JP6946933B2 - Formation control devices, formation control methods, and programs - Google Patents

Description

The present invention relates to a technique for controlling the behavior of a plurality of controlled objects. In particular, when two control object groups move in the same space, it is possible for one control object group to pass through the space occupied by the other control object group and move (pass through) to a target position. It relates to a platoon control technique for obtaining an action plan for each controlled object.

In recent years, research for efficiently controlling a large number of autonomous mobile robots has been actively conducted. The contents of the mission are various, such as monitoring places where humans cannot enter, transporting goods, etc., but there is a need for technology to efficiently form a platoon by the coordinated operation of many robots, and research is being actively conducted. It has been.

In particular, even in robot platoon control, in robot platoon control under the assumption that the robots move as a whole while they are still in contact with each other, from the relative positional relationship between the robots. , The advantage that the absolute position of each robot can be determined and the advantage that no additional equipment for position measurement is required, and research on such robots is also being conducted (for example, non-patent literature). See 1 and 2).

Non-Patent Document 1 discloses a method of realizing platoon control that transforms from an arbitrary initial platoon formation state to a target platoon formation state on the premise that all robots have the same property (homogeneous). Here, by moving eight robots as one unit, more efficient platoon control than before is realized.

Non-Patent Document 2 discloses a method of platoon control that transforms an arbitrary shape platoon into another shape platoon on the premise that each rectangular robot has different properties (heterogeneous).

Kawano, H., “Complete Reconfiguration Algorithm for Sliding Cube-shaped Modular Robots with only Sliding Motion Primitive”, 2015 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2015), pp. 3276-3283, Hamburg, Germany, September 2015. R. Fitch, Z. Butler, D. Rus, “Reconfiguration Planning for Heterogeneous Self-Reconfiguring Robots”, 2003 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp. 2460-2467, Las Vegas, NV, October 2003.

In both Non-Patent Document 1 and Non-Patent Document 2, assuming that only one robot group exists in the space, the initial formation state of the robot group is transformed into another formation state. ..

In a real environment, it is assumed that there are multiple robot groups in the same space, and when each robot moves in the space to perform a mission, it may be necessary for the robot platoons to pass each other. At this time, if the space is large enough, it is possible for each robot group to pass each other by taking a path that does not touch them, but when moving in a narrow passage or moving in a place with obstacles. In some cases, the space for passing each other is limited, and one robot group moves through the space occupied by the other robot group (that is, one robot group and the other robot group share the space). In some cases, it will be necessary. However, so far, no method has been proposed for one robot group to move through the space occupied by the other robot group while maintaining the connection. Furthermore, even if some robots have disappeared in the assumed formation, no method has been proposed that enables the above-mentioned movement while maintaining the connection.

In view of the above points, an object of the present invention is to move one controlled object group (for example, a robot group) through a space occupied by the other controlled object group while maintaining a connection. In addition, for the controlled object group on the stationary side, even if some of the controlled objects that compose it have disappeared from the assumed perfect state, the transmission operation is performed without delay. It is to provide platoon control technology that can.

In order to solve the above problems, in the platoon control device of the first aspect of the present invention, the M group control object unit is the M3 control object and the M2 control adjacent to the M3 control object in the negative direction on the x-axis. It consists of an object, an M1 control object adjacent to the M3 control object in the negative y-axis direction, and an M4 control object adjacent to the M3 control object in the negative z-axis direction. The S3 control object, the S2 control object adjacent to the S3 control object in the positive x-axis direction, the S1 control object adjacent to the S3 control object in the y-axis positive direction, and the z-axis positive to the S3 control object. It consists of at least one controlled object with S4 controlled objects adjacent in the direction, and the subgroup consists of a plurality of M group controlled object groups in which a plurality of M group controlled object units are connected along a predetermined movement direction. The S group control object unit is configured by combining with the S group control object group connected along the movement direction, and each M group control object unit in the M group control object group maintains a connection with each other. In addition, the subgroups are controlled so that the controlled objects in each M group controlled object unit move in the moving direction through the space where the S group controlled object unit exists while maintaining the connection with each other. In the platoon control device, for each S group control object unit, a defect state determination unit that determines a mode value depending on whether the S1 control object and the S4 control object are missing, and each M group control object. Regarding the object unit, the first action of moving the controlled object belonging to the reference column in which only the controlled object belonging to the M group controlled object unit is continuous in the moving direction in the sub-unit line and the sub-unit line The target S group is the S group control object unit that is combined with the M group control object unit that is headed in the movement direction, or the S group control object unit that is adjacent to the S group control object unit on the movement direction side. The control target is set as the control target unit, and the control target at the head of the reference column is moved to the void where the control target is missing in the target S group control target unit based on the mode value of the control target unit of the target S group. Based on the second action and either the M1 control object or the M4 control object that is not adjacent to the control object that belongs to the reference column in the M group control object unit that ends in the movement direction in the sub-unit formation. A movement planning unit that generates a movement plan series, which is a series consisting of a movement plan that performs one of the third actions to move to the end of the column, and each control target belonging to the M group control object group according to the movement plan series. Includes a moving part that moves an object.

