JP3319802B2 - Mobile body movement control system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving control system for moving a moving body within a predetermined range.

[0002]

2. Description of the Related Art In recent years, autonomous traveling mobile bodies have been introduced for transportation and security purposes in factories and buildings. The autonomous traveling type moving body travels on a predetermined traveling route, and includes sensors for traveling and various sensors according to the purpose of traveling.

[0003] Conventionally, a mobile body that autonomously travels in a building has a route map of the traveling route stored in a memory in the mobile body in advance,
The map is sequentially read and the vehicle travels along the route. In this case, the mobile unit corrects the point and position deviation on the map,
Alternatively, an environment recognition sensor group for detecting an obstacle or the like is mounted.

For example, when a mobile object is used for security, an antenna is arranged in the operating area of the mobile object in a building,
Various signals are exchanged between a wireless communication means mounted on a moving body and a monitoring computer installed in a security room. The monitoring computer can monitor the operation status or the detection of the abnormal state in real time.

[0005] By the way, when moving such a moving body in a vertical direction when moving in a building, that is, when moving between layers, it is considered that the moving body itself has a function of climbing stairs. According to this, there is an advantage that the autonomous traveling type mobile body can minimize the support from outside the mobile body.

[0006]

However, providing a climbing ability to move a moving body between layers involves a problem that the apparatus becomes complicated and requires a large amount of power.
In addition, there is a problem that it is necessary to make the traveling portion of the moving body conform to the shape of each stair, which is expensive and difficult to spread widely.

The present invention has been made in view of the above problems, and has as its object to provide a moving body movement control system that moves a moving body between layers at low cost using an elevator.

[0008]

SUMMARY OF THE INVENTION The object of the present invention is to provide wireless communication means for transmitting information necessary for movement and receiving an instruction signal, and for autonomously traveling along a preset route. a moving body that moves, a lifting means for moving the movable body between tiers, during use of the lifting means of the movable body, based on the information signal from said mobile,
The usage status of the elevating means is determined, and the elevating means is set to a mobile operation mode dedicated to the mobile body, and various operations of the elevating means are controlled. Lifting control means for transmitting an instruction signal;
Connected to the elevating control means, transmitting the instruction signal sent from the elevating control means to the moving body, outputting an information signal received from the moving body to the elevating control means, Information signal and the elevation control
The moving body and the lifting / lowering means
The moving state of the moving object
The problem is solved by configuring with a processing device for displaying .

[0009]

As described above, the moving body movement control system according to the present invention moves the moving body up and down on the elevating means and transfers the moving body between layers. In this case, the elevating control means controls the elevating means based on an information signal or the like from the moving body.

That is, when the moving body uses the elevating means, the elevating control means judges the use state of the elevating means, and if the elevating means is not used elsewhere, the moving body operation mode in which the elevating means is dedicated to the moving body. To control various operations of the lifting / lowering means. The elevating control means wirelessly sends various instruction signals for using the elevating means to the moving body via the processing device in accordance with various operations of the elevating means to be controlled. The lifting control means
A processing device is connected, and the processing device is a lift control means.
And transmitting the instruction signal transmitted from the
The information signal received from the moving object is sent to the elevation control means.
Output.

The moving body gets on and off the elevating means based on an instruction signal from the elevating control means wirelessly sent from the processing device, and moves along a preset route.

[0012] This makes it possible to move the moving body between layers at low cost by using the existing elevating means.

[0013]

FIG. 1 is an overall block diagram of an embodiment of the present invention. The movement control system 11 shown in FIG.
Let 2 be guarded on each floor of the building.

The mobile unit 12 has communication means, and is provided with an antenna 12a therefor (an internal configuration will be described with reference to FIG. 2). The mobile unit 12 performs wireless transmission and reception with a monitoring computer 13, and It transmits and receives information signals and instruction signals necessary for movement to and from the elevator control unit 17 via the controller. For this purpose, the computer 13 is provided with an antenna 15 via a modem 14. The computer 13 is connected to the elevator control unit 17 via the intermediate unit 16 by wire, and exchanges information and control signals. The computer 13, the modem 14, the antenna 15, and the intermediate unit 16 constitute a processing device.

