Mobile devices, communication methods, and programs

Abstract

To provide a moving body, a communication method and a program that can improve the possibility that re-tried communication is successful when communication ends in failure and is then re-tried.SOLUTION: A moving body 1 comprises: a main body 11 which moves on a floor surface 91; and a mobile communication part 12 which is fitted to the main body 11, and communicates by radio with a fixed communication part 2c installed above the floor surface 91. The main body 11 is configured to make an ultra-pivotal brake turn. Then the mobile communication part 12 and a turn center C1 of the ultra-pivotal brake turn are positioned by being dislocated from each other in a horizontal direction.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] In Patent Document 1, a moving body travels within a specific space and moves to a measurement area, and measures the illuminance by a lighting fixture in the measurement area. If the measured value of the illuminance is different from a preset value, the moving body generates control information for controlling the output of the lighting fixture so that the illuminance of the light generated by the lighting fixture becomes the preset value. Then, the moving body includes a communication unit that performs infrared communication with an environment generation system, and the communication unit transmits the control information to the environment generation system. The environment generation system controls the output of the lighting fixture according to the control information.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As in the above-mentioned Patent Document 1, a technique in which a moving body moves within a space and communicates by wireless communication is disclosed.

[0005] When communication fails, it is conceivable to attempt communication again, but there is a need to improve the possibility of success of the re-communication.

[0006] An object of the present disclosure is to provide a moving body, a communication method, and a program that can improve the possibility of success of re-communication when communication fails and re-communication is attempted.

Means for Solving the Problems

[0007] A mobile body according to one aspect of the present disclosure comprises a main body that moves on the floor surface and a mobile communication unit attached to the main body that performs wireless communication with a fixed communication unit installed above the floor surface. The main body is configured to enable super-tight turning. The mobile communication unit and the center of rotation of the super-tight turning are positioned horizontally offset from each other. The mobile communication unit initiates the first communication with the fixed communication unit after the main unit has moved toward and stopped at a target position based on the position of the fixed communication unit. If the first communication fails, the mobile communication unit initiates subsequent communication with the fixed communication unit after the main unit has performed a super-tight turn.

[0008] A communication method relating to one aspect of this disclosure , move This is a communication method performed by a moving object. The mobile body comprises a main body that moves along the floor surface and a mobile communication unit attached to the main body that performs wireless communication with a fixed communication unit installed above the floor surface. The main body is configured to enable super-tight turns. The mobile communication unit and the center of rotation for the super-tight turn are positioned horizontally offset from each other. The communication method includes a first communication step and a second communication step. The first communication step is performed by the mobile communication unit initiating the first communication with the fixed communication unit after the main body has moved toward a target position based on the position of the fixed communication unit. The second communication step is performed by the mobile communication unit initiating the second and subsequent communication with the fixed communication unit after the first communication fails and the main body has performed the super-tight turn.

[0009] A program relating to one aspect of this disclosure causes a computer system to execute the communication method described above. [Effects of the Invention]

[0010] As explained above, this disclosure has the effect of improving the likelihood of success when communication fails and a second attempt is made. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a perspective view showing a mobile body according to an embodiment. [Figure 2] Figure 2 shows the setting process of the lighting device by the mobile device described above. [Figure 3] Figure 3 is a plan view showing the moving object described above. [Figure 4] Figure 4 is a block diagram showing the mobile body and lighting device described above. [Figure 5]FIG. 5A is a sequence diagram showing successful communication between the mobile body and the lighting device as described above. FIG. 5B is a sequence diagram showing failed communication between the mobile body and the lighting device as described above. [Figure 6] FIG. 6 is a plan view showing the positional relationship among the target position, the stop error range, and the communication range in the setting process as described above. [Figure 7] FIG. 7 is a plan view showing the first super-credit turning of the mobile body as described above. [Figure 8] FIG. 8 is a plan view showing the second super-credit turning of the mobile body as described above. [Figure 9] FIG. 9 is a plan view showing the communication success range of the mobile body as described above. [Figure 10] FIG. 10A is a plan view showing the first communication of the mobile body as described above. FIG. 10B is a plan view showing the second communication of the mobile body as described above. [Figure 11] FIG. 11 is a plan view showing the offset stop of the mobile body of the first modification example. [Figure 12] FIG. 12A is a plan view showing the forward movement of the mobile body when communication fails as described above. FIG. 12B is a plan view showing the successful communication of the mobile body as described above. [Figure 13] FIG. 13 is a flowchart showing the communication method executed by the mobile body as described above. [Figure 14] FIG. 14 is a plan view showing the communication success range of the mobile body as described above. [Figure 15] FIG. 15 is a block diagram showing the mobile body of the second modification example.

MODE FOR CARRYING OUT THE INVENTION

[0012] The following embodiments generally relate to a mobile body, a communication method, and a program. More specifically, they relate to a mobile body, a communication method, and a program that communicate by wireless communication with a fixed communication unit.

[0013] Note that the following embodiments are merely examples of the embodiments of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications can be made according to the design and the like as long as the effects of the present disclosure can be achieved.

[0014] In the following description, unless otherwise specified, in FIG. 1, the upward, downward, leftward, rightward, forward, and backward directions as viewed from the moving body 1 are defined. The upward and downward directions are opposite to each other, the leftward and rightward directions are opposite to each other, and the forward and backward directions are opposite to each other. The up-down, left-right, and front-back directions are orthogonal to each other.

[0015] (1) Embodiment (1.1) Outline FIG. 1 shows the moving body 1 of the present embodiment.

[0016] The moving body 1 is an autonomous mobile cart that autonomously moves (autonomously travels) toward a target position. In the present embodiment, the moving body 1 uses LiDAR (Light Detection and Ranging) to recognize its own position and thus autonomously move. Note that the moving body 1 may autonomously move using a three-dimensional laser scanner, an ultrasonic sensor, or the like.

[0017] As shown in FIG. 2, the moving body 1 is used for the setting process of the lighting device 2 installed in the target space R1 such as a new construction site or a renovation site of a building. The lighting device 2 is installed on the ceiling 92 above the floor surface 91 and includes a lighting fixture 2a and an illuminance sensor 2b. The lighting fixture 2a irradiates lighting light downward. The illuminance sensor 2b detects the illuminance of the floor surface 91 illuminated by the lighting fixture 2a below the illuminance sensor 2b and notifies the lighting fixture 2a of the data of the detected illuminance value. The lighting fixture 2a adjusts the intensity of the lighting light so that the detected illuminance value matches the target illuminance. The lighting fixture 2a has a solid-state light-emitting element such as an LED (Light Emitting Diode), an organic EL (Organic Electro Luminescence, OEL), or a semiconductor laser diode (Laser Diode, LD) as a light source.

