Mobile control system

Abstract

To enable a plurality of operators to easily share interest to operate a movable body in cooperation with the operators.SOLUTION: A movable body control system controls traveling of a movable body on the basis of operation amount information on a plurality of operation terminals operated by a plurality of operators. The operation amount information includes a first operation amount and a second operation amount as each operation amount of the plurality of operation terminals. One or a plurality of processors of the movable control system calculates a target velocity of the movable body for each of the operation terminals on the basis of the first operation amount, calculates a target turning angular velocity of the movable body for each of the operation terminals on the basis of the second operation amount, synthesizes the target velocity calculated for each of the operation terminals by a first ratio and calculates a final target velocity, synthesizes the target turning angular velocity calculated for each of the operation terminals at a second ratio different from the first ratio and calculates a final target turning angular velocity, and controls one or a plurality of actuators related to traveling of the movable body on the basis of the final target velocity and the final target turning angular velocity.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a technique for controlling the travel of a moving body using a plurality of operation terminals operated by a plurality of operators.

Background Art

[0002] Patent Document 1 discloses a technique for remotely operating an industrial vehicle using a remote operation device which is an operation terminal having a communication function. More specifically, Patent Document 1 discloses only an example of remote operation using one operation terminal.

[0003] Further, Patent Document 2 discloses a driving takeover control device capable of suppressing interference between the driving operation of a first driver and the driving operation of a second driver.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] A configuration in which the travel of a moving body is controlled by the cooperation of a plurality of operators who each operate a plurality of operation terminals is conceivable. It is desirable that this configuration has a device that makes it easy to share the fun of operating the moving body in cooperation among a plurality of operators.

[0006] The present disclosure has been made in view of the above problems, and an object thereof is to provide a mobile body control system capable of easily sharing the fun of operating a mobile body in cooperation among a plurality of operators.

Means for Solving the Problems

[0007] The mobile body control system according to the first aspect of the present disclosure controls the traveling of a mobile body based on the operation amount information of a plurality of operation terminals respectively operated by a plurality of operators, and includes one or more processors. The operation amount information includes a first operation amount and a second operation amount as the operation amounts of the respective operation terminals. The one or more processors calculate, for each individual operation terminal, a target speed that is a target value of the speed in the traveling direction of the mobile body based on the first operation amount, calculate, for each individual operation terminal, a target turning angular velocity that is a target value of the turning angular velocity of the mobile body based on the second operation amount, synthesize the target speeds calculated for each individual operation terminal at a first ratio to calculate a final target speed, synthesize the target turning angular velocities calculated for each individual operation terminal at a second ratio different from the first ratio to calculate a final target turning angular velocity, and control one or more actuators related to the traveling of the mobile body based on the final target speed and the final target turning angular velocity.

[0008] The mobile body control system according to the second aspect of the present disclosure controls the traveling of a mobile body based on the operation amount information of a plurality of operation terminals respectively operated by a plurality of operators, and includes one or more processors. The operation amount information includes a first operation amount and a second operation amount as the operation amounts of the respective operation terminals. The one or more processors synthesize the first operation amounts of the individual operation terminals at a first ratio to calculate a first synthesized operation amount, synthesize the second operation amounts of the individual operation terminals at a second ratio different from the first ratio to calculate a second synthesized operation amount, calculate a final target speed that is a target value of the speed in the traveling direction of the mobile body based on the first synthesized operation amount, calculate a final target turning angular velocity that is a target value of the turning angular velocity of the mobile body based on the second synthesized operation amount, and control one or more actuators related to the traveling of the mobile body based on the final target speed and the final target turning angular velocity.