In order to solve the above problems, in the platoon control device of the second aspect of the present invention, the M group control object unit is the M3 control object and the M2 control adjacent to the M3 control object in the negative direction on the x-axis. It consists of at least one controlled object, an M1 controlled object adjacent to the M3 controlled object in the negative y-axis direction, and an M4 controlled object adjacent to the M3 controlled object in the negative z-axis direction. The S group control object unit includes an S3 control object, an S2 control object adjacent to the S3 control object in the x-axis positive direction, and an S1 control object adjacent to the S3 control object in the y-axis positive direction. It consists of S4 control objects that are adjacent to the S3 control object in the positive z-axis direction, and the sub-group consists of multiple M group control object groups in which a plurality of M group control object units are connected along a predetermined movement direction. The S group control object units are configured by combining with the S group control object group connected along the movement direction, and each S group control object unit in the S group control object group maintains the connection with each other. In addition, while maintaining the connection between the controlled objects in each S group controlled object unit, the group controls the sub-group so as to move in the moving direction through the space where the M group controlled object unit exists. In the control device, for each M group control object unit, a defect state determination unit that determines a mode value depending on whether the M1 control object and the M4 control object are missing, and each S group control object. Regarding the unit, the first action of moving the control object belonging to the reference row in which only the control object belonging to the S group control object unit is continuous in the movement direction in the movement direction in the sub-unit formation, and the first action in the sub-unit formation The target M group control is the M group control object unit that is combined with the S group control object unit that is headed in the movement direction, or the M group control object unit that is adjacent to the M group control object unit on the movement direction side. The control object at the head of the reference column is moved to the void where the control object is missing in the target M group control object unit based on the mode value of the target M group control object unit. In the S group control object unit at the end of the movement direction in the sub-unit line, either the S1 control object or the S4 control object that is not adjacent to the control object belonging to the reference column is set as the reference column. A movement planning unit that generates a movement plan series that is a series consisting of a movement plan that performs one of the third actions to move to the end of, and each control object belonging to the group S control object group according to the movement plan series. Includes a moving part that moves the.

According to the platoon control technique of the present invention, in the platoon control of controlled objects, one controlled object group can move through the space occupied by the other controlled object group while maintaining the connection. Furthermore, for the control object group on the stationary side, even if some of the control objects that compose it have disappeared from the assumed perfect state, the transmission operation can be performed without delay. can.

FIG. 1 is a diagram for explaining the movement of the controlled object. FIG. 2 is a diagram for explaining a state in which a group of controlled objects share a space. FIG. 3 is a diagram for explaining a state of movement of the void. FIG. 4 is a diagram for explaining a control object unit. FIG. 5 is a diagram illustrating a row of control object units. FIG. 6 is a diagram illustrating a procedure for moving a group of controlled objects. FIG. 7 is a diagram illustrating a mode for each controlled object. FIG. 8 is a diagram illustrating the functional configuration of the formation control device of the first embodiment. FIG. 9 is a diagram illustrating the functional configuration of the movement planning unit. FIG. 10 is a diagram illustrating a processing procedure of the formation control method of the first embodiment. FIG. 11 is a diagram illustrating a direction in which the M group control object moves. FIG. 12 is a diagram illustrating the relationship between the moving direction and the position in the controlled object unit. FIG. 13 is a diagram illustrating the functional configuration of the formation control device of the second embodiment. FIG. 14 is a diagram illustrating a processing procedure of the formation control method of the second embodiment. FIG. 15 is a diagram illustrating a direction in which the S group control object moves. FIG. 16 is a diagram illustrating a mode for each controlled object.

Hereinafter, embodiments of the present invention will be described in detail. In the drawings used in the following description, components having the same function and steps performing the same processing are designated by the same reference numerals, and duplicate description will be omitted.

<Theoretical background>
First, the theoretical background of the formation control device and the method of the present invention will be described. In the following description, the controlled object is a robot. The controlled object may be other than a robot as long as it can be controlled.

[Problem setting]
With arbitrary formation as the initial formation state, a large number of formation controls that move the formation to the target formation state, which is the target formation state, while maintaining the state in which the controlled objects are in contact with each other. The mission performed by the controlled objects in cooperation is realized by assuming the control of a cube-shaped controlled object capable of sliding and moving the surfaces in contact with each other, as illustrated in FIG. .. Regarding the controlled object, for example, as shown in FIG. 1, another controlled object exists in one of the six squares in the peripheral vertical, horizontal, and height directions (hereinafter, also referred to as “up, down, left, right, front, and rear directions”) of the controlled object. It shall move while maintaining the state of being (one surface is shared with other controlled objects). This method has an advantage that one controlled object itself can accurately measure the amount of movement of one operation by moving a distance corresponding to the size of one controlled object. Further, by measuring the relative positions of the adjacent controlled objects sharing one surface, the position of each controlled object in the entire group of controlled objects can be easily known. For this reason, it is unlikely that the formation will collapse due to an error in the amount of movement of the controlled object, and the position can be grasped without additional equipment for position measurement in order to grasp the position of each controlled object. Is possible. Further, it is possible to move a plurality of controlled objects at the same time as if a plurality of controlled objects are connected. In addition, the controlled object shall be able to know whether or not another controlled object exists at the adjacent position, whether or not there is an obstacle, and whether or not it is on the target position. ..

There are p controlled objects (p ≧ 8 = 4 × 2) that perform missions, and each controlled object moves in the XYZ axis direction in three-dimensional space while sharing one or more faces with adjacent controlled objects. Make it possible. Each cube in FIG. 1 shows the position of each controlled object. Only one controlled object can exist in each cube. Each controlled object is assumed to be stationary if there is an obstacle or other controlled object in the direction in which it is going to move. A cubic space in which a controlled object may exist is also referred to as a mass or a lattice. The control object group on the left side of FIG. 2 (a cube-shaped control object group consisting of control objects filled with a light color) shows a stationary control object group. The control object group on the right side of FIG. 2 (control object group having an L-shaped shape composed of control objects filled with dark colors) indicates a moving control object group. These two groups do not change the shape of the group when they intersect each other. In this way, the formation shape of the two control object groups is an arbitrary shape of a mass.

[Coordinate setting of controlled object]
Each controlled object i (i represents the controlled object number i = 0, 1, 2, 3,…, p-1, where p is the total number of controlled objects included in each controlled object group) Let the position of be (Xr [i], Yr [i], Zr [i]). Here, Xr [i] is a position in the X-axis direction, Yr [i] is a position in the Y-axis direction, and Zr [i] is a position in the Z-axis direction. The number of the group to which each controlled object belongs is Sr [i] (Sr [i] = 0, 1. Here, there are two groups).

