Mobile object control system, mobile object control method, and program

Abstract

To control a movement of a moving object via a terminal with a simple terminal operation.SOLUTION: A moving object control system is mounted on a moving object and detects at least one object on a field in which the moving object can move. Any one of the at least one detected object is selected, and the moving object is controlled to move toward the object. The selection of the object is performed by designating one of the at least one object displayed on a screen of a terminal that can communicate with the moving object, using a line-of-sight vector corresponding to an orientation of the terminal.SELECTED DRAWING: Figure 1

Description

【Technical Field】 【0001】 The present disclosure relates to a movement control system, a movement control method, and a program. 【Background Art】 [[ID=I0]] 【0002】 [[ID=II]] There is known a movement control system that remotely controls a moving body in a field by operating a terminal capable of communicating with the moving body. For example, Patent Document 1 discloses a remote operation system that can remotely operate an industrial vehicle such as a forklift using a touchpad-type terminal. In this system, an operator can remotely control the movement of the moving body toward the pallet to be transported by operating the touchpad, which is the terminal. Further, Patent Document 2 discloses a system that automatically executes a task for a robot by designating an object to be operated using a terminal. 【Prior Art Documents】 【Patent Documents】 【0003】 [[ID=II]] 【Patent Document 1】 Japanese Patent No. 6834904 【Patent Document 2】 Japanese Patent No. 4473849 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 However, in Patent Document 1 described above, since an operator needs to finely specify various parameters related to traveling and work on a touchpad for the remotely operated industrial vehicle, the operation burden is large. In Patent Document 2 described above, since a task is automatically executed by designating an operation target for the robot, the operation burden on the operator can be reduced as compared with Patent Document 1. However, it is necessary to prepare, as a database, the position of the operation target object, the operation history of the robot, the sensing history by an electronic tag, a camera, etc., and the applicable situations are limited. 【0005】 At least one embodiment of this disclosure has been made in view of the above circumstances and aims to provide a mobile body control system, a mobile body control method, and a program that enable the control of the movement of a mobile body via a terminal to be performed with simple terminal operations. [Means for solving the problem] 【0006】 A mobile body control system according to at least one embodiment of the present disclosure, in order to solve the above problems, includes an object detection unit mounted on a mobile body for detecting at least one object on a field in which the mobile body can move, An object selection unit for selecting one of the at least one objects detected by the object detection unit, A movement control unit for controlling the movement of the moving body toward the object selected by the object selection unit, Equipped with, The object selection unit selects one of the at least one objects displayed on the screen of a terminal capable of communicating with the mobile object by specifying it using a line-of-sight vector corresponding to the orientation of the terminal. 【0007】 A mobile body control method according to at least one embodiment of this disclosure solves the above problems. A process for detecting at least one object on a field in which the mobile body can move, which is mounted on a mobile body, The process of selecting one of the at least one objects by specifying one of the at least one objects displayed on the screen of a terminal capable of communicating with the mobile object using a line of sight vector corresponding to the orientation of the terminal, A step of controlling the moving body to move toward the selected object, It is equipped with. 【0008】 A program according to at least one embodiment of this disclosure solves the above problem. Using a computer, A process for detecting at least one object on a field in which the mobile body can move, which is mounted on a mobile body, The process of selecting one of the at least one objects by specifying one of the at least one objects displayed on the screen of a terminal capable of communicating with the mobile object using a line of sight vector corresponding to the orientation of the terminal, A step of controlling the moving body to move toward the selected object, It is possible to execute this. [Effects of the Invention] 【0009】 According to at least one embodiment of this disclosure, a mobile object control system, a mobile object control method, and a program can be provided that enable the control of the movement of a mobile object via a terminal using simple terminal operations. [Brief explanation of the drawing] 【0010】 [Figure 1] This is a schematic diagram of the overall configuration of a mobile control system according to one embodiment. [Figure 2] Figure 1 is a block diagram showing the configuration related to the movement control of the mobile object control system. [Figure 3] This is a flowchart showing a mobile object control method according to one embodiment. [Figure 4] This is a schematic diagram showing the terminal screen in step S3. [Figure 5] This is a schematic diagram showing the terminal screen in step S4. [Figure 6] This is a schematic diagram showing the terminal screen in step S5. [Figure 7] This is a schematic diagram showing the terminal screen in step S6. [Figure 8] This is a schematic diagram showing the terminal screen in step S10. [Modes for carrying out the invention] 【0011】 Hereinafter, several embodiments will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as embodiments or shown in the drawings are not intended to limit the scope of the invention, but are merely illustrative examples. 