Advantages of the Invention

[0009] According to the first and second aspects of this disclosure, different first and second ratios are used in calculating the final target speed and final target turning angular velocity, which are two target values ​​for controlling the movement of a mobile body. As a result, the ratios in which the first and second control quantities of each control terminal are reflected will differ between the final target speed and the final target turning angular velocity. This makes it possible to assign different roles to individual operators in terms of the control quantities of the mobile body, namely speed and turning angular velocity. This makes it easier for multiple operators to share the enjoyment of collaboratively operating the mobile body. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram showing an example configuration of a mobile control system according to an embodiment. [Figure 2] This is a schematic diagram showing a specific example of the configuration of the mobile body shown in Figure 1. [Figure 3] This is a diagram illustrating an example of manipulated variable information I. [Figure 4] Figure (A) shows an example of a functional block related to the movement control of a mobile object, and Figure (B) shows an example of setting the first and second ratios. [Figure 5] This figure shows another example of a functional block related to the movement control of a mobile object. [Figure 6] This figure shows yet another example of a functional block related to the movement control of a mobile object. [Modes for carrying out the invention]

[0011] Embodiments of this disclosure will be described with reference to the attached drawings. Elements common to each drawing are denoted by the same reference numerals, and redundant explanations are omitted or simplified.

[0012] 1. Mobile control system Figure 1 is a block diagram showing an example configuration of a mobile control system 100 according to an embodiment. The mobile control system 100 comprises two operating terminals (or simply terminals) 10 and 20, and a mobile body (mobility) 30. The number of "multiple mobile terminals" provided in the "mobile control system" according to this disclosure may be three or more.

[0013] Terminals 10 and 20 are operated by two operators 1 and 2 (see Figure 2) for the operation (driving control) of the mobile unit 30. For example, terminals 10 and 20 are mobile devices such as smartphones or tablet devices.

[0014] Specifically, the terminal 10 includes, for example, a touch panel 11, a communication device 12, a processor 13, a storage device 14, and sensors 15. The touch panel 11 is formed on one surface of the first terminal 10 and includes a display screen and a touch sensor. The touch sensor is configured to detect the operator's touch on the display screen. The communication device 12 communicates wirelessly with the mobile body 30. The shape of the terminal 10 is not particularly limited, but the terminal 10 is formed in the shape of a plate (for example, a rectangular plate) with one side as the shorter direction and the other side as the longer direction (see Figure 3).

[0015] The processor (processing circuit) 13 performs various processes for controlling the movement of the mobile body 30. The storage device 14 stores various information necessary for the processing by the processor 13. More specifically, the processor 13 performs various processes using various programs related to the movement control of the mobile body 30. These programs may be stored in the storage device 14 or recorded on a computer-readable recording medium. The sensors 15 include, for example, a tilt angle sensor and a position sensor. The tilt angle sensor detects the tilt direction and tilt angle (attitude) of the first terminal 10. The tilt angle sensor is configured to include, for example, a 6-axis gyro sensor. The tilt angle of the terminal 10 is used for controlling the movement of the mobile body 30 using the "tilt operation O" described later. The position sensor includes a GNSS (Global Navigation Satellite System) receiver and detects the position and orientation of the first terminal 10.

[0016] Terminal 20, like terminal 10, includes a touch panel 21, a communication device 22, a processor 23, a storage device 24, and sensors 25.

[0017] Figures 2(A) and 2(B) are schematic diagrams showing a specific example of the configuration of the mobile body 30 shown in Figure 1. Figure 2(A) is a perspective view of the mobile body 30, and Figure 2(B) is a view of the chassis 32 of the mobile body 30 from above.

[0018] The mobile vehicle 30 is an open-type small mobility vehicle capable of carrying two people. The mobile vehicle 30 comprises a body 31 and a chassis 32. The body 31 has seats 31a for two passengers. As shown in Figure 2(A), one of the passengers is operator 1, who holds the terminal 10, and the other passenger is operator 2, who holds the terminal 20.

[0019] The chassis 32 includes a circular frame 33. Two drive wheels (left and right front wheels) 34R and 34L and one driven wheel (rear wheel) 35 are mounted on the frame 33. The drive wheels 34R and 34L are positioned opposite each other and are rotationally driven by electric motors 36R and 36L, respectively. The driven wheel 35 is an omnidirectional wheel (e.g., an omni-wheel®).

[0020] The mobile unit 30 further includes a communication device 37, an electronic control unit (ECU) 38, and sensors 39. The communication device 37 communicates wirelessly with the first and second terminals 10 and 20.