[0018] Furthermore, the illuminance sensor 2b not only has the function of detecting the illuminance of the floor surface 91, but also has the function of performing wireless communication. Specifically, the illuminance sensor 2b incorporates a fixed communication unit 2c that performs wireless communication with the mobile body 1.

[0019] Mobile unit 1 is a mobile cart that autonomously moves on the floor surface 91 of the target space R1 toward the target position P1 (see Figure 2). Mobile unit 1 may be configured to either pre-store data of the target position P1 within the target space R1, or to acquire data of the target position P1 from a higher-level system as needed via wireless communication.

[0020] The mobile unit 1 then autonomously moves on the floor surface 91 and performs the setting process for the lighting device 2 installed in the target space R1. Specifically, when the lighting fixture 2a is lit (emitting illumination light), the mobile unit 1 moves toward the target position P1 set below the illuminance sensor 2b and measures the illuminance due to the illumination light while stopped. The mobile unit 1 has a mobile communication unit 12 that performs wireless communication with the illuminance sensor 11f and the fixed communication unit 2c. The mobile communication unit 12 transmits the measured illuminance data (measured illuminance data), which is the result of the illuminance measurement by the illuminance sensor 11f, to the fixed communication unit 2c. Based on the measured illuminance data received by the fixed communication unit 2c, the lighting device 2 calculates the difference between the measured illuminance and the target illuminance and corrects the control parameters of the lighting control so that the difference decreases. The control parameters to be corrected are, for example, the sensitivity of the illuminance sensor 2b or a correction coefficient to correct the magnitude of the load current supplied to the light source.

[0021] As described above, when setting up the lighting device 2, the mobile unit 1 moves toward the target position P1 and stops, then transmits measured illuminance data from the mobile communication unit 12 to the fixed communication unit 2c. Therefore, in order to stabilize communication between the mobile communication unit 12 and the fixed communication unit 2c, it is desirable to improve the stopping accuracy of the mobile unit 1 as it moves toward the target position P1. However, depending on the accuracy of the mobile unit 1's self-position recognition, the stopping position of the mobile unit 1 may vary. If the stopping position of the mobile unit 1 varies, communication between the mobile communication unit 12 and the fixed communication unit 2c may become unstable, resulting in communication failure. In addition, the installation position of the fixed communication unit 2c (illuminance sensor 2b) may deviate from the design specifications, and in this case, communication failure was also likely.

[0022] Therefore, if communication fails, the mobile unit 1 adjusts its position by moving slightly from its current stopping position and attempts to communicate again between the mobile communication unit 12 and the fixed communication unit 2c. By adjusting its position, the probability of successful communication between the mobile unit 12 and the fixed communication unit 2c is increased. However, it is undesirable to repeat the position adjustment many times until communication between the mobile communication unit 12 and the fixed communication unit 2c is successful, and it is preferable to minimize the number of position adjustments required until communication is successful. In other words, when communication fails and a second attempt is made, it is necessary to improve the probability of success in that second attempt.

[0023] The mobile body 1 of this embodiment has the following configuration in order to improve the likelihood of successful communication when communication fails and a second attempt is made (in order to minimize the number of position adjustments required until communication is successful).

[0024] The mobile unit 1 comprises a main body 11 and a mobile communication unit 12. The main body 11 moves along the floor surface 91. The mobile communication unit 12 is attached to the main body 11 and performs wireless communication with a fixed communication unit 2c installed above the floor surface 91. The main body 11 is configured to enable super-tight turns. The mobile communication unit 12 and the center of rotation C1 for super-tight turns (see Figures 2 and 3) are positioned horizontally offset from each other.

[0025] In this embodiment, the wireless communication between the mobile communication unit 12 and the fixed communication unit 2c is infrared communication. However, the wireless communication between the mobile communication unit 12 and the fixed communication unit 2c may also be wireless communication using radio waves or visible light.

[0026] (1.2) Details The mobile body 1 of this embodiment will be described in detail below.

[0027] (1.2.1) Configuration of the mobile unit As shown in Figures 1-4, the mobile unit 1 of this embodiment comprises a main body 11 and a mobile communication unit 12.

[0028] The main unit 11 comprises a body 11a, a drive wheel 11b, a driven wheel 11c, a LiDAR device 11e, an illuminance sensor 11f, and an arm 11g.

[0029] The body 11a is a hollow, box-shaped structure that forms the outer shell of the mobile body 1. Inside the body 11a are the drive unit 11h and the control unit 11j (see Figure 4), etc. The lower part of the body 11a is provided with one pair of drive wheels 11b and two pairs of driven wheels 11c. The one pair of drive wheels 11b is located in the center of the body 11a in the front-rear direction and on both sides in the left-right direction. One of the two pairs of driven wheels 11c is located at the front end of the body 11a and on both sides in the left-right direction, while the other of the two pairs of driven wheels 11c is located at the rear end of the body 11a and on both sides in the left-right direction. In other words, in the front-rear direction of the body 11a, the one pair of drive wheels 11b is located between the two pairs of driven wheels 11c.

[0030] The drive unit 11h includes a battery, a motor, etc., and independently transmits the rotational force of the motor to each of the pair of drive wheels 11b. That is, the rotational force of the motor is transmitted independently to each of the pair of drive wheels 11b, and each of the pair of drive wheels 11b is driven individually. The main body 11 (mobile body 1) moves (travels) on the floor surface 91 by the drive wheels 11b and driven wheels 11c as the drive wheels 11b are rotated.

[0031] The main body 11 can perform a pivot turn by rotating one of the pair of drive wheels 11b in the forward direction and the other of the pair of drive wheels 11b in the reverse direction. In a pivot turn, as shown in Figure 3, the pivot center C1 is the center of the rotation axis 11d of the pair of drive wheels 11b in the left-right direction, and the vehicle rotates in place on the floor surface 91 around the pivot center C1. In other words, in a pivot turn, the main body 11 rotates without moving the position of the pivot center C1 on the floor surface 91.

