Mobile body recovery system, mobile body recovery method, and program

Abstract

The purpose of the present invention is to automatically restore a mobile body from a stopped state. This mobile body recovery system comprises: a stop detection means for detecting a first abnormal stop of a mobile body that executes work; an object detection means for detecting an object present within a prescribed range from the mobile body in cases in which the first abnormal stop is detected by the stop detection means; a control error calculation means for calculating a control error value indicating a level of accuracy relating to control of the mobile body on the basis of the position of the mobile body and a target position of the mobile body; and a control means for executing control of the mobile body on the basis of the result of detection of the object by the object detection means and the control error value calculated by the control error calculation means.

Description

Mobile body restoration system, mobile body restoration method, and program

[0001] The present disclosure relates to a mobile body restoration system, a mobile body restoration method, and a program.

[0002] For example, when a mobile body such as an autonomous forklift performs a transporting operation, a cargo handling operation, or a traveling operation, the operation may abnormally stop for some reason (such as an obstacle, a problem in control accuracy, etc.). In such a case, a mobile body restoration system that automatically restores from the stopped state without manual intervention is known (see, for example, Patent Document 1).

[0003] International Publication No. 2017 / 208416

[0004] However, in the above-described mobile body restoration system, restoration is performed without considering the control accuracy of the mobile body. For this reason, when the mobile body resumes work at a position deviated from the expected position, there is a risk that it will stop again.

[0005] An object of the present disclosure is to provide a mobile body restoration system, a mobile body restoration method, and a program that solve any of the above-described problems.

[0006] One aspect of the present disclosure for achieving the above objective is a mobile body recovery system comprising: stop detection means for detecting a first abnormal stop of a mobile body performing work; object detection means for detecting an object located within a predetermined range from the mobile body when the first abnormal stop is detected by the stop detection means; control error calculation means for calculating a control error value indicating the accuracy of the control of the mobile body based on the position of the mobile body and the target position of the mobile body; and control means for executing control of the mobile body based on the object detection result by the object detection means and the control error value calculated by the control error calculation means. Another aspect of the present disclosure for achieving the above objective is a mobile body recovery method comprising: detecting a first abnormal stop of a mobile body performing work; detecting an object located within a predetermined range from the mobile body when the first abnormal stop is detected; calculating a control error value indicating the accuracy of the control of the mobile body based on the position of the mobile body and the target position of the mobile body; and executing control of the mobile body based on the object detection result and the calculated control error value. One aspect of this disclosure for achieving the above objective is a program that causes a computer to perform the following: a process for detecting a first abnormal stop of a moving body performing an operation; a process for detecting an object located within a predetermined range from the moving body when the first abnormal stop is detected; a process for calculating a control error value indicating the accuracy of the control of the moving body based on the position of the moving body and the target position of the moving body; and a process for executing control of the moving body based on the object detection result and the calculated control error value.

[0007] This disclosure provides a mobile recovery system, a mobile recovery method, and a program that solve any of the above-mentioned problems.

[0008] This is a block diagram showing the approximate hardware configuration of the mobile recovery system related to this disclosure. This is a block diagram showing an example of the approximate system diagram showing an example of the status at each determination time stored in the database. This is a flowchart showing an example of the processing flow of the mobile recovery method related to this disclosure. This is a diagram showing an example of work list data and work instructions. This is a diagram showing an example of work list data and work instructions. This is a diagram showing an example of table information. This is a diagram showing an example of table information. This is a diagram showing an example of table information. This is a flowchart showing an example of the backup processing flow.

[0009] Embodiment 1 For example, when a mobile object such as an autonomous forklift, construction machinery, or automated guided vehicle performs a predetermined task such as transporting, loading / unloading, or driving, it may abnormally stop performing that predetermined task due to some reason such as obstacles around the mobile object or problems with control accuracy. In response to this, as shown in Figure 1, the mobile object recovery system 1 according to this embodiment automatically recovers the mobile object 100 in such an abnormally stopped state without human intervention.

[0010] This allows the mobile unit 100, such as an autonomous forklift, to automatically recover even if it stops abnormally due to some accident. Therefore, the system's availability can be increased. Furthermore, the manpower required to operate the mobile unit 100, such as the autonomous forklift, can be reduced, contributing to labor savings.

[0011] In the following embodiments, an example of an autonomous forklift will be described, but the mobile unit 100 may be an autonomous mobile unit that performs other tasks, such as an autonomous construction machine or an automated guided vehicle.

[0012] Figure 1 is a block diagram showing the schematic hardware configuration of the mobile recovery system related to this disclosure.