[0021] The ECU 38 controls the movement of the mobile body 30. The ECU 38 includes a processor (processing circuit) 40 and a storage device 41. The processor 40 performs various processes related to the movement control of the mobile body 30. The storage device 41 stores various information necessary for the processing by the processor 40. More specifically, the processor 40 performs various processes using various programs related to the movement control of the mobile body 30. These programs may be stored in the storage device 41 or recorded on a computer-readable recording medium.

[0022] The sensors 39 include, for example, a recognition sensor, a mobile object status sensor, and a position sensor. The recognition sensor recognizes the surrounding conditions of the mobile object 30. Examples of recognition sensors include cameras, LIDAR (Laser Imaging Detection and Ranging), radar, etc. The mobile object status sensor detects the state of the mobile object 30. The mobile object status sensor includes, for example, a speed sensor that detects the velocity V and a rotational velocity sensor that detects the rotational angular velocity ω. The position sensor detects the position and orientation of the mobile object 30. For example, the position sensor includes a GNSS receiver.

[0023] As shown in Figure 2(B), the speed V is the speed of the moving body 30 in the direction of travel, and more specifically, the speed at the center position P1 of the two drive wheels 34R and 34L. R and V L These are the speeds at the contact points of the drive wheels 34R and 34L, respectively. Let W be the distance between drive wheel 34R and drive wheel 34L, and let ω be the positive turning angular velocity ω during a left turn. Then, speed V R and V L These can be expressed by the following equations (1) and (2), respectively, using velocity V, turning angular velocity ω, and distance W. V L =V - ω × W / 2 ···(1) V R =V+ω×W / 2 ···(2)

[0024] As can be seen from the relationship between equations (1) and (2), the ECU38 controls speed V R and velocity VL By controlling the two electric motors 36R and 36L so that they are equal, the moving body 30 can be made to move straight along the traveling direction. And the ECU 38 can accelerate and decelerate the moving body 30 by controlling the two electric motors 36R and 36L. Also, the ECU 38 controls the two electric motors 36R and 36L to set a difference between the speed V R and the speed V L and the speed V

[0025] In addition, the "plurality of operation terminals" according to the present disclosure is not limited to portable terminals such as smartphones, and may be terminals using other operation methods such as joysticks. Also, the "moving body" according to the present disclosure is not limited to the moving body 30 shown in Fig. 2(A), and may be various moving bodies such as four-wheel automobiles. Also, in the example of the moving body 30, the operators 1 and 2 board the moving body 30 and operate the terminals 10 and 20. However, in an example where a plurality of operation terminals capable of wireless communication with the moving body are used, the "plurality of operators" according to the present disclosure may remotely operate the moving body from outside the moving body. Also, in an example of a moving body operated by a plurality of boarding operators, the plurality of operation terminals may be wired-connected to the moving body.

[0026] 2. Travel control of the moving body The moving body control system 100 is configured to control the traveling of the moving body 30 based on the operation amount information I of the plurality of operation terminals (terminals 10 and 20). More specifically, the moving body control system 100 controls the speed V and the turning angular velocity ω of the moving body 30 based on the operation amount information I. That is, the speed V and the turning angular velocity ω correspond to control amounts for the traveling control of the moving body 30.

[0027] The moving body control system 100 uses the operation amount information I when the respective tilt operations O of the terminals 10 and 20 are being performed in order to control each of the speed V and the turning angular velocity ω. The tilt operation O is an operation in which the operators 1 and 2 tilt the terminals 10 and 20.

[0028] Figure 3 is a diagram illustrating an example of manipulated variable information I. Manipulated variable information I includes tilt angle A as an example of the "first manipulated variable" and tilt angle B as an example of the "second manipulated variable" for each terminal 10 and 20. Hereinafter, tilt angles A and B of terminal 10 will be referred to as tilt angles A1 and B1, and tilt angles A and B of terminal 20 will be referred to as tilt angles A2 and B2. In Figure 3, tilt angles A1 and B1 of terminal 10 are shown, but tilt angles A2 and B2 of terminal 20 are shown similarly.