[0032] The control unit 11j controls the drive unit 11h based on the measurement results of the LiDAR device 11e to drive a pair of drive wheels 11b, moving the main body 11 toward a target position P1 (see Figure 2) set below the illuminance sensor 2b. The target position P1 is set based on the position of the fixed communication unit 2c incorporated into the illuminance sensor 2b. At this time, the control unit 11j independently controls the drive of the pair of drive wheels 11b. That is, the control unit 11j individually controls the rotation speed and rotation direction of each of the pair of drive wheels 11b. Specifically, the LiDAR device 11e is installed on the upper surface of the body 11a. The LiDAR device 11e has the function of measuring the distance to surrounding structures and the shape of surrounding structures by irradiating the surroundings with laser light and receiving reflected light, which is the laser light reflected from the surroundings. The mobile body 1 moves autonomously based on the measurement results of the LiDAR device 11e.

[0033] The arm 11g extends forward from the front of the body 11a, and the mobile communication unit 12 is attached to the front end of the arm 11g. The mobile communication unit 12 has an infrared communication function, transmitting infrared signals upward and receiving infrared signals propagated from above. The arm 11g may be configured to be displaceable in the vertical direction, or it may be fixed to the body 11a.

[0034] The illuminance sensor 11f is installed at the front end of the arm 11g, next to the mobile communication unit 12. The illuminance sensor 11f measures the illuminance caused by light shining from above the main body 11. The illuminance sensor 11f transmits the measured illuminance data, which is the result of the illuminance measurement by the illuminance sensor 11f, to the mobile communication unit 12.

[0035] As shown in the plan view (horizontal cross-sectional view from above) of Figure 3, the mobile communication unit 12 is located in front of the pivot center C1, and the mobile communication unit 12 and the pivot center C1 are horizontally offset from each other. In other words, in the horizontal plane defined by the front-to-back and left-to-right directions, the coordinates of the mobile communication unit 12 and the coordinates of the pivot center C1 are different. Therefore, when the mobile body 1 performs a super-pivot turn, the mobile communication unit 12 rotates along a circular (arc-shaped) rotation trajectory L1 centered on the pivot center C1 in the horizontal plane. That is, by performing a super-pivot turn, the main body 11 can change the position of the mobile communication unit 12 in a circular (arc-shaped) manner in the horizontal plane without changing the position of the pivot center C1 in the horizontal plane.

[0036] (1.2.2) Setting process by mobile device This section describes the setup process for the lighting device 2 using the mobile unit 1.

[0037] The lighting fixture 2a of the lighting device 2 installed on the ceiling 92 of the target space R1 emits illumination light toward the floor surface 91 below. However, depending on the color, material, and surrounding structures of the floor surface 91, the actual illuminance of the floor surface 91 due to the illumination light may differ from the predetermined target illuminance. Therefore, the main unit 11 moves around the target space R1 to measure the illuminance due to the illumination light emitted by the lighting fixture 2a and transmits a setting command including the measured illuminance data to the lighting device 2. Based on the measured illuminance data included in the setting command, the lighting device 2 corrects the control parameters of the lighting control so that the actual illuminance of the floor surface 91 due to the illumination light matches (approaches) the predetermined target illuminance.

[0038] Specifically, as shown in Figure 2, when the lighting fixture 2a is lit (emitting illumination light), the main unit 11 moves toward the target position P1 set below the illuminance sensor 2b. At this time, the control unit 11j drives a pair of drive wheels 11b based on the measurement results of the LiDAR device 11e, causing the mobile unit 1 to move autonomously toward the target position P1. When the mobile communication unit 12 of the mobile unit 1 determines that the mobile unit 1 has reached the target position P1, the control unit 11j controls the drive unit 11h to stop the main unit 11. After the main unit 11 has stopped, the illuminance sensor 11f measures the illuminance due to the illumination light and outputs the measured illuminance data to the control unit 11j. The control unit 11j causes the mobile communication unit 12 to transmit a setting command (infrared signal) including the measured illuminance data. That is, the mobile communication unit 12 transmits a setting command including the measured illuminance data. In the lighting device 2, when the fixed communication unit 2c receives a setting command, the lighting fixture 2a corrects the control parameters of the lighting control based on the measured illuminance data included in the setting command. By correcting the control parameters of the lighting control, the lighting fixture 2a brings the actual illuminance of the floor surface 91 due to the illumination light emitted by the lighting fixture 2a to match (approach) the target illuminance.

[0039] (1.2.3) Communication between a mobile device and a communication device As described above, in the setup process for the lighting device 2 using the mobile unit 1, wireless communication (infrared communication in this embodiment) is performed between the mobile communication unit 12 of the mobile unit 1 and the fixed communication unit 2c of the lighting device 2. The communication between the mobile communication unit 12 and the fixed communication unit 2c during the setup process is shown in Figures 5A and 5B.

[0040] In Figure 5A, the mobile communication unit 12 transmits a setting command Y1 containing measured illuminance data to the fixed communication unit 2c. When the fixed communication unit 2c receives the setting command Y1, the lighting fixture 2a corrects the control parameters based on the measured illuminance data included in the setting command Y1. After correcting the control parameters, the lighting fixture 2a causes the fixed communication unit 2c to transmit a completion notification Y2 to indicate that the setting process has been completed successfully. In the mobile unit 1, when the mobile communication unit 12 transmits the setting command Y1 and the mobile unit 11j receives the completion notification Y2, the control unit 11j determines that communication was successful and the setting is complete. When the control unit 11j determines that communication was successful and the setting is complete, it autonomously moves the mobile unit 1 toward the next target position P1 and performs the same setting process at the next target position P1.

[0041] However, if the position of the mobile communication unit 12 shifts from the target position P1 when the mobile unit 1 stops, communication between the mobile communication unit 12 and the fixed communication unit 2c becomes unstable. When communication becomes unstable, as shown in Figure 5B, the completion notification Y2 sent from the fixed communication unit 2c may not reach the mobile communication unit 12, resulting in a communication failure. Alternatively, the setting command Y1 sent from the mobile communication unit 12 may not reach the fixed communication unit 2c, resulting in a communication failure. In the mobile unit 1, if the mobile communication unit 12 does not receive the completion notification Y2 after sending the setting command Y1, the control unit 11j determines that communication has failed and the setting is not complete.

[0042] (1.2.4) Position adjustment If a communication failure occurs as described above, the control unit 11j adjusts the position of the main unit 11 by moving it slightly from its current stopping position, and then has the mobile communication unit 12 resend the setting command Y1. The position adjustment in this embodiment will be described below.

[0043] Figure 6 is a plan view showing the positional relationship between the target position P1, the stopping error range B1, and the communication range B2.