[0013] The mobile recovery system 1 has a hardware configuration similar to that of a normal computer, comprising, for example, a processor 1a such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), internal memory 1b such as RAM (Random Access Memory) or ROM (Read Only Memory), storage devices 1c such as an HDD (Hard Disk Drive) or SSD (Solid State Drive), an input / output I / F 1d for connecting peripheral devices such as a display, and a communication I / F 1e for communicating with devices outside the device.

[0014] Figure 2 is a block diagram showing an example of a schematic system configuration of the mobile object recovery system according to the present disclosure. The mobile object recovery system 1 comprises a stop detection unit 2, an object detection unit 3, a control error calculation unit 4, and a control unit 5.

[0015] The stop detection unit 2, object detection unit 3, control error calculation unit 4, and control unit 5 may be integrated into, for example, a server device. At least one of the stop detection unit 2, object detection unit 3, control error calculation unit 4, and control unit 5 may be incorporated into the mobile body 100.

[0016] In this case, the mobile device 100 and the server device may transmit and receive data via a communication network including, for example, a wireless LAN (Local Area Network), Wi-Fi (registered trademark), Bluetooth (registered trademark), etc.

[0017] The stop detection unit 2 is a specific example of a stop detection means. The stop detection unit 2 detects a first abnormal stop of the mobile body 100 that is performing a predetermined task. The first abnormal stop is an abnormal stop of the mobile body 100 caused, for example, by obstacles around the mobile body 100 or problems with control accuracy. The stop detection unit 2 may also detect the first abnormal stop based on error information output from, for example, the control device of the mobile body 100.

[0018] This is an example of an object detection unit 3 and an object detection means. When the stop detection unit 2 detects a first abnormal stop, the object detection unit 3 detects an object that is within a predetermined range from the moving body 100. The object is, for example, a moving obstacle such as a person or an animal, or a fixed obstacle. Based on whether or not the object has moved after a period of time, the object detection unit 3 can determine whether the detected object is a fixed obstacle or a moving obstacle.

[0019] The object detection unit 3 can detect objects within a predetermined range from the moving object 100 based on sensor information such as cameras or LiDAR (Laser Imaging Detection and Ranging) installed on the moving object 100 or equipment.

[0020] The control error calculation unit 4 is a specific example of a control error calculation means. The control error calculation unit 4 calculates an error value (hereinafter referred to as the control error value) that indicates the accuracy of the control of the moving body 100, based on the position of the moving body 100 and the target position of the moving body 100.

[0021] For example, if the mobile body 100 is a forklift, the mobile body 100 has an operating unit 101 that performs predetermined tasks such as holding loads, and a moving machine unit 102 to which the operating unit 101 is provided. The control error calculation unit 4 may calculate the control error value of the operating unit 101 (hereinafter referred to as the operating unit control error value) and the control error value of the machine unit 102 (hereinafter referred to as the machine unit control error value).

[0022] The operating part 101 is, for example, a fork, and is a part that operates to perform a predetermined task. The machine body 102 is the main body that moves by wheels or the like. The control error calculation unit 4 may calculate the amount of deviation between the target position of the control instruction to the operating part 101 and the position of the operating part 101 based on sensor information of the moving body 100 as the operating part control error value.

[0023] For example, the control error calculation unit 4 may use VSLAM (Visual Simultaneous Localization and Mapping) or GPS (Global Positioning System) information to estimate the self-position of the aircraft unit 102.

[0024] The control error calculation unit 4 may calculate the position of the operating unit 101 based on the position of the aircraft body 102 obtained by self-position estimation, the relative position of the operating unit 101 with respect to the aircraft body 102, and the pre-set dimensions of the aircraft body 102 and the operating unit 101. Then, as described above, the control error calculation unit 4 calculates the difference between the target position of the control instruction for the operating unit 101 and the calculated position of the operating unit 101, and calculates the calculated difference as the operating unit control error value.

[0025] Similarly, the control error calculation unit 4 may calculate the amount of deviation between the target position of the control instruction for the aircraft unit 102 and the position of the aircraft unit 102 based on the sensor information of the moving body 100 as the aircraft unit control error value.

[0026] For example, the control error calculation unit 4 may use VSLAM or GPS information to estimate the self-position of the aircraft unit 102. The control error calculation unit 4 calculates the difference between the position of the aircraft unit 102 obtained by self-position estimation and the target position of the control instruction for the aircraft unit 102, and calculates the calculated difference as the aircraft unit control error value.

[0027] The control unit 5 is a specific example of a control means. The control unit 5 controls the moving body 100 based on the object detection result by the object detection unit 3 and the control error value calculated by the control error calculation unit 4.