【0012】 FIG. 1 is a schematic diagram of the overall configuration of a movement control system 1 according to an embodiment. The movement control system 1 includes a moving body 2 to be controlled and a terminal 4 capable of communicating with the moving body 2. The moving body 2 is a moving body that can move by traveling on a field 6, and is an unmanned aircraft that can move on the field 6 according to an instruction remotely input from the terminal 4. 【0013】 On the field 6, at least one object 8 that can be a target when the moving body 2 moves is arranged. In this embodiment, the moving body 2 is a forklift vehicle capable of transporting a pallet, and the pallet to be transported is arranged on the field 6 as the object 8. On the field 6, an arrangement area R of the object 8 is defined in advance. The number and posture of the objects 8 in the arrangement area R may be arbitrary, but in FIG. 1, the case where three objects 8 are arranged in a row is illustrated. At the terminal 4, by selecting any one of at least one object 8 arranged on the field 6 in this way, the moving body 2 is controlled to move toward the selected object 8. 【0014】 The moving body 2 and the terminal 4 constituting such a movement control system 1 are each equipped with a configuration for realizing the above-described movement control. FIG. 2 is a block diagram showing the configuration related to the movement control of the movement control system 1 of FIG. 1, and FIG. 3 is a flowchart showing a movement control method according to an embodiment. 【0015】 The mobile device 2 comprises a point cloud data acquisition unit 100, a self-position estimation unit 102, an object detection unit 104, an object index creation unit 106, a relative position recognition unit 108, a coordinate transformation unit 110, an object position and orientation precision estimation unit 112, a path planning unit 114, and a movement control unit 116. The point cloud data acquisition unit 100 is configured to acquire point cloud data measured by a distance measuring device such as LiDAR. The self-position estimation unit 102 is configured to estimate the self-position of the mobile device 2 on a field 6 corresponding to the world coordinate system. The object detection unit 104 is configured to detect at least one object 8 based on the point cloud data acquired by the point cloud data acquisition unit 100. The object index creation unit 106 is configured to assign an index to each object 8 detected by the object detection unit 104. The relative position recognition unit 108 is configured to recognize the relative positional relationship between the mobile device 2 and the terminal 4. The coordinate transformation unit 110 is configured to transform the coordinates of the position information of the mobile body 2 and the terminal 4 based on the relative position relationship recognized by the relative position recognition unit 108. The object position and orientation precision estimation unit 112 is configured to precisely estimate the position and orientation of the object 8 based on the results of re-detection by the object detection unit 104. The path planning unit 114 is configured to plan the movement path of the mobile body 2 on the field 6. The movement control unit 116 is configured to perform movement control by transmitting commands to actuators (not shown) of the mobile body 2 so that the mobile body 2 moves according to the path planned by the path planning unit 114. 【0016】 Terminal 4 comprises an image display unit 118, a terminal camera 120, a movement amount calculation unit 122, an object selection unit 124, a frame correction unit 125, and a movement operation unit 126. The image display unit 118 is configured to display various information related to the control of the mobile body 2 on the screen 50 of terminal 4. The terminal camera 120 is an imaging device mounted on the mobile body 2. The movement amount calculation unit 122 is configured to calculate the amount of movement from the initial position of terminal 4, and can calculate the amount of movement based on measurement results such as IMU information or visual odometry using camera images. The object selection unit 124 is configured to select one of at least one object 8 detected by the object detection unit 104. The frame correction unit 125 is configured to correct the coordinates and orientation of frames displayed on the screen 50 (such as the candidate frame 54 and selected frame 56 described later). The movement operation unit 126 is configured to transmit a permission signal regarding whether or not the movement control unit 116 can perform movement control of the mobile body 2. 