[0029] In one example shown in Figure 3, the inclination angle A1 is equal to the center line L. A This is the rotation angle of terminal 10 around a rotation axis parallel to the center line L. A It passes through the center P2 of terminal 10 and extends along the shorter direction of terminal 10. Similarly, the inclination angle B1 is along the center line L B This is the angle of rotation around a rotation axis parallel to the center line L. B It passes through the center P2 of terminal 10 and extends along the longitudinal direction of terminal 10. And the center line L A and L B They are orthogonal to each other.

[0030] Here, the inclination angle A1 is defined as a predetermined reference state (for example, center line L). B It is assumed that the angle of inclination A1 is zero when the terminal is in a horizontal position. The angle of inclination A1 is positive when operator 1 tilts terminal 10 such that the end 10e1 of terminal 10 furthest from operator 1 is lower relative to the reference state, and negative when operator 1 tilts terminal 10 such that the end 10e1 is higher relative to the reference state. The same applies to the angle of inclination A2 of terminal 20.

[0031] Furthermore, the inclination angle B1 is determined by a predetermined reference state (for example, the center line L A It is assumed that the angle of inclination B1 is zero when the terminal is horizontal. The angle of inclination B1 is positive when operator 1 tilts terminal 10 such that the left end 10e2 of operator 1 is lower relative to the reference state, and negative when operator 1 tilts terminal 10 such that the end 10e2 is higher relative to the reference state. The same applies to the angle of inclination B2 of terminal 20.

[0032] Figure 4(A) shows an example of a functional block related to the travel control of the mobile body 30. As a functional block related to the travel control of the mobile body 30, terminal 10 is equipped with an operation variable acquisition unit 51 and a control variable calculation unit 52. Similarly, terminal 20 is equipped with an operation variable acquisition unit 61 and a control variable calculation unit 62. The ECU 38 of the mobile body 30 is equipped with a control variable arbitration unit 71 and a motor control unit 72. These functional blocks are implemented in software when a program related to travel control is executed by processor 13, 23, or 40.

[0033] The operation amount acquisition unit 51 of terminal 10 acquires tilt angles A1 and B1 detected by the tilt angle sensor included in the sensor set 15. Similarly, the operation amount acquisition unit 61 of terminal 20 acquires tilt angles A2 and B2 detected by the tilt angle sensor included in the sensor set 25. The tilt angles A1, B1, A2, and B2 take values ​​within the range of, for example, -180° to 180°.

[0034] The control variable calculation unit 52 of terminal 10 calculates the target speed V1 (target control variable). Specifically, the storage device 14 of terminal 10 stores a map MV1 that defines the relationship between the tilt angle A1 and the target speed V1. Map MV1 is set such that, for example, when the tilt angle A1 is zero, the target speed V1 is also zero, and as the positive tilt angle A1 increases, the target speed V1 increases. The control variable calculation unit 52 calculates the target speed V1 corresponding to the acquired tilt angle A1 from map MV1. In addition, the storage device 24 of terminal 20 stores a map MV2 that defines the relationship between the tilt angle A2 and the target speed V2 based on the same concept as map MV1. The control variable calculation unit 62 calculates the target speed V2 corresponding to the acquired tilt angle A2 from map MV2.

[0035] Furthermore, the control variable calculation unit 52 of terminal 10 calculates the target turning angular velocity ω1 (target control variable). Specifically, the storage device 14 also stores a map Mω1 that defines the relationship between the tilt angle B1 and the target turning angular velocity ω1. Map Mω1 is set such that, for example, when the tilt angle B1 is zero, the target turning angular velocity ω1 is also zero. Map Mω1 is also set such that, for example, as the positive tilt angle B1 increases, the positive target turning angular velocity ω1 increases, and as the negative tilt angle B1 increases, the negative target turning angular velocity ω1 increases. The control variable calculation unit 52 calculates the target turning angular velocity ω1 corresponding to the acquired tilt angle B1 from map Mω1. In addition, the storage device 24 of terminal 20 stores a map Mω2 that defines the relationship between the tilt angle B2 and the target turning angular velocity ω2 based on a similar concept to map Mω1. The control variable calculation unit 62 calculates the target turning angular velocity ω2 corresponding to the acquired inclination angle B2 from the map Mω2.