[0028] The control unit 5 controls the operation of the mobile unit 100 by transmitting control signals to the mobile unit 100's control device. The control unit 5 and the mobile unit 100 transmit and receive data via a communication network.

[0029] The control of the mobile body 100 includes at least one of the following: a process that determines that it is not possible for the mobile body 100 to resume the predetermined work; a control that moves the mobile body 100 away from the location of the predetermined work; and a control that causes the mobile body 100 to resume the predetermined work.

[0030] If the object detection unit 3 detects a moving obstacle within a predetermined range from the moving body 100, the control unit 5 may perform a process to determine that it is impossible to resume the predetermined operation by the moving body 100. If the control unit 5 determines that it is impossible to resume the predetermined operation by the moving body 100, it may keep the moving body 100 stopped and notify the terminal of the administrator of the moving body 100 that it is impossible to resume the predetermined operation. The terminal may be a PC (Personal Computer) or a mobile terminal (smartphone, tablet, etc.).

[0031] The control unit 5 may perform control to move the mobile body 100 away from the predetermined work location if the object detection unit 3 does not detect any moving obstacles within a predetermined range from the mobile body 100, and the control error value (operating unit control error value or machine unit control error value) calculated by the control error calculation unit 4 is equal to or greater than a threshold.

[0032] Thus, if the control error value of the operating part or the control error value of the machine part exceeds a threshold, and the control accuracy of the operating part 101 and the machine part 102 is low, the machine part 102 or the operating part 101 (such as the fork tines) may be in an unintended position. For this reason, the control unit 5 can ensure safety by controlling the mobile body 100 to move away from the predetermined work area.

[0033] The control unit 5 may, if the object detection unit 3 does not detect any moving obstacles within a predetermined range from the moving body 100, and the control error values ​​(operating unit control error value and machine unit control error value) calculated by the control error calculation unit 4 are less than a threshold, perform control to restart the predetermined operation of the moving body 100.

[0034] Thus, if the control error value of the operating unit and the control error value of the machine unit are below the threshold, and the control accuracy of the operating unit 101 and the machine unit 102 is high, it can be estimated that the mobile unit 100 has stopped within the expected operating range. Therefore, if the cause of the error can be removed, the mobile unit 100 can be restarted as is. Accordingly, the control unit 5 automatically removes the cause of the error and controls the mobile unit 100 to resume the predetermined operation.

[0035] As described above, according to the mobile body recovery system 1 of this embodiment, the mobile body 100 in an abnormally stopped state can be automatically recovered by determining the object detection result by the object detection unit 3 and the control error value calculated by the control error calculation unit 4.

[0036] Embodiment 2 Figure 3 is a block diagram showing an example of a schematic system configuration of the mobile body recovery system according to the present disclosure. The mobile body recovery system 20 according to this embodiment may further include a cause comparison unit 6 that compares a first cause of abnormal stoppage of the mobile body 100 with a second cause of abnormal stoppage.

[0037] The cause comparison unit 6 is a specific example of a cause comparison means. When the stop detection unit 2 detects a second abnormal stop of the mobile body 100 after the mobile body 100 has made a first abnormal stop and resumed a predetermined operation, the cause comparison unit 6 compares the cause of the first abnormal stop of the mobile body 100 with the cause of the second abnormal stop. The control unit 5 may decide whether or not to stop the predetermined operation being performed by the mobile body 100 based on the comparison result from the cause comparison unit 6.

[0038] The cause comparison unit 6 compares the first cause of abnormal stopping of the mobile body 100 with the second cause of abnormal stopping and determines whether the two are the same.

[0039] Furthermore, for example, when performing the processes shown in Figures 5 and 8 described later, the status at each decision point may be stored in the database (FL status). Figure 4 shows an example of the status at each decision point stored in the database.

[0040] The cause of the first abnormal shutdown is reflected in each status during the first abnormal shutdown, and the cause of the second abnormal shutdown is reflected in each status during the second abnormal shutdown. Therefore, the cause comparison unit 6 may refer to the above database and compare each status during the first abnormal shutdown with each status during the second abnormal shutdown to determine whether they match.

[0041] The cause comparison unit 6 may determine that all the respective statuses at the time of the first abnormal stop and the respective statuses at the time of the second abnormal stop match each other when all the statuses match. On the other hand, the cause comparison unit 6 may determine that the respective statuses at the time of the first abnormal stop and the respective statuses at the time of the second abnormal stop do not match each other when one or more of the statuses do not match.

[0042] Furthermore, the cause comparison unit 6 may, for example, compare error information output from a sensor or the like when the moving body 100 abnormally stops for the first time with error information output from a sensor or the like when the moving body 100 abnormally stops for the second time, and determine whether the two match each other.

