Movement plan creation method, program, movement plan creation system, and moving body

Abstract

The objective of the present disclosure is to reduce the time and effort required for work to determine a destination of a moving body. A movement plan creation system (1) comprises a ranging unit (11), an identification unit (12), a position measuring unit (13), an intersection processing unit (14), and a destination determining unit (15). The position measuring unit (13) determines the position of each of a plurality of reflector markers (5). The intersection processing unit (14) obtains a plurality of intersection points of a plurality of first straight lines and a plurality of second straight lines. The plurality of first straight lines pass respectively through a plurality of first reflector markers. The plurality of second straight lines pass respectively through a plurality of second reflector markers. The destination determining unit (15) determines, as destinations of a moving body (3), at least some intersection points among the plurality of intersection points.

Description

Movement plan creation method, program, movement plan creation system, and mobile body

[0001] The present disclosure generally relates to a movement plan creation method, a program, a movement plan creation system, and a moving body. More specifically, the present disclosure relates to a movement plan creation method, a program, and a movement plan creation system that create a movement plan for a moving body having Lidar (Light Detection and Ranging), and a moving body equipped with the movement plan creation system.

[0002] Patent Literature 1 discloses a self-propelled working device (mobile body) that can register a destination and correct positional deviation from the destination. The self-propelled working device estimates its global position using SLAM technology, which determines its direction and relative position on an environmental map.

[0003] In the invention described in Patent Document 1, the destinations of the self-propelled working device must be manually input, which is time-consuming if there are a large number of destinations.

[0004] Japanese Patent Application Laid-Open No. 2020-064400

[0005] The present disclosure aims to provide a movement plan creation method, a program, a movement plan creation system, and a moving body that can reduce the effort required for determining a destination.

[0006] A movement planning method according to one aspect of the present disclosure creates a movement plan for a moving body. The moving body autonomously moves on a traveling surface on which a plurality of reflector markers are installed. The moving body has a lidar. The plurality of reflector markers include a plurality of first reflector markers and a plurality of second reflector markers. The plurality of first reflector markers are aligned along a first axis on the traveling surface. The plurality of second reflector markers are aligned along a second axis on the traveling surface. The second axis intersects with the first axis. The movement planning method includes a ranging step, an identification step, a positioning step, an intersection step, and a destination determination step. In the ranging step, a distance between the moving body and the object is calculated based on the time from when the lidar emits light to when the lidar receives reflected light, which is the light reflected by the object. In the identification step, it is determined whether the object is any of the plurality of reflector markers based on the intensity of the reflected light received by the Lidar. In the positioning step, the position of each of the plurality of reflector markers is determined based on the direction of light emission by the Lidar and the distance between the moving body and each of the plurality of reflector markers determined in the ranging step. In the intersection step, a plurality of intersections are determined between a plurality of first lines extending along a direction perpendicular to the first axis or along the second axis and a plurality of second lines parallel to each other. Each of the plurality of first lines passes through the plurality of first reflector markers. Each of the plurality of second lines passes through the plurality of second reflector markers. In the destination determination step, at least some of the plurality of intersections are determined as the destination of the moving body.

[0007] A program according to one aspect of the present disclosure is a program for causing one or more processors of a computer system to execute the movement plan creation method.

[0008] A movement planning system according to one aspect of the present disclosure creates a movement plan for a moving object. The moving object autonomously moves on a traveling surface on which a plurality of reflector markers are installed. The moving object has a lidar. The plurality of reflector markers include a plurality of first reflector markers and a plurality of second reflector markers. The plurality of first reflector markers are aligned along a first axis on the traveling surface. The plurality of second reflector markers are aligned along a second axis on the traveling surface. The second axis intersects with the first axis. The movement planning system includes a ranging unit, an identification unit, a positioning unit, an intersection processing unit, and a destination determination unit. The ranging unit calculates the distance between the moving object and the moving object based on the time between when the lidar emits light and when the lidar receives reflected light, which is the light reflected by the object. The identification unit determines whether the object is any of the plurality of reflector markers based on the intensity of the reflected light received by the Lidar. The positioning unit determines the position of each of the plurality of reflector markers based on the direction of light emission by the Lidar and the distance between the moving body and each of the plurality of reflector markers determined by the ranging unit. The intersection processing unit determines a plurality of intersections between a plurality of first straight lines extending along a direction perpendicular to the first axis or along the second axis and a plurality of second straight lines parallel to each other. Each of the plurality of first straight lines passes through the plurality of first reflector markers. Each of the plurality of second straight lines passes through the plurality of second reflector markers. The destination determination unit determines at least some of the plurality of intersections as the destination of the moving body.

[0009] A moving body according to one aspect of the present disclosure includes the movement plan creation system.

[0010] FIG. 1 is a block diagram of a moving body equipped with a movement planning system according to a first embodiment, and a host system communicating with the moving body. FIG. 2 is a perspective view showing a first structural example of a reflector marker used with the moving body of the same. FIG. 3 is a perspective view showing a second structural example of a reflector marker used with the moving body of the same. FIG. 4 is a side view showing a schematic shape of the moving body of the same. FIG. 5 is a conceptual diagram showing the processing of the movement planning system of the same. FIG. 6 is a conceptual diagram showing the processing of the movement planning system of the same. FIG. 7 is a diagram showing an image displayed in the host system of the same. FIG. 8 is a flowchart showing an example of the operation of the moving body of the same. FIG. 9 is a conceptual diagram showing the processing of the movement planning system according to a second embodiment. FIG. 10 is a conceptual diagram showing the processing of the movement planning system according to a third embodiment. FIG. 11 is a conceptual diagram showing the processing of the movement planning system according to a fourth embodiment. FIG. 12 is a conceptual diagram showing the processing of the movement planning system according to a fifth embodiment. FIG. 13 is a block diagram of a host system equipped with a movement planning system according to a sixth embodiment, and a moving body communicating with the host system.

[0011] In the following embodiments, the movement plan creation method, program, movement plan creation system, and moving body of the present disclosure will be described using drawings. However, the following embodiments are merely a part of various embodiments of the present disclosure. The following embodiments can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, the drawings described in the following embodiments are schematic diagrams, and the ratios of the sizes and thicknesses of the components in the drawings do not necessarily reflect the actual dimensional ratios. Furthermore, the following embodiments, including modified examples, may be realized in appropriate combinations.

[0012] (First embodiment) (Overview) The moving body 3 (cart) of the present disclosure is capable of autonomous movement. That is, once the destination of the moving body 3 and, if necessary, the route to the destination are determined, the moving body 3 automatically moves to the destination.

[0013] When the moving object 3 arrives at the destination, it performs, for example, a predetermined task. Tasks performed by the moving object 3 at the destination include, for example, environmental measurement, photography, and soil sampling. Environmental measurement includes, for example, measuring the temperature, measuring the concentration of a predetermined substance, measuring the air pressure, measuring the wind speed, or measuring the wind direction. The predetermined substance is, for example, carbon dioxide, carbon monoxide, or formaldehyde.

[0014] Once multiple destinations have been determined, the mobile object 3 moves to the multiple destinations in order and performs work at each destination. While it is conceivable that an operator could manually determine (specify) the destinations one by one, if there are a large number of destinations, it would be extremely time-consuming for the operator to determine (specify) the destinations one by one. Therefore, an object of the present disclosure is to reduce the time and effort required for determining destinations.

[0015] 1 to 5 show the components of this embodiment. A movement planning system 1 of this embodiment creates a movement plan for a moving object 3. The moving object 3 autonomously moves on a travel surface S1 on which a plurality of reflector markers 5 are installed. The moving object 3 has a Lidar 31. The plurality of reflector markers 5 include a plurality of first reflector markers 5X and a plurality of second reflector markers 5Y. The plurality of first reflector markers 5X are aligned along a first axis A1 on the travel surface S1. The plurality of second reflector markers 5Y are aligned along a second axis A2 on the travel surface S1. The second axis A2 intersects with the first axis A1. The movement planning system 1 includes a distance measurement unit 11, an identification unit 12, a positioning unit 13, an intersection processing unit 14, and a destination determination unit 15. The distance measurement unit 11 calculates the distance between the moving object 3 and the object based on the time from when the lidar 31 emits light until the lidar 31 receives reflected light, which is light reflected by the object. The identification unit 12 determines whether the object is one of the multiple reflector markers 5 based on the intensity of the reflected light received by the lidar 31. The positioning unit 13 calculates the position of each of the multiple reflector markers 5 based on the direction of light emission by the lidar 31 and the distance between the moving object 3 and each of the multiple reflector markers 5 calculated by the distance measurement unit 11. The intersection processing unit 14 calculates multiple intersections 60 between multiple first straight lines L1 extending along a direction perpendicular to the first axis A1 or along the second axis A2 and multiple second straight lines L2 parallel to each other. Each of the multiple first straight lines L1 passes through a multiple first reflector marker 5X. The plurality of second straight lines L2 pass through the plurality of second reflector markers 5Y. The destination determination unit 15 determines at least some of the plurality of intersections 60 as the destination of the moving object 3.