[0036] The target velocities V1 and V2 and target angular velocities ω1 and ω2, calculated as described above in terminals 10 and 20, are transmitted to the mobile body 30.

[0037] The control quantity arbitration unit 71 of the mobile unit 30 arbitrates the target speeds V1 and V2 received from terminals 10 and 20, respectively. Specifically, the control quantity arbitration unit 71 combines the target speeds V1 and V2 calculated for each individual terminal 10 and 20 using a "first ratio" to arrive at a final target speed V t Calculate the final target speed V. t This can be expressed, for example, as in equation (3). The first ratio is determined by coefficients C1 and C2. That is, C1 is a coefficient that represents the first ratio of the target speed V1 and is multiplied by the target speed V1. C2 is a coefficient that represents the first ratio of the target speed V2 and is multiplied by the target speed V2. Final target speed V t This corresponds to the sum of the product of coefficient C1 and target speed V1 and the product of coefficient C2 and target speed V2. In examples where three or more control terminals are used, three or more target speeds V corresponding to three or more first control variables are used. i These are combined according to the first ratio. V t =C1×V1+C2×V2···(3)

[0038] Furthermore, the control variable arbitration unit 71 arbitrates the target turning angular velocity ω1 and ω2 received from terminals 10 and 20, respectively. Specifically, the control variable arbitration unit 71 combines the target turning angular velocity ω1 and ω2 calculated for each individual terminal 10 and 20 using a "second ratio" to obtain the final target turning angular velocity ω t The second ratio is different from the first ratio, as illustrated in Figure 4(B). Final target turning angular velocity ω t This can be expressed, for example, as in equation (4). The second ratio is determined by coefficients D1 and D2. That is, D1 is a coefficient that represents the second ratio of the target turning angular velocity ω1 and is multiplied by the target turning angular velocity ω1. D2 is a coefficient that represents the second ratio of the target turning angular velocity ω2 and is multiplied by the target turning angular velocity ω2. Final target turning angular velocity ω t This corresponds to the sum of the product of coefficient C1 and target turning angular velocity ω1 and the product of coefficient C2 and target turning angular velocity ω2. In examples where three or more control terminals are used, three or more target turning angular velocity ω corresponding to three or more second control units. i These are combined according to the second ratio. ω t =D1×ω1+D2×ω2···(4)

[0039] The first and second ratios can be set by operator 1 operating the touch panel 11 of terminal 10. More specifically, for example, terminal 10 may only be able to set coefficients C1 and D1 related to the operation of terminal 10, or it may also be able to set coefficients C2 and D2 related to the operation of other terminals 20. The same applies to terminal 20.

[0040] The first and second ratios may be set arbitrarily, provided that they are different from each other. Figure 4(B) shows an example of how to set the first and second ratios.

[0041] In the example shown in Figure 4(B), the first ratio relating to the final target speed Vt is set such that the coefficient C1 of terminal 10 is greater than the coefficient C2 of terminal 20. More specifically, as an example, coefficient C1 is set to 1 and coefficient C2 is set to 0. According to this setting example, only operator 1 of terminal 10 can perform operations to change the final target speed Vt. In other words, the final target speed Vt is determined solely by the operation of terminal 10.

[0042] On the other hand, the second ratio relating to the final target turning angular velocity ωt is set such that the coefficient D1 of terminal 10 is equal to the coefficient D2 of terminal 20. More specifically, as an example, coefficient D1 is set to 0.5 and coefficient D2 is set to 0.5. According to this example setting, in order to control the turning angular velocity ω, two operators 1 and 2 are required to operate terminals 10 and 20 respectively in a synchronized rhythm.