[0043] As described above, the cause comparison unit 6 compares the cause of the first abnormal stop of the moving body 100 with the cause of the second abnormal stop of the moving body 100, and determines to stop the predetermined work performed by the moving body 100 when it is determined that the two causes match. This is because when the moving body 100 abnormally stops the predetermined work for the same reason, it can be determined that the work cannot be performed.

[0044] When the control unit 5 determines to stop the predetermined work being performed by the moving body 100, the control unit 5 may allow the moving body 100 to skip the predetermined work and start preparation for performing the next work.

[0045] Embodiment 3 In the present embodiment, when the control unit 5 determines that the control error value of the moving body 100 calculated by the control error calculation unit 4 is equal to or greater than a threshold value, the control unit 5 may evaluate a risk related to the operation of the moving body 100. Then, according to the evaluation result, the control unit 5 may perform control to evacuate the moving body 100 from the work place where the moving body 100 is performing the predetermined work.

[0046] When the control unit 5 determines that the risk value is equal to or greater than a threshold value, the control unit 5 may perform control to evacuate the moving body 100 from the place where the predetermined work is performed.

[0047] For example, when the moving object 100 is a forklift, the control unit 5 may determine whether a risk value indicating a risk related to the operation of the moving object 100 is equal to or greater than a threshold if it has determined that an object is detected by the object detection unit 3, and also determined that an actuating unit control error value or a body unit control error value calculated by the control error calculation unit 4 is equal to or greater than a threshold.

[0048] The control unit 5 may calculate a body unit risk value indicating a risk related to the traveling of the body unit 102 using a body traveling risk function. The body traveling risk function may be a function in which the distance between the body unit 102 and an object around the body unit 102 is inversely proportional to the risk value.

[0049] In addition, the risk value is affected depending on whether the object is a fixed obstacle or a moving obstacle. For this reason, weighting may be performed on the risk value according to whether the object is a fixed obstacle or a moving obstacle. Since a moving obstacle has a higher risk of contact or the like than a fixed obstacle, the weight value may satisfy the relationship: moving obstacle > fixed obstacle.

[0050] Furthermore, as described above, the moving object 100 is controlled via a communication network. For this reason, the risk value is also affected by delays in this communication network. Therefore, weighting may be performed on the risk value according to the delay of the communication network. Since the greater the delay of the communication network, the higher the risk of contact or the like, the weighting may be increased as the delay of the communication network increases.

[0051] The control unit 5 may calculate an actuating unit risk value indicating a risk related to the operation of the actuating unit 101 such as a fork using an actuating unit operation risk function. The actuating unit operation risk function may be a function in which the distance between the actuating unit 101 and an object around the actuating unit 101 is inversely proportional to the actuating unit risk value. Note that when the actuating unit 101 such as a fork holds a load, the actuating unit operation risk function may be a function in which the distance between the load on the actuating unit 101 and an object around the load is inversely proportional to the actuating unit risk value.

[0052] Furthermore, similarly to the above, the risk value may be weighted depending on whether the object is a fixed or moving obstacle. The weighting may be such that moving obstacles > fixed obstacles. The risk value may also be weighted according to the latency of the communication network. The weighting may be increased as the latency of the communication network increases.

[0053] If the control unit 5 determines that an object has been detected by the object detection unit 3, and also determines that the control error value of the operating unit or the control error value of the aircraft unit calculated by the control error calculation unit 4 is equal to or greater than a threshold, it may determine whether the aircraft unit risk value or the operating unit risk value is equal to or greater than a threshold.

[0054] The control unit 5 performs control to move the mobile body 100 away from the designated work area when it determines that the risk value of the machine body and the risk value of the operating part are below the threshold and the risk of contact with an object is low.

[0055] On the other hand, if the control unit 5 determines that the risk value of the machine body or the risk value of the operating part is above a threshold and that there is a high risk of contact with an object, it performs a process to determine that it is not possible to restore the predetermined work by the mobile body 100.

[0056] Embodiment 4 The mobile recovery system 20 according to this embodiment generally executes the following flow: (1) safety check around the mobile body 100, (2) execution of a retraction operation by the mobile body 100 as necessary, (3) continuation of a predetermined operation by the mobile body 100, (4) execution of an operation to skip a predetermined operation by the mobile body 100, and (5) transition to the next operation by the mobile body 100.

[0057] Figure 5 is a flowchart showing an example of the processing flow of the mobile body recovery method described above.