The elevator control unit 17 calls an elevator car 19 as an elevating means, opens and closes a door, opens and closes a destination floor, based on an information signal necessary for movement sent from the mobile unit 12 via the computer 13. Various operations such as designation, and movement control via the winding unit 18 are performed. The elevator control unit 17 and the hoisting unit 18 constitute a lift control unit. The elevator cage 19 moves the moving body 12 on and off and transfers it between floors. The getting on and off of the moving body 12 is performed based on an instruction signal received from the elevator control unit 17 via the computer 13.

The computer 13 can display and monitor the operation status of the elevator car 19, the opening / closing status of the door, and the like based on the information from the elevator control unit 17, and can monitor the position of the moving body 12, the presence or absence of abnormality, and the like. Check the
If a movement error occurs, an alarm or the like is displayed.

FIG. 2 is a control block diagram of the mobile unit shown in FIG. In the moving body 12 shown in FIG. 2, a security sensor 21 detects an intruder, a fire, or the like by infrared rays, ultraviolet rays, or the like. Reference numeral 22 denotes an ultrasonic sensor as an environment recognition sensor, which is attached to the front face of the moving body 12 and detects, for example, an obstacle ahead in the traveling direction by a pulse echo method. Reference numeral 23 denotes an environment recognition sensor group.
The purpose is to monitor the uneven shape of the floor surface, measure the distance to the surrounding wall surface, and the like, and use infrared or ultrasonic waves.

Reference numerals 24a to 24c denote amplification sections for amplifying the detection and detection signals of the sensors 21 to 23. Reference numeral 25 denotes a storage unit in which a program for setting a traveling route and the like of a building to be guarded by the mobile unit 12 is stored in advance.

Reference numeral 26 denotes a processing unit, and each sensor 21 to 23
Is compared with the traveling route stored in the storage unit 25, and a control signal is output in accordance with the comparison. 2
Reference numeral 7 denotes a wireless transmission / reception unit serving as a communication means, and a modem 14
The signals are exchanged with the computer 13 via the. Reference numeral 28 denotes a drive control unit which controls driving of wheels and the like based on a signal from the processing unit 26.

Although not shown, the movable body 12 is provided with a chargeable storage battery power supply as a drive power supply.

FIG. 3 is a diagram illustrating an example of a route map of a moving object according to the present invention. Storage unit 2 described above
5 stores a route map program as shown in FIG.

In the present embodiment, a 10-story building to be guarded is traversed in order from 1F to 10F, and a course returning to 1F is traced. The traveling route in the present embodiment is:
When the patrol of the 1F floor is completed, the elevator is lifted from 1F to 10F by the elevator, and then descends by 10F from the 10F by the elevator to complete the patrol of all floors.

In this case, the moving path of the first floor at the lower address is a path in which the mobile unit 12 circulates around the first floor from the charging port to the front of the elevator, and the moving path of the first floor at the higher address is the elevator cage. This is a route from getting down from 19 to the charging port.

The storage unit 25 employs a pointer link method in which addresses (pointers) of another group are written in one group of information, and are read out following the group, without arranging them in the order of addresses. Can be Therefore, when the movement of the moving body 12 is controlled, the moving object 12 is sequentially rearranged in the storage unit 25 and stored in the storage area as shown in FIG.

FIG. 4 is a flowchart for the operation of the mobile unit shown in FIG. FIG. 4 shows that the moving body 12 is
1 is a flowchart showing the entire movement control according to the route map of FIG.

First, the user departs from a charging port located in front of the security room and also serving as a standby place. This is for charging the storage battery power source mounted on the mobile unit 12, and the mobile unit 12 always stands by with the charging port at a fixed position during a non-tour. As shown in FIG. 3, the route map first shows “1F moving route”. A series of 1F patrol route data for the moving body 12 to move to the front of the elevator cage 19 is stored in the route map storage area of the storage unit 25 together with a symbol indicating that this series of data is in-floor patrol data. It is stored at the beginning.

Therefore, when the patrol starts in front of the security room (step (S) 1), the processing unit 26 of the mobile unit 12 reads this route map from the storage unit 25 (S2), and the drive control unit 28 The vehicle is driven in accordance with the route map to go around 1F (S3).