This problem is that when the controlled object group arranged at an arbitrary position moves in an arbitrary direction, even if the occupied area overlaps with another stationary controlled object group, the operation is performed without delay. It can be defined as finding an action plan for each controlled object. Sr [i] = 1 for the moving controlled object group, and Sr [i] = 0 for the stationary controlled object group.

[Definition of mission space]
When i is the control object number, each state of the control object i (position and action of the control object) is represented by a discrete value. When the room is represented by a three-dimensional space consisting of a Cartesian coordinate system of X, Y, and Z, each position is represented by the discretized values of the X-axis, Y-axis, and Z-axis. That is, the rooms (three-dimensional space) are separated by grids, and each grid corresponds to each position. In addition, "presence / absence" of obstacles is preset in each grid.

[Definition of behavior]
The actor in the mission environment is each controlled object located in the room. The action a of the controlled object i (i is the controlled object number) is a total of stationary and movement of one grid in the vertical and horizontal heights (X-axis, Y-axis, Z-axis) (positive direction, negative direction). Take one of the seven types. For example, as a ∈ {0, 1, 2, 3, 4, 5, 6}
0: stationary
1: Moves only one grid in the positive direction of the X-axis in the three-dimensional space (Fig. 4, right in the paper)
2: Moves only one grid in the positive direction of the Y axis in the three-dimensional space (Fig. 4, front direction in the paper)
3: Moves only one grid in the negative direction of the X axis in the three-dimensional space (Fig. 4, left direction in the paper)
4: Moves only one grid in the negative direction of the Y axis in the three-dimensional space (Fig. 4 inward on the paper)
5: Moves only one grid in the positive direction of the Z axis in the three-dimensional space (Fig. 4, upward in the paper)
6: Moves only one grid in the negative direction of the Z axis in the three-dimensional space (Fig. 4, downward in the paper)
And.

[Problems in search calculation]
The state space in such a mission environment has a state of the number of controlled objects × 3 dimensions, and the number of selectable actions exists as much as the number of controlled objects multiplied by the actions of the controlled objects (= 7 ways). do. For example, if the number of objects to be controlled is 50 and the number of grids in the vertical, horizontal, and height directions of the room is 20, the number of states is 20 to the 150th power, and the amount of resources required for search calculation is enormous. It becomes a thing. Furthermore, each time the number of controlled objects increases by one, the number of states increases 8000 times. As explained in the [Problem setting] section, when the constraint condition that the controlled objects are in contact with each other is adopted, the search calculation must be performed in consideration of the mutual movement of the controlled objects. It is difficult to reduce the amount of calculation, which is a big problem when using a plurality of controlled objects.

[Characteristics in heterogeneous platoon control in Reference 1]
In the heterogeneous platoon control in Reference 1, the concept of void control is introduced as one of the measures for solving the above-mentioned problem of computational load. In addition, in order to overcome the problem of formation deformation as described in [Problem setting], the concept of 8-mass control object unit is also introduced.

[Reference 1] Kawano, H., “Tunneling-Based Self-Reconfiguration of Heterogeneous Sliding Cube-Shaped Modular Robots in Environments with Obstacles”, 2017 IEEE International Conference on Robotics and Automation, pp. 825-832, May 2017, Singapore ..

First, void control will be described. The void referred to here is a void formed in the original position after a certain controlled object has moved to another position. In other words, a void is a virtual entity that moves in the direction opposite to the direction in which the controlled object moves. In such a formation problem of a group of controlled objects, the amount of search calculation explodes because the movements of a plurality of controlled objects are focused on, but if the viewpoint is changed and the movement of voids is focused on, there are many. The problem of the motion planning of the controlled object can be considered as the motion planning of a single void, which is suitable for reducing the search calculation load. FIG. 3 shows how the void moves as the controlled object moves.

However, since the structure of the fully filled 8-mass control object was originally adopted, voids had to be intentionally generated in the structure for the movement of the control object, and therefore, There were many inconveniences in moving between controlled objects that were not adjacent to each other. Further, of course, it was impossible to share the same area with other controlled object groups while maintaining the shape when colliding with other controlled object groups.
It was Noh.

[Introduction of 4 mass control object units]
Therefore, in the present invention, as shown in FIG. 4, four adjacent controlled objects are set as one unit (control object unit), and the controlled object moves while maintaining the controlled object unit. And. In other words, every four control objects form one control object unit, and each of the four control objects constituting one control object unit constitutes one control object unit in three directions. Move while maintaining the state adjacent to the object. This group of controlled object units shares one surface with each other for each controlled object unit, and is controlled to move while touching each other. It is assumed that these controlled objects are the same and homogeneous, and it does not matter which controlled object is in which position in the unit or in which position in the group as long as the overall shape of the group is maintained. It shall be.

The reason for performing such movement with the four controlled objects as one unit is that the controlled objects belonging to the other controlled object units pass through the four void spaces inside each controlled object unit. This makes it easy to move between controlled objects belonging to different controlled object units. In addition, it is easy to maintain connectivity when a control object belonging to another control object unit passes through the four void spaces inside each control object unit. That is, this is because the calculation load for considering the connection between the controlled objects is reduced in determining the operation of each controlled object for which the maintenance of the formation form must be considered.

