Moving body and moving body control system

Abstract

A driving device (51) generates driving force for traveling, scanners (12a, 12b) optically scan a floor surface to generate a partial floor surface image, and a controller (54) controls the driving device (51) to reduce the deviation between a prescribed path and the current position of a moving body (1) detected on the basis of the partial floor surface image so that the moving body (1) travels on the path. The scanners (12a, 12b) are line scanners, and the controller (54) performs shape conversion on the partial floor surface image when the moving body (1) is turning so that the partial floor surface image curves along the path. The current position of the moving body (1) is detected on the basis of the post-shape-conversion partial floor surface image.

Description

Mobile objects and mobile object control systems

[0001] The present invention relates to a mobile object and a mobile object control system.

[0002] One mobile device is equipped with a moving means for moving the device along the surface of a structure, a photographing means provided on the bottom of the device for photographing the surface of the structure, and an identification means for identifying the position of the device by comparing image data output from the photographing means with matching data for each position registered in advance (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2019-185465

[0004] When scanning the floor surface of a moving object with a line scanner, a rectangular partial floor image (band image) is obtained for a rectangular scanning range when the moving object is moving straight, but when the moving object is turning, a rectangular partial floor image is obtained for a scanning range that is curved in accordance with the turning, and since the partial floor image is distorted, the current position of the moving object may not be accurately determined.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a mobile body that allows the current position of the mobile body to be accurately identified even when the mobile body is turning, and a mobile body control system that controls such a mobile body.

[0006] The mobile body of the present invention includes a drive device that generates a driving force for traveling, a scanner that optically scans a floor surface to generate a partial floor image, and a controller that controls the drive device so that the mobile body travels along a predetermined path by reducing the deviation between the current position of the mobile body detected based on the partial floor image and the predetermined path. The scanner is a line scanner, and the controller performs shape transformation on the partial floor image when the mobile body is turning so that it curves along the path. The current position of the mobile body is detected based on the partial floor image after the shape transformation.

[0007] The mobile object control system according to the present invention includes a mobile object that travels along a path in a predetermined area of ​​a floor surface, and a management server. The mobile object (a) scans a portion of the floor surface at the current position of the mobile object to generate a partial floor image, and (b) transmits the partial floor image to the management server. The management server includes a communication device that receives the partial floor image from the mobile object, a mobile object position identification unit that identifies the current position of the mobile object based on the received partial floor image, and a mobile object control unit that controls the operation of the mobile object based on the identified current position of the mobile object. The mobile object position identification unit (a) performs shape transformation on the partial floor image when the mobile object is turning so that it curves along the path, and (b) identifies the current position of the mobile object based on the shape-transformed partial floor image.

[0008] According to the present invention, a mobile body that allows the current position of the mobile body to be accurately identified even when the mobile body is turning, and a mobile body control system that controls such a mobile body are provided.

[0009] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0010] FIG. 1 is a diagram showing the configuration of a mobile object control system according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a floor surface on which a mobile object 1 in FIG. 1 travels. FIG. 3 is a perspective view showing the mechanical configuration of the mobile object 1 in FIG. 1. FIG. 4 is a diagram illustrating an example of a scanner 12a in the mobile object 1 shown in FIG. 3. FIG. 5 is a diagram illustrating another example of the scanner 12a in the mobile object 1 shown in FIG. 3. FIG. 6 is a block diagram showing the electrical configuration of the mobile object 1 in FIG. 1. FIG. 7 is a diagram illustrating shape transformation of a partial floor surface image when the mobile object 1 turns. FIG. 8 is a block diagram showing the configuration of a management server 2 in FIG. 1. FIG. 9 is a flowchart illustrating the operation of the management server 2 in FIG. 1.

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] Embodiment 1.

[0013] Fig. 1 is a diagram showing the configuration of a mobile object control system according to an embodiment of the present invention. Fig. 2 is a diagram illustrating a floor surface on which a mobile object 1 in Fig. 1 travels. As shown in Fig. 1, the mobile object control system includes a mobile object 1 and a management server 2.