Next, 1F to 10F using an elevator
, Ie, the horizontal movement distance from before the elevator to the inside of the elevator cage 19, the next destination floor 10
A series of data consisting of a horizontal movement distance from the inside of the elevator cage 19 at F to the patrol start point in the floor of the elevator hall is read together with a symbol indicating that this series of data is for inter-level movement (S4), 1F Is stored in the next area of the traveling route data.

Further, in the next area, 10F tour route data is sequentially stored, such as data for moving between layers for moving from 10F to 9F.
After storing the data for moving between layers to move to F, the route data returning from the elevator hall to the charging port is stored in 1F, and finally, a symbol indicating the end of the route data is stored (S4). That is, they are arranged as shown in FIG.

Then, it is determined whether or not the floor is to be moved (S
5) When performing, the elevator 12 moves the moving body 12 between the levels according to the level moving data (S6, which will be described with reference to FIG. 5), and the processing is repeated until the floor movement is not performed.

That is, the mobile unit 12 sequentially reads from the top of the route map in the memory, and when a series of data is for patrol within the floor, performs processing according to the procedure corresponding thereto, and uses the data for each interlayer movement. If there is, the procedure of moving between the levels using the elevator is executed,
To each floor from 1 to 10F.

When the floor movement is not performed, it is determined whether or not to end (S7), and if not, the tour goes around a predetermined area (S8). When ending, the moving body 12 returns to the charging port (S9). Further, these operations are performed a set number of times (S10), and when the number of times reaches a predetermined number (S11), the process ends.

Next, FIG. 5 shows the movement between layers (S6) in FIG.
The flowchart of FIG. In FIG. 5, first, a moving body (here, referred to as a robot) 12 stops in front of a predetermined elevator basket 19 according to the movement path in the floor (S2).
1), the robot 12 outputs an elevator use request signal to the elevator control unit 17 via the computer 13 based on the inter-layer movement data (S22).

At this time, the elevator controller 17 checks the preparation state I (whether or not it is being used by others) in the elevator cage 19 (S23, which will be described with reference to FIG. 6). If not used, the elevator cage 19 is switched to the robot mode, which is a mobile operation mode dedicated to the robot, and becomes exclusive for the robot, and other uses are excluded (S24).

Then, the elevator controller 17 outputs a use permission signal of the elevator car 19 to the robot 12 via the computer 13 (S25). The use permission signal may be stored in the computer 13 each time. Along with this, the robot 12 outputs an elevator calling signal (S26). The elevator control unit 17 sets the elevator cage 19 in the preparation state II (S27, which will be described with reference to FIG. 6). Here, the door is opened after the above-described determination.

The elevator control section 17 outputs an elevator parking permission signal (S28), whereby the robot 12
Moves forward, gets into the elevator cage 19, and stops (S2
9). The robot 12 outputs a robot warehousing completion signal (S30), and outputs a robot floor designation signal based on the inter-layer movement data (S31). Then, when the elevator cage 19 moves to the designated floor and stops (S3).
2), the elevator control unit 17 opens the door and outputs a leaving permission signal (S33).

Then, the robot 12 moves forward and leaves the warehouse, and outputs a exit completion signal (S34), whereby the elevator control unit 17 closes the door and returns the elevator basket 19 to the normal mode (S35). .

Next, FIGS. 6 and 7 show a flowchart of the moving object (robot) in the elevator shown in FIG. 5, which will be described in duplicate. First, as described above, the mobile unit 12 is always waiting in front of a security room on the first floor in a building to be guarded. The standby time is used for charging the built-in battery. According to a tour plan of the program stored in the storage unit 25 in the mobile unit 12 in advance, that is, a route map (FIG. 3), at a predetermined time, the tour of the predetermined route is started.

Therefore, the mobile unit 12 first reads out a traveling route from the route map stored in the storage unit 25. Subsequently, the tour on the first floor is performed according to the instructions described on the route map. When the patrol of the 1F floor ends, “→ 10F inter-layer movement data (FIG. 3)” is read from the route map in the storage unit 25 again. In order to carry out patrol on the 10F, the user goes to the elevator hall on the 1F and stops in front of a plurality of predetermined elevator doors (S41).