Here, it is assumed that the controlled object unit formed by the four controlled objects is a unit of one cell (hereinafter, this unit is also referred to as a “mass unit” or a “positional unit”), and one cell. A state space is formed with the unit as one state. When the position of a certain controlled object unit j is (Xr_u [j], Yr_u [j], Zr_u [j]) (j = 0, 1, 2,… j_max-1), it is within the controlled object unit j. If the controlled object of is i1, i2, i3, i4, then if the controlled object is stationary (Sr [i] = 0),
Xr [i1] = 2 × Xr_u [j]
Yr [i1] = 2 × Yr_u [j] + 1
Zr [i1] = 2 × Zr_u [j]
Xr [i2] = 2 × Xr_u [j] + 1
Yr [i2] = 2 × Yr_u [j]
Zr [i2] = 2 × Zr_u [j]
Xr [i3] = 2 × Xr_u [j]
Yr [i3] = 2 × Yr_u [j]
Zr [i3] = 2 × Zr_u [j]
Xr [i4] = 2 × Xr_u [j]
Yr [i4] = 2 × Yr_u [j]
Zr [i4] = 2 × Zr_u [j] + 1
In the case of a moving controlled object (Sr [i] = 1),
Xr [i1] = 2 × Xr_u [j] + 1
Yr [i1] = 2 × Yr_u [j]
Zr [i1] = 2 × Zr_u [j] + 1
Xr [i2] = 2 × Xr_u [j]
Yr [i2] = 2 × Yr_u [j] + 1
Zr [i2] = 2 × Zr_u [j] + 1
Xr [i3] = 2 × Xr_u [j] + 1
Yr [i3] = 2 × Yr_u [j] + 1
Zr [i3] = 2 × Zr_u [j] + 1
Xr [i4] = 2 × Xr_u [j] + 1
Yr [i4] = 2 × Yr_u [j] + 1
Zr [i4] = 2 × Zr_u [j]
Is the reference position when the moving control object group moves relative to the stationary control object group in the direction of a = 3.

Note that the variable representing the control object unit j to which each control object i belongs is Rr [i] = j. Also, let Ir [i] = (1, 2, 3, 4) be a variable that indicates the position of the controlled object in i1, i2, i3, or i4. Let the position of each controlled object unit be (Xr_u [j], Yr_u [j], Zr_u [j]). The group to which each controlled object unit j belongs is Su [j] (= 0, 1). Hereinafter, the total number p of the controlled object is a multiple of 4.

[Transparent formation control]
A group consisting of a moving control object unit j (hereinafter referred to as M group) in which Su [j] = 1 is a stationary control object unit in which Su [j] = 0 without breaking the formation shape. A method of platoon control for moving in any six directions even when overlapping with a group consisting of j (hereinafter referred to as S group) will be described.

It is assumed that the M group moves in the direction of a at a certain time. At this time, consider the case where the control object unit belonging to the M group does not exist at the position adjacent to the control object unit jm of the M group in the direction of a. In this case, the controlled object unit jm is defined as the first (0th) element of the l-th column, and the variable line is defined as line [a] [l] [0] = jm. If the controlled object unit belonging to the M group exists at the controlled object unit position adjacent to the controlled object unit jm in the direction of the action a_inv in the direction opposite to the direction of the action a, in column l. The second element line [a] [l] [1] stores the number of the controlled object unit of the M group. Subsequently, similarly, if the control object unit belonging to the M group exists at the control object unit position adjacent to the control object unit line [a] [l] [1] in the direction of the action a_inv. For example, the third element line [a] [l] [2] in the column l stores the number of the controlled object unit of the M group. And so on, the components of the column l are determined by repeating until the control object unit belonging to the M group does not exist at the control object unit position adjacent to the control object unit jm in the direction of the action a_inv. Examples of the procedure for determining the column l in this way are shown in FIGS. 5A to 5C. The column l is an index for uniquely identifying the columns of the M group of controlled objects that are continuous in the a direction. Hereinafter, the column l is sometimes referred to as a "partial formation". That is, in the sub-group, the M group control object group formed by connecting the control object units of the M group along the movement direction and the control object unit of the S group are connected along the movement direction. It can be said that it is a row of control object units formed by combining the S group control object group composed of.

In this way, for each of the control object units that do not have adjacent control objects in the a direction (that is, at the beginning of the a direction) in the M group formation, the control object unit is the head and the action is continuous in the direction of a_inv. When the value of line [a] [l] [k] (k = 0, 1, 2, 3 ...) is determined for the column l to be used, any controlled object unit belonging to the M group belongs to any column l. It will be.

The formation control shall be performed in units of row l, and the controlled object shall not protrude into the space other than row l in the process of movement. As a result, platoon control can be performed for each row at the same time. What is important here is that the number of time steps required to move one step of the controlled object unit must be constant regardless of the number of controlled object units belonging to the column l. This comes from the requirement that each controlled object unit must move in the same direction at the same time in order to move while maintaining the overall shape.

An example of the operation for that purpose is shown in FIG. At T = 0 to 1, 2 to 3, 4 to 5, 6 to 7 in FIG. 6, when sliding the controlled object, the number of controlled objects is moved at the same time according to the length of the row. By doing so, the above requirements are satisfied.

Strictly speaking, whether or not the control object of the S group exists at the same position as the control object unit at the beginning of the column l, and the control object of the S group at the same position as the control object unit at the end of the column l. The above operation is slightly different depending on whether or not there is a controlled object, and whether or not there is a lost controlled object in the controlled object unit of the S group, but the above request is made when sliding the controlled object. The same is true by moving a number of controlled objects at the same time according to the length of the row.

As shown in FIG. 7, which control object of Ir = 1, 4 in the S group control object unit at the same position as each M group control object unit is lost is divided into modes, and the modes are set. The operation of each M group controlled object differs depending on the indicated value mode. The controlled object at the position of Ir = 2 and 3 in the S group does not affect the case classification. In FIG. 7, the label attached to each controlled object indicates which group the controlled object belongs to and what the Ir value is. For example, "M1" represents a controlled object having an Ir value of 1 in the M group, and "S4" represents a controlled object having an Ir value of 4 in the S group. mode = 0 indicates a case where the control object unit of the S group does not include any of the control objects of Ir = 1 and 4. mode = 1 indicates a case where the S group control object unit includes the control object at both positions Ir = 1 and 4. mode = 2 indicates a case where the control object unit of the S group includes the control object at the position of Ir = 4 and does not include the control object at the position of Ir = 1. mode = 3 indicates a case where the control object is included in the position where the S group control object unit is Ir = 1 and the control object is not included in the position where Ir = 4.