【0017】 The image display unit 118 of terminal 4 further includes a candidate frame visualization unit 128, a selected frame visualization unit 130, and a movement path visualization unit 132. The candidate frame visualization unit 128 is configured to visualize candidate frames 54 corresponding to at least one object 8 detected by the object detection unit 104 on the screen 50. The selected frame visualization unit 130 is configured to visualize selected frames 56 for the object 8 selected by terminal 4. The movement path visualization unit 132 is configured to visualize the movement path of the moving object 2 on the screen 50. 【0018】 First, the operator starts up terminal 4 (step S1). Once terminal 4 is started, a program pre-installed on terminal 4 is executed, launching an application to perform each of the following steps. The application creates an interface with the operator by displaying the information corresponding to each step on the screen 50 of terminal 4. 【0019】 When terminal 4 is started, the application is launched as described above, and the mobile object 2 to be controlled is called to its initial position (step S2). The initial position is pre-set as a position where at least one object 8, which will be selected in step S4 described later, can be detected by the object detection unit 104. That is, if the mobile object 2 is not in the initial position, movement control is performed so that the mobile object 2 comes to the initial position. 【0020】 Next, the operator uses the terminal camera 120 mounted on terminal 4 to photograph the marker (AR marker) provided on the mobile body 2 (step S3). The marker is provided on the outer surface of the mobile body 2 and has a predetermined pattern. Figure 4 is a schematic diagram showing the screen 50 of terminal 4 in step S3. The screen 50 displays the image captured by the terminal camera 120 along with a marker recognition frame 52 for recognizing the marker. The marker recognition frame 52 is a virtual display and is shown approximately in the center of the screen 50. By pointing the terminal camera 120 at the marker on the mobile body 2, the marker displayed on the screen 50 is positioned inside the marker recognition frame 52, and the marker is read. Furthermore, the position and orientation of the marker relative to the moving object 2 are known. 【0021】 The data regarding the markers recognized by the terminal camera 120 is sent to the relative position recognition unit 108 of the mobile body 2 via the communication network. Since the mobile body 2 can estimate its own position in the world coordinate system using the self-position estimation unit 102, the relative position recognition unit 108 can recognize the relative positional relationship between the mobile body 2 and the terminal 4 based on the image data including the markers received from the terminal 4. Based on the relative positional relationship thus recognized, the coordinate transformation unit 110 can perform coordinate transformations between the position information obtained by the terminal 4 and the position information obtained by the mobile body 2, enabling coordinated movement control of the terminal 4 and the mobile body 2. 【0022】 In step S3, the position and orientation of the terminal 4 relative to the moving body 2 on which the marker is attached are determined by photographing the marker. In each subsequent step, the position and orientation of the terminal 4 are tracked by calculating the amount of movement of the terminal 4 using the movement amount calculation unit 122, with the position and orientation of the terminal 4 being used as the initial position. 【0023】 Next, the operator selects at least one of the objects 8 using terminal 4 (step S4). Figure 5 is a schematic diagram showing the screen 50 of terminal 4 in step S4. In step S4, operator 4 directs terminal camera 120 towards placement area R so that at least one object 8 placed in placement area R is displayed on screen 50. At this time, the object detection unit 104 of mobile unit 2 acquires point cloud data measured by a distance measuring device such as LiDAR using point cloud data acquisition unit 100, and detects at least one object 8 in placement area R by analyzing the point cloud data. The detection result of object detection unit 104 is sent to terminal 4 via a communication network (not shown). 【0024】 The image display unit 118 of terminal 4 displays the image captured by the terminal camera 120 and visualizes the frames corresponding to the objects 8 detected by the object detection unit 104 on the image. Specifically, the candidate frame visualization unit 128 visualizes candidate frames 54 corresponding to at least one object 8 detected by the object detection unit 104 on the screen 50. In Figure 5, two objects 8a and 8b are included in the screen 50, and the corresponding candidate frames 54 are visualized for each. This allows the operator of terminal 4 to easily understand how many selectable objects 8 are on the field 6 using terminal 4. 【0025】 Furthermore, at least one object 8 detected by the object detection unit 104 is transmitted to the image display unit 118 as object position list information, which is created by listing the positions and orientations of each object. The object index creation unit 106 creates index information by assigning an index to each object detected by the object detection unit 104 and transmits it to the image display unit 118. The image display unit 118 recognizes the position and orientation of each object 8 detected by the object detection unit 104 based on the received object position list information and index information, and displays them as images on the screen 50. 