[0058] The stop detection unit 2 detects a first abnormal stop of the moving body 100 that is performing a predetermined operation (S11). When the stop detection unit 2 detects a first abnormal stop, the object detection unit 3 detects a moving obstacle that is within a predetermined range from the moving body 100 (S12).

[0059] If the object detection unit 3 detects a moving obstacle (YES in S12), it waits for a certain period of time (S13). If it detects a moving obstacle again (detection), the control unit 5 performs a process to determine that it is not possible to restore the predetermined work by the moving body 100 (S14).

[0060] On the other hand, if the object detection unit 3 does not detect a moving obstacle (NO in S12), or if it waits for a certain period of time (S13) and does not detect a moving obstacle (not detected), the control unit 5 determines whether the control error value (operating unit control error value or machine unit control error value) is greater than or equal to a threshold value (S15).

[0061] If the control unit 5 determines that the control error value is greater than or equal to a threshold (YES in S15), it performs control to move the mobile body 100 away from the predetermined work location (S16). The control of moving the mobile body 100, including the determination of the control error value, will be explained in detail later in the retraction process flow shown in Figure 7.

[0062] On the other hand, if the control unit 5 determines that the control error value (operating unit control error value and machine unit control error value) is less than a threshold (NO in S15), or after the moving body 100 has moved away from the predetermined work location (after the move is completed), the object detection unit 3 detects a fixed obstacle that is within a predetermined range from the moving body 100 (S17).

[0063] If the object detection unit 3 does not detect a fixed obstacle (NO in S17), the control unit 5 controls the mobile body 100 to resume the predetermined operation. The stop detection unit 2 detects a second abnormal stop of the mobile body 100 (S18). If the stop detection unit 2 does not detect a second abnormal stop of the mobile body 100 (NO in S18), the control unit 5 determines that the predetermined operation is complete (S19).

[0064] Next, the control unit 5 acquires the next task information from, for example, the task list data shown in Figure 6A, which has been acquired in advance (S20). Based on the acquired task information, the control unit 5 controls the mobile body 100 to start the next task (S21).

[0065] The control unit 5 may also obtain the following work information by requesting work instructions in the format shown in Figure 6B from a higher-level system such as a WMS (Warehouse Management System) or a WES (Warehouse Execution System).

[0066] On the other hand, if the stop detection unit 2 detects a second abnormal stop of the moving body 100 (YES in S18), the cause comparison unit 6 compares the cause of the first abnormal stop with the cause of the second abnormal stop and determines whether the two are the same (S22). If the cause comparison unit 6 determines that the two are not the same (No in S22), it returns to (S11) above.

[0067] If the cause comparison unit 6 determines that the two conditions match (Yes in S22), the control unit 5 decides to stop the predetermined operation being performed by the mobile body 100 and determines whether the operating unit 101 of the mobile body 100 is holding the load (S23).

[0068] If the control unit 5 determines that the operating unit 101 of the mobile body 100 is not holding the luggage (NO in S23), it proceeds to step (S20). On the other hand, if the control unit 5 determines that the operating unit 101 of the mobile body 100 is holding the luggage (YES in S23), it determines a storage location for the luggage to be evacuated (S24).

[0069] In this case, the control unit 5 may determine a storage location for the luggage to be evacuated based on information regarding the location, frequency of use, usage time, or usage category of each storage location that is a candidate for the luggage.

[0070] For example, the control unit 5 may pre-store table information showing the location information of each storage location, and based on that table information, determine the storage location closest to the mobile unit 100 from among the available storage locations as the storage location for the luggage. For example, the control unit 5 may refer to the table information shown in Figure 7A and, based on the coordinate information of the mobile unit 100 and the coordinate information of the storage location, determine the storage location closest to the mobile unit 100 from among the available (unused) storage locations as the storage location for the luggage.

[0071] The control unit 5 may, in advance, maintain table information indicating the frequency of use of each storage location, and based on this table information, determine the storage location with the lowest frequency of use from among the available storage locations to be used as the storage location for the luggage. For example, the control unit 5 may refer to the table information shown in Figure 7B and, based on the frequency of use of each storage location, determine the storage location with the lowest frequency of use from among the available storage locations (storage location number 5) to be used as the storage location for the luggage.

[0072] The control unit 5 may, in advance, maintain table information indicating the usage time of each storage location, and based on this table information, determine the storage location with the shortest usage time from among the available storage locations to be used as the storage location for the luggage. For example, the control unit 5 may refer to the table information shown in Figure 7C and, based on the usage time of each storage location, determine the storage location with the shortest usage time (storage location number 2) from among the available storage locations to be used as the storage location for the luggage.