[0014] The mobile object 1 shown in FIG. 1 is a self-propelled mobile object, such as an automatic guided vehicle (AGV) or an autonomous mobile robot (AMR). The mobile object 1 travels along a predetermined route on the floor surface 101 of a predetermined area while optically scanning the floor surface 101 at the current location of the mobile object 1. The mobile object control system does not require markers or the like to be physically installed on the floor surface 101 as a route. The management server 2 sets the route as data, searches for a location in a floor surface image of the floor surface 101 of the predetermined area that matches a partial floor surface image of the current location of the mobile object 1, identifies the actual current location of the mobile object 1 based on the matched location, and controls the operation of the mobile object 1 according to the set route and its current location.

[0015] Here, the floor surface 101 is, for example, the floor surface of a factory, warehouse, etc., and has scratches, dirt, etc. in addition to the original pattern 101a (i.e., the pattern of the surface of the floor material such as tile or concrete), so that the image pattern differs depending on the position in a high-resolution floor surface image of a predetermined area. Therefore, for example, by using pattern matching, image search using machine learning, etc., the current position of the moving object 1 can be uniquely identified.

[0016] Fig. 3 is a perspective view showing the mechanical configuration of the mobile unit 1 in Fig. 1. As shown in Fig. 3, the mobile unit 1 includes four casters 11 installed at the four corners of the bottom surface, scanners 12a and 12b, and a frame body 13 to which the casters 11 and scanners 12a and 12b are fixed.

[0017] The caster 11 has a driven wheel that contacts the floor surface 101 and is fixed to the frame body 13 so as to be rotatable in the horizontal direction.

[0018] Scanner 12a optically scans a portion of the floor surface 101 to generate a partial floor surface image (first partial floor surface image). Scanner 12a is arranged at the tip of the moving body 1 in the traveling direction. Scanner 12b optically scans a portion of the floor surface 101 to generate a partial floor surface image (second partial floor surface image). Scanner 12b is arranged at the rear end of the moving body 1 in the traveling direction. Each scanner 12a, 12b is a line scanner, (a) arranged on the bottom side of the moving body 1 facing the floor surface, and (b) repeatedly generates line images of a predetermined width perpendicular to the traveling direction of the moving body 1 as partial floor surface images. Scanners 12a, 12b scan the floor surface at a predetermined high resolution (for example, 600 dpi).

[0019] The frame body 13 is a body having a frame structure.

[0020] Furthermore, the mobile body 1 includes drive wheel units 21 a, 21 b, 21 c, and 21 d. Each drive wheel unit 21 a, 21 b, 21 c, and 21 d includes a drive wheel 31 that contacts the floor surface, a support portion 32 that rotatably supports the drive wheel 31, a wheel frame portion 33 to which the support portion 32 is fixed, a rotation support portion 34 that rotatably fixes one end of the wheel frame portion 33 to the frame body 13 (one of the beams 13 a, 13 b), and a spring member 35 that urges the other end of the wheel frame portion 33 against the frame body 13 (the other of the beams 13 a, 13 b). As a result, the restoring force of the spring member 35 presses the drive wheel 31 against the floor surface with a predetermined pressure.

[0021] Furthermore, each of the drive wheel units 21a, 21b, 21c, and 21d includes a drive device (not shown) that generates and transmits driving force for running to the drive wheels 31. The drive devices are installed independently for each of the drive wheel units 21a, 21b, 21c, and 21d, and individually generate and transmit driving force to the drive wheels 31. Here, the drive devices generate driving force using a motor and transmit the driving force to the drive wheels 31 using gears or the like. The drive wheels 31 include, for example, a drive shaft connected to the drive device, a hard wheel fixed to the drive shaft, and an elastic tire fitted on the outside of the wheel.

[0022] Furthermore, each of the drive wheel units 21a, 21b, 21c, and 21d further includes a rotation speed sensor (not shown) that measures the rotation speed of each of the pair of left and right drive wheels 31. The rotation speed sensor is, for example, a pulse encoder.