[0016] According to the above configuration, by installing a plurality of reflector markers 5, the destination of the moving object 3 is determined according to the positions of the plurality of reflector markers 5. In this way, it is possible to semi-automate the task of determining the destination of the moving object 3. This reduces the effort required for determining the destination.

[0017] In this embodiment, the description will be made on the assumption that the work of installing the plurality of reflector markers 5 is performed by a worker. However, the work of installing the plurality of reflector markers 5 may also be performed by a machine.

[0018] Furthermore, functions similar to those of the movement planning system 1 can be embodied in a movement planning method. The movement planning method of this embodiment creates a movement plan for a moving object 3. The moving object 3 autonomously moves on a travel surface S1 on which a plurality of reflector markers 5 are installed. The moving object 3 has a Lidar 31. The plurality of reflector markers 5 include a plurality of first reflector markers 5X and a plurality of second reflector markers 5Y. The plurality of first reflector markers 5X are aligned along a first axis A1 on the travel surface S1. The plurality of second reflector markers 5Y are aligned along a second axis A2 on the travel surface S1. The second axis A2 intersects with the first axis A1. The movement planning method includes a ranging step, an identification step, a positioning step, an intersection step, and a destination determination step. In the ranging step, the distance between the moving body 3 and the object is determined based on the time from when the lidar 31 emits light until the lidar 31 receives reflected light, which is light reflected by the object. In the identification step, it is determined whether the object is one of the multiple reflector markers 5 based on the intensity of the reflected light received by the lidar 31. In the positioning step, the position of each of the multiple reflector markers 5 is determined based on the direction of light emission by the lidar 31 and the distance between the moving body 3 and each of the multiple reflector markers 5 determined in the ranging step. In the intersection step, multiple intersections 60 are determined between multiple first straight lines L1 along a direction perpendicular to the first axis A1 or along the second axis A2 and multiple second straight lines L2 that are parallel to each other. Each of the multiple first straight lines L1 passes through a multiple first reflector marker 5X. Each of the multiple second straight lines L2 passes through a multiple second reflector marker 5Y. In the destination determination step, at least some of the intersections 60 are determined as the destination of the moving object 3 .

[0019] The movement plan creation method can be embodied as a program. The program of this embodiment is a program for causing one or more processors of a computer system to execute the movement plan creation method. The program may be recorded on a non-transitory recording medium readable by the computer system.

[0020] (Details) (1) Overall Configuration The movement plan creation system 1 of this embodiment and each of the related components will be described in more detail below.

[0021] As shown in Fig. 1 , a moving object 3 includes a movement plan creation system 1. The moving object 3 communicates with a host system 4. The moving object 3 uses a Lidar 31 to determine the positions of a plurality of reflector markers 5 (see Fig. 5 ). In this manner, in this embodiment, the moving object 3, the host system 4, and the plurality of reflector markers 5 are all used.

[0022] (2) Mobile Body As shown in Figures 1 and 4, the mobile body 3 includes a main body 30, a Lidar 31, a working unit 32, a battery 33, a processing unit 34, multiple (two in Figure 1) power units 35, multiple wheels 36, a communication unit 37, and a memory unit 38.

[0023] (2.1) Main Body The shape of the main body 30 is not particularly limited, but is, for example, a rectangular parallelepiped. The main body 30 has a space inside.

[0024] The lidar 31, the working unit 32, and the plurality of wheels 36 are held by the main body 30 on the outside of the main body 30. The battery 33, the processing unit 34, the plurality of power units 35, the communication unit 37, and the memory unit 38 are housed in the main body 30.

[0025] (2.2) Lidar The lidar 31 irradiates the surroundings of the main body 30 with pulsed laser light and receives light (reflected light) scattered by objects present around the main body 30. The distance measurement unit 11 of the movement planning system 1 determines whether an object is present or not based on the intensity of the reflected light received by the lidar 31, and further calculates the distance to the object.

[0026] Furthermore, in the Lidar 31, the emission direction of the laser light can rotate around an axis along the up-down direction. Three arrows R1 in FIG. 5 represent the emission direction of the laser light at different times. The Lidar 31 receives reflected light each time it emits laser light. The distance measurement unit 11 calculates the distance to the reflection position based on the intensity of the reflected light at each time. The reflection position is the position where the laser light is reflected. The positioning unit 13 of the movement planning system 1 acquires information on the distance to the reflection position and information on the emission direction of the laser light at each time. This allows the positioning unit 13 to acquire data on multiple reflection positions as point cloud data. In other words, the positioning unit 13 can identify the direction and distance of an object relative to the moving body 3.

[0027] In the Lidar 31, the emission direction of the laser light may be rotatable around one axis or each of multiple axes along a direction intersecting the up-down direction.

[0028] (2.3) Working Unit When the moving object 3 arrives at the destination, the working unit 32 performs work. The working unit 32 has, for example, an environmental sensor. The working unit 32 performs environmental measurement. As described above, the environmental measurement is, for example, measurement of air temperature, measurement of the concentration of a predetermined substance, measurement of air pressure, measurement of wind speed, measurement of wind direction, etc.

[0029] (2.4) Battery The battery 33 is, for example, a lithium-ion battery. The battery 33 supplies the power necessary for the operation of each component of the mobile object 3. For example, the battery 33 supplies the power necessary for the operation of the processing unit 34 configured as a computer system. Also, for example, the battery 33 supplies the power necessary for the operation of the power unit 35 configured as a motor.

[0030] (2.5) Processing Unit The processing unit 34 includes a computer system having one or more processors and a memory. At least some of the functions of the processing unit 34 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium such as a memory card.

[0031] As shown in FIG. 1 , the processing unit 34 includes a movement planning system 1 and a traveling system 2. The movement planning system 1 includes a ranging unit 11, an identification unit 12, a positioning unit 13, an intersection processing unit 14, a destination determination unit 15, and a correction unit 16. The traveling system 2 includes a traveling control unit 21, a Lidar control unit 22, and an operation management unit 23. Note that the ranging unit 11, the identification unit 12, the positioning unit 13, the intersection processing unit 14, the destination determination unit 15, the correction unit 16, the traveling control unit 21, the Lidar control unit 22, and the operation management unit 23 merely indicate functions realized by the processing unit 34 and do not necessarily indicate actual configurations. The movement planning system 1 and the traveling system 2 merely indicate functions realized by the processing unit 34 and do not necessarily indicate actual configurations.

[0032] (2.5.1) Movement Planning System The movement planning system 1 determines the destination of the moving object 3.

[0033] The distance measurement unit 11 executes a distance measurement step. The distance measurement step is a step for determining the distance between the moving body 3 and an object. The distance measurement unit 11 measures the time from when the lidar 31 emits light (laser light) to when the lidar 31 receives the reflected light. Based on the time measured in this manner, the distance measurement unit 11 determines the distance between the moving body 3 and the object.

[0034] The identification unit 12 executes an identification step in which, when light emitted from the lidar 31 is reflected by an object and the reflected light is received by the lidar 31, the identification step determines whether the object is a reflector marker 5 based on the intensity of the reflected light received by the lidar 31.

[0035] More specifically, the identification step is a step of determining whether the object is any one of the plurality of pre-installed reflector markers 5. In other words, the identification step is a step of determining whether the object is any one of the reflector markers 5 or none of the reflector markers 5.

[0036] The reflector marker 5 is a member having a relatively high reflectance of light. Therefore, in the identification step, if the intensity of the reflected light is equal to or greater than a threshold, the object is determined to be a reflector marker 5.

[0037] The intensity of reflected light decreases in inverse proportion to the square of the distance between the moving body 3 and the object. Therefore, in the identification step, the threshold is changed according to the distance between the moving body 3 and the object determined in the ranging step. More specifically, in the identification step, the threshold is made smaller as the distance between the moving body 3 and the object determined in the ranging step increases. For example, the threshold may be inversely proportional to the square of the distance between the moving body 3 and the object determined in the ranging step.

[0038] The positioning unit 13 executes a positioning step. The positioning step is a step for determining the position of each of the multiple reflector markers 5. That is, as shown by arrow R1 in FIG. 5 , the Lidar 31 emits light in different directions at multiple points in time. The distance measuring unit 11 determines the distance to the reflection position. The positioning unit 13 acquires information on the distance to the reflection position and information on the light emission direction at each of the multiple points in time. This allows the positioning unit 13 to determine the reflection position. Then, if the object present at the reflection position is an object determined by the identification unit 12 to be a reflector marker 5, the position of the reflector marker 5 can be determined by the above process.

[0039] The intersection processing unit 14 executes an intersection step. As shown in Fig. 5, the intersection step is a step of determining a plurality of intersection points 60 between a plurality of first straight lines L1 and a plurality of second straight lines L2. To explain the intersection step, first, a method of arranging a plurality of reflector markers 5 will be explained with reference to Fig. 5.