[0073] A temporary storage location for storing luggage may be set in advance. The control unit 5 may maintain table information in advance that shows the usage classification of each storage location, including normal and temporary storage locations, and determine the luggage storage location to be an available temporary storage location based on that table information. For example, the control unit 5 refers to the table information shown in Figure 7D and determines the luggage storage location to be an available temporary storage location (storage location number 5) based on the usage classification of each storage location.

[0074] The control unit 5 changes the predetermined task to transporting the cargo to the storage location determined above (S25), and when that task is completed, it proceeds to (S20). On the other hand, if the mobile body 100 stops abnormally along the way, it proceeds to (S11).

[0075] Next, we will explain the aforementioned data recovery process flow. Figure 8 is a flowchart showing an example of the data recovery process flow.

[0076] When the control unit 5 starts the retraction operation of the moving body 100 (S31), it determines whether the operating unit control error value calculated by the control error calculation unit 4 is above a threshold (S32). With this determination, the control unit 5 checks whether there is a problem with the control accuracy of the operating unit 101. If the control unit 5 determines that the operating unit control error value is not above a threshold (NO in S32), it proceeds to the following (S37).

[0077] If the control unit 5 determines that the operating unit control error value is greater than or equal to a threshold (YES in S32), it determines whether or not the operating unit risk value is greater than or equal to a threshold (S33). With this determination, the control unit 5 confirms whether or not there is a problem in operating the operating unit 101.

[0078] If the control unit 5 determines that the operating unit risk value is above a threshold (YES in S33), it determines that it is not possible to restore the predetermined operation by the mobile body 100 (S34).

[0079] On the other hand, if the control unit 5 determines that the operating unit risk value is not above a threshold (NO in S33), it controls the operating unit 101 to move horizontally to the standard position (S35) and then vertically (S36). For example, the operating unit (fork) may be inserted into a shelf or pallet hole. For this reason, the control unit 5 first pulls the operating unit 101 out of the shelf or pallet hole and returns it to the standard horizontal position. The control unit 5 may also control the operating unit 101 to move vertically to the standard position and then horizontally, or it may control the operating unit 101 to move vertically and horizontally simultaneously.

[0080] For example, if the operating unit 101 is a forklift fork, the control unit 5 moves the fork horizontally and vertically to the standard position where the mast is fully tilted backward (the lower end of the fork base is 15 to 20 cm).

[0081] The control unit 5 determines whether the aircraft control error value calculated by the control error calculation unit 4 is equal to or greater than a threshold (S37). With this determination, the control unit 5 confirms whether there is a problem with the control accuracy of the aircraft 102. If the control unit 5 determines that the aircraft control error value calculated by the control error calculation unit 4 is not equal to or greater than a threshold (NO in S37), it proceeds to the following (S41).

[0082] If the control unit 5 determines that the aircraft control error value calculated by the control error calculation unit 4 is equal to or greater than a threshold (YES in S37), it determines whether the aircraft risk value is equal to or greater than a threshold (S38). With this determination, the control unit 5 confirms whether there is any problem in operating the aircraft 102.

[0083] If the control unit 5 determines that the risk value of the machine body is above a threshold (YES in S38), it determines that it is not possible to restore the predetermined work by the mobile body 100 (S39). On the other hand, if the control unit 5 determines that the risk value of the machine body is not above a threshold (NO in S38), it controls the machine body 102 of the mobile body 100 to move, for example, to a standard position within a preset work area.

[0084] For example, the work area may be divided into multiple sections, and a standard position may be set for one of these divided sections (divided areas).

[0085] The control unit 5 may, when moving the mobile body 100 to the standard position, select the division area based on the position information of the mobile body 100 and set the selected division area as the standard position. Alternatively, the control unit 5 may set the position information of the mobile body 100 at the start of each operation as the standard position.

[0086] When the control unit 5 moves the body portion 102 of the mobile body 100 to the standard position, it determines that the mobile body 100 has completed its retraction (S41).

[0087] Furthermore, this disclosure can also be implemented, for example, by having a processor execute a computer program to perform the process shown in Figure 5 or Figure 8.

[0088] Programs can be stored and supplied to a computer using various types of non-transitory computer-readable medium. Non-transitory computer-readable medium includes various types of tangible storage medium. Examples of non-transitory computer-readable medium include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memory (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (random access memory)).

[0089] Programs may be supplied to a computer by various types of transient computer-readable medium. Examples of transient computer-readable medium include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable medium can be supplied to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0090] Each component of the mobile recovery systems 1 and 20 according to the above-described embodiment can be implemented not only by program, but also partially or entirely by dedicated hardware such as ASICs (Application Specific Integrated Circuits) or FPGAs (Field-Programmable Gate Arrays).