【0026】 In step S4, the object selection unit 124 selects one of the at least one of the visualized candidate frames 54 objects 8. The selection by the object selection unit 124 is performed by specifying the object 8 using a gaze vector corresponding to the orientation of the terminal 4. In other words, the operator can select an object 8 by simply pointing the terminal 4 towards the object 8 to be selected. 【0027】 In Figure 5, numerical representations 53 are provided to accurately determine the coordinates and orientation (three-dimensional coordinates, pitch angle, roll angle, and yaw angle corresponding to the center of the selected frame 56) selected by the gaze vector. Furthermore, while the selection of object 8 by the gaze vector may be performed by overlapping the gaze vector with object 8, it may also be possible to recognize and select the object 8 closest to the gaze vector even if the gaze vector does not overlap with object 8. 【0028】 In the screen 50 shown in Figure 5, the selection frame visualization unit 130 visualizes the selection frame 56 for the object 8 selected by the gaze vector. Since the selection frame 56 is visualized in a different manner from the candidate frame 54 mentioned above, the operator of the terminal 4 can easily grasp which object 8 has been selected by the gaze vector corresponding to the orientation of the terminal 4. In this way, the screen 50 allows the operator of the terminal 4 to intuitively and easily confirm that the mobile device 2 has correctly recognized the object 8 intended by the operator of the terminal 4. In particular, even when multiple objects 8 are displayed on the screen 50, the object 8 intended by the operator to be selected is highlighted by the selection frame 56, which is located approximately in the center of the screen 50, making it clearly distinguishable from the other objects 8. 【0029】 Furthermore, screen 50 displays an approval button 55 for confirming that a specific object 8 is selected by the gaze vector and is being manipulated. 【0030】 Next, the frame correction unit 125 corrects the selected frame 56 corresponding to the object 8 selected in step S4 as needed (step S5). Figure 6 is a schematic diagram showing the screen 50 of the terminal 4 in step S5. The screen 50 shows the parameters 57 (coordinates and angles) related to the shape and orientation of the selected frame 56 for each item, and the initial values ​​displayed correspond to the detection results of the object detection unit 104. The operator can adjust the values ​​of each item of these parameters 57 via the terminal 4. This allows the frame correction unit 125 to correct any errors in the detection results from the object detection unit 104 or any discrepancies with the perception of the operator on site. Furthermore, if no modification is required to the selected frame 56, step S5 may be omitted. 【0031】 Next, the self-position of the mobile body 2 estimated by the self-position estimation unit 102 is controlled to move toward the target position identified by the selection frame 56 corresponding to the object 8 selected in step S4 (if the selection frame 56 was modified in step S5, the target position identified by the modified selection frame 56 is determined in step S6). The target position is set to be in the vicinity of the object 8 selected in step S4. The path planning unit 114 plans a path toward the target position, and the movement control unit 116 transmits command values, including the orientation and speed of the mobile body 2 to an actuator (not shown), to realize the path. As a result, the mobile body 2 is controlled to move autonomously toward the target position. 【0032】 Figure 7 is a schematic diagram showing the screen 50 of terminal 4 in step 6 of Figure 3. In addition to the object 8 and selected frame 56 selected in step S4, screen 50 displays the first path 58 planned by the path planning unit 114 and an instruction button 59 for instructing whether or not to allow the mobile body 2 to move along the first path 58. By displaying the first path 58 that the mobile body 2 is following on screen 50 in this way, the operator of terminal 4 can easily grasp the behavior of the mobile body 2 during movement control. Furthermore, while the operator is operating the instruction button 59 on terminal 4, a permission signal is sent from the movement operation unit 126 to the mobile body 2, allowing the operator to interrupt the movement control of the mobile body 2 along the first path 58 at any time. This allows the operator to interrupt the autonomous movement control of the mobile body 2 at any time they intend if any problems occur. As a result, the operation of the mobile body 2 is suitably carried out with the confirmation and approval of the operator of terminal 4. 【0033】 The movement control of the mobile body 2 in step S6 continues until the mobile body 2 reaches the target position along the first path 58 (step S7). This allows the operator to select an object 8 by simply pointing the terminal 4 at a specific object 8 to align the line of sight vector, and then guide the mobile body 2 to a target position near the selected object 8. 