[0040] 5, the plurality of reflector markers 5 includes a plurality of first reflector markers 5X and a plurality of second reflector markers 5Y. The plurality of first reflector markers 5X are aligned in a row along a first axis A1. The plurality of second reflector markers 5Y are aligned in a row along a second axis A2.

[0041] The first axis A1 and the second axis A2 are imaginary axes and do not have any real structure.

[0042] The second axis A2 is an axis that intersects with the first axis A1. The first axis A1 and the second axis A2 are each axes along the running surface S1. A normal to the running surface S1 extends upward from the running surface S1. That is, the first axis A1 and the second axis A2 are each axes along a direction perpendicular to the up-down direction.

[0043] The plurality of first reflector markers 5X are arranged, for example, at equal intervals, and the plurality of second reflector markers 5Y are arranged, for example, at equal intervals.

[0044] As described above, the multiple reflector markers 5 are positioned. Thereafter, the positioning unit 13 determines the position of each of the multiple reflector markers 5 using the Lidar 31. More specifically, the positioning unit 13 determines the relative coordinates of each of the multiple reflector markers 5 with respect to the position of the moving object 3. In other words, the positioning unit 13 determines the coordinates of each of the multiple reflector markers 5 in a relative coordinate system that uses the position of the moving object 3 as the base point.

[0045] The intersection processing unit 14 executes an intersection step using a relative coordinate system that has the position of the moving body 3 as its base point. That is, the intersection processing unit 14 defines a plurality of first straight lines L1 and a plurality of second straight lines L2 in the relative coordinate system, and determines a plurality of intersections 60 between the plurality of first straight lines L1 and the plurality of second straight lines L2.

[0046] 5, each of the multiple intersections 60 is marked with a circle. However, in reality, there are no markers or the like at each of the multiple intersections 60. It is possible that an object such as a reflector marker 5 may happen to be present at a certain intersection 60. However, each of the multiple intersections 60 is merely a point determined from the multiple first straight lines L1 and the multiple second straight lines L2.

[0047] The plurality of first straight lines L1 pass through the plurality of first reflector markers 5X, respectively. That is, the plurality of first straight lines L1 and the plurality of first reflector markers 5X correspond one-to-one to each other, and each first straight line L1 passes through the corresponding first reflector marker 5X.

[0048] Each of the multiple first straight lines L1 is a straight line along the second axis A2. The multiple first straight lines L1 are parallel to one another. That is, the first straight lines L1 are straight lines extending from each first reflector marker 5X in a direction along the second axis A2.

[0049] The second straight lines L2 pass through the second reflector markers 5Y, respectively. That is, the second straight lines L2 and the second reflector markers 5Y correspond one-to-one to each other, and each second straight line L2 passes through the corresponding second reflector marker 5Y.

[0050] Each of the second straight lines L2 is a straight line along the first axis A1. The second straight lines L2 are parallel to one another. That is, the second straight lines L2 are straight lines extending from each second reflector marker 5Y in a direction along the first axis A1.

[0051] If the positions of a plurality of reflector markers 5 are determined, a plurality of first straight lines L1 and a plurality of second straight lines L2 can be defined in this manner.

[0052] The intersection processing unit 14 determines a plurality of intersections 60 between a plurality of first straight lines L1 and a plurality of second straight lines L2. If the number of first straight lines L1 is N1 and the number of second straight lines L2 is N2, the number of intersections 60 is N1 × N2.

[0053] The destination determination unit 15 determines at least some of the intersections 60 among the multiple intersections 60 obtained by the intersection processing unit 14 as the destination of the moving object 3. In other words, the destination determination unit 15 determines at least one destination. The destination determination unit 15 stores the determined at least one destination in the storage unit 38.

[0054] As an example, the destination determination unit 15 may determine all of the intersections 60 among the multiple intersections 60 found by the intersection processing unit 14 as the destinations of the moving object 3 .

[0055] As another example, the destination determination unit 15 may determine some of the multiple intersections 60 obtained by the intersection processing unit 14 as destinations in accordance with a predetermined rule, and exclude the remaining intersections 60 from the destinations. In the example shown in FIG. 5 , the multiple intersections 60 obtained by the intersection processing unit 14 consist of points on the four sides of a parallelogram and points inside the four sides. Therefore, the destination determination unit 15 may determine, as destinations, the points on the four sides of the parallelogram from the multiple intersections 60 obtained by the intersection processing unit 14. Alternatively, the destination determination unit 15 may determine, as destinations, the points inside the four sides of the parallelogram from the multiple intersections 60 obtained by the intersection processing unit 14. Alternatively, the destination determination unit 15 may exclude, from the multiple intersections 60 obtained by the intersection processing unit 14, points located at the vertices of the parallelogram.

[0056] The correction unit 16 is not an essential component of the movement planning system 1. In other words, the movement planning system 1 does not have to include the correction unit 16. Furthermore, when the movement planning system 1 includes the correction unit 16, the operation mode of the movement planning system 1 may be switchable between a correction mode in which the correction unit 16 performs processing and a non-correction mode in which the correction unit 16 does not perform processing.

[0057] The correction unit 16 executes a correction step. The correction step is a step of correcting the position of each of the multiple reflector markers 5 determined in the positioning step. In the present disclosure, "correcting the position of each of the multiple reflector markers 5" does not mean changing the actual position of each of the multiple reflector markers 5, but means changing the position of each of the multiple reflector markers 5 in the internal processing of the movement planning system 1.

[0058] In the intersection step, a plurality of first straight lines L1 and a plurality of second straight lines L2 are defined based on the positions of each of the plurality of reflector markers 5 corrected (updated) in the correction step, and a plurality of intersection points 60 between the plurality of first straight lines L1 and the plurality of second straight lines L2 are determined.

[0059] The worker manually installs the multiple reflector markers 5. Therefore, there is a possibility that the multiple first reflector markers 5X are not lined up in a straight line or that the multiple first reflector markers 5X are not lined up at equal intervals. Also, there is a possibility that the multiple second reflector markers 5Y are not lined up in a straight line or that the multiple second reflector markers 5Y are not lined up at equal intervals (see FIG. 6 ).

[0060] The position of each of the multiple first reflector markers 5X after correction in the correction step is the position when the multiple first reflector markers 5X are lined up in a straight line at equal intervals. The position of each of the multiple second reflector markers 5Y after correction in the correction step is the position when the multiple second reflector markers 5Y are lined up in a straight line at equal intervals. This makes it possible to set the destinations lined up in a row of multiple destinations (i.e., multiple intersections 60) in a straight line at equal intervals.

[0061] In this embodiment, the correction step includes a first correction process, a second correction process, a third correction process, and a fourth correction process, but it is sufficient that the correction step includes at least one of the first correction process, the second correction process, the third correction process, and the fourth correction process.

[0062] The first correction process corrects the positions of the first reflector markers 5X so that the first reflector markers 5X are aligned in a straight line. The second correction process corrects the positions of the second reflector markers 5Y so that the second reflector markers 5Y are aligned in a straight line.

[0063] The third correction process is a process of correcting the positions of the plurality of first reflector markers 5X so that the intervals between the plurality of first reflector markers 5X are constant. The fourth correction process is a process of correcting the positions of the plurality of second reflector markers 5Y so that the intervals between the plurality of second reflector markers 5Y are constant.

[0064] Next, the process of correcting the positions of the plurality of second reflector markers 5Y will be described with reference to Fig. 6. The process of correcting the positions of the plurality of first reflector markers 5X can be realized in the same manner as the process of correcting the positions of the plurality of second reflector markers 5Y.

[0065] A positioning step is performed in advance to determine the positions (coordinates) of each of the multiple second reflector markers 5Y in a relative coordinate system C1 that has its base point at the position of the moving body 3. The positions of the multiple second reflector markers 5Y determined in the positioning step are pre-correction positions.

[0066] In the correction step, the correction unit 16 linearly approximates the positions of the second reflector markers 5Y before correction using the least squares method. Thus, the correction unit 16 obtains an approximated line K1. By shifting the positions of the second reflector markers 5Y onto the approximated line K1, the correction unit 16 can correct the positions of the second reflector markers 5Y so that the second reflector markers 5Y are aligned on the approximated line K1.

[0067] The correction unit 16 shifts the positions of the second reflector markers 5Y onto the approximate straight line K1 and corrects the positions of the second reflector markers 5Y so that the intervals between the second reflector markers 5Y are constant. In Fig. 6, the arrow extending from the center of the second reflector marker 5Y indicates that the correction unit 16 shifts the position of the second reflector marker 5Y from the base end to the tip end of the arrow.

[0068] If the fourth correction process for maintaining a constant interval between the second reflector markers 5Y is not performed, the correction unit 16 may simply shift the positions of the second reflector markers 5Y onto the approximate straight line K1 by the shortest distance. Alternatively, the correction unit 16 may shift the positions of the second reflector markers 5Y onto the approximate straight line K1 in a constant direction.