Since this position is always determined,
Although a marker or the like may be affixed on the floor, the processing unit 2
Numeral 6 captures the measurement data of the ultrasonic sensor 22 and performs positioning while comparing it with a value stored in advance in the storage unit 25 inside the moving body 12. At a predetermined position in front of the elevator, the moving body 12 outputs a signal indicating whether or not the elevator cage 19 can be used from the elevator controller 17 via the computer 13 (elevator unusable signal, hereinafter referred to as EOE signal = Elevator Operation Enabling). ) Is checked by the mounted transmitting / receiving unit 27 (S42). The elevator control unit 17 determines whether or not the elevator can be used if the elevator cannot be used due to some kind of obstacle or the use of the moving body is inappropriate (S61). If not, the EOE is used. The signal is transmitted to the monitoring computer 13 via the intermediate unit 16 (S62). The EOE signal is transmitted to the computer 1
3 may be stored.

In this case, the computer 13
For the moving body 12 stopped in front of the elevator through
An EOE signal is output periodically (S62). Moving body 12
Receives the EOE signal, determines that some abnormal situation has occurred in the entire system, gives up the use of the elevator, and stops the patrol service (S43).

If the mobile unit 12 does not detect the EOE signal at the time of confirming the presence or absence of the EOE signal, the mobile unit 12 transmits a mobile unit use request signal (hereinafter referred to as RO) to the elevator control unit 17.
R signal = Robot Operation Request) (S44). The elevator control unit 17 on the elevator side waits for the reception of the ROR signal emitted from the moving body 12 (S6).
3).

When the ROR signal is received, the elevator control unit 17 checks at that time whether or not someone is in the elevator basket 19 to be used and the destination floor is designated (S64). If the destination floor button in the elevator car 19 is pressed, the vehicle arrives at the destination floor (S6).
5) Wait until the door opens (S66) and closes again (S67), and confirms whether another destination floor designation button is still pressed (S68). If the button is pressed, the elevator is operated to the destination floor until it is no longer the whole, and the door is repeatedly opened and closed.

If the destination floor designation button in the elevator car 19 has not been pressed from the beginning, it is checked whether the call button on each floor has been pressed or the vehicle is running by that (S69). When the button is pressed, the call is transferred to another (S70).
It is controlled to stop at the nearest floor because it is unmanned. Thereafter, the elevator cage 19 is switched to the robot mode, which is the mobile operation mode (S71). Destination designation button,
Alternatively, when the call button of each floor is not pressed, the mode is immediately switched to the robot mode.

On the other hand, when the ROR signal cannot be received after waiting for a predetermined time, the elevator control section 17 returns to the normal operation as it is. When the mode is switched to the robot mode, the elevator cage 19 ignores the call even if the destination designation button of each floor is pressed, and the mobile body 12 or the computer 13
Responds only to the signal output from.

Next, the elevator control unit 17 outputs a moving body use permission signal (hereinafter referred to as ROA = Robot Operation Approval).
(S72). After outputting the ROR signal, the mobile unit 12 waits for the ROA signal to be output from the elevator side (S45).

When the ROA signal is detected, an elevator car call return signal (hereinafter, ECC = Elevator Cage Call signal) is output to the elevator side (S46). When the elevator outputs the ROA signal, the elevator waits for the output of the ECC signal from the mobile unit 12. (S73). When the ECC signal from the mobile unit 12 cannot be detected even after waiting for two minutes (S7
4), the elevator control unit 17 determines that an abnormal situation has occurred, cancels the robot mode, and returns to the normal operation mode. (S75).

When the elevator controller 17 detects the ECC signal, it checks whether or not the elevator car 19 is on the first floor (S76). If you are stopped on a floor other than 1F,
The elevator control unit 17 outputs a call control signal to the hoisting unit 18 to move the elevator cage 19 to the first floor, and the hoisting unit 18 operates and moves the elevator cage 19 to the first floor (S77). When the elevator basket 19 arrives at the first floor, the door is opened (S78). Of course, if the elevator basket 19 is on the first floor when the ECC signal is output, the door is opened immediately. The elevator cage 19 is now ready to receive the moving body 12, but at this time, outputs a warehousing permission signal (hereinafter, RNC = Ride on Complete signal) to the moving body side. (S79). After outputting the ECC signal, the mobile unit 12 waits for the RNC signal to be output from the elevator side (S47). When this is detected, the moving body 12
Starts moving forward and gets on the elevator cage 19 (S4
8).