【0034】 When the mobile body 2 reaches the target position along the first path 58 (step S7: YES), the object 8 selected in step S4 is re-detected (step S8). In the re-detection in step S8, similar to the detection of the object 8 to be selected in step S4 described above, detection is performed using a ranging device such as a Lidar, but the detection target is narrowed to the selected object 8, and a more detailed detection is performed. Specifically, when the re-detection in step S8 is performed, the mobile body 2 moves around the selected object 8 (for example, moving back and forth in the vicinity of object 8) while the re-detection is performed. At this time, other objects 8 other than the selected object 8 are not detected, and the point cloud data acquisition unit 100 acquires detailed point cloud data about the selected object 8 by performing detection from various angles as the mobile body 2 moves around the selected object 8. 【0035】 To elaborate, the detection performed when selecting object 8 in step S4 is a relatively simple one, capable of identifying the general area where object 8 exists, i.e., the ROI (Region of Interest) shown in the selection frame 56. In contrast, the re-detection performed in step S8 is a more precise sensing to estimate the position and orientation of the selected object 8 within the ROI. In this embodiment, by detecting object 8 through sensing with different levels of precision in these two stages, it becomes possible to provide precise guidance to object 8 without requiring the operator of terminal 4 to perform complicated teaching operations. 【0036】 Next, the path planning unit 114 plans a second path 60 to approach the selected object 8 based on the results of the re-detection in step S8 (step S9). As mentioned above, in step S8, detailed point cloud data is obtained by re-detecting the selected object 8. The object position and orientation precision estimation unit 112 estimates the detailed position and orientation of the selected object 8 based on this detailed point cloud data. Based on these estimation results, the path planning unit 114 precisely plans the second path 60 to approach the object 8. 【0037】 Next, the movement control unit 116 controls the mobile body 2 to move according to the second path 60 planned in step S9 (step S10). In step S10, the self-position of the mobile body 2 estimated by the self-position estimation unit 102 is used to create command values ​​including the orientation and velocity of the mobile body 2, which are then transmitted to an actuator (not shown) so that the mobile body 2 moves according to the second path 60 planned in step S9. As a result, the mobile body 2 is precisely guided to the selected object 8 according to the second path 60 planned in step S9. 【0038】 Figure 8 is a schematic diagram showing the screen 50 of terminal 4 in step 10 of Figure 3. In addition to the object 8 and selected frame 56 selected in step S4, screen 50 displays the second path 60 planned in step S9 and an instruction button 59 for instructing whether or not to allow the mobile body 2 to move along the second path 60. By displaying the second path 60 that the mobile body 2 is following on screen 50 in this way, the operator of terminal 4 can easily grasp the behavior of the mobile body 2 during movement control. Furthermore, while the operator is operating the instruction button 59 on terminal 4, a permission signal is sent from the movement control unit 126 to the mobile body 2 during movement control, allowing the operator to interrupt the movement control of the mobile body 2 along the second path 60 at any time. This allows the operator to interrupt the autonomous movement control of the mobile body 2 at any time they intend if any problems occur. As a result, the operation of the mobile body 2 is suitably carried out with the confirmation and approval of the operator of terminal 4. Furthermore, the second path 60 is a path used to approach the object 8 based on the re-detection result of the object 8, after the first path 58, which guides the moving object 2 to the vicinity of the object 8 specified by the line of sight vector, and is a path that is calculated more precisely than the first path 58. 【0039】 As described above, according to this embodiment, if at least one of the objects 8 detected by the mobile body 2 is selected by specifying it using a line-of-sight vector corresponding to the orientation of the terminal 4, the mobile body 2, which can communicate with the terminal 4, is controlled to move toward the object 8 selected by the line-of-sight vector. In this way, by simply aligning the orientation of the terminal 4, the mobile body 2 can be guided toward the object 8 based on simple teaching of the approximate position and orientation of the target object 8, resulting in good usability. 【0040】 The mobile unit 2 is then controlled to move toward the selected object 8, which is specified by a line-of-sight vector corresponding to the orientation of terminal 4, and then the object 8 is re-detected. As a result, the mobile unit 2 can perform a detailed detection of the selected object 8 and moves according to the second path 60 determined by that detection. Consequently, the mobile unit 2, which has been guided to the approximate position of the target object 8 by simple teaching as described above, is precisely guided to the object 8 by the second path 60 through the re-detection of the object 8, without requiring detailed instructions from the operator of terminal 4. 【0041】 Furthermore, it is possible to replace the components in the above-described embodiments with well-known components as appropriate, without departing from the spirit of this disclosure, and the above-described embodiments may also be combined as appropriate. 