[0069] Furthermore, if the plurality of second reflector markers 5Y are aligned in a substantially straight line before correction, there is no need to perform the second correction process to align the plurality of second reflector markers 5Y in a straight line.

[0070] (2.5.2) Traveling System The traveling system 2 (see FIG. 1) controls each component of the moving body 3 in order to make the moving body 3 travel.

[0071] The travel control unit 21 controls the operation of the power unit 35, which is made up of a motor, so that the moving body 3 moves to the destination.

[0072] The driving control unit 21 also determines the distance and direction of travel of the mobile object 3 from a certain point, for example, by odometry. This allows the driving control unit 21 to determine the coordinates of the mobile object 3 in an absolute coordinate system with the certain point as its base point. The absolute coordinate system is a coordinate system in which the traveling surface S1 appears stationary. The absolute coordinate system can be converted into and out of a relative coordinate system with the position of the mobile object 3 as its base point.

[0073] The lidar control unit 22 controls the operation of the lidar 31. In addition, the lidar control unit 22 measures the intensity of the reflected light received by the lidar 31 and outputs the measured value to the movement plan creation system 1.

[0074] The work management unit 23 manages the work performed by the work unit 32. For example, the work unit 32 has an environmental sensor, and the work management unit 23 controls the timing at which the environmental sensor measures a predetermined physical quantity. The work management unit 23 also acquires the physical quantity measured by the environmental sensor and stores it in the memory unit 38.

[0075] (2.6) Multiple Power Units and Multiple Wheels The multiple (two in FIG. 1 ) power units 35 include, for example, motors. The multiple wheels 36 include multiple (two in FIG. 5 ) drive wheels 36 a and multiple (four in FIG. 5 ) driven wheels 36 b. The mobile object 3 moves on the running surface S1 while rotating the multiple wheels 36 on the running surface S1.

[0076] The plurality of power units 35 correspond one-to-one to the plurality of drive wheels 36a. Each power unit 35 rotates the corresponding drive wheel 36a. By providing a speed difference between the plurality of drive wheels 36a, the moving body 3 moves in a desired direction.

[0077] (2.7) Communication Unit The communication unit 37 includes a communication interface device. The mobile object 3 can communicate with the higher-level system 4 via the communication unit 37. In the present disclosure, "capable of communication" means that signals can be transmitted and received directly or indirectly via a network, a repeater, or the like, by an appropriate communication method such as wired communication or wireless communication.

[0078] (2.8) Storage Unit The storage unit 38 is a storage device configured with a hard disk drive (HDD), a solid state drive (SSD), or the like. The storage unit 38 stores information. More specifically, the storage unit 38 stores at least one destination (coordinates) determined by the movement plan creation system 1. The storage unit 38 also stores information acquired by the working unit 32. The information acquired by the working unit 32 is, for example, physical quantities measured by an environmental sensor of the working unit 32.

[0079] (3) Upper System The upper system 4 mainly comprises, for example, a personal computer, an industrial computer, a computer server, a smartphone, or a tablet computer.

[0080] As shown in FIG. 1, the upper system 4 includes a processing unit 41 , a communication unit 42 , a storage unit 43 , an input IF (interface) unit 44 , and an output IF (interface) unit 45 .

[0081] The processing unit 41 controls the operation of other components in the higher-level system 4. The processing unit 41 includes a computer system having one or more processors and a memory. At least some of the functions of the processing unit 41 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0082] The communication unit 42 includes a communication interface device. The host system 4 is capable of communicating with the mobile object 3 via the communication unit 42.

[0083] The memory unit 43 is a storage device configured with a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory unit 43 stores information. More specifically, the host system 4 acquires information on at least one destination (coordinates) determined by the mobile object 3 via the communication unit 42 and stores this information in the memory unit 43. The host system 4 also acquires information acquired by the working unit 32 of the mobile object 3 via the communication unit 42 and stores this information in the memory unit 43. The information acquired by the working unit 32 is, for example, physical quantities measured by an environmental sensor of the working unit 32.

[0084] The input IF unit 44 accepts operations by the administrator. The input IF unit 44 includes a pointing device such as a mouse, a touch panel, a touch panel display, a pen tablet, a touch pad, a track pad, or a track ball. The input IF unit 44 may also include a microphone and accept operations by voice.

[0085] The output IF unit 45 outputs information to the administrator. The output IF unit 45 may include, for example, a display to display the information. The output IF unit 45 may also include, for example, a speaker to output the information as sound (which may include voice).

[0086] By operating the input IF unit 44, the administrator can cause the output IF unit 45 to output information acquired by the higher-level system 4 from the mobile object 3. Thus, for example, the output IF unit 45 can output at least one of information regarding multiple destinations of the mobile object 3, information regarding the progress of work by the working unit 32 at each of the multiple destinations, and information regarding the results of the work. The information regarding the results of the work is, for example, information acquired by the working unit 32 (i.e., physical quantities measured by the environmental sensors).

[0087] Furthermore, the administrator can cause the moving object 3 to start executing the movement plan creation method by operating the input IF unit 44. That is, when a predetermined operation is performed on the input IF unit 44, the communication unit 42 transmits a signal to the moving object 3 instructing it to start executing the movement plan creation method.

[0088] The storage unit 43 stores map information of locations where a plurality of reflector markers 5 are installed. Fig. 7 shows an example of a map M1 represented by the map information.

[0089] As described above, the traveling control unit 21 of the moving object 3 determines the coordinates of the moving object 3 in an absolute coordinate system that has a certain point as its base point. As the moving object 3 moves, the coordinates of the moving object 3 in the absolute coordinate system change. Therefore, the traveling control unit 21 determines the coordinates of the moving object 3 in the absolute coordinate system for each time period. The storage unit 43 of the higher-level system 4 stores the coordinates of the moving object 3 in the absolute coordinate system in association with time.

[0090] The processing unit 41 converts the absolute coordinate system into a coordinate system in the map information of the locations where the multiple reflector markers 5 are installed. In this way, the processing unit 41 integrates information on the multiple destinations of the mobile object 3 into the map information. In other words, the processing unit 41 identifies the locations on the map M1 where the multiple destinations of the mobile object 3 are located.

[0091] 7, the output IF unit 45 displays a map M1 of locations where a plurality of reflector markers 5 are installed, and also displays a plurality of destinations of the mobile object 3 superimposed on the map M1. Furthermore, the output IF unit 45 displays at least one of information regarding the progress of work at each of the plurality of destinations and information regarding the results of the work.

[0092] In Figure 7, multiple destinations are each indicated by a circle. Furthermore, if an operation to measure a physical quantity using an environmental sensor has been completed at a certain destination, the physical quantity obtained by the measurement is displayed in parentheses near the destination. Note that information about the results of the operation (such as physical quantities) may be displayed in response to an operation by the administrator on the input IF unit 44. For example, the administrator may click on a destination using the mouse of the input IF unit 44 or tap on a destination displayed on the touch panel display of the input IF unit 44, thereby displaying information about the results of the operation (such as physical quantities).

[0093] (4) Reflector Marker Fig. 2 shows a first structural example of the reflector marker 5. The reflector marker 5 in Fig. 2 will be referred to as a reflector marker 5A hereinafter.

[0094] The reflector marker 5A includes a plurality of reflective members 51 (two in FIG. 2 ) and a pole 52. The pole 52 is cylindrical in shape. The pole 52 is placed upright on the running surface S1. The plurality of reflective members 51 are attached to the pole 52. The outer surface of each of the plurality of reflective members 51 has a cylindrical side surface shape. The light reflectance of each of the plurality of reflective members 51 is greater than the light reflectance of the pole 52.

[0095] Fig. 3 shows a second structural example of the reflector marker 5. The reflector marker 5 in Fig. 3 will be referred to as a reflector marker 5B hereinafter.

[0096] The reflector marker 5B includes a plurality of reflective members 51 (two in FIG. 3 ) and a cone 53. The cone 53 is placed upright on the running surface S1. The plurality of reflective members 51 are attached to the cone 53. The outer surface of each of the plurality of reflective members 51 is shaped like the side surface of a truncated cone. The light reflectance of each of the plurality of reflective members 51 is greater than the light reflectance of the cone 53.

[0097] There may or may not be a structural difference between the first reflector marker 5X and the second reflector marker 5Y. Therefore, the first reflector marker 5X and the second reflector marker 5Y may or may not be distinguishable from each other.

[0098] When the movement planning system 1 detects, by the Lidar 31, a plurality of reflector markers 5 lined up in a predetermined direction and a plurality of reflector markers 5 lined up in another direction, it may recognize one of them as a plurality of first reflector markers 5X and the other as a plurality of second reflector markers 5Y in accordance with a predetermined rule. Alternatively, when the movement planning system 1 detects, by the Lidar 31, a plurality of reflector markers 5 lined up in a predetermined direction and a plurality of reflector markers 5 lined up in another direction, it may randomly recognize one of them as a plurality of first reflector markers 5X and the other as a plurality of second reflector markers 5Y.