[0043] In addition, in each of the first and second ratios, the sum of the two coefficients (for example, C1+C2, D1+D2) is basically 1, as shown in the example in Figure 4(B). However, this sum may be greater than 1 or less than 1. This is also true in cases where there are three or more coefficients because three or more operating terminals are used.

[0044] The motor control unit 72 controls the two electric motors 36L and 36R so that the calculated final target speed Vt and final target turning angular velocity ωt are achieved. More specifically, the motor control unit 72 substitutes the final target speed Vt and final target turning angular velocity ωt for speed V and turning angular velocity ω in equations (1) and (2) above, respectively, to determine the target speed V for the two drive wheels 34L and 34R. L t and V R The motor control unit 72 then calculates the target speed V. L t and V R The electric motors 36L and 36R are controlled respectively to achieve t. The electric motors 36L and 36R correspond to examples of "one or more actuators involved in the movement of a mobile body" as described in this disclosure.

[0045] In the mobile body control system 100 according to this embodiment described above, two different first and second ratios are used in calculating the final target speed Vt and the final target turning angular velocity ωt, which are two target values ​​for controlling the movement of the mobile body 30. As a result, the ratios that reflect the first and second operation quantities of the individual operation terminals 10 and 20 are different between the final target speed Vt and the final target turning angular velocity ωt (see equations (3) and (4)). This means that the degree of involvement of the two operators 1 and 2 in controlling the movement of the mobile body 30 is different between the final target speed Vt and the final target turning angular velocity ωt. In other words, this makes it possible to assign different roles to the two operators 1 and 2 in terms of the control quantities of the mobile body 30, namely speed V and turning angular velocity ω. This makes it easier for the two operators 1 and 2 to share the enjoyment of operating the mobile body 30 together.

[0046] In addition, the mobile body 30 shown in Figure 2(A) is a mobile body that is preferably used in amusement facilities such as theme parks or amusement parks, or in tourist destinations. The mobile body control system 100 according to this embodiment makes it possible to provide operators 1 and 2 with excellent entertainment using the mobile body 30.

[0047] Furthermore, as illustrated in Figure 4(B), the first ratio relating to the final target speed Vt may be set such that the coefficient C1 of terminal 10 is greater than the coefficient C2 of terminal 20. The second ratio relating to the final target turning angular velocity ωt may be set such that the coefficient D1 of terminal 10 is equal to the coefficient D2 of terminal 20. Here, it can be said that the control of speed V, which is related to the movement and stopping of the mobile body 30, requires a higher level of safety than the control of the turning angular velocity ω of the mobile body 30. According to this example of setting the first and second ratios, terminal 10 becomes dominant in the control of speed V. Therefore, one operator 1 operating terminal 10 can safely manage speed V, while operators 1 and 2 can enjoy cooperative operation. More specifically, by setting coefficient C1 to 1 and coefficient C2 to 0, operator 1 can more reliably take measures to stop the mobile body 30 in the event of an emergency. Furthermore, with respect to the rotational angular velocity ω in which the operations of operators 1 and 2 are equally reflected, operators 1 and 2 can fully share the enjoyment of operating the mobile unit 30 by operating terminals 10 and 20 in rhythm.

[0048] In addition, according to the above example settings for the first and second ratios, when a parent and child ride in the mobile vehicle 30, the parent operates terminal 10 and the child operates terminal 20, allowing the parent to safely manage the speed V while the child enjoys operating the mobile vehicle 30's turning capabilities together with the parent.

[0049] 3. Other configuration examples of mobile control systems The mobile control system relating to this disclosure may have the configuration shown in Figure 5 or Figure 6 instead of the configuration shown in Figure 4.

[0050] Figure 5 shows another example of a functional block related to the travel control of the mobile body 30. The mobile body control system 200 shown in Figure 5 differs from the mobile body control system 100 described above in the following respects. Specifically, in the mobile body control system 200, terminal 10 is equipped only with an operation variable acquisition unit 51, and terminal 20 is equipped only with an operation variable acquisition unit 61. Furthermore, the ECU 38 of the mobile body 30 is equipped with control variable calculation units 73 and 74 in addition to the control variable arbitration unit 71 and motor control unit 72.