[0091] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure can be made as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0092] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments, rather than being associated with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps described in any of the drawings may be changed as appropriate.

[0093] Some or all of the above embodiments may also be described as follows, but are not limited to the following:

[0094] Some or all of the elements (e.g., configuration and function) described in Appendices 2 to 9 that are dependent on Appendice 1 {e.g., System} may also be dependent on Appendices 10 {e.g., Method} and 11 {e.g., Program} in the same way as in Appendices 2 to 9. Some or all of the elements described in any appendice may be applied to various hardware, software, recording means, systems, and methods for recording software.

[0095] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) A mobile body recovery system comprising: stop detection means for detecting a first abnormal stop of a mobile body performing work; object detection means for detecting an object located within a predetermined range from the mobile body when the first abnormal stop is detected by the stop detection means; control error calculation means for calculating a control error value indicating the accuracy of the control of the mobile body based on the position of the mobile body and the target position of the mobile body; and control means for executing control of the mobile body based on the object detection result by the object detection means and the control error value calculated by the control error calculation means. (Note 2) A mobile body recovery system according to Note 1, wherein the control means determines whether a risk value indicating the risk of the operation of the mobile body is above a threshold when no moving obstacle located within a predetermined range from the mobile body is detected by the object detection means and the control error value calculated by the control error calculation means is above a threshold, and if the risk value is not above a threshold, controls the mobile body to move away from the work location. (Note 3) A mobile body recovery system as described in Note 1, wherein the control means performs a process to determine that the mobile body cannot recover the work if the object detection means detects a moving obstacle within a predetermined range from the mobile body. (Note 4) A mobile body recovery system as described in Note 3, wherein the mobile body has an operating unit that performs the work and a moving machine unit on which the operating unit is provided, and the control means performs a process to determine that the mobile body cannot recover the work if the object detection means does not detect a moving obstacle within a predetermined range from the mobile body, the control error value of the operating unit calculated by the control error calculation means is greater than or equal to a threshold, and the operating unit risk value indicating the risk related to the operation of the operating unit is greater than or equal to a threshold.(Note 5) A mobile body recovery system as described in Note 2, wherein the mobile body comprises an operating unit that performs the work and a mobile body unit on which the operating unit is provided and which moves, and the control means performs the following: If the object detection means does not detect any moving obstacles within a predetermined range from the mobile body, and the control error value of the operating unit calculated by the control error calculation means is greater than or equal to a threshold, and the operating unit risk value indicating the risk related to the operation of the operating unit is less than a threshold, the control means performs control to move the operating unit to a standard position; after this control, if the control error value of the mobile body unit calculated by the control error calculation means is greater than or equal to a threshold, and the mobile body unit risk value indicating the risk related to the operation of the mobile body is less than a threshold, the control means performs control to move the mobile body to a standard position and then determines that control to evacuate the mobile body from the work site has been completed, or if, after this control, the control error value of the mobile body unit calculated by the control error calculation means is greater than or equal to a threshold, and the mobile body unit risk value indicating the risk related to the operation of the mobile body is greater than or equal to a threshold, the control means performs the following process: (Note 6) A mobile body recovery system according to Note 1, wherein the control means controls the mobile body to resume work if the object detection means does not detect any moving obstacles within a predetermined range from the mobile body, the control error value calculated by the control error calculation means is less than a threshold, and the object detection means does not detect any fixed obstacles within a predetermined range from the mobile body. (Note 7) A mobile body recovery system according to Note 6, wherein, after the mobile body has resumed work, the stop detection means detects a second abnormal stop of the mobile body, and the control means further comprises a cause comparison means for comparing the cause of the first abnormal stop of the mobile body with the cause of the second abnormal stop, and the control means decides whether or not to stop the work being performed by the mobile body based on the comparison result by the cause comparison means.(Note 8) A mobile body recovery system as described in Note 7, wherein if the cause comparison means matches the cause of the first abnormal stop and the cause of the second abnormal stop, the control means decides to stop the predetermined work being performed by the mobile body, determines whether the mobile body is holding a load, determines a storage location for the load to be evacuated if the mobile body is holding a load, changes the work to transporting the load to the determined storage location, and completes the work. (Note 9) A mobile body recovery system as described in Note 8, wherein the control means determines a storage location for the load to be evacuated based on location information, frequency of use, usage time, or usage category information of each storage location that is a candidate for the load's storage location. (Note 10) A method for restoring a mobile body, comprising: detecting a first abnormal stop of a mobile body performing work; detecting an object located within a predetermined range from the mobile body when the first abnormal stop is detected; calculating a control error value indicating the accuracy of the control of the mobile body based on the position of the mobile body and the target position of the mobile body; and executing control of the mobile body based on the object detection result and the calculated control error value. (Note 11) A program that causes a computer to execute: a process for detecting a first abnormal stop of a mobile body performing work; a process for detecting an object located within a predetermined range from the mobile body when the first abnormal stop is detected; a process for calculating a control error value indicating the accuracy of the control of the mobile body based on the position of the mobile body and the target position of the mobile body; and a process for executing control of the mobile body based on the object detection result and the calculated control error value.