[0023] Fig. 4 is a diagram showing an example of the scanner 12a in the moving object 1 shown in Fig. 3. For example, as shown in Fig. 4, each of the scanners 12a and 12b includes a light-emitting unit (not shown) that irradiates the floor surface with light, an image sensor 41, and a reduction optical system 42 (one or more lenses) that focuses reflected light obtained when the light from the light-emitting unit is reflected by the floor surface onto the image sensor 41.

[0024] Fig. 5 is a diagram showing another example of the scanner 12a in the mobile object 1 shown in Fig. 3. Furthermore, for example, as shown in Fig. 5, the scanners 12a and 12b may be equipped with contact image sensors. In this case, the scanners 12a and 12b are scanners with a life-size optical system equipped with a line sensor 41a including a plurality of light-receiving elements and a lens array 42a.

[0025] Fig. 6 is a block diagram showing the electrical configuration of the moving body 1 in Fig. 1. As shown in Fig. 6, the moving body 1 includes, in addition to the drive device 51 described above, a power supply device 52, a communication device 53, a controller 54, the rotation speed sensor 55 described above, and an acceleration sensor 56.

[0026] The power supply device 52 may include, for example, a built-in secondary battery, and supplies power to the drive device 51, the communication device 53, and the controller 54. The power supply device 52 may be connected to a commercial power source and may include a charging circuit for charging the secondary battery. The secondary battery may also be detachable.

[0027] The communication device 53 performs data communication with an external device (such as a server) via wireless communication in accordance with a predetermined communication protocol.

[0028] The controller 54 includes a computer and an ASIC (Application Specific Integrated Circuit), and performs data processing, control of the drive device 51, control of the communication device 53, etc. using the computer (software processing) and the ASIC (hardware processing).

[0029] In the first embodiment, the communication device 53 transmits (a) a partial floor image or a line image (individual line images constituting the partial floor image) to the management server 2 in accordance with a request from the controller 54, and receives from the management server 2 a deviation between the current position of the moving body 1 and the route, or a control amount corresponding to the deviation, detected by the management server 2 based on the partial floor image. Then, based on the received deviation or control amount (control amount of each drive device 51), the controller 54 controls the drive devices 51 so that the moving body 1 travels on the above-mentioned route, or controls the drive devices 51 to stop the moving body 1. Note that if the rotational speed of the drive wheels 31 of the drive wheel units 21 a and 21 b and the rotational speed of the drive wheels 31 of the drive wheel units 21 c and 21 d are made the same, the moving body 1 moves straight, and if the rotational speed of the drive wheels 31 of the drive wheel units 21 a and 21 b and the rotational speed of the drive wheels 31 of the drive wheel units 21 c and 21 d are made different from each other, the moving body 1 turns. Therefore, the drive devices 51 of the drive wheel units 21 a, 21 b, 21 c, and 21 d are controlled to reduce the deviation. Also, the inclination of the traveling direction relative to the route may be derived based on the deviation obtained from the first partial floor image and the deviation obtained from the second partial floor image.

[0030] The partial floor image is composed of a predetermined number of line images. The scanners 12a and 12b repeatedly generate line images of a predetermined width perpendicular to the traveling direction of the moving body 1, and an image conversion unit (not shown) buffers the line images to convert the predetermined number of line images into the partial floor image.

[0031] In addition, either the first partial floor image or the second partial floor image may be used as the partial floor image, or the current position may be derived in the same manner for each of the first partial floor image and the second partial floor image.

[0032] Furthermore, the partial floor image or line image may be compressed in the mobile object 1 before being transmitted to the management server 2, and the data may be expanded in the management server 2.

[0033] Fig. 7 is a diagram illustrating the shape transformation of a partial floor image when the moving body 1 turns. For example, as shown in Fig. 7, the controller 54 transforms the shape of the partial floor image when the moving body 1 turns so that it curves along the path, and transmits the shape-transformed partial floor image to the management server 2. Therefore, the current position of the moving body 1 is detected based on the shape-transformed partial floor image.