【0042】 In particular, the above embodiment exemplifies a case where an unmanned forklift vehicle is used as the mobile body 2 and a pallet is used as the object transported by the unmanned forklift vehicle as object 8. However, this can be applied to any system that allows some operation to be performed through communication with a terminal 4. 【0043】 The contents described in each of the above embodiments can be understood, for example, as follows: 【0044】 (1) A mobile control system (1) according to one embodiment is An object detection unit (104) mounted on a mobile body (2) for detecting at least one object (8) on a field (6) in which the mobile body can move, An object selection unit (124) for selecting one of the at least one objects detected by the object detection unit, A movement control unit (116) controls the movement of the moving body toward the object selected by the object selection unit, Equipped with, The object selection unit selects one of the at least one objects displayed on the screen (50) of a terminal capable of communicating with the mobile object by specifying it using a line-of-sight vector corresponding to the orientation of the terminal. 【0045】 According to the embodiment of (1) above, at least one object detected by the moving object is selected by specifying it with a line of sight vector corresponding to the orientation of the terminal, and the moving object that can communicate with the terminal is controlled to move toward the object selected by the line of sight vector. In this way, the moving object can be easily taught to the terminal operator by the simple operation of aligning the orientation of the terminal. 【0046】 (2) In other embodiments, in the embodiment of (1) above, The system further includes a selection frame visualization unit for visualizing the selection frame (56) corresponding to the object selected by the object selection unit on the screen. 【0047】 According to the embodiment of (2) above, the selected frame is visualized on the terminal screen along with at least one object on the field. This allows the terminal operator to easily understand which object is selected based on the gaze vector corresponding to the orientation of the terminal. 【0048】 (3) In other embodiments, in the embodiment of (1) or (2) above, The system further includes a candidate frame visualization unit for visualizing candidate frames (54) corresponding to at least one object detected by the object detection unit on the screen. 【0049】 According to the embodiment described in (3) above, candidate frames corresponding to selectable objects are visualized on the terminal screen. This allows the terminal operator to easily understand how many selectable objects are available on the field using the terminal. 【0050】 (4) In other embodiments, in any one embodiment of (1) to (3) above, The terminal camera (120) mounted on the aforementioned terminal, A relative position relationship recognition unit (108) for recognizing the relative position relationship between the terminal and the moving object by capturing an image of a marker provided on the moving object with the terminal camera, A coordinate transformation unit (110) for converting the position information of the terminal into the coordinate system of the moving object based on the relative positional relationship, It is further equipped with [this feature]. 【0051】 According to the embodiment described in (4) above, the relative positional relationship between the terminal and the moving object is determined by capturing an image of a marker placed on the moving object using a terminal camera mounted on the terminal. Based on this relative positional relationship, the coordinate transformation unit can perform coordinate transformations between the positional information obtained by the terminal and the positional information obtained by the moving object, enabling coordinated movement control of the terminal and the moving object. 【0052】 (5) In other embodiments, in any one embodiment of (1) to (4) above, After the moving body moves along the first path toward the object selected by the object selection unit, the object detection unit re-detects the object selected by the object selection unit. The movement control unit controls the moving body to approach the object based on the second path (60) determined by re-detection. 【0053】 According to the embodiment of (5) above, the moving object is controlled to move along a first path toward the selected object, which is specified by a line of sight vector corresponding to the orientation of the terminal as described above, and then the object is re-detected. As a result, the moving object can perform a detailed detection of the selected object and move according to the second path determined by that detection. Consequently, the terminal operator can select an object by simply pointing the terminal toward the object, thereby easily teaching the moving object the object to approach and achieving precise movement control. Furthermore, the second path is a path used to approach the object based on the re-detection result of the object, following the first path which guides the moving object to the vicinity of the object specified by the line of sight vector, and is calculated with greater precision than the first path. 【0054】 (6) In other embodiments, in the embodiment of (5) above, The re-detection is performed while the moving body moves around the object selected by the object selection unit. 