<First Embodiment>
In the platoon control device of the first embodiment, with respect to the M group control object unit and the S group control object unit existing in one row l, the space occupied by the M group control object unit is occupied by the S group control object unit. It is a platoon control device that controls to move one control object unit in the a direction while sharing. As described above, arbitrary formation control can be realized by simultaneously performing formation control for each row, but the first embodiment is a device that performs the basic formation control for each row.

As illustrated in FIG. 8, the formation control device 1 of the first embodiment has a storage unit 10, a unit position acquisition unit 11, an order acquisition unit 12, a defect state determination unit 13, a movement planning unit 14, and a movement unit 15. including. As illustrated in FIG. 9, the movement planning unit 14 has a first movement planning unit 141, a second movement planning unit 142, a third movement planning unit 143, a fourth movement planning unit 144, a fifth movement planning unit 145, and a third. 6 Movement planning unit 146 and 7th movement planning unit 147 are included. The formation control device 1 of the first embodiment is realized by performing the processing of each step illustrated in FIG. 10.

The platoon control device 1 is configured by loading a special program into a publicly known or dedicated computer having, for example, a central processing unit (CPU), a main storage device (RAM: Random Access Memory), and the like. Device. The platoon control device 1 executes each process under the control of the central processing unit, for example. The data input to the platoon control device 1 and the data obtained in each process are stored in the main storage device, for example, and the data stored in the main storage device is read out to the central processing unit as needed. Used for other processing. At least a part of each processing unit of the platoon control device 1 may be configured by hardware such as an integrated circuit. Each storage unit included in the platoon control device 1 is, for example, a main storage device such as RAM (Random Access Memory), an auxiliary storage device composed of a hard disk, an optical disk, or a semiconductor memory element such as a flash memory, or an auxiliary storage device. It can be configured with middleware such as relational databases and key-value stores.

The platoon control device 1 first executes the unit position acquisition unit 11 to the movement planning unit 14 to move the M group control object in a predetermined direction (a direction) by one control object unit. The procedure (movement plan series) is calculated and stored in the storage unit 10. Then, the operation unit 15 actually moves the M group control object based on the movement plan sequence stored in the storage unit 10. In the first embodiment, the processing will be specifically described by taking the case of a = 3, 4, 6 (movement of each axis of X, Y, Z in the negative direction) as an example. In this case, it is an operation in the direction in which the controlled object units of the M group and the S group are united to form a cube.

[Storage unit 10]
It is assumed that the storage unit 10 stores six types of action command values a_t [ia] (ia = 1, 2, 3, 4, 5, 6) that are determined in advance according to the value of the moving direction a. The correspondence of the action command values for each value of a is as shown in the table of FIG. As shown in FIG. 11, the control object unit of the M group is based on the control object (M3) of Ir = 3, and is adjacent to the control object (M2) of Ir = 2 adjacent to M3 in the negative direction on the x-axis. , A controlled object (M1) with Ir = 1 adjacent to M3 in the negative direction on the y-axis, and a controlled object (M4) with Ir = 4 adjacent to M3 in the negative direction on the z-axis. As shown in the table of FIG. 11, the action command value changes for each value of a because the sliding direction of the controlled object shown in FIG. 6 changes according to the direction of a, and the control object group on the operating side changes. This is because the Ir value assigned to each controlled object in the above changes. In fact, a_t [1] is the direction from the controlled object with Ir = 3 in the controlled object group on the operating side toward the controlled object with Ir = 2 (= direction of a), and a_t [2] is the operation. The direction from the controlled object with Ir = 3 in the controlled object group on the operating side toward the controlled object with Ir = 1 (= direction orthogonal to a in the horizontal plane), a_t [5] is the controlled object on the operating side. The direction from the controlled object with Ir = 3 in the object group to the controlled object with Ir = 4 (= direction orthogonal to a in the vertical plane). a_t [3] is the opposite direction of a_t [1]. a_t [4] is the opposite direction of a_t [2], and a_t [6] is the opposite direction of a_t [5].

Further, the storage unit 10 stores the following movement planning series calculated by the first movement planning unit 141 to the seventh movement planning unit 147. The movement plan series is a series in which which control object is moved in which direction in each step is arranged in step order.

[Position acquisition unit in unit 11]
In step S11, the in-unit position acquisition unit 11 determines the position of each control object in the control object unit in the control object unit for each control object unit in the initial S group and M group formation. (Which Ir value will be used) is determined according to the moving direction a. If the Ir value of each controlled object is given in advance, this process may be omitted.

The position of each controlled object in the controlled object unit can be determined as follows from the combination of the moving direction a and the ID of the controlled object unit to which the adjacent controlled object belongs. FIG. 12 illustrates how the Ir value is assigned in each direction of a. In FIG. 12, it can be seen that the Ir value in the S group and the Ir value in the M group are swung with the X, Y, and Z axes reversed.

In group M, when a = 1,3, the position of the controlled object i is
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j] +1, 2 × Yr_u [j] +1, 2 × Zr_u [j]), then Ir [i] = 4,
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j] +1, 2 × Yr_u [j], 2 × Zr_u [j] +1), then Ir [i] = 1,
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j], 2 × Yr_u [j] +1, 2 × Zr_u [j] +1), then Ir [i] = 2,
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j] +1, 2 × Yr_u [j] +1, 2 × Zr_u [j] +1), then Ir [ i] = 3,
And.

In group M, when a = 2, 4, the position of the controlled object i is
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j] +1, 2 × Yr_u [j] +1, 2 × Zr_u [j]), then Ir [i] = 1,
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j] +1, 2 × Yr_u [j], 2 × Zr_u [j] +1), then Ir [i] = 2,
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j], 2 × Yr_u [j] +1, 2 × Zr_u [j] +1), then Ir [i] = 4,
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j] +1, 2 × Yr_u [j] +1, 2 × Zr_u [j] +1), then Ir [ i] = 3,
And.