[0034] The controller 54 acquires the rotation speed detected by the rotation speed sensor 55, and performs the above-mentioned shape transformation based on at least one of the rotation speed of the driving wheel 31 on the inside of the pair of driving wheels 31 and the rotation speed of the driving wheel 31 on the outside of the pair of driving wheels 31. The length of the outer circumferential arc after shape transformation is specified by the rotation speed of the driving wheel 31 on the outside of the pair of driving wheels 31, and the length of the inner circumferential arc after shape transformation is specified by the rotation speed of the driving wheel 31 on the inside of the pair of driving wheels 31, thereby specifying the shape of the partial floor surface image after shape transformation.

[0035] In addition, the controller 54 monitors the difference (absolute value) between the rotational speed of the drive wheel 31 on the outside of the turn and the rotational speed of the drive wheel 31 on the inside of the turn, and if this difference (absolute value) exceeds a predetermined threshold value, it may determine that the moving body 1 is turning.

[0036] Furthermore, the acceleration sensor 56 is a three-dimensional acceleration sensor that detects the acceleration of the moving object 1 in the height direction and detects the height of the moving object 1 from the floor surface based on the acceleration. Then, the controller 54 enlarges or reduces the partial floor image at a magnification factor according to the detected height so that the size of the partial floor image becomes a reference size. As a result, the partial floor image enlarged or reduced at that magnification factor is transmitted to the management server 2. Therefore, the current position of the moving object 1 is detected based on the partial floor image enlarged or reduced at that magnification factor.

[0037] FIG. 8 is a block diagram showing the configuration of the management server 2 in FIG.

[0038] The management server 2 in FIG. 1 includes a communication device 61 , a processing device 62 , and a storage device 63 .

[0039] The communication device 61 communicates data with the mobile object 1 via a predetermined communication path 3 (a wireless communication path and / or a wired communication path). For example, the communication device 61 is a wireless network interface, a data communication interface for a mobile phone network, a short-range wireless communication interface, etc. Alternatively, the communication path 3 may include a wireless station, and the communication device 61 may be connected to the wireless station via a wired communication path and the mobile object 1 may be connected to the wireless station via a wireless communication path, thereby enabling the communication device 61 to communicate data with the mobile object 1.

[0040] The arithmetic processing device 62 is a computer equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and operates as various processing units by loading programs from the ROM or storage device 63 into the RAM and executing them on the CPU. Here, the arithmetic processing device 62 operates as a route setting unit 71, a mobile object position specifying unit 72, a mobile object control unit 73, and a floor image updating unit 74.

[0041] The storage device 63 is a non-volatile storage device that stores programs and data. Here, the storage device 63 stores floor surface data 63a in advance.

[0042] The floor data 63a includes image data of the floor image of the entire floor surface of the above-mentioned specified area, and position data indicating the correspondence between the position (pixel position) in the floor image and the actual position on the floor. This image data identifies the position of the partial floor image in the floor image (i.e., the position of the part in the floor image that is closest to the partial floor image), and this position data converts the position of the partial floor image in the floor image into a position on the actual floor.

[0043] The path setting unit 71 sets a path for the mobile object 1 as path data within a predetermined area on the floor surface 101. For example, the path is made up of one or more links, and the path data includes coordinate values ​​of the start point and end point of each link. For example, the path setting unit 71 may be connected to a manufacturing execution system (MES) and set a path for the mobile object 1 according to an operation of the mobile object 1 (such as transporting parts, etc.) requested by the manufacturing execution system.

[0044] The moving object position identifying unit 72 identifies the current position of the moving object 1 traveling along a route in a predetermined area on the floor surface 101. Specifically, the moving object position identifying unit 72 (a) acquires a partial floor image generated by scanning the floor portion at the current position of the moving object 1 by the moving moving object 1, (b) identifies the position of the partial floor image in the floor surface image of the entire predetermined area, and (c) identifies the current position of the moving object 1 (actual position on the floor surface 101) based on the identified position. Here, the partial floor image is generated by scanning the portion of the floor surface 101 opposite the bottom surface of the moving object 1 with scanners 12a and 12b arranged on the bottom side of the moving object 1. Note that the current position of the moving object 1 is expressed, for example, by a physical distance from a predetermined reference position on the floor surface 101. Furthermore, the position of the partial floor image in the floor surface image of the entire predetermined area is expressed by a pixel position in the floor surface image of the entire predetermined area, and the correspondence between the current position of the moving object 1 and the position of this partial floor image is known.