【0055】 According to the embodiment of (6) above, when re-detecting an object, the movement path is set so that the moving body moves around the object. This allows for detailed re-detection of the object and enables a precise approach to the object based on the re-detection. 【0056】 (7) In other embodiments, in any one embodiment of (1) to (6) above, The system further includes a movement operation unit (126) for instructing whether or not the movement control unit can control the moving body. 【0057】 According to the embodiment of (7) above, by instructing whether or not to perform the various movement controls of the moving body as described above using the movement control unit, the movement control can be interrupted at any time in the event of an unforeseen situation. 【0058】 (8) In other embodiments, in any one embodiment of (1) to (7) above, The detection results of the object detection unit can be modified by operating the aforementioned terminal. 【0059】 According to the embodiment of (8) above, the detection result of the object detection unit can be corrected by operating the terminal. This allows the detection result to be corrected when there is a discrepancy between the detection result by the object detection unit and the operator's perception, such as when there is an error in the detection result by the object detection unit. 【0060】 (9) A mobile body control method according to one embodiment is: A step for detecting at least one object (8) located on a field (6) on which the mobile body (2) can move, The process of selecting one of the at least one objects by specifying one of the at least one objects displayed on the screen (50) of a terminal (4) capable of communicating with the mobile object using a line of sight vector corresponding to the orientation of the terminal, A step of controlling the moving body to move toward the selected object, It is equipped with. 【0061】 According to the embodiment of (9) above, at least one object detected by the moving object is selected by specifying it with a line of sight vector corresponding to the orientation of the terminal, and the moving object that can communicate with the terminal is controlled to move toward the object selected by the line of sight vector. In this way, the moving object can be easily taught by the terminal operator by the simple operation of aligning the orientation of the terminal. 【0062】 (10) A program relating to one aspect is Using a computer, A step for detecting at least one object (8) located on a field (6) on which the mobile body (2) can move, The process of selecting one of the at least one objects by specifying one of the at least one objects displayed on the screen (50) of a terminal (4) capable of communicating with the mobile object using a line of sight vector corresponding to the orientation of the terminal, A step of controlling the moving body to move toward the selected object, It is possible to execute this. 【0063】 According to the embodiment of (10) above, at least one object detected by the moving object is selected by specifying it with a line of sight vector corresponding to the orientation of the terminal, and the moving object that can communicate with the terminal is controlled to move toward the object selected by the line of sight vector. In this way, the moving object can be easily taught to the terminal operator by the simple operation of aligning the orientation of the terminal. [Explanation of symbols] 【0064】 1. Mobile Control System 2 Mobile Units 4 terminals 6 Fields 8 objects 50 screens 52 Marker recognition frame 53 Numerical representation 54 candidate frames 55 Approval button 56 Selected Frames 57 Parameters 58 Route 1 59 Instruction button 60 Second Route 100-point cloud data acquisition unit 102 Self-position estimation part 104 Object detection unit 106 Object Index Creation Section 108 Relative position recognition unit 110 Coordinate Transformation Unit 112 Object position and orientation precision estimation unit 114 Route Planning Department 116 Movement Control Unit 118 Image display section 120 terminal cameras 122 Movement Amount Calculation Unit 124 Object Selection Section 125 Frame correction section 126 Movement operation unit 128 Candidate Frame Visualization Section 130 Selected Frame Visualization Section 132 Movement Path Visualization Unit R placement area

Claims

[Claim 1] A mobile unit that can move across the field, A terminal equipped with a terminal camera and capable of communicating with the aforementioned mobile object, A mobile control system comprising, The moving body includes an object detection unit for detecting at least one object on the field, A movement control unit for controlling the movement of the aforementioned moving body, Equipped with, The aforementioned terminal is An object selection unit for selecting one of the at least one objects captured by the terminal camera, A selection frame visualization unit for visualizing the selection frame corresponding to the object selected by the object selection unit on the screen of the terminal, Equipped with, The movement control unit controls the movement of the moving body toward the target position identified by the selected frame. The object selection unit is a mobile body control system that selects one of the at least one objects displayed on the screen by specifying it using a line of sight vector corresponding to the orientation