Even when the door is not opened, the moving body 12 is provided with an environment recognition sensor group 23 for detecting the presence of an obstacle, and the sensor 23 can detect that the door is closed. Therefore, there is no danger of colliding with the door.

When the moving body 12 gets into the elevator car 19, the distance from the wall of the elevator car 19 is measured by the equipped environment recognition sensor group 23, for example, an infrared sensor, and the moving body 12 gets into the car securely. After the boarding is completed, the parking completion signal (hereinafter, FRN)
= Finish of Ride on signal) is output to the elevator side (S49).

When the elevator outputs the RNC signal,
Wait for the mobile unit 12 to output the FRN signal (S8
0). If the FRN signal cannot be detected within two minutes after the output of the RNC signal (S81), the elevator control unit 17 determines that an abnormality has occurred in the movement of the moving body 12, cancels the robot mode and returns to the normal state. Return to mode.

Immediately after the mobile unit 12 outputs the FRN signal, a destination floor designating signal (hereinafter referred to as RFD =
Registration of Foor Destination signal) is output to the elevator side (S50). Elevator control unit 17
When detecting the FRN signal, the device waits for the output of the RFD signal (S83). 2 after detecting FRN signal
If the RFD signal cannot be detected even after waiting for minutes (S84),
Assuming that some abnormality has occurred in the moving body 12, the robot mode is canceled and the mode returns to the normal mode (S8).
5).

Upon detecting the RFD signal, the elevator opens the door (S86) and moves the elevator cage 19 to the destination floor (S87). When the vehicle reaches the target 10F, the door is opened (S88). Then, a leaving permission signal (hereinafter, RFC = Ride OffComplete signal) is output to the mobile unit 12 (S89).

After outputting the RFD signal, the mobile unit 12 outputs the RFD signal.
Wait for the C signal to be output (S51). Since the door is open, it goes out of the elevator basket 19 (S52). When the user goes outside and arrives at a predetermined position in the 10F elevator hall, the exit completion signal (hereinafter referred to as FRF = Finish of Ride of
f) is output to the elevator side (S53). Upon receiving the FRF signal (S90), the elevator closes the door (S91). The elevator control unit 17 releases the robot mode and switches the mode to the normal operation mode.
Thereafter, the elevator starts to operate normally.

However, if the FRF signal cannot be detected within two minutes after outputting the RFC signal (S92), it is determined that an abnormality has occurred, the robot mode is released, and the robot returns to the normal mode. (S93). Mobile unit 1
2 carries out patrol of the floor of 10F according to a predetermined program (FIG. 3).

When the patrol of the 10F floor is completed, the elevator stops at a predetermined position on the floor, and the elevator basket 19 is moved in the same procedure.
And specify 9F as the destination. Elevator basket 19 is 9
Moving to F, the mobile unit 12 starts to patrol the 9F floor. By repeating this same procedure up to 1F, this mobile unit 1
2 ends the patrol monitoring of all floors. Then, since all of the predetermined patrol work is completed, the user moves to the charging port and returns.

It is confirmed whether or not a predetermined number of patrols have been performed by a predetermined time on the next day, and if the predetermined number has not been reached, the above procedure is repeated until the target number is reached (FIG. 4).
reference).

In the above procedure, the position of the elevator cage 19, the opening and closing of the door, the state of the destination designation button, and the like are constantly transmitted to the monitoring computer 13 through the elevator control unit 17. Further, the state of the moving body 12 is also transmitted to the computer 13 through the wireless communication means, so that the computer 13 can compare the states, positions, and the like of both. Therefore, the above sequence is previously stored in the computer 13.
When an operation state is entered that deviates from the sequence, an alarm display can be displayed to a supervisor.

On the other hand, in FIGS. 6 and 7, the elevator control section 17 outputs a parking permit signal (RNC signal) to the mobile unit 12 (S79), and the mobile unit 12 receives the signal (S47) and gets on the elevator. Where I tried (S4
8) shows a case where the door cannot be opened due to the failure of the elevator.

This case is not assumed in the initial sequence. Therefore, when the moving body 12 advances toward the elevator cage 19 and comes in front of the door, the environment recognition sensor group 23
One of the ultrasonic sensors detects the closed door,
Stop in front of the door. Because the door does not open over time,
That state will continue forever.