[0099] (5) Operation Flow Next, an example of a series of operations of the moving object 3 will be described with reference to Fig. 8. The flowchart shown in Fig. 8 is merely an example, and therefore the order of the processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0100] First, the moving body 3 executes a distance measurement step ST1. That is, the moving body 3 uses the Lidar 31 to obtain the distance between the moving body 3 and an object.

[0101] Next, the moving body 3 executes an identification step ST2. That is, the moving body 3 determines whether or not the intensity of the reflected light received by the lidar 31 is equal to or greater than a threshold. If the intensity of the reflected light is equal to or greater than the threshold, the object is determined to be a reflector marker 5 (step ST3).

[0102] If the object is a reflector marker 5, the moving body 3 then executes a positioning step ST4. That is, the moving body 3 determines the position of the reflector marker 5 based on the emission direction of light from the lidar 31 and the distance between the moving body 3 and the reflector marker 5.

[0103] The moving body 3 repeats steps ST1 to ST4 while changing the direction in which the Lidar 31 emits light. The moving body 3 causes the Lidar 31 to emit light in all directions, determines whether or not a reflector marker 5 exists in each direction, and if so, finds the position of that reflector marker 5. In this way, the moving body 3 finds the positions of all installed reflector markers 5.

[0104] Emitting light in all directions means emitting light in each of N directions. The N directions may have a certain angle difference from each other, in which case the N directions can be expressed in degrees as 0, 360 / N, 2×360 / N, 3×360 / N, ..., (N-1)×360 / N, respectively.

[0105] In this way, when the omnidirectional measurement is completed (step ST5: Yes), the moving body 3 executes an intersection step ST6. That is, the moving body 3 determines a plurality of intersection points 60 based on the position information of the plurality of reflector markers 5. More specifically, the moving body 3 defines a plurality of first straight lines L1 that pass through the plurality of first reflector markers 5X, respectively, and a plurality of second straight lines L2 that pass through the plurality of second reflector markers 5Y, respectively, and determines a plurality of intersection points 60 between the plurality of first straight lines L1 and the plurality of second straight lines L2.

[0106] Next, the moving object 3 executes a destination determination step ST7. That is, the moving object 3 determines at least some of the multiple intersections 60 as the destinations of the moving object 3. Here, the description will be made assuming that the moving object 3 determines multiple destinations.

[0107] Next, the mobile object 3 moves to one of the multiple destinations (step ST8), and the work unit 32 performs the work (step ST9). When the work is completed, the mobile object 3 moves to the next destination, and the work unit 32 performs the work. The mobile object 3 repeats steps ST8 and ST9 until the work is completed at all destinations. When the work is completed at all destinations (step ST10: Yes), the work by the mobile object 3 is finished. Thereafter, the mobile object 3 moves, for example, to a predetermined waiting location.

[0108] (Modifications of First Embodiment) Modifications of the first embodiment are listed below. The following modifications may be implemented in appropriate combination. Hereinafter, the configuration of the first embodiment described above will be referred to as a first basic example.

[0109] The power source of the moving body 3 is not limited to the battery 33, but may be, for example, gasoline or a solar cell.

[0110] In Figures 2 and 3, the number of reflective members 51 provided in the reflector marker 5 is two, but the number of reflective members 51 may be one or three or more.

[0111] In Fig. 5, the line segment connecting the first reflector marker 5X at the right end and the first reflector marker 5X at the left end is defined as the first line segment, and the line segment connecting the second reflector marker 5Y at the front end and the second reflector marker 5Y at the rear end is defined as the second line segment. In Fig. 5, the first line segment and the second line segment intersect. However, the first line segment and the second line segment do not have to intersect. Therefore, the first line segment may be separated from the second line segment.

[0112] In Figure 5, the region behind the first line segment and to the right of the second line segment is defined as a first region E1, the region behind the first line segment and to the left of the second line segment is defined as a second region E2, the region ahead of the first line segment and to the left of the second line segment is defined as a third region E3, and the region ahead of the first line segment and to the right of the second line segment is defined as a fourth region E4. In Figure 5, a plurality of first straight lines L1 and a plurality of second straight lines L2 are defined so that an intersection point 60 exists in each of the first region E1, the second region E2, the third region E3, and the fourth region E4. However, the definitions of the plurality of first straight lines L1 and the plurality of second straight lines L2 are not limited to this. The plurality of first straight lines L1 and the plurality of second straight lines L2 may be defined so that an intersection point 60 exists in at least one of the first region E1, the second region E2, the third region E3, and the fourth region E4.

[0113] In Basic Example 1, each of the multiple first straight lines L1 is defined as a straight line along the second axis A2. However, each of the multiple first straight lines L1 may also be defined as a straight line along a direction perpendicular to the first axis A1.

[0114] In Basic Example 1, each of the multiple second straight lines L2 is defined as a straight line along the first axis A1. However, each of the multiple second straight lines L2 may be defined as a straight line along a direction perpendicular to the second axis A2. Alternatively, each of the multiple second straight lines L2 may be defined as a straight line perpendicular to the multiple first straight lines L1.

[0115] The Lidar 31 may be a Time of Flight (TOF) system or a Frequency Modulated Continuous Wave (FMCW) system.

[0116] The multiple reflector markers 5 may be arranged at non-equidistant intervals.

[0117] In Basic Example 1, the moving body 3 measures the reflector markers 5 in all directions. However, the moving body 3 may measure the reflector markers 5 in only some directions. For example, the moving body 3 may measure the reflector markers 5 that are present within a certain range in front of the moving body 3.

[0118] The execution entity of the movement plan creation system 1 or the movement plan creation method in the present disclosure includes a computer system. The computer system is mainly composed of a processor and memory as hardware. At least a portion of the functions of the execution entity of the movement plan creation system 1 or the movement plan creation method in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as ICs and LSIs referred to here are called by different names depending on the degree of integration, and include integrated circuits called system LSIs, VLSIs (Very Large Scale Integration), or ULSIs (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be employed as a processor. Multiple electronic circuits may be integrated into a single chip or distributed across multiple chips. Multiple chips may be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits, including a semiconductor integrated circuit or a large-scale integrated circuit.

[0119] In the embodiment, multiple functions that are integrated into one device may be distributed across multiple devices. For example, the host system 4 may be composed of multiple devices. Furthermore, at least some of the functions of the host system 4 may be realized by a server, a cloud (cloud computing), or the like.

[0120] Conversely, in the embodiment, multiple functions distributed across multiple devices may be consolidated into one device. For example, at least some of the functions of the host system 4 may be realized by the mobile object 3.

[0121] Second Embodiment A movement plan creation method according to a second embodiment will be described below with reference to Fig. 9. Components similar to those in the first embodiment will be assigned the same reference numerals and descriptions thereof will be omitted.

[0122] The movement plan creation method of this embodiment differs from that of the first embodiment in the way in which the plurality of first straight lines L1 and the plurality of second straight lines L2 are defined. The other processing is the same as that of the first embodiment.

[0123] In this embodiment, the first straight lines L1 are straight lines extending in a direction perpendicular to the first axis A1, which is an axis extending in the direction in which the first reflector markers 5X are arranged.

[0124] Furthermore, the multiple first straight lines L1 pass through the multiple first reflector markers 5X, respectively. The multiple first straight lines L1 are parallel to one another.

[0125] In this embodiment, each of the second straight lines L2 is a straight line that is perpendicular to the first straight lines L1.

[0126] Furthermore, the second straight lines L2 pass through the second reflector markers 5Y, respectively. The second straight lines L2 are parallel to one another.

[0127] By defining the multiple first straight lines L1 and the multiple second straight lines L2 in this manner, the multiple intersection points 60 determined by the intersection processing unit 14 correspond to the grid points of an orthogonal grid. Therefore, the multiple destinations determined by the destination determination unit 15 correspond to the grid points of an orthogonal grid. In other words, in this embodiment, multiple destinations can be set regularly. Furthermore, when comparing determining multiple destinations at a certain location with determining multiple destinations at another location, it is possible to reduce the possibility that the arrangement of the multiple destinations will differ depending on the arrangement of the multiple reflector markers 5. In other words, it is possible to reduce the degree to which the skill of arranging the multiple reflector markers 5 affects the arrangement of the multiple destinations.

[0128] In the first embodiment, if the plurality of reflector markers 5 are arranged so that the direction in which the plurality of first reflector markers 5X are arranged is orthogonal to the direction in which the plurality of second reflector markers 5Y are arranged, the plurality of intersections 60 will correspond to the lattice points of the orthogonal lattice. In contrast, in the present embodiment, even if the direction in which the plurality of first reflector markers 5X are arranged is not orthogonal to the direction in which the plurality of second reflector markers 5Y are arranged, the plurality of intersections 60 will correspond to the lattice points of the orthogonal lattice.