[0044] The target position P1 indicates the target position of the mobile communication unit 12 of the moving body 1 in the horizontal plane. That is, it is preferable that the mobile communication unit 12 is located at the target position P1 when the main body 11, which has been moving toward the target position P1, comes to a stop.

[0045] The stopping error range B1 indicates the range in which the position of the mobile communication unit 12 varies relative to the target position P1 in the horizontal plane when the main unit 11, which has been moving toward the target position P1, comes to a stop. In other words, the stopping error range B1 indicates the error range of the stopping position due to the accuracy of the self-position recognition of the mobile unit 1. The stopping error range B1 is circular in shape with radius W1 centered on the target position P1.

[0046] The communication range B2 is the range in the horizontal plane from which the mobile communication unit 12 of the mobile body 1 can communicate with the fixed communication unit 2c of the lighting device 2. That is, if the mobile communication unit 12 is located within the communication range B2, communication between the mobile communication unit 12 and the fixed communication unit 2c becomes possible. The communication range B2 is circular in shape with radius W2 centered on the communication center D1. The radius W2 of the communication range B2 is smaller than the radius W1 of the stopping error range B1. The target position P1 is located at the communication center D1, which is the center of the communication range B2.

[0047] Then, when the main unit 11 moves toward the target position P1 and stops, the illuminance sensor 2b measures the illuminance. After the illuminance sensor 2b measures the illuminance, the mobile communication unit 12 initiates the first communication with the fixed communication unit 2c. When the main unit 11 moves toward the target position P1 and stops, the mobile communication unit 12 is located within the stopping error range B1. The variation in the position of the mobile communication unit 12 that occurs when the main unit 11 stops falls within the stopping error range B1. Furthermore, if the mobile communication unit 12 is located within the communication range B2, communication between the mobile communication unit 12 and the fixed communication unit 2c is possible, the first communication is successful, and the setup process is completed normally. However, if the mobile communication unit 12 is located outside the communication range B2, communication between the mobile communication unit 12 and the fixed communication unit 2c is impossible, and the first communication fails.

[0048] Therefore, if the mobile communication unit 12 fails to communicate for the first time, the main unit 11 performs a pivot turn in place. After the main unit 11 performs the pivot turn, the mobile communication unit 12 starts the second and subsequent communications with the fixed communication unit 2c. In other words, the main unit 11 performs a pivot turn as a position adjustment after a communication failure. To put it another way, the main unit 11 performs a position adjustment while maintaining the position of the pivot center C1 in the horizontal plane without moving the position of the pivot center C1 in the horizontal plane.

[0049] Specifically, the pivot turn includes a first pivot turn F1 shown in Figure 7 and a second pivot turn F2 shown in Figure 8. In the first pivot turn F1, the main body 11 rotates 90 degrees clockwise (first direction) in the horizontal plane. In the second pivot turn F2, the main body 11 rotates 180 degrees counterclockwise (second direction) in the horizontal plane.

[0050] If the first communication fails, the main unit 11 performs a first super-pivot turn F1 as shown in Figure 7, rotating 90 degrees (a predetermined angle) clockwise. After the main unit 11 has performed the first super-pivot turn F1, the mobile communication unit 12 initiates a second communication with the fixed communication unit 2c and transmits a setting command Y1.

[0051] However, if the mobile communication unit 12 fails to communicate a second time, the main unit 11 performs a second super-pivot turn F2 as shown in Figure 8, turning 180 degrees counterclockwise (twice the predetermined angle). After the main unit 11 performs the second super-pivot turn F2, the mobile communication unit 12 initiates a third communication with the fixed communication unit 2c and transmits the setting command Y1.

[0052] As described above, if the mobile communication unit 12 fails to communicate for the first time, it will initiate a second communication after performing a first pivot turn F1. If the mobile communication unit 12 fails to communicate for the second time, it will initiate a third communication after performing a second pivot turn F2. When position adjustment is performed by the first pivot turn F1 and the second pivot turn F2, communication success ranges E1, E11, and E12 are formed as shown in Figure 9. Communication success ranges E1, E11, and E12 are the ranges in which the first communication or communication after position adjustment will be successful if the mobile communication unit 12 is located within any of the communication success ranges E1, E11, and E12 when the first communication is initiated. In other words, if the mobile communication unit 12 is located within any of the communication success ranges E1, E11, and E12 when the main unit 11, which has moved toward the target position P1, stops, the first communication or communication after position adjustment will be successful.

[0053] The successful communication range E1 is within the communication range B2. If the mobile communication unit 12 is located within the successful communication range E1 when the first communication is initiated, the first communication is successful.

[0054] The successful communication range E11 is located in the upper left of the communication range B2 within the stopping error range B1. If the mobile communication unit 12 is located within the successful communication range E11 when the first communication is initiated, the second communication after the first super-pivot turn F1 will be successful.

[0055] The successful communication range E12 is located in the upper right of the communication range B2 within the stopping error range B1. If the mobile communication unit 12 is located within the successful communication range E12 when the first communication is initiated, the third communication after the second super-pivot turn F2 will be successful.

[0056] For example, as shown in Figure 10A, suppose that when the first communication attempt is initiated, the mobile communication unit 12 is located inside the successful communication range E11. At this time, the mobile communication unit 12 is located outside the communication range B2, so the first communication attempt fails. Therefore, the main unit 11 performs a first super-pivot turn F1. Then, the mobile communication unit 12 initiates the second communication attempt after the main unit 11 has performed the first super-pivot turn F1. At this time, as shown in Figure 10B, the mobile communication unit 12 is located inside the communication range B2, so the second communication attempt is successful.

[0057] Furthermore, let's assume that when the first communication attempt is initiated, the mobile communication unit 12 is located inside the successful communication range E12. At this time, the mobile communication unit 12 is located outside the communication range B2, so the first communication attempt fails. Next, the mobile communication unit 12 initiates the second communication attempt after the main unit 11 has performed the first super-pivot turn F1. However, when the mobile communication unit 12 initiates the second communication attempt, it is still located outside the communication range B2, so the second communication attempt also fails. Next, the mobile communication unit 12 initiates the third communication attempt after the main unit 11 has performed the second super-pivot turn F2. At the start of this third communication attempt, the mobile communication unit 12 is located inside the communication range B2, so the third communication attempt succeeds.