As described above, when an unspecified trouble occurs, the mobile unit 12 moves in front of the elevator cage 19 in the monitoring computer 13 even though the elevator control unit 17 outputs the RNC signal. The stuck status is displayed. Since the observer can monitor both at the same time, unexpected troubles can be immediately recognized by the presence of the computer 13 for monitoring. In addition, due to the presence of the computer 13,
2 does not need to inquire whether the elevator control unit 17 outputs the EOE signal, and the power consumption of the moving body 12 can be suppressed.

As described above, since the moving body which cannot move only on the same floor in the past uses the commonly used vehicle such as an elevator, there is no need to use a dedicated carrier, and the climbing of stairs or the like by itself is not necessary. Since there is no need to provide special climbing means, it is possible to move between levels at very low cost.

Further, since it is only necessary to insert the vertical movement data into the route map stored in the storage unit 25 inside the normal moving body 12, programming is simple, and
The range of activity of the mobile unit 12 can be dramatically increased, and the range of security patrol can be greatly expanded.

That is, if specifically pointed out, the present invention is based on the computer 13 for monitoring the moving object and the elevator control unit 1.
It is only necessary to carry out a very simple construction of connecting 7 and no special large-scale work is required. In addition, by adopting the robot mode, the floor on which the moving body 12 gets down may be mistaken because the moving body 12 does not get on the elevator cage 19 and other users come in during patrol. In addition, there is no need to measure the vertical movement distance and to confirm the floor to go down. Further, since information relating to the operating states of both the elevator car 19 and the moving body 12 is concentrated on the monitoring computer 13, the observer compares and compares the operating states of both the moving body 1 and the moving body 1.
It is possible to immediately recognize the occurrence of an event that hinders the second round.

In the above embodiment, the case where the moving body 12 is used for security is shown. However, the present invention is not limited to this case. You can do it.

[0066]

According to the present invention as described above, according to the present invention, in accordance with the information signal from the mobile, elevating mobile relative to the lifting means by sending an instruction signal from the elevation control means through the processing equipment By setting the lifting / lowering means to a mode exclusively for the moving body by the lifting / lowering control means and controlling various operations and movement between the layers, moving the moving body between the layers at low cost using the existing lifting / lowering means. Can be done.

[Brief description of the drawings]

FIG. 1 is an overall block diagram of an embodiment of the present invention.

FIG. 2 is a control block diagram of the moving body in FIG. 1;

FIG. 3 is a diagram illustrating an example of a route map of a moving object according to the present invention.

FIG. 4 is an operation flowchart of the moving object in FIG. 1;

FIG. 5 is a flowchart of the movement between layers in FIG. 4;

FIG. 6 is a flowchart of elevator entry in FIG. 5;

FIG. 7 is a flowchart of elevator entry in FIG. 5;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Movement control system 12 Moving body 13 Computer 14 Modem 16 Intermediate unit 17 Elevator control part 18 Hoisting part 19 Elevator cage 21 Security sensor 22 Ultrasonic sensor 23 Environment recognition sensor group 24a-24c Amplification part 25 Storage part 26 Processing part 27 Transmission and reception Unit 28 drive control unit

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-58-177882 (JP, A) JP-A-60-167883 (JP, A) JP-A-62-47244 (JP, A) JP-A-54-177882 104181 (JP, A) Shokai Sho 59-153971 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (2)

(57) [Claims] 1. A mobile body having wireless communication means, which transmits information necessary for movement and receives an instruction signal, and autonomously travels and moves according to a preset route; Elevating means for moving a moving body between layers; and, when using the elevating means of the moving body, judging a use state of the elevating means based on an information signal from the moving body, and moving the elevating means. A lifting / lowering control means for setting various modes of operation of the lifting / lowering means by setting a moving body operation mode dedicated to the body, and transmitting the instruction signal of using the lifting / lowering means to the moving body; Transmitting the instruction signal sent from the elevating control means to the moving body, outputting an information signal received from the moving body to the elevating control means, an information signal from the moving body and the Lift control
The moving body and the lifting / lowering means
The moving state of the moving object
And a processing device for displaying the moving object. 2. The lift control means, when the lift means is set to a mobile operating mode, excludes other uses of the lift means and only based on a response performed with the mobile body. 2. The movement control system for a moving object according to claim 1, wherein said lifting means is controlled.