[0129] (Embodiment 3) Hereinafter, a movement plan creation method according to embodiment 3 will be described with reference to Fig. 10. Embodiment 3 can be realized in combination with embodiment 1 or 2. Components similar to those in embodiment 1 are denoted by the same reference numerals, and description thereof will be omitted.

[0130] In the movement plan creation method of this embodiment, a plurality of third reflector markers 5P are further installed. That is, the plurality of reflector markers 5 further includes a plurality of third reflector markers 5P. The plurality of third reflector markers 5P are installed in an area different from the area in which the plurality of first reflector markers 5X are installed. The plurality of third reflector markers 5P are aligned (in a row) along a first axis A1 on the travel surface S1. The first axis A1 is an axis along the direction in which the plurality of first reflector markers 5X are aligned.

[0131] The intersection processing unit 14 executes an intersection step, which includes a first association step and a first line determination step. Based on the result of the first association step, the first line determination step is executed to define a plurality of first lines L1.

[0132] The first association step is a step of associating a plurality of first reflector markers 5X with a plurality of third reflector markers 5P on a one-to-one basis. Consider the case where a certain first reflector marker 5X (hereinafter referred to as the first reflector marker 5X-1) is associated with any one of the third reflector markers 5P. The intersection processing unit 14 defines a straight line extending from the first reflector marker 5X-1 in a direction perpendicular to the first axis A1 (or a straight line extending in a direction along the second axis A2), and associates the third reflector marker 5P having the smallest distance from this straight line with the first reflector marker 5X-1. Next, the intersection processing unit 14 selects a third reflector marker 5P corresponding to the first reflector marker 5X (hereinafter referred to as the first reflector marker 5X-2) adjacent to the first reflector marker 5X-1 from the plurality of third reflector markers 5P excluding the third reflector marker 5P for which correspondence has been established. More specifically, the intersection processing unit 14 defines a straight line extending from the first reflector marker 5X-2 in a direction perpendicular to the first axis A1 (or a straight line extending in a direction along the second axis A2), and associates the third reflector marker 5P having the smallest distance from this straight line with the first reflector marker 5X-2. By repeating this process, the intersection processing unit 14 associates the plurality of first reflector markers 5X with the plurality of third reflector markers 5P on a one-to-one basis.

[0133] The first straight line determination step is a step of determining a plurality of parallel straight lines connecting corresponding first reflector markers 5X and third reflector markers 5P from among a plurality of first reflector markers 5X and a plurality of third reflector markers 5P as a plurality of first straight lines L1.

[0134] Each of the multiple second straight lines L2 may be defined as a straight line along the first axis A1, a straight line along a direction perpendicular to the second axis A2, or a straight line perpendicular to the multiple first straight lines L1.

[0135] This embodiment has the advantage that the operator can easily estimate the multiple destinations to be determined in the destination determination step based on the positions of the multiple reflector markers 5. That is, the operator can estimate that several intersections 60 are lined up between the first reflector marker 5X and the third reflector marker 5P, which are opposed to each other in a direction perpendicular to the first axis A1. This makes it easier for the operator to grasp the location of the destinations in advance.

[0136] 10, the multiple first straight lines L1 and the multiple second straight lines L2 are defined so that the intersection 60 exists in each of the six regions E1 to E6 divided by the multiple reflector markers 5. However, the multiple first straight lines L1 and the multiple second straight lines L2 may also be defined so that the intersection 60 exists in at least one of the six regions E1 to E6.

[0137] Each of the second reflector markers 5Y may be disposed in a region between the first reflector markers 5X and the third reflector markers 5P. Alternatively, each of the second reflector markers 5Y may be disposed outside the region.

[0138] The number of first reflector markers 5X and the number of third reflector markers 5P do not necessarily have to be the same. If the number of first reflector markers 5X is greater than the number of third reflector markers 5P, some of the first reflector markers 5X will not be associated with any of the third reflector markers 5P, and a first straight line L1 passing through some of the first reflector markers 5X will not be defined. If the number of third reflector markers 5P is greater than the number of first reflector markers 5X, some of the third reflector markers 5P will not be associated with any of the first reflector markers 5X, and a first straight line L1 passing through some of the third reflector markers 5P will not be defined.

[0139] Fourth Embodiment A movement plan creation method according to a fourth embodiment will be described below with reference to Fig. 11. Components similar to those in the third embodiment will be assigned the same reference numerals and descriptions thereof will be omitted.

[0140] In the movement plan creation method of this embodiment, a plurality of first reflector markers 5X, a plurality of second reflector markers 5Y, a plurality of third reflector markers 5P, and a plurality of fourth reflector markers 5Q are installed. That is, the plurality of reflector markers 5 further includes a plurality of fourth reflector markers 5Q. The plurality of fourth reflector markers 5Q are installed in an area different from the area in which the plurality of second reflector markers 5Y are installed. The plurality of fourth reflector markers 5Q are arranged (in a row) along a second axis A2 on the travel surface S1. The second axis A2 is an axis along the direction in which the plurality of second reflector markers 5Y are arranged.

[0141] The method of defining the multiple first straight lines L1 is the same as in the third embodiment. That is, the intersection processing unit 14 executes an intersection step. The intersection step includes a first association step and a first straight line determination step. The multiple first straight lines L1 are defined by executing the first straight line determination step based on the result of the first association step.

[0142] The intersection step further includes a second association step and a second line determination step. The second line determination step is executed based on the result of the second association step to define a plurality of second lines L2.

[0143] The second association step is a step of associating a plurality of second reflector markers 5Y with a plurality of fourth reflector markers 5Q on a one-to-one basis. Consider the case where a certain second reflector marker 5Y (hereinafter referred to as second reflector marker 5Y-1) is associated with any one of the fourth reflector markers 5Q. The intersection processing unit 14 defines a straight line extending from the second reflector marker 5Y-1 in a direction perpendicular to the second axis A2 (or a straight line extending in a direction along the first axis A1, or a straight line extending in a direction perpendicular to the plurality of first straight lines L1), and associates the fourth reflector marker 5Q having the smallest distance from this straight line with the second reflector marker 5Y-1. Next, the intersection processing unit 14 selects a fourth reflector marker 5Q corresponding to the second reflector marker 5Y (hereinafter referred to as the second reflector marker 5Y-2) adjacent to the second reflector marker 5Y-1 from the plurality of fourth reflector markers 5Q excluding the fourth reflector marker 5Q for which correspondence has been established. More specifically, the intersection processing unit 14 defines a straight line extending from the second reflector marker 5Y-2 in a direction perpendicular to the second axis A2 (or a straight line extending in a direction along the first axis A1, or a straight line extending in a direction perpendicular to the plurality of first straight lines L1), and associates the fourth reflector marker 5Q having the smallest distance from this straight line with the second reflector marker 5Y-2. By repeating this process, the intersection processing unit 14 associates the plurality of second reflector markers 5Y with the plurality of fourth reflector markers 5Q in a one-to-one relationship.

[0144] The second straight line determination step is a step of determining a plurality of parallel straight lines connecting corresponding second reflector markers 5Y and fourth reflector markers 5Q from among a plurality of second reflector markers 5Y and a plurality of fourth reflector markers 5Q as a plurality of second straight lines L2.

[0145] In this embodiment, the operator can estimate that several intersections 60 are lined up between the second reflector marker 5Y and the fourth reflector marker 5Q, which are opposed to each other in a direction perpendicular to the second axis A2. This makes it easier for the operator to grasp the location of the destination in advance.

[0146] 11, the second reflector markers 5Y and the fourth reflector markers 5Q are arranged outside the area between the first reflector markers 5X and the third reflector markers 5P. However, at least some of the second reflector markers 5Y and the fourth reflector markers 5Q may be arranged in this area.

[0147] The number of first reflector markers 5X and the number of third reflector markers 5P do not necessarily have to be the same. The number of second reflector markers 5Y and the number of fourth reflector markers 5Q do not necessarily have to be the same.

[0148] (Embodiment 5) A movement plan creation method according to embodiment 5 will be described below with reference to Fig. 12. Embodiment 5 can be realized in combination with embodiments 1 to 4. Components similar to those in embodiment 1 are denoted by the same reference numerals, and description thereof will be omitted.

[0149] The process up to determining the multiple intersections 60 is the same as in embodiment 1. The process thereafter in which the destination determination unit 15 determines at least some of the multiple intersections 60 as the destination of the moving object 3 (i.e., the destination determination step) differs from embodiment 1. In the destination determination step, the area 70 around the obstacle 7 detected by the Lidar 31 is excluded from the destination of the moving object 3.

[0150] The lidar control unit 22 (see FIG. 1 ) uses the lidar 31 to determine the position and shape of the obstacle 7. That is, the lidar 31 emits light to scan the surface of the obstacle 7, thereby determining the position and shape of the obstacle 7.