[0058] As described above, by performing a pivot turn as a position adjustment after a communication failure, the main unit 11 can include not only the successful communication range E1 but also the successful communication ranges E11 and E12 within the successful communication range. The successful communication range E11 is the successful communication range formed by the first pivot turn F1. The successful communication range E12 is the successful communication range formed by the second pivot turn F2. In other words, by performing a pivot turn as a position adjustment after a communication failure, the mobile unit 1 can improve the probability of success when it attempts to communicate again after a communication failure.

[0059] (2) First modified example In the first modified example, the main body 11 further performs offset stopping.

[0060] Offset stopping is achieved by setting the target position P1 to a position offset from the communication center D1, which is the center of the communication range B2, as shown in Figure 11. The communication center D1 is located offset from the target position P1 in the forward direction of the main unit 11. The stopping error range B1 is circular in shape with the target position P1 at its center. The communication range B2 is formed inside the stopping error range B1, on the front side of the stopping error range B1.

[0061] Furthermore, the distance between the communication center D1 and the target position P1 is the offset value OS1. Preferably, the offset value OS1 is the value obtained by subtracting the radius W2 of the communicationable range B2 from the radius W1 of the stopping error range B1 (OS1 = W1 - W2).

[0062] Then, when the main unit 11 moves toward the target position P1 and stops, the illuminance sensor 2b measures the illuminance. After the illuminance sensor 2b measures the illuminance, the mobile communication unit 12 initiates the first communication with the fixed communication unit 2c. When the main unit 11 moves toward the target position P1 and stops, the mobile communication unit 12 is located within the stopping error range B1. If the mobile communication unit 12 is also located within the communication range B2, communication between the mobile communication unit 12 and the fixed communication unit 2c is possible, the first communication is successful, and the setup process is completed normally. However, if the mobile communication unit 12 is located outside the communication range B2, communication between the mobile communication unit 12 and the fixed communication unit 2c is impossible, and the first communication fails.

[0063] If the first communication attempt fails, the main unit 11 performs a first pivot turn F1 (see Figure 7) in place and attempts a second communication. If the second communication attempt fails, the main unit 11 performs a second pivot turn F2 (see Figure 8) in place and attempts a third communication.

[0064] However, even if the main unit 11 performs a pivot turn (first pivot turn F1 shown in Figure 7, second pivot turn F2 shown in Figure 8), the mobile communication unit 12 may fail to communicate. In this case, as shown in Figure 12A, the main unit 11 rotates 90 degrees clockwise (pivot turn) and then moves forward by the update distance X1. That is, the main unit 11 moves by the update distance X1 along a predetermined direction (forward direction) from the target position P1 toward the communication center D1. When the main unit 11 moves forward by the update distance X1, the mobile communication unit 12 also moves forward with the main unit 11 and moves to the update position Q1.

[0065] Then, when the main unit 11 moves forward by the update distance X1 and stops, the illuminance sensor 2b measures the illuminance. After the illuminance sensor 2b measures the illuminance, the mobile communication unit 12, located at the update position Q1, starts the fourth communication with the fixed communication unit 2c. At this time, if the update position Q1 is located within the communication range B2, the mobile communication unit 12 and the fixed communication unit 2c can communicate, the fourth communication is successful, and the setting process is completed normally. However, if the update position Q1 is located outside the communication range B2, the mobile communication unit 12 and the fixed communication unit 2c cannot communicate, and the fourth communication fails. If the fourth communication fails, the main unit 11 performs a pivot turn in place (first pivot turn F1 shown in Figure 7, second pivot turn F2 shown in Figure 8) and performs a fifth communication, and if necessary, a sixth communication.

[0066] Suppose the mobile communication unit 12 fails to communicate for the sixth time. In this case, as shown in Figure 12A, the main unit 11 rotates 90 degrees clockwise (super-tight turn) and then moves forward by an update distance X1. When the main unit 11 moves forward by an update distance X1, the mobile communication unit 12 also moves forward with the main unit 11, moving from update position Q1 to update position Q2 (new update position).

[0067] Then, when the main unit 11 moves forward by the update distance X1 and stops, the illuminance sensor 2b measures the illuminance. After the illuminance sensor 2b measures the illuminance, the mobile communication unit 12 located at the update position Q2 starts the seventh communication with the fixed communication unit 2c. At this time, if the update position Q2 is located within the communication range B2, the mobile communication unit 12 and the fixed communication unit 2c can communicate, the seventh communication is successful, and the setting process is completed normally. However, if the update position Q2 is located outside the communication range B2, the mobile communication unit 12 and the fixed communication unit 2c cannot communicate, and the seventh communication fails. If the seventh communication fails, the main unit 11 performs a pivot turn in place (first pivot turn F1 shown in Figure 7, second pivot turn F2 shown in Figure 8) and performs the eighth communication, and if necessary, the ninth communication.

[0068] From this point onward, the above position adjustment and communication initiation are repeated until communication is successful or until the control unit 11j determines to cancel communication as described later. In the first modified example, as shown in Figure 12B, the update position Q2 is located within the communication range B2, and the mobile communication unit 12 located at the update position Q2 becomes able to communicate with the fixed communication unit 2c. That is, the seventh communication by the mobile communication unit 12 located at the update position Q2 is successful.

[0069] As described above, the main unit 11 performs an offset stop and then moves forward by an update distance X1 as a position adjustment, thereby forming the communication success range E21 shown in Figure 11. When the first communication is initiated, if the mobile communication unit 12 is located within the communication success range E21, the communication is successful when the main unit 11 moves forward by an update distance X1 as a position adjustment. In other words, when the main unit 11, which has moved toward the target position P1, stops, if the mobile communication unit 12 is located within the communication success range E21, the communication can be successfully achieved by moving forward by an update distance X1 as a position adjustment.

[0070] Furthermore, it is preferable that the update distance X1 is 1 / 2 or less of the offset value OS1 (distance between the communication center D1 and the target position P1) shown in Figure 11. In this case, the probability of successful communication by position adjustment that advances by the update distance X1 is improved.

[0071] Furthermore, it is preferable for the control unit 11j to determine that communication should be terminated if the total distance traveled in the forward direction (predetermined direction) due to position adjustment after the first communication becomes twice or more the offset value OS1. Specifically, if the number of times the unit moves forward by the update distance X1 is N, the total distance traveled will be X1 × N. The control unit 11j determines that communication should be terminated if X1 × N becomes twice or more the offset value OS1. In this case, the control unit 11j can determine the timing of the end of position adjustment.

[0072] When the control unit 11j determines that communication should be terminated, the mobile unit 1 preferably performs one of the following actions 1-3.