[0051] In the example shown in Figure 5, the control variable calculation unit 73 of the mobile body 30 calculates a target speed V1 corresponding to the tilt angle A1 received from terminal 10 from map MV1, and also calculates a target turning angular velocity ω1 corresponding to the tilt angle B1 received from terminal 10 from map Mω1. Similarly, the control variable calculation unit 74 calculates a target speed V2 corresponding to the tilt angle A2 received from terminal 20 from map MV2, and also calculates a target turning angular velocity ω2 corresponding to the tilt angle B2 received from terminal 20 from map Mω2. Maps MV1, MV2, Mω1, and Mω2 are stored in the storage device 34 of the ECU 38. The calculated target speeds V1 and V2, and target turning angular velocities ω1 and ω2 are input to the control variable arbitration unit 71.

[0052] The mobile body control system 200 described above can also provide the same effects as those described above for the mobile body control system 100.

[0053] Figure 6 shows yet another example of a functional block related to the travel control of the mobile body 30. The mobile body control system 300 shown in Figure 6 differs from the mobile body control system 100 described above in the following respects. Specifically, in the mobile body control system 300, as in the example of the mobile body control system 200, terminal 10 is equipped only with an operator variable acquisition unit 51, and terminal 20 is equipped only with an operator variable acquisition unit 61. Furthermore, the ECU 38 of the mobile body 30 is equipped with an operator variable arbitration unit 75 and a final control variable calculation unit 76, along with a motor control unit 72.

[0054] In the example shown in Figure 6, the manipulator arbitration unit 75 of the mobile unit 30 arbitrates the tilt angles A1 and A2 received from terminals 10 and 20, respectively. Specifically, the manipulator arbitration unit 75 combines the tilt angles A1 and A2 at a "first ratio" to obtain a arbitrated manipulator (first combined manipulator) A x Calculate the amount of manipulation after mediation A x This can be expressed, for example, as in equation (5). That is, the post-mediation manipulation amount A x This corresponds to the sum of the product of coefficient C1 and tilt angle A1 and the product of coefficient C2 and tilt angle A2. In examples where three or more operating terminals are used, three or more first manipulated variables are combined according to the first ratio. A x =C1×A1+C2×A2···(5)

[0055] Furthermore, the manipulator arbitration unit 75 of the mobile unit 30 arbitrates the tilt angles B1 and B2 received from terminals 10 and 20, respectively. Specifically, the manipulator arbitration unit 75 combines the tilt angles B1 and B2 using a "second ratio" to obtain a arbitrated manipulator (second combined manipulator) B x Calculate the amount of manipulation after mediation B. x This can be expressed, for example, as in equation (6). That is, the post-mediation manipulation amount B x This corresponds to the sum of the product of coefficient D1 and tilt angle B1, and the product of coefficient D2 and tilt angle B2. In examples where three or more operating terminals are used, three or more second manipulated variables are combined by a second ratio. B x =D1×B1+D2×B2···(6)

[0056] In addition, in the example shown in Figure 6, the coefficients C1, C2, D1, and D2 of the first and second ratios are set as shown in Figure 4(B) as an example.

[0057] The final control variable calculation unit 76 calculates the arbitrated manipulated variable A input from the manipulated variable arbitration unit 75. x Final target speed V t Map MV t Calculated from. Map MV t Based on the same approach as the aforementioned map MV1, the post-arrangement manipulation amount A x and the final target speed Vt This defines the relationship and is stored in the memory device 34. Furthermore, the final control variable calculation unit 76 calculates the arbitrated manipulated variable B input from the manipulated variable arbitration unit 75. x The final target turning angular velocity ω t Map Mω t Calculated from: Map Mω t Based on the same concept as the map Mω1 described above, the post-arrangement manipulation amount B x and the final target turning angular velocity ω t This defines the relationship and is stored in the memory device 34. The calculated final target speed V t and the final target turning angular velocity ω t This is input to the motor control unit 72.

[0058] The mobile body control system 300 described above can also provide the same effects as those described above for the mobile body control system 100.

