the preceding moving body, the movement of the moving body is controlled to follow the preceding moving body, and based on the relative position with respect to the following moving body, the movement of the moving body is controlled so that the moving body is located within a predetermined range from the following moving body. The relative position difference between the relative position with respect to the preceding moving body and the predetermined relative position with respect to the preceding moving body is calculated. If the relative position difference exceeds a predetermined threshold, the movement of the moving body is controlled to follow the preceding moving body. A method for controlling a moving object.

9. A program to be executed by a mobile device, The relative position of the moving body with respect to a preceding moving body is detected. The relative position between the moving body and the following moving body that follows the moving body is detected. Based on the relative position with respect to the preceding moving body, the movement of the moving body is controlled to follow the preceding moving body, and based on the relative position with respect to the following moving body, the movement of the moving body is controlled so that the moving body is located within a predetermined range from the following moving body. The relative position difference between the relative position with respect to the preceding moving body and the predetermined relative position with respect to the preceding moving body is calculated. If the relative position difference exceeds a predetermined threshold, the mobile body is instructed to execute a process to control its movement so that it follows the preceding mobile body. program.

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