[0073] [Operation 1] The notification unit notifies the system of the communication interruption. For example, the notification unit is a display device, light-emitting element, buzzer, or speaker provided on the main unit 11. The notification unit then visually or audibly notifies the system of the communication interruption. Alternatively, the notification unit may be a communication device capable of communicating with an external system, and it may notify the external system of the communication interruption. In this case, it becomes possible to respond quickly to the communication interruption.

[0074] [Operation 2] The main unit 11 moves toward the next target position P1. In this case, the efficiency of the setting process can be improved.

[0075] [Operation 3] Communication with the fixed communication unit 2c is initiated not by the mobile communication unit 12, but by another communication means. In this case, the mobile unit 1 is equipped with other communication means in addition to the mobile communication unit 12. These other communication means may be, for example, a wireless communication device using radio waves or a wireless communication device using visible light. In this case, the efficiency of the setup process can be improved.

[0076] The communication method performed by the mobile body 1 in the first modified example is summarized in the flowchart in Figure 13.

[0077] First, the main unit 11 moves toward the target position P1 and performs an offset stop (step S1). In the offset stop, as shown in Figure 11, the target position P1 is set to a position offset from the communication center D1, which is the center of the communication range B2.

[0078] Then, after the illuminance sensor 2b measures the illuminance, the mobile communication unit 12 starts communication with the fixed communication unit 2c (first communication), and the control unit 11j determines whether the communication was successful or not (step S2). If the control unit 11j determines that the communication was successful, it terminates the setting process for the lighting device 2 and moves the main unit 11 toward the next target position P1. If the control unit 11j determines that the communication failed (was not successful), it causes the main unit 11 to perform a first super-pivot turn F1 (step S3).

[0079] Then, the mobile communication unit 12 starts communication with the fixed communication unit 2c (second communication), and the control unit 11j determines whether the communication was successful or not (step S4). If the control unit 11j determines that the communication was successful, it terminates the setting process for the lighting device 2 and moves the main unit 11 toward the next target position P1. If the control unit 11j determines that the communication failed (was not successful), it causes the main unit 11 to perform a second super-pivot turn F2 (step S5).

[0080] Then, the mobile communication unit 12 starts communication with the fixed communication unit 2c (third communication), and the control unit 11j determines whether the communication was successful or not (step S6). If the control unit 11j determines that the communication was successful, it terminates the setting process for the lighting device 2 and moves the main unit 11 toward the next target position P1. If the control unit 11j determines that the communication failed (was not successful), it determines whether to cancel the communication or not (step S7). If the total distance moved forward due to position adjustment after the first communication is twice or more the offset value OS1, the control unit 11j determines that the communication is canceled and terminates the setting process for the lighting device 2. If the control unit 11j determines that the communication is not canceled (communication continues), it moves the main unit 11 forward by the update distance X1 (step S8).

[0081] Then, the mobile communication unit 12 starts communication with the fixed communication unit 2c (the fourth communication), and the control unit 11j determines whether the communication was successful or not (step S9). If the control unit 11j determines that the communication was successful, it terminates the setting process for the lighting device 2 and moves the main unit 11 toward the next target position P1. If the control unit 11j determines that the communication failed (was not successful), it returns to step S3 and repeats the process from step S3 onward.

[0082] The communication method performed by the mobile unit 1 described above includes a first communication step S11 and a second communication step S12. The first communication step S11 corresponds to step S2 and is the step in which the mobile communication unit 12 initiates the first communication with the fixed communication unit 2c after the main unit 11 has moved toward the target position P1 based on the position of the fixed communication unit 2c. The second communication step S12 corresponds to steps S3-S8 and is the step in which the mobile communication unit 12 initiates the second and subsequent communications with the fixed communication unit 2c after the mobile communication unit 12 has failed to communicate the first time and the main unit 11 has performed a super-tight turn.

[0083] As described above, the main unit 11 performs an offset stop, and as a position adjustment, in addition to the first and second super-tight turns F1 and F2, it moves forward by an update distance X1, thereby forming the communication success ranges E1 and E31 shown in Figure 14. If the mobile communication unit 12 is located within either the communication success ranges E1 or E31 when the first communication is initiated, the first communication or the communication after position adjustment will be successful. In other words, if the mobile communication unit 12 is located within either the communication success ranges E1 or E31 when the main unit 11, which has moved toward the target position P1, stops, the first communication or the communication after position adjustment will be successful.

[0084] The successful communication range E1 is within the communication range B2 and is the range in which the first communication attempt is successful. The successful communication range E31 is the range in which any of the second or subsequent communications will be successful after position adjustment, and corresponds to the area within the stopping error range B1 excluding the successful communication range E1. In other words, the combined area of ​​the successful communication range E1 and the successful communication range E31 corresponds to the stopping error range B1. Therefore, if the mobile communication unit 12 is located within the stopping error range B1 when the first communication attempt is initiated, the first communication or the communication after position adjustment will be successful.

[0085] As described above, as a position adjustment after a communication failure, the main unit 11 performs a forward movement by moving forward by an update distance X1 in addition to the first super-pivot turn F1 and the second super-pivot turn F2, thereby making the stopping error range B1 a successful communication range. In other words, when the mobile unit 1 attempts to communicate again after a communication failure, the probability of success in that subsequent communication can be improved.

[0086] (3) Second variation In the second modified example, the mobile body 1 further includes a correction unit 11k as shown in Figure 15. In Figure 15, the control unit 11j has the function of the correction unit 11k.

[0087] The correction unit 11k corrects the data for the target position P1 based on the history of the stopping errors of the main unit 11 relative to the target position P1. Specifically, the correction unit 11k estimates the stopping error of the main unit 11 (the positional difference between the target position P1 and the mobile communication unit 12 in the horizontal plane) when the main unit 11 moves toward the target position P1 and stops, using the measurement results of the LiDAR device 11e and information on which stage of the series of position adjustments was successful. Then, the correction unit 11k corrects the data for the target position P1 based on the history of stopping errors. As a result, when the main unit 11 moves toward the target position P1 and stops, the positional difference between the target position P1 and the mobile communication unit 12 in the horizontal plane can be suppressed. Therefore, the mobile unit 1 can further improve the probability of successful communication.

[0088] (4) Third variation Functions similar to those of the mobile device 1 described above may be realized by a communication method, a program (computer program), or a non-temporary recording medium on which a program is stored.