[0151] The destination determination unit 15 defines an area 70. For example, the destination determination unit 15 defines an area within a certain distance from an obstacle 7 as the area 70. Then, the destination determination unit 15 excludes, from the destination, an intersection 60u within the area 70 among the multiple intersections 60. Furthermore, the destination determination unit 15 excludes, from the destination, an intersection 60v that overlaps with an obstacle 7 among the multiple intersections 60. The destination determination unit 15 determines, as the destination of the moving object 3, at least some of the intersections 60 other than the intersections 60u and 60v excluded in this manner.

[0152] According to this embodiment, the possibility of the moving body 3 colliding with the obstacle 7 can be reduced.

[0153] Sixth Embodiment A movement plan creation method according to a sixth embodiment will be described below with reference to Fig. 13. The sixth embodiment can be realized in combination with any of the first to fifth embodiments. The same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0154] In this embodiment, the host system 4A includes the movement plan creation system 1A. The moving body 3A does not include the movement plan creation system 1A.

[0155] The processing unit 34 of the moving body 3A has the traveling system 2. The processing unit 41 of the higher-level system 4A has the movement plan creation system 1A.

[0156] The Lidar control unit 22 of the traveling system 2 measures the intensity of reflected light received by the Lidar 31. The Lidar control unit 22 also acquires information on the emission direction of light by the Lidar 31. The Lidar control unit 22 transmits the measured value of the intensity of reflected light and the information on the emission direction of light by the Lidar 31 to the movement planning system 1A via the communication unit 37. The movement planning system 1A determines the destination of the moving object 3A based on the received information.

[0157] The movement plan creation system 1A includes a distance measurement unit 11, an identification unit 12, a positioning unit 13, an intersection processing unit 14, a destination determination unit 15, a correction unit 16, and an instruction unit 17.

[0158] The host system 4A transmits information about the destination determined by the destination determination unit 15 to the mobile object 3A via the communication unit 42.

[0159] The instruction unit 17 executes an instruction step. The instruction step is a step of instructing the moving object 3A to move to the destination determined in the destination determination step. More specifically, the instruction unit 17 transmits an instruction signal to the moving object 3A via the communication unit 42 to instruct the moving object 3A to move to the destination. When the instruction signal is input, the traveling control unit 21 of the moving object 3A moves to the destination.

[0160] The instruction unit 17 executes an instruction step in response to, for example, an operation on the input IF unit 44. That is, when the administrator operates the input IF unit 44, an instruction signal is transmitted from the upper system 4A to the mobile object 3A, and the mobile object 3A moves to the destination.

[0161] As a modification of the sixth embodiment, multiple components of the movement plan creation system 1A may be distributed between the moving object 3A and the upper system 4A.

[0162] As a modification of the sixth embodiment, the instruction unit 17 may be provided in a device separate from the host system 4A and the mobile object 3A.

[0163] (Summary) The above-described embodiments and the like disclose the following aspects.

[0164] A movement planning method according to a first aspect creates a movement plan for a moving body (3, 3A). The moving body (3, 3A) autonomously moves on a travel surface (S1) on which a plurality of reflector markers (5) are installed. The moving body (3, 3A) has a Lidar (31). The plurality of reflector markers (5) include a plurality of first reflector markers (5X) and a plurality of second reflector markers (5Y). The plurality of first reflector markers (5X) are aligned along a first axis (A1) on the travel surface (S1). The plurality of second reflector markers (5Y) are aligned along a second axis (A2) on the travel surface (S1). The second axis (A2) intersects with the first axis (A1). The movement planning method includes a ranging step, an identification step, a positioning step, an intersection step, and a destination determination step. In the ranging step, the distance between the moving body (3, 3A) and the object is determined based on the time from when the lidar (31) emits light until the lidar (31) receives reflected light, which is light reflected by the object. In the identification step, it is determined whether the object is one of the multiple reflector markers (5) based on the intensity of the reflected light received by the lidar (31). In the positioning step, the position of each of the multiple reflector markers (5) is determined based on the direction of light emission by the lidar (31) and the distance between the moving body (3, 3A) and each of the multiple reflector markers (5) determined in the ranging step. In the intersection step, multiple intersections (60) are determined between multiple first straight lines (L1) along a direction perpendicular to the first axis (A1) or along the second axis (A2) and multiple second straight lines (L2) that are parallel to each other. The plurality of first straight lines (L1) pass through the plurality of first reflector markers (5X), and the plurality of second straight lines (L2) pass through the plurality of second reflector markers (5Y). In the destination determination step, at least some of the plurality of intersections (60) are determined as destinations of the moving body (3, 3A).

[0165] According to the above configuration, by installing a plurality of reflector markers (5), the destination of the moving body (3, 3A) is determined according to the positions of the plurality of reflector markers (5). In this way, the task of determining the destination of the moving body (3, 3A) can be semi-automated. Therefore, the effort required for determining the destination can be reduced.

[0166] In addition, in the movement planning method according to the second aspect, in the first aspect, each of the plurality of second straight lines (L2) is a straight line that is perpendicular to the plurality of first straight lines (L1).

[0167] According to the above configuration, the multiple destinations determined in the destination determination step are positions corresponding to multiple lattice points of an orthogonal lattice, and thus multiple destinations can be set regularly.

[0168] In addition, in the movement planning method according to the third aspect, in the first or second aspect, each of the plurality of second straight lines (L2) is a straight line along the first axis (A1).

[0169] According to the above configuration, the multiple destinations determined in the destination determination step are positions according to the direction in which the multiple first reflector markers (5X) are arranged (the direction along the first axis (A1)). In this way, it is possible to set destinations according to the arrangement of the multiple reflector markers (5).

[0170] Furthermore, in a movement planning method according to a fourth aspect, in any one of the first to third aspects, the plurality of reflector markers (5) further include a plurality of third reflector markers (5P). The plurality of third reflector markers (5P) are installed in an area different from the area in which the plurality of first reflector markers (5X) are installed. The plurality of third reflector markers (5P) are aligned along a first axis (A1) on the travel surface (S1). The intersection step includes a first association step and a first line determination step. In the first association step, the plurality of first reflector markers (5X) are associated one-to-one with the plurality of third reflector markers (5P). In the first straight line determination step, a plurality of parallel straight lines connecting corresponding first reflector markers (5X) and third reflector markers (5P) are determined as a plurality of first straight lines (L1).

[0171] According to the above configuration, the worker can easily estimate the multiple destinations to be determined in the destination determination step based on the positions of the multiple reflector markers (5).

[0172] In addition, in a movement planning method according to a fifth aspect, in the fourth aspect, the plurality of reflector markers (5) further include a plurality of fourth reflector markers (5Q). The plurality of fourth reflector markers (5Q) are installed in an area different from the area in which the plurality of second reflector markers (5Y) are installed. The plurality of fourth reflector markers (5Q) are aligned along a second axis (A2) on the travel surface (S1). The intersection step further includes a second association step and a second line determination step. In the second association step, the plurality of second reflector markers (5Y) are associated one-to-one with the plurality of fourth reflector markers (5Q). In the second straight line determination step, a plurality of parallel straight lines connecting corresponding second reflector markers (5Y) and fourth reflector markers (5Q) are determined as a plurality of second straight lines (L2).

[0173] According to the above configuration, the worker can easily estimate the multiple destinations to be determined in the destination determination step based on the positions of the multiple reflector markers (5).

[0174] In addition, in the movement plan creation method according to the sixth aspect, in any one of the first to fifth aspects, in the destination determination step, an area (70) around an obstacle (7) detected by the Lidar (31) is excluded from the destination of the moving body (3, 3A).

[0175] According to the above configuration, the possibility of the moving body (3, 3A) colliding with the obstacle (7) can be reduced.

[0176] Furthermore, a movement planning method according to a seventh aspect is the same as any one of the first to sixth aspects, and further includes a correction step. In the correction step, the positions of the plurality of reflector markers (5) determined in the positioning step are corrected. The correction step includes at least one of a process of correcting the positions of the plurality of first reflector markers (5X) so that the plurality of first reflector markers (5X) are aligned in a straight line, and a process of correcting the positions of the plurality of second reflector markers (5Y) so that the plurality of second reflector markers (5Y) are aligned in a straight line.

[0177] According to the above configuration, three or more destinations can be arranged in a straight line.

[0178] Furthermore, a movement planning method according to an eighth aspect is the same as any one of the first to seventh aspects, and further includes a correction step. In the correction step, the position of each of the plurality of reflector markers (5) determined in the positioning step is corrected. The correction step includes at least one of a process of correcting the positions of the plurality of first reflector markers (5X) so that the intervals between the plurality of first reflector markers (5X) are constant, and a process of correcting the positions of the plurality of second reflector markers (5Y) so that the intervals between the plurality of second reflector markers (5Y) are constant.

[0179] According to the above configuration, three or more destinations can be arranged at equal intervals.

[0180] In addition, a movement plan creation method according to a ninth aspect is the method according to any one of the first to eighth aspects, further comprising an instruction step, in which the moving object (3A) is instructed to move to the destination determined in the destination determination step.