In group M, when a = 5, 6, the position of the controlled object i is
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j] +1, 2 × Yr_u [j] +1, 2 × Zr_u [j]), then Ir [i] = 2,
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j] +1, 2 × Yr_u [j], 2 × Zr_u [j] +1), then Ir [i] = 4,
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j], 2 × Yr_u [j] +1, 2 × Zr_u [j] +1), then Ir [i] = 1,
If (Xr [i], Yr [i], Zr [i]) = (2 × Xr_u [j] +1, 2 × Yr_u [j] +1, 2 × Zr_u [j] +1), then Ir [ i] = 3,
And.

In group S, when a = 1, 3 the position of the controlled object i is
If Xr [i] = 2 × Xr_u [j], Yr [i] = 2 × Yr_u [j] + 1, Zr [i] = 2 × Zr_u [j], then Ir [i] = 1,
If Xr [i] = 2 × Xr_u [j] + 1, Yr [i] = 2 × Yr_u [j], Zr [i] = 2 × Zr_u [j], then Ir [i] = 2,
If Xr [i] = 2 × Xr_u [j], Yr [i] = 2 × Yr_u [j], Zr [i] = 2 × Zr_u [j], then Ir [i] = 3,
If Xr [i] = 2 × Xr_u [j], Yr [i] = 2 × Yr_u [j], Zr [i] = 2 × Zr_u [j] + 1, then Ir [i] = 4,
And.

In group S, when a = 2, 4, the position of the controlled object i is
If Xr [i] = 2 × Xr_u [j], Yr [i] = 2 × Yr_u [j] + 1, Zr [i] = 2 × Zr_u [j], then Ir [i] = 2,
If Xr [i] = 2 × Xr_u [j] + 1, Yr [i] = 2 × Yr_u [j], Zr [i] = 2 × Zr_u [j], then Ir [i] = 4,
If Xr [i] = 2 × Xr_u [j], Yr [i] = 2 × Yr_u [j], Zr [i] = 2 × Zr_u [j], then Ir [i] = 3,
If Xr [i] = 2 × Xr_u [j], Yr [i] = 2 × Yr_u [j], Zr [i] = 2 × Zr_u [j] + 1, then Ir [i] = 1,
And.

In group S, when a = 5, 6, the position of the controlled object i is
If Xr [i] = 2 × Xr_u [j], Yr [i] = 2 × Yr_u [j] + 1, Zr [i] = 2 × Zr_u [j], then Ir [i] = 4,
If Xr [i] = 2 × Xr_u [j] + 1, Yr [i] = 2 × Yr_u [j], Zr [i] = 2 × Zr_u [j], then Ir [i] = 1,
If Xr [i] = 2 × Xr_u [j], Yr [i] = 2 × Yr_u [j], Zr [i] = 2 × Zr_u [j], then Ir [i] = 3,
If Xr [i] = 2 × Xr_u [j], Yr [i] = 2 × Yr_u [j], Zr [i] = 2 × Zr_u [j] + 1, then Ir [i] = 2,
And.

It should be noted that the process of assigning the Ir value to the S group is a process required according to the direction of a and is required for the mode determination later, and therefore cannot be omitted.

[Order acquisition unit 12]
In step S12, the order acquisition unit 12 acquires in what order each controlled object unit is arranged in the opposite direction a_inv of the moving direction a in the initial M squadron row. That is, the values of the above line [a] [l] [k] (k = 0, 1, 2, ...) Are determined. line [a] [l] [0] is the number of the control object unit in which the M group control object unit adjacent to the a direction does not exist.

[Defective state determination unit 13]
In step S13, the defect state determination unit 13 determines the control object belonging to the S group at the same meta-module position as the control object unit for each control object unit in the M group row in relation to the movement direction a. The mode state representing the missing state of the unit is determined, and the value (mode value) is determined. There are four types of mode values shown in FIG. It should be noted that in FIG. 7, the directions of the three axes are rotated with respect to FIG.

(1) Mode value 1
When the S group control object unit j includes the control object in both Ir = 1 and 4, the mode value is set to 1.

(2) Mode value 2
When the control object unit j of the S group control object includes the control object at the position of Ir = 4 and does not include the control object at the position of Ir = 1, the mode value is set to 2.

(3) Mode value 3
When the control object is included in the position where the S group control object unit j is Ir = 1 and the control object is not included in the position where Ir = 4, the mode value is set to 3.

(4) Mode value 0
When the S group control object unit j does not include any control object at the position of Ir = 1, 4, the mode value is set to 0.

That is, the defect state determination unit 13 determines whether or not the control object (S1) with Ir = 1 and the control object (S4) with Ir = 4 are missing for each S group control object unit in the unit formation. The mode value is determined by the above.

[Movement Planning Department 14]
The movement planning unit 14 generates a movement planning series including a series from the first movement information to the seventh movement information by executing the first movement planning unit 141 to the seventh movement planning unit 147 in order, and the storage unit 10 Store in.

Specifically, the movement planning unit 14 performs the first action, the second action to be performed after the first action, and the third action to be performed after the first action for each M group controlled object unit. A movement plan series, which is a series consisting of a movement plan that performs either of the above, is generated and stored in the storage unit 10. The first action is to move the control object belonging to the reference column in the movement direction with the row in which only the control objects belonging to the M group control object unit are continuous in the movement direction in the sub-unit row as the reference row. Is. The second action is the S group control object unit that is combined with the M group control object unit that is the first in the movement direction in the sub-group, or the S that is adjacent to the S group control object unit on the movement direction side. The group control target unit is set as the target S group control target unit, and the control target at the head of the reference column is set as the target S group control target unit based on the mode value of the target S group control target unit. It moves to the missing void. The third action is to move either the M1 controlled object or the M4 controlled object that is not adjacent to the controlled object belonging to the reference column in the M group controlled object unit at the end in the movement direction in the sub-unit row. It moves to the end of the reference column.