of the terminal. [Claim 2] The mobile body control system according to claim 1, wherein the terminal further comprises a candidate frame visualization unit for visualizing candidate frames corresponding to the at least one object detected by the object detection unit on the screen. [Claim 3] The moving body is A relative position relationship recognition unit for recognizing the relative position relationship between the terminal and the moving object by capturing an image of a marker provided on the moving object using the terminal camera, A coordinate transformation unit for converting the position information of the terminal into the coordinate system of the moving object based on the relative positional relationship, A mobile body control system according to claim 1 or 2, further comprising the above. [Claim 4] After the moving body moves along the first path toward the target position identified by the selected frame, the object detection unit re-detects the object selected by the object selection unit. The mobile body control system according to any one of claims 1 to 3, wherein the movement control unit controls the mobile body to approach the object based on a second path determined by re-detection. [Claim 5] The mobile body control system according to claim 4, wherein the re-detection is performed while the mobile body moves around the object selected by the object selection unit. [Claim 6] The mobile body control system according to any one of claims 1 to 5, wherein the terminal further comprises a movement operation unit for instructing whether or not the mobile body can be controlled by the movement control unit. [Claim 7] The mobile body control system according to any one of claims 1 to 6, wherein the detection result of the object detection unit can be modified by operating the terminal. [Claim 8] A mobile unit that can move across the field, A terminal equipped with a terminal camera and capable of communicating with the aforementioned mobile object, A mobile control system comprising, The moving body includes an object detection unit for detecting at least one object on the field, A movement control unit for controlling the movement of the aforementioned moving body, A relative position relationship recognition unit for recognizing the relative position relationship between the terminal and the moving object by capturing an image of a marker provided on the moving object using the terminal camera, A coordinate transformation unit for converting the position information of the terminal into the coordinate system of the moving object based on the relative positional relationship, Equipped with, The terminal includes an object selection unit for selecting one of the at least one objects captured by the terminal camera, The object selection unit selects one of the at least one objects displayed on the terminal screen by specifying it using a line-of-sight vector corresponding to the orientation of the terminal. The movement control unit controls the movement of the moving body so that the object selected by the object selection unit is the target position. [Claim 9] A mobile body that can move in a field, A terminal equipped with a terminal camera and capable of communicating with the aforementioned mobile object, A mobile body control method for controlling a mobile body using a mobile body control system comprising: The moving body includes an object detection unit for detecting at least one object on the field, A movement control unit for controlling the movement of the aforementioned moving body, Equipped with, The aforementioned terminal is An object selection unit for selecting one of the at least one objects captured by the terminal camera, A selection frame visualization unit for visualizing the selection frame corresponding to the object selected by the object selection unit on the screen of the terminal, Equipped with, The process involves controlling the movement control unit to move the moving body toward the target position identified by the selected frame, The object selection unit selects one of the at least one objects displayed on the screen by specifying it using a line of sight vector corresponding to the orientation of the terminal, A mobile body control method comprising: [Claim 10] A mobile body that can move in a field, A terminal equipped with a terminal camera and capable of communicating with the aforementioned mobile object, A program for controlling a mobile body using a mobile body control system comprising the following: The moving body includes an object detection unit for detecting at least one object on the field, A movement control unit for controlling the movement of the aforementioned moving body, Equipped with, The aforementioned terminal is An object selection unit for selecting one of the at least one objects captured by the terminal camera, A selection frame visualization unit for visualizing the selection frame corresponding to the object selected by the object selection unit on the screen of the terminal, Equipped with, Using a computer, The process involves controlling the movement control unit to move the moving body toward the target position identified by the selected frame, The object selection unit selects one of the at least one objects displayed on the screen by specifying it using a line of sight vector corresponding to the orientation of the terminal, A program that can be executed.

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