[0096] This application claims priority based on Japanese Patent Application No. 2025-055805, filed on 28 March 2025, and incorporates all of its disclosures herein.

[0097] 1 Mobile object recovery system 1a Processor 1b Internal memory 1c Storage device 2 Stop detection unit 3 Object detection unit 4 Control error calculation unit 5 Control unit 6 Cause comparison unit 20 Mobile object recovery system 100 Mobile object 101 Operating unit 102 Machine body

Claims

1. A mobile body recovery system comprising: a stop detection means for detecting a first abnormal stop of a mobile body performing work; an object detection means for detecting an object located within a predetermined range from the mobile body when the first abnormal stop is detected by the stop detection means; a control error calculation means for calculating a control error value indicating the accuracy of the control of the mobile body based on the position of the mobile body and the target position of the mobile body; and a control means for executing control of the mobile body based on the object detection result by the object detection means and the control error value calculated by the control error calculation means.

2. A mobile object recovery system according to claim 1, wherein the control means determines whether a risk value indicating a risk related to the operation of the mobile object is greater than or equal to a threshold when no moving obstacles within a predetermined range from the mobile object are detected by the object detection means and the control error value calculated by the control error calculation means is greater than or equal to a threshold, and if the risk value is not greater than or equal to a threshold, it performs control to move the mobile object away from the predetermined work location.

3. A mobile body recovery system according to claim 1, wherein the control means performs a process to determine that recovery of the work by the mobile body is impossible when an obstacle moving within a predetermined range from the mobile body is detected by the object detection means.

4. A mobile body recovery system according to claim 3, wherein the mobile body comprises an operating unit that performs the work and a mobile body unit on which the operating unit is provided and which moves, and the control means performs a process to determine that recovery of the work by the mobile body is impossible if the object detection means does not detect any moving obstacles within a predetermined range from the mobile body, the control error value of the operating unit calculated by the control error calculation means is greater than or equal to a threshold, and the operating unit risk value indicating the risk related to the operation of the operating unit is greater than or equal to a threshold.

5. A mobile body recovery system according to claim 1, wherein the control means controls the mobile body to resume work when the object detection means does not detect any moving obstacles within a predetermined range from the mobile body, the control error value calculated by the control error calculation means is less than a threshold, and the object detection means does not detect any fixed obstacles within a predetermined range from the mobile body.

6. A mobile body recovery system according to claim 1, further comprising a cause comparison means for comparing the cause of the first abnormal stop of the mobile body with the cause of the second abnormal stop of the mobile body when the stop detection means detects a second abnormal stop of the mobile body after the mobile body has resumed work, wherein the control means decides whether or not to stop the work being performed by the mobile body based on the comparison result by the cause comparison means.

7. A mobile body recovery system according to claim 6, wherein the cause comparison means determines, when the cause of the first abnormal stop and the cause of the second abnormal stop are the same, the control means determines to stop the work being performed by the mobile body, determines whether the mobile body is holding a load, determines a storage location for the evacuation of the load if the mobile body is holding a load, changes the work to transporting the load to the determined storage location, and completes the work.

8. A mobile body recovery system according to claim 7, wherein the control means determines a storage location for the evacuated luggage based on location information, frequency of use, usage time, or usage category information for each of the candidate storage locations for the luggage.

9. A method for restoring a mobile body, comprising: detecting a first abnormal stop of a mobile body performing an operation; detecting an object located within a predetermined range from the mobile body when the first abnormal stop is detected; calculating a control error value indicating the accuracy of the control of the mobile body based on the position of the mobile body and the target position of the mobile body; and performing control of the mobile body based on the object detection result and the calculated control error value.

10. A program that causes a computer to perform the following steps: a process for detecting a first abnormal stop of a moving body performing an operation; a process for detecting an object located within a predetermined range from the moving body when the first abnormal stop is detected; a process for calculating a control error value indicating the accuracy of the control of the moving body based on the position of the moving body and the target position of the moving body; and a process for executing control of the moving body based on the object detection result and the calculated control error value.

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