Hereinafter, the processes from the first movement planning unit 141 to the seventh movement planning unit 147 will be described in detail.

[1st movement planning unit 141]
In step S141, the first movement planning unit 141 generates the first movement information representing the operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in. Basically, the controlled object belonging to the M group is moved to the adjacent gap position, but at this time, the connectivity is not interrupted even if it is moved according to the defective state of the S group corresponding to each mode. It is necessary to select the controlled object and its moving direction.

Specifically, the first movement information is composed of the following.

(1) Common to all modes Move the controlled object with Ir = 2 or 3 in the a_t [1] direction by one step within the controlled object unit belonging to all M groups.

(2) In addition to the above (1), when the number of controlled object units belonging to the M group is 2 or more,
End of mode [i] = 0 Move the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.

(3) In addition to the above (1), when the number of controlled object units belonging to the M group is 1.
The control object of Ir = 1, 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 0.
The control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object with Ir = 1 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[2nd Movement Planning Department 142]
In step S142, the second movement planning unit 142 generates the second movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the second movement information is composed of the following.

(1) When the number of controlled object units belonging to the M group is 2 or more
Move the controlled object with Ir = 2 or 3 in the a_t [5] direction within the head controlled object unit of mode [i] = 0.
Move the controlled object with Ir = 2 in the a_t [5] direction within the head controlled object unit of mode [i] = 1.
Head of mode [i] = 2 Move the controlled object with Ir = 2 in the a_t [2] direction within the controlled object unit.
Within the head control object unit of mode [i] = 3, the control object of Ir = 2 is moved in the a_t [5] direction.

(2) When the number of controlled object units belonging to the M group is 2 or more
End of mode [i] = 1 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.

(3) When the number of controlled object units belonging to the M group is 1.
The control object of Ir = 1 is moved in the a_t [4] direction, and the control object of Ir = 2 is moved in the a_t [5] direction within the head control object unit of mode [i] = 1.
The control object with Ir = 1 is moved in the a_t [4] direction, and the control object with Ir = 2 is moved in the a_t [2] direction within the head control object unit of mode [i] = 2.
The control object of Ir = 2 is moved in the a_t [5] direction, and the control object of Ir = 4 is moved in the a_t [6] direction within the head control object unit of mode [i] = 3.

[Third movement planning department 143]
In step S143, the third movement planning unit 143 generates the third movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the third movement information is composed of the following.

(1) When the number of controlled object units belonging to the M group is 2 or more
Move the controlled object with Ir = 2 or 3 in the a_t [1] direction by one step other than the first controlled object.

(2) When the number of controlled object units belonging to the M group is 2 or more
Move the controlled object with Ir = 3 in the a_t [1] direction within the head controlled object unit of mode [i] = 1.
Move the controlled object with Ir = 3 in the a_t [1] direction within the head controlled object unit of mode [i] = 2.
Head of mode [i] = 3 Move the controlled object with Ir = 3 in the a_t [1] direction within the controlled object unit.

(3) When the number of controlled object units belonging to the M group is 2 or more
End of mode [i] = 1 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.

(4) When the number of controlled object units belonging to the M group is 1.
The control object of Ir = 1 is moved in the a_t [1] direction, and the control object of Ir = 3 is moved in the a_t [1] direction within the head control object unit of mode [i] = 1.
The control object with Ir = 1 is moved in the a_t [1] direction, and the control object with Ir = 3 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object of Ir = 3 is moved in the a_t [1] direction, and the control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[4th Movement Planning Department 144]
In step S144, the fourth movement planning unit 144 generates the fourth movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the fourth movement information is composed of the following.

(1) When the number of controlled object units belonging to the M group is 2 or more
Move the controlled object with Ir = 2 in the a_t [2] direction within the second controlled object unit from the beginning in the column l of mode [i] = 0.
Move the controlled object with Ir = 3 in the a_t [2] direction within the head controlled object unit of mode [i] = 1.
Move the controlled object with Ir = 2 in the a_t [5] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 2 in the a_t [2] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(2) When the number of controlled object units belonging to the M group is 2 or more
End of mode [i] = 0 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 1 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.

(3) When the number of controlled object units belonging to the M group is 1.
Within the head control object unit of mode [i] = 1, the control object of Ir = 4 is moved in the a_t [6] direction, and the control object of Ir = 3 is moved in the a_t [2] direction.
The control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object with Ir = 1 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[Fifth Movement Planning Department 145]
In step S145, the fifth movement planning unit 145 generates the fifth movement information, which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the fifth movement information is composed of the following.

(1) When the number of controlled object units belonging to the M group is 2 or more
The controlled objects of Ir = 2 and 3 other than the first and second controlled objects from the beginning are moved by one step in the a_t [1] direction.

(2) When the number of controlled object units belonging to the M group is 2 or more
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 0.

Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 1.
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(3) When the number of controlled object units belonging to the M group is 2 or more
End of mode [i] = 0 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 1 Move the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.

(4) When the number of controlled object units belonging to the M group is 1.
First of mode [i] = 1 Moves the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.

[6th Movement Planning Department 146]
In step S146, the sixth movement planning unit 146 generates the sixth movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the sixth movement information is composed of the following.

(1) When the number of controlled object units belonging to the M group is 2 or more
Move the controlled object with Ir = 2 in the a_t [6] direction within the head controlled object unit of mode [i] = 0.
Move the controlled object with Ir = 2 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 2 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(2) When the number of controlled object units belonging to the M group is 2 or more
End of mode [i] = 0 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.
In the end control object unit of mode [i] = 3, the control object of Ir = 1 is moved in the a_t [4] direction.