[0059] In addition, the configuration shown in Figure 6 is applicable when the control variable calculation does not include the following nonlinear processing. On the other hand, the configurations shown in Figures 4(A) and 5 are applicable regardless of whether or not the nonlinear processing is included. The nonlinear processing referred to here can be performed in the control variable calculation units 52, 62, 73, and 74. Here, the nonlinear processing will be explained using the control variable calculation unit 52 as an example. Specifically, the nonlinear processing in the control variable calculation unit 52 is such that when operator 1 is touching the touch panel 11 and a tilt operation O of the terminal 10 is performed, the amount of change in the tilt angle A1 or B1 due to the tilt operation O is used as the first or second manipulated variable in the control variable calculation. [Explanation of symbols]

[0060] 10, 20 Operating terminals, 13, 23, 40 Processors, 30 Mobile units, 38 ECUs, 36L, 36R Electric motors, 100, 200, 300 Mobile unit control systems

Claims

1. A mobile object control system that controls the movement of a mobile object based on operation amount information from multiple operating terminals, each operated by multiple operators, Equipped with one or more processors, The aforementioned operation quantity information includes a first operation quantity and a second operation quantity as operation quantities for each of the plurality of operation terminals, The one or more processors described above are: For each individual operating terminal, a target speed, which is the target value of the speed in the direction of travel of the moving body, is calculated based on the first operating quantity. For each of the aforementioned operating terminals, a target rotational angular velocity, which is the target value of the rotational angular velocity of the moving body, is calculated based on the second operating quantity. The target speeds calculated for each individual operating terminal are combined at a first ratio to calculate the final target speed. The target turning angular velocity calculated for each of the aforementioned operating terminals is combined using a second ratio different from the first ratio to calculate the final target turning angular velocity. Based on the final target speed and the final target turning angular velocity, control one or more actuators involved in the movement of the moving body. Mobile control system.

2. A mobile body control system according to claim 1, The aforementioned plurality of operating terminals include a first operating terminal and a second operating terminal, The coefficient of the first ratio multiplied by the target speed based on the first operation amount of the first operation terminal is greater than the coefficient of the first ratio multiplied by the target speed based on the first operation amount of the second operation terminal. The coefficient of the second ratio multiplied by the target turning angular velocity based on the second operating amount of the first operating terminal is equal to the coefficient of the second ratio multiplied by the target turning angular velocity based on the second operating amount of the second operating terminal. Mobile control system.

3. A mobile body control system according to claim 2, The coefficient of the first ratio multiplied by the target speed based on the first operation amount of the first operation terminal is 1. The coefficient of the first ratio multiplied by the target speed based on the first operation amount of the second operation terminal is 0. Mobile control system.

4. A mobile object control system that controls the movement of a mobile object based on operation amount information from multiple operating terminals, each operated by multiple operators, Equipped with one or more processors, The aforementioned operation quantity information includes a first operation quantity and a second operation quantity as operation quantities for each of the plurality of operation terminals, The one or more processors described above are: The first manipulated quantities of each individual operating terminal are combined in a first ratio to calculate a first combined manipulated quantity. The second operation amount of each of the aforementioned operation terminals is combined at a second ratio different from the first ratio to calculate the second combined operation amount. Based on the first combined operation amount, the final target velocity, which is the target value of the velocity in the direction of travel of the moving body, is calculated. Based on the second combined operation amount, the final target rotational angular velocity, which is the target value of the rotational angular velocity of the moving body, is calculated. Based on the final target speed and the final target turning angular velocity, control one or more actuators involved in the movement of the moving body. Mobile control system.

5. A mobile control system according to claim 4, The aforementioned plurality of operating terminals include a first operating terminal and a second operating terminal, The coefficient of the first ratio multiplied by the first operating amount of the first operating terminal is greater than the coefficient of the first ratio multiplied by the first operating amount of the second operating terminal. The coefficient of the second ratio multiplied by the second operating quantity of the first operating terminal is equal to the coefficient of the second ratio multiplied by the second operating quantity of the second operating terminal. Mobile control system.

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