[0045] In the first embodiment, the moving object position identifying unit 72 acquires the partial floor image using the communication device 61. The floor image and the partial floor image may be color image data generated by the color scanners 12a and 12b, or may be grayscale image data generated by the monochrome scanners 12a and 12b.

[0046] Furthermore, the moving object position identifying unit 72 identifies the position of the partial floor image in the floor image of the entire predetermined area, for example, by image search using pattern matching or machine learning. At this time, even if a part of the floor image of the entire predetermined area does not completely match the partial floor image, the position with the highest probability in the floor image of the entire predetermined area is identified as the position of the partial floor image.

[0047] The mobile object control unit 73 controls the operation of the mobile object 1 based on the identified current position of the mobile object 1. In the first embodiment, the mobile object control unit 73 controls the operation of the mobile object 1 by using the communication device 61 to transmit to the mobile object an operation command based on the identified current position of the mobile object 1.

[0048] Specifically, the mobile body control unit 73 (a) identifies the deviation between the route set by the route setting unit 71 and the current position of the mobile body 1, and causes the mobile body 1 to travel so as to reduce the deviation (for example, by turning the mobile body 1 in accordance with the deviation), and (b) stops the mobile body 1 if the identified current position is a stopping position.

[0049] The floor image update unit 74 updates the portion of the partial floor image identified in the floor image of the entire predetermined area with the acquired partial floor image. As a result, even if there is a change in the floor surface 101 (change over time, adhesion of dirt, etc.), the portion of the floor image of the entire predetermined area through which the moving object 1 has passed is updated to the most recent floor image, thereby suppressing errors in detecting the current position in the moving object position identification unit 72.

[0050] Next, the operation of the mobile object control system will be described with reference to a flowchart of FIG.

[0051] The route setting unit 71 of the management server 2 sets a route for the mobile object 1 in accordance with a user operation or the like (step S1). For example, route data indicating the route is stored in advance in the storage device 63, and the route setting unit 71 reads out the route data and sets it as the route for the mobile object 1.

[0052] Thereafter, the mobile object control unit 73 uses the communication device 61 to transmit an operation command to the mobile object 1 to cause the mobile object 1 to start traveling. In the mobile object 1, the controller 54 uses the communication device 53 to receive the operation command and controls the drive device 51 to cause the mobile object 1 to start traveling. Thereafter, in the mobile object 1, (a) upon receiving the operation command, the controller 54 controls the drive device 51 to adjust the traveling of the mobile object 1 (for example, by turning the mobile object 1 to the right or left so as to approach the route), and (b) while traveling, the scanners 12a and 12b are operated to repeatedly acquire line images, and the line images or partial floor images (image data thereof) are transmitted to the management server 2 using the communication device 53. In this case, the mobile object 1 performs shape transformation of the partial floor image while turning, and transmits the shape-transformed partial floor image to the management server 2.

[0053] In the management server 2, when the mobile object position identification unit 72 receives a line image or a partial floor image using the communication device 61 (step S2), it searches for the partial floor image in the overall floor image by pattern matching or the like, identifies the position of the partial floor image in the overall floor image, and identifies the actual current position of the mobile object 1 corresponding to that position (step S3). When a line image is received, a predetermined number of line images are buffered and used as the partial floor image. When the position of the partial floor image in the overall floor image is identified, the floor image update unit 74 updates the corresponding part of the overall floor image in the floor data 63a with the received partial floor image (step S4).

[0054] Then, the mobile object control unit 73 determines whether the identified current position is a stop position (step S5). If the identified current position is not a stop position, the mobile object control unit 73 identifies the deviation between the above-mentioned path and the current position of the mobile object 1 (step S6), and transmits the deviation amount or the corresponding control amount of the mobile object 1 as an operation command to the mobile object 1 so as to reduce the deviation (step S7). After that, the process returns to step S2, and the processes from step S3 onwards are executed for the next partial floor image. Note that if there is no deviation, the mobile object 1 is caused to maintain traveling in the current direction and speed without transmitting an operation command.