[0181] According to the above configuration, the moving body (3A) can be moved to the destination.

[0182] In addition, in a movement plan creation method according to a tenth aspect, in any one of the first to ninth aspects, in the identification step, if the intensity of the reflected light is equal to or greater than a threshold value, it is determined that the object is one of a plurality of reflector markers (5).

[0183] According to the above configuration, the reflector marker (5) can be easily distinguished from other objects.

[0184] In addition, in the movement planning method according to the eleventh aspect, in the tenth aspect, in the identification step, the threshold value is made smaller as the distance between the moving body (3, 3A) and the object determined in the ranging step increases.

[0185] According to the above configuration, the accuracy of distinguishing the reflector marker (5) from other objects can be improved.

[0186] The configurations other than the first aspect are not essential for the movement plan creation method and can be omitted as appropriate.

[0187] A program according to a twelfth aspect is a program for causing one or more processors of a computer system to execute the movement plan creation method according to any one of the first to eleventh aspects.

[0188] According to the above configuration, the effort required to determine a destination can be reduced.

[0189] A movement plan creation system (1, 1A) according to a thirteenth aspect creates a movement plan for a moving body (3, 3A). The moving body (3, 3A) autonomously moves on a travel surface (S1) on which a plurality of reflector markers (5) are installed. The moving body (3, 3A) has a Lidar (31). The plurality of reflector markers (5) include a plurality of first reflector markers (5X) and a plurality of second reflector markers (5Y). The plurality of first reflector markers (5X) are aligned along a first axis (A1) on the travel surface (S1). The plurality of second reflector markers (5Y) are aligned along a second axis (A2) on the travel surface (S1). The second axis (A2) intersects with the first axis (A1). The movement planning system (1, 1A) includes a distance measurement unit (11), an identification unit (12), a positioning unit (13), an intersection processing unit (14), and a destination determination unit (15). The distance measurement unit (11) determines the distance between a moving body (3, 3A) and an object based on the time from when the lidar (31) emits light until when the lidar (31) receives reflected light, which is light reflected by the object. The identification unit (12) determines whether the object is one of multiple reflector markers (5) based on the intensity of the reflected light received by the lidar (31). The positioning unit (13) determines the position of each of the multiple reflector markers (5) based on the direction of light emission by the lidar (31) and the distance between the moving body (3, 3A) and each of the multiple reflector markers (5) determined by the ranging unit (11). The intersection processing unit (14) determines multiple intersections (60) between multiple first straight lines (L1) along a direction perpendicular to the first axis (A1) or along the second axis (A2) and multiple second straight lines (L2) parallel to each other. Each of the multiple first straight lines (L1) passes through a multiple first reflector markers (5X). Each of the multiple second straight lines (L2) passes through a multiple second reflector markers (5Y). The destination determination unit (15) determines at least some of the multiple intersections (60) as the destination of the moving body (3, 3A).

[0190] According to the above configuration, the effort required to determine a destination can be reduced.

[0191] A moving body (3, 3A) according to a fourteenth aspect includes the movement plan creation system (1, 1A) according to the thirteenth aspect.

[0192] According to the above configuration, the effort required to determine a destination can be reduced.

[0193] Not limited to the above aspects, various configurations (including modified examples) of the movement plan creation system (1, 1A) according to the embodiment can be embodied as a movement plan creation method, a (computer) program, or a non-transitory recording medium on which a program is recorded.

[0194] 1, 1A Movement plan creation system 3, 3A Moving object 5 Reflector marker 5P Third reflector marker 5Q Fourth reflector marker 5X First reflector marker 5Y Second reflector marker 7 Obstacle 11 Distance measurement unit 12 Identification unit 13 Positioning unit 14 Intersection processing unit 15 Destination determination unit 31 Lidar 60 Intersection 70 Area A1 First axis A2 Second axis L1 First straight line L2 Second straight line S1 Travel surface

Claims

1. A movement plan creation method for creating a movement plan for a moving body equipped with Lidar that autonomously moves on a traveling surface on which a plurality of reflector markers are installed, comprising: The plurality of reflector markers include a plurality of first reflector markers arranged along a first axis on the driving surface, and a plurality of second reflector markers arranged along a second axis on the driving surface that intersects with the first axis, The movement plan creation method includes: a ranging step of calculating a distance between the moving body and the object based on the time from when the Lidar emits light to when the Lidar receives reflected light, which is the light reflected by the object; an identification step of determining whether the object is any one of the plurality of reflector markers based on the intensity of the reflected light received by the Lidar; a positioning step of determining a position of each of the plurality of reflector markers based on the direction of emission of the light by the Lidar and the distance between the moving object and each of the plurality of reflector markers determined in the distance measurement step; an intersection step of determining a plurality of intersections between a plurality of first lines that pass through the plurality of first reflector markers, the first lines being along a direction perpendicular to the first axis or along the second axis, and a plurality of second lines that pass through the plurality of second reflector markers, the second lines being parallel to each other; a destination determination step of determining at least some of the intersections as destinations of the moving object, How to create a travel plan.

2. Each of the plurality of second straight lines is a straight line that is perpendicular to the plurality of first straight lines. The movement planning method according to claim 1 .

3. each of the plurality of second straight lines is a straight line along the first axis; The movement plan creation method according to claim 1 or 2.

4. The plurality of reflector markers further include a plurality of third reflector markers arranged along the first axis on the driving surface in an area different from an area in which the plurality of first reflector markers are installed, The crossing step comprises: a first association step of associating the plurality of first reflector markers with the plurality of third reflector markers in a one-to-one manner; a first line determination step of determining, as the plurality of first lines, a plurality of parallel lines connecting corresponding first reflector markers and third reflector markers among the plurality of first reflector markers and the plurality of third reflector markers, The movement plan creation method according to claim 1 or 2.

5. The plurality of reflector markers further includes a plurality of fourth reflector markers arranged along the second axis on the driving surface in an area different from an area in which the plurality of second reflector markers are installed, The crossing step comprises: a second association step of associating the plurality of second reflector markers with the plurality of fourth reflector markers in a one-to-one manner; a second line determining step of determining, as the plurality of second lines, a plurality of parallel lines connecting corresponding second reflector markers and fourth reflector markers among the plurality of second reflector markers and the plurality of fourth reflector markers, The movement planning method according to claim 4.

6. In the destination determination step, an area around the obstacle detected by the Lidar is excluded from the destination of the moving object. The movement plan creation method according to claim 1 or 2.

7. a correction step of correcting the positions of the plurality of reflector markers determined in the positioning step, The correction step a process of correcting the positions of the plurality of first reflector markers so that the plurality of first reflector markers are aligned in a straight line; and a process of correcting the positions of the plurality of second reflector markers so that the plurality of second reflector markers are aligned in a straight line. The movement plan creation method according to claim 1 or 2.

8. a correction step of correcting the positions of the plurality of reflector markers determined in the positioning step, The correction step a process of correcting the positions of the plurality of first reflector markers so that the intervals between the plurality of first reflector markers are constant; and correcting the positions of the second reflector markers so that the intervals between the second reflector markers are constant. The movement plan creation method according to claim 1 or 2.

9. The method further includes an instruction step of instructing the moving object to move to the destination determined in the destination determination step. The movement plan creation method according to claim 1 or 2.

10. In the identifying step, when the intensity of the reflected light is equal to or greater than a threshold, it is determined that the object is one of the plurality of reflector markers. The movement plan creation method according to claim 1 or 2.

11. In the identifying step, the threshold value is set to be smaller as the distance between the moving body and the object obtained in the ranging step increases. The movement planning method according to claim 10.

12. 3. The method for creating a movement plan according to claim 1 or 2, wherein the method is executed by one or more processors of a computer system, program.

13. A movement planning system that creates a movement plan for a moving body equipped with Lidar that autonomously moves on a traveling surface on which a plurality of reflector markers are installed, The plurality of reflector markers include a plurality of first reflector markers arranged along a first axis on the driving surface, and a plurality of second reflector markers arranged along a second axis on the driving surface that intersects with the first axis, The movement planning system includes: a distance measuring unit that calculates the distance between the moving body and the object based on the time from when the Lidar emits light to when the Lidar receives reflected light, which is the light reflected by the object; an identification unit that determines whether the object is one of the plurality of reflector markers based on the intensity of the reflected light received by the Lidar; a positioning unit that determines the position of each of the plurality of reflector markers based on the direction of emission of the light by the Lidar and the distance between the moving object and each of the plurality of reflector markers determined by the distance measuring unit; an intersection processing unit that determines a plurality of intersections between a plurality of first straight lines that pass through the plurality of first reflector markers, the first straight lines being along a direction perpendicular to the first axis or along the second axis, and a plurality of second straight lines that pass through the plurality of second reflector markers, the second straight lines being parallel to each other; a destination determination unit that determines at least some of the intersections as destinations of the moving object, Movement planning system.

14. A movement planning system comprising: Mobile object.