[0089] For example, it is preferable that the mobile device 1 is equipped with a computer system that implements some or all of the functions of the mobile device 1 by executing a program. The computer system mainly comprises a processor that operates according to the program as its hardware configuration. The type of processor is not limited as long as it can implement functions by executing a program. The processor consists of one or more electronic circuits, including semiconductor integrated circuits (ICs) or LSIs (Large Scale Integrations). Here, we refer to them as ICs and LSIs, but the name changes depending on the degree of integration, and they may also be called system LSIs, VLSIs (Very Large Scale Integrations), or ULSIs (Ultra Large Scale Integrations). Field-programmable gate arrays (FPGAs) that are programmed after the manufacture of the LSI, or reconfigurable logic devices that allow for the reconfiguration of junction relationships within the LSI or the setup of circuit compartments within the LSI, can also be used for the same purpose. Multiple electronic circuits may be integrated on a single chip or provided on multiple chips. Multiple chips may be aggregated in a single device or provided in multiple devices. The program is recorded on a non-temporary recording medium such as ROM, optical disc, or hard disk drive, which is readable by the computer system. The program may be pre-stored on the non-temporary recording medium, or it may be supplied to the non-temporary recording medium via a wide-area communication network, including the Internet.

[0090] A computer system is not limited to a single computer device; it may be implemented using multiple computer devices working in coordination with each other.

[0091] (5) Fourth variation The pivot turns performed by the main body 11 may include pivot turns other than the first pivot turn F1 and the second pivot turn F2 described above.

[0092] Furthermore, the turning angle for a super-pivot turn may be other than 90 degrees and 180 degrees.

[0093] Furthermore, the communication destination of the mobile communication unit 12 of the mobile unit 1 is not limited to the fixed communication unit 2c of the lighting device 2, but may be the fixed communication unit of another device. Moreover, the target of the setting process is not limited to the control parameters of the lighting control, but may be other setting processes. In other words, the communication destination of the mobile unit 1 and the target of setting by the mobile unit 1 are not limited to a specific communication destination and setting target.

[0094] (6) Summary As described above, the mobile body (1) of the first embodiment comprises a main body (11) that moves on the floor surface (91) and a mobile communication unit (12) attached to the main body (11) that performs wireless communication with a fixed communication unit (2c) installed above the floor surface (91). The main body (11) is configured to enable super-tight turns. The mobile communication unit (12) and the center of rotation (C1) for super-tight turns are positioned horizontally offset from each other.

[0095] The aforementioned mobile device (1) can improve the likelihood of success when it attempts to communicate again after a previous communication fails.

[0096] In the second embodiment of the mobile body (1) according to the embodiment, in the first embodiment, it is preferable that the mobile communication unit (12) initiates the first communication with the fixed communication unit (2c) after the main body (11) has moved toward and stopped at a target position (P1) based on the position of the fixed communication unit (2c). If the first communication fails, it is preferable that the mobile communication unit (12) initiates the second and subsequent communications with the fixed communication unit (2c) after the main body (11) has performed a super-tight turn.

[0097] As described above, the mobile unit (1) can improve the likelihood of successful communication when attempting to communicate again after a communication failure by having the main unit (11) perform a super-tight turn to adjust its position after a communication failure.

[0098] In the third embodiment of the mobile body (1) according to the embodiment, in the second embodiment, the pivot turn includes a first pivot turn (F1) in which the main body (11) turns in a first direction, and a second pivot turn (F2) in which the main body (11) turns in a second direction which is the opposite direction to the first direction. If the mobile communication unit (12) fails to communicate for the first time, it is preferable that the main body (11) performs the first pivot turn (F1) and turns by a predetermined angle in the first direction, and then the mobile communication unit (12) starts a second communication with the fixed communication unit (2c). If the mobile communication unit (12) fails to communicate for the second time, it is preferable that the main body (11) performs the second pivot turn (F2) and turns by twice the predetermined angle in the second direction, and then the mobile communication unit (12) starts a third communication with the fixed communication unit (2c).

[0099] As described above, the mobile unit (1) can improve the likelihood of successful communication when attempting to communicate again after a communication failure by having the main unit (11) perform a super-tight turn to adjust its position after a communication failure.

[0100] In the fourth embodiment of the moving body (1) according to the embodiment, the predetermined angle is preferably 90 degrees in the third embodiment.

[0101] As described above, the mobile unit (1) can improve the likelihood of successful communication when attempting to communicate again after a communication failure by having the main unit (11) perform a super-tight turn to adjust its position after a communication failure.

[0102] In the mobile body (1) of the fifth embodiment, in any one of the second to fourth embodiments, the range in which the mobile communication unit (12) can communicate with the fixed communication unit (2c) in the horizontal direction is defined as the communication range (B2). The target position (P1) is preferably a position offset from the communication center (D1), which is the center of the communication range (B2).

[0103] As described above, the mobile body (1) can improve the likelihood of successful communication when attempting to communicate again after a communication failure by having the main body (11) move forward to adjust its position after a communication failure.

[0104] In the mobile body (1) of the sixth embodiment, in the fifth embodiment, when the main body (11) moves toward the target position (P1) and stops, the range in which the position of the mobile communication unit (12) varies with respect to the target position (P1) is defined as the stopping error range (B1). The offset value (OS1) is defined as the value obtained by subtracting the radius (W2) of the communication range (B2) from the radius (W1) of the stopping error range (B1). Preferably, the distance between the communication center (D1) and the target position (P1) is the offset value (OS1).

[0105] As described above, the mobile body (1) can improve the likelihood of successful communication when attempting to communicate again after a communication failure by having the main body (11) move forward to adjust its position after a communication failure.

[0106] In the seventh embodiment of the mobile body (1), if the mobile communication unit (12) fails to communicate after the main body (11), which has moved toward the target position (P1) and stopped in the fifth or sixth embodiment, has performed a super-tight turn, it is preferable that the main body (11) moves by an update distance (X1) along a predetermined direction toward the communication center (D1) from the target position (P1) to move the mobile communication unit (12) to the update position (Q1). The mobile communication unit (12) starts communication with the fixed communication unit (2c) at the update position (Q1).

[0107] As described above, the mobile body (1) can improve the likelihood of successful communication when attempting to communicate again after a communication failure by having the main body (11) move forward to adjust its position after a communication failure.

[0108] In the mobile body (1) of the eighth embodiment, in the seventh embodiment, if the mobile communication unit (12) fails to communicate at the update position (Q1), the main body (11) preferably moves further along a predetermined direction by an update distance (X1) to move the mobile communication unit (12) to a new update position (Q2). The mobile communication unit (12) starts communication with the fixed communication unit (2c) at the new update position (Q2).