[0055] On the other hand, if the identified current position is a stop position, the mobile object control unit 73 uses the communication device 61 to transmit a stop command to the mobile object 1 (step S8). Then, the mobile object control unit 73 determines whether the identified current position (or this stop position) is the end of the route (step S9), and if the identified current position (or this stop position) is the end of the route, ends the travel of the mobile object 1 on the route.

[0056] On the other hand, if the identified current position (or this stop position) is not the end of the route, the mobile object 1 resumes traveling on the route when a predetermined condition is met (such as completion of a predetermined operation by the mobile object 1 at that position or receipt of a command to resume traveling from the management server 2). Then, the process returns to step S2, and the processing from step S3 onwards is executed for the next partial floor image.

[0057] As described above, according to the first embodiment, the drive device 51 generates a drive force for traveling, the scanners 12a and 12b optically scan the floor surface to generate a partial floor image, and the controller 54 controls the drive device 51 so that the moving body 1 travels along the path by reducing the deviation between the current position of the moving body 1 detected based on the partial floor image and a predetermined path. The scanners 12a and 12b are line scanners, and the controller 54 performs shape transformation on the partial floor image when the moving body 1 is turning so that it curves along the path. The current position of the moving body 1 is then detected based on the shape-transformed partial floor image.

[0058] As a result, when the moving body 1 turns, the shape is converted, so that the partial floor image to be compared with the floor image of the floor data 63a does not become distorted, and therefore the current position of the moving body 1 can be accurately identified even if the moving body 1 turns.

[0059] Embodiment 2.

[0060] In the first embodiment, the moving body 1 performs shape transformation of the partial floor image when the moving body 1 turns, but in the second embodiment, the moving body 1 does not perform shape transformation of the partial floor image when the moving body 1 turns, and the management server 2 performs shape transformation of the partial floor image when the moving body 1 turns. Note that in the second embodiment, the moving body 1 does not change the magnification of the partial floor image in accordance with the height of the moving body 1, and the management server 2 changes the magnification of the partial floor image in accordance with the height of the moving body 1.

[0061] In embodiment 2, the communication device 61 receives a partial floor image (that has not been shape-converted) from the moving body 1, and the moving body position identification unit 72 (a) performs shape conversion on the partial floor image when the moving body 1 is turning so that it curves along the above-mentioned path, and (b) identifies the current position of the moving body 1 based on the shape-converted partial floor image.

[0062] In this case, the mobile body 1 may transmit the rotational speed of the above-mentioned drive wheel 31 to the management server 2, the communication device 61 may receive the rotational speed from the mobile body 1, and the mobile body position identification unit 72 may similarly perform the above-mentioned shape transformation based on at least one of the rotational speed of the drive wheel 31 on the inside of the pair of drive wheels 31 and the rotational speed of the drive wheel 31 on the outside of the pair of wheels.

[0063] Alternatively, the moving object position specifying unit 72 may perform shape conversion based on the shape of the route. In this case, when the moving object 1 is traveling in a section of the route that has a curved shape, the shape of the partial floor image after shape conversion is specified based on the curved shape.

[0064] In addition, the mobile body 1 transmits the height of the mobile body 1 to the management server 2, the communication device 61 receives the height from the mobile body 1, and the mobile body position identification unit 72 (a) enlarges or reduces the partial floor image to a standard size using a scaling factor according to the height, and (b) identifies the current position of the mobile body 1 based on the partial floor image enlarged or reduced using that scaling factor.

[0065] The other configurations and operations of the mobile object control system according to the second embodiment are the same as those of the first embodiment, and therefore description thereof will be omitted.

[0066] Embodiment 3.

[0067] In the third embodiment, the management server 2 is not provided, and the mobile body 1 includes a storage device 63 (floor surface data 63a), a route setting unit 71, a mobile body position identification unit 72, a mobile body control unit 73, and a floor surface image update unit 74. In other words, without using the above-mentioned management server 2, the mobile body 1 stores a floor surface image of the entire floor surface 101 (i.e., the range of movement of the mobile body 1), and similarly identifies the position of a partial floor surface image in the floor surface image, identifies the actual current position corresponding to that position, and autonomously controls running and stopping.

[0068] The other configurations and operations of the moving body 1 according to the third embodiment are the same as those of the first or second embodiment, and therefore the description thereof will be omitted.

[0069] It should be noted that various changes and modifications to the above-described embodiments will be apparent to those skilled in the art. Such changes and modifications may be made without departing from the spirit and scope of the subject matter and without diminishing its intended advantages. In other words, it is intended that such changes and modifications be included within the scope of the claims.

[0070] For example, in the above embodiments 1 to 3, the route setting unit 71 may set route data for each of the multiple moving bodies 1 in the same manner, the moving body position identification unit 72 may identify the current positions of each of the multiple moving bodies 1 in the same manner, and the moving body control unit 73 may control the operation of each of the multiple moving bodies 1 in the same manner.

[0071] In the first to third embodiments, the moving body 1 does not need to be provided with the scanner 12b.

[0072] The present invention is applicable to, for example, AGVs.

Claims

1. A moving body comprising: a driving device that generates a driving force for traveling; a scanner that optically scans a floor surface to generate a partial floor image; and a controller that controls the driving device so that the moving body travels along a predetermined path by reducing the deviation between the current position of the moving body detected based on the partial floor image and the predetermined path, wherein the scanner is a line scanner, and the controller performs shape transformation on the partial floor image when the moving body is turning so as to curve along the path, and the current position of the moving body is detected based on the partial floor image after the shape transformation.

2. A moving body as described in claim 1, further comprising at least a pair of wheels and a rotational speed sensor for measuring the rotational speed of each of the pair of wheels, and wherein the controller performs the shape transformation based on at least one of the rotational speed of the wheel on the inside of the pair of wheels when making a turn and the rotational speed of the wheel on the outside of the pair of wheels when making a turn.

3. A moving body as described in claim 1, further comprising an acceleration sensor that detects the height of the moving body from the floor surface, wherein the controller enlarges or reduces the partial floor image with a magnification factor according to the detected height, and the current position of the moving body is detected based on the partial floor image enlarged or reduced with the magnification factor.

4. A mobile object control system comprising: a mobile object that travels along a path in a specified area of ​​a floor; and a management server, wherein the mobile object (a) scans a portion of the floor at the current position of the mobile object to generate a partial floor image, and (b) transmits the partial floor image to the management server, the management server comprising a communication device that receives the partial floor image from the mobile object, a mobile object position identification unit that identifies the current position of the mobile object based on the received partial floor image, and a mobile object control unit that controls the operation of the mobile object based on the identified current position of the mobile object, wherein the mobile object position identification unit (a) performs shape transformation on the partial floor image when the mobile object is turning so as to curve along the path, and (b) identifies the current position of the mobile object based on the partial floor image after the shape transformation.

5. The mobile body control system of claim 4, characterized in that the mobile body is equipped with at least a pair of wheels and a rotational speed sensor that measures the rotational speed of each of the pair of wheels, and transmits the rotational speed to the management server, the communication device receives the rotational speed from the mobile body, and the mobile body position identification unit performs the shape transformation based on at least one of the rotational speed of the wheel on the inside of the pair of wheels when turning and the rotational speed of the wheel on the outside of the pair of wheels when turning.

6. A mobile object control system according to claim 4, characterized in that the mobile object position specifying unit performs the shape transformation based on the shape of the route.

7. The mobile object control system of claim 4, characterized in that the mobile object is equipped with an acceleration sensor that detects the height of the mobile object from the floor surface, the communication device receives the height from the mobile object, and the mobile object position determination unit (a) enlarges or reduces the partial floor image with a scaling factor according to the detected height, and (b) determines the current position of the mobile object based on the partial floor image enlarged or reduced with the scaling factor.

Images