[0109] As described above, the mobile body (1) can improve the likelihood of successful communication when attempting to communicate again after a communication failure by having the main body (11) move forward to adjust its position after a communication failure.

[0110] In the ninth embodiment of the embodiment, the mobile body (1) preferably further comprises a control unit (11j) that determines to terminate communication if the total distance traveled along a predetermined direction (X1 × N) is twice or more the offset value (OS1) in any one of the sixth to eighth embodiments. When it is determined that communication has been terminated, it is preferable that the main unit (11) notifies the termination of communication, or that the main unit (11) moves toward the next target position (P1), or that another communication means starts communication with the fixed communication unit (2c).

[0111] The aforementioned mobile device (1) can respond quickly to communication interruptions and improve the efficiency of configuration processing.

[0112] In the moving body (1) of the tenth embodiment, in any one of the seventh to ninth embodiments, it is preferable that the update distance (X1) is 1 / 2 or less of the offset value (OS1).

[0113] As described above, the mobile body (1) can improve the likelihood of successful communication when attempting to communicate again after a communication failure by having the main body (11) move forward to adjust its position after a communication failure.

[0114] In the 11th embodiment of the embodiment, the moving body (1) preferably further comprises a correction unit (11k) that corrects the data of the target position (P1) based on the history of stopping errors of the main body (11) with respect to the target position (P1) in any one of the second to tenth embodiments.

[0115] The aforementioned mobile device (1) can further improve the likelihood of successful communication.

[0116] A communication method according to the twelfth embodiment is a communication method performed by a mobile body (1) of any one of the first to eleventh embodiments. The communication method includes a first communication step (S11) and a second communication step (S12). In the first communication step (S11), after the main body (11) moves toward a target position (P1) based on the position of the fixed communication unit (2c), the mobile communication unit (12) starts the first communication with the fixed communication unit (2c). In the second communication step (S12), after the first communication fails and the main body (11) performs a pivot turn, the mobile communication unit (12) starts the second and subsequent communications with the fixed communication unit (2c).

[0117] The communication method described above can improve the likelihood of success when attempting to communicate again after a previous communication failure.

[0118] The program of the 13th embodiment causes a computer system to execute the communication method of the 12th embodiment.

[0119] The program described above can improve the likelihood of a successful second attempt at communication after a previous attempt fails. [Explanation of Symbols]

[0120] 1 Mobile Unit 91 Floor surface 11 Main unit 11j control unit 11k correction section 2c Fixed communication department 12 Mobile Communications Section C1 Rotation Center P1 target position F1 First Super Tight Turn F2 2nd super turn B2 Communication range D1 Communication focus B1 Stopping error range W1 Radius of the stopping error range W2 Communication range radius OS1 Offset Value X1 update distance Q1 Update position Q2 Update location (New update location) S11 First communication step S12 Second communication step

Claims

1. The main unit moves across the floor, The mobile communication unit is attached to the main body and performs wireless communication with a fixed communication unit installed above the floor surface, The aforementioned main body is configured to enable super-tight turns, The mobile communication unit and the pivot center of the super-pivot turn are positioned horizontally offset from each other. The aforementioned mobile communication unit is After the main unit moves toward the target position based on the position of the fixed communication unit and stops, it initiates the first communication with the fixed communication unit. If the first communication fails, the main unit will perform the pivot turn and then initiate subsequent communications with the fixed communication unit. A mobile object.

2. The super-pivot turn includes a first super-pivot turn in which the main body turns in a first direction, and a second super-pivot turn in which the main body turns in a second direction which is the opposite direction to the first direction, If the mobile communication unit fails to communicate for the first time, the main body performs the first super-pivot turn and rotates by a predetermined angle in the first direction, after which the mobile communication unit initiates a second communication with the fixed communication unit. If the mobile communication unit fails to communicate for the second time, the main unit performs the second super-pivot turn and rotates by twice the predetermined angle in the second direction, after which the mobile communication unit initiates a third communication with the fixed communication unit. The mobile body according to claim 1.

3. The predetermined angle is 90 degrees. The mobile body according to claim 2.

4. The range in which the mobile communication unit can communicate with the fixed communication unit in the horizontal direction is defined as the communication range, The aforementioned target position is a position offset from the communication center, which is the center of the communication range. The mobile body according to claim 1.

5. When the main body moves toward the target position and stops, the range in which the position of the mobile communication unit varies with respect to the target position is defined as the stopping error range, The offset value is obtained by subtracting the radius of the communication range from the radius of the stopping error range. The distance between the communication center and the target position is the offset value. The mobile body according to claim 4.

6. If the mobile communication unit fails to communicate after the main body has moved toward the target position and stopped and performed the super-tight turn, The main unit moves the mobile communication unit to the update position by advancing a distance along a predetermined direction from the target position toward the communication center. The mobile communication unit initiates communication with the fixed communication unit at the update location. The mobile body according to claim 5.

7. If the mobile communication unit fails to communicate at the update location, The main body moves further along the predetermined direction by the update distance, thereby moving the mobile communication unit to a new update position. The mobile communication unit starts communication with the fixed communication unit at the new update location. The mobile body according to claim 6.

8. The control unit further comprises a unit that determines to terminate communication if the total distance traveled along the predetermined direction is twice or more the offset value, If it is determined that the communication has been terminated, The main unit notifies the termination of the communication. Alternatively, the main body moves toward the next target position. Alternatively, another means of communication may initiate communication with the fixed communication unit. The mobile body according to claim 7.

9. The update distance is less than or equal to half of the offset value. The mobile body according to claim 6.

10. The claim further comprises a correction unit that corrects the target position data based on the history of stopping errors of the main unit relative to the target position. The mobile body according to claim 1.

11. A main body that moves on the floor surface, The mobile communication unit is attached to the main body and performs wireless communication with a fixed communication unit installed above the floor surface, The aforementioned main body is configured to enable super-tight turns, The mobile communication unit and the pivot center of the super-pivot turn are a communication method performed by a mobile body whose position is horizontally offset from the other, After the main unit moves toward a target position based on the position of the fixed communication unit, the mobile communication unit initiates the first communication with the fixed communication unit in a first communication step, The second communication step includes the following: if the first communication fails and the main unit performs the super-tight turn, the mobile communication unit initiates a second or subsequent communication with the fixed communication unit. Communication method.

12. Causes a computer system to execute the communication method of claim 11. program.

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