[7th Movement Planning Department 147]
In step S147, the 7th movement planning unit 147 generates the 7th movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the seventh movement information is composed of the following.

(1) When the number of controlled object units belonging to the M group is 2 or more
The controlled object of Ir = 2 or 3 other than the head controlled object is moved by one step in the a_t [1] direction.

(2) When the number of controlled object units belonging to the M group is 2 or more
First of mode [i] = 0 Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the controlled object unit. Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the second controlled object unit from the beginning.
Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the second controlled object unit from the beginning of mode [i] = 1.
Move the controlled object with Ir = 3 in the a_t [1] direction within the head controlled object unit of mode [i] = 2. Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning.
Head of mode [i] = 3 Move the controlled object with Ir = 3 in the a_t [1] direction within the controlled object unit. Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning.

(3) When the number of controlled object units belonging to the M group is 2 or more
The controlled object of Ir = 1, 4 is moved in the a_t [1] direction within the terminal controlled object unit.

(4) When the number of controlled object units belonging to the M group is 1.
Move the controlled object of Ir = 1, 2, 3, 4 in the a_t [1] direction within the head controlled object unit of mode [i] = 0.
First of mode [i] = 1 Moves the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
First of mode [i] = 2 Move the controlled object of Ir = 1, 3 in the a_t [1] direction within the controlled object unit.
First of mode [i] = 3 Move the controlled object of Ir = 3, 4 in the a_t [1] direction within the controlled object unit.

[Moving part 15]
In step S15, the moving unit 15 moves the M group control object in order based on the movement planning sequence stored in the storage unit 10.

<Second embodiment>
In the second embodiment, as in the first embodiment, the M group control object unit occupies the S group control object unit with respect to the M group control object unit and the S group control object unit existing in one column l. It is a platoon control device that controls to move one controlled object unit in a predetermined direction while sharing the space to be controlled. Here, the predetermined direction is ap = 1, 2, 5 (the definition of the value of ap is the same as a, that is, it represents the movement of each axis of X, Y, and Z in the positive direction). That is, the processing of the first movement planning unit 141 to the seventh movement planning unit 147 of the first embodiment that moves in the negative direction is executed in reverse. This is an operation in the direction in which the control object units of the M group and the S group are separated from each other and the cube is decomposed from the state in which the control object units of the M group and the S group are overlapped to form a cube.

As illustrated in FIG. 13, the formation control device 2 of the second embodiment has a storage unit 10, a unit position acquisition unit 11, an order acquisition unit 12, a defect state determination unit 13, and a movement plan, as in the first embodiment. It includes a unit 14 and a movement unit 15, and further includes an action command auxiliary value determination unit 21, a virtual position setting unit 22, and a movement plan rearrangement unit 23. The platoon control device 2 realizes the platoon control method of the second embodiment by performing the processing of each step illustrated in FIG.

[Storage unit 10]
It is assumed that the storage unit 10 stores six types of action command values a_t [ia] (ia = 1, 2, 3, 4, 5, 6) that are determined in advance according to the action command auxiliary value a. The correspondence of the action command values for each value of a is as shown in the table of FIG.

Further, the storage unit 10 stores the following movement planning series calculated by the first movement planning unit 141 to the seventh movement planning unit 147. The movement plan series is a series in which which control object is moved in which direction in each step is arranged in step order.

[Action command auxiliary value determination unit 21]
In step S21, the action command auxiliary value determination unit 21 determines the action command auxiliary value a according to the predetermined direction ap. Specifically, when the predetermined direction ap = 1, the action command auxiliary value a = 3, when the predetermined direction ap = 2, the action command auxiliary value a = 4, and when the predetermined direction ap = 5, the action command auxiliary value a = Let it be 6.

[Position acquisition unit in unit 11]
In step S11, the in-unit position acquisition unit 11 indicates, for each control object unit in the initial formation, at which position in the control object unit each control object in the control object unit is (which Ir value). Is determined according to the action command auxiliary value a. The details of the determination method are the same as those of the in-unit position acquisition unit 11 of the first embodiment. If the Ir value of each controlled object is given in advance, this process may be omitted.

[Virtual position setting unit 22]
In step S22, the virtual position setting unit 22 sets the position of the M group control object unit and the position of each control object in the M group control object unit to the position after movement (that is, one control object unit). Replace with the virtual position that is the value you want to move in the movement direction a).

[Order acquisition unit 12]
In step S12, the order acquisition unit 12 acquires in what order each controlled object unit is arranged in the opposite direction a_inv of the action command auxiliary value a in the initial M squadron line. That is, the values of the above-mentioned line [a] [l] [k] (k = 0, 1, 2, ...) Are determined as in the first embodiment.

[Defective state determination unit 13]
In step S13, the defect state determination unit 13 controls the control object belonging to the S group at the same meta module position as the control object unit for each control object unit in the M group row in relation to the action command auxiliary value a. The mode state representing the missing state of the object unit is determined, and the value (mode value) is determined. There are four types of mode values shown in FIG. 7 (that is, the same as in the first embodiment).

[1st movement planning unit 141]
In step S141, the first movement planning unit 141 generates the first movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the first movement information is composed of the following.

(1) Common to all modes Move the controlled object with Ir = 2 or 3 in the a_t [1] direction by one step within the controlled object unit belonging to all M groups.

(2) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
End of mode [i] = 0 Move the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.

(3) In all columns l in which the number of controlled object units belonging to the M group is 1.
The control object of Ir = 1, 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 0.
The control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object with Ir = 1 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[2nd Movement Planning Department 142]
In step S142, the second movement planning unit 142 generates the second movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the second movement information is composed of the following.

(1) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
Move the controlled object with Ir = 2 or 3 in the a_t [5] direction within the head controlled object unit of mode [i] = 0.
Move the controlled object with Ir = 2 in the a_t [5] direction within the head controlled object unit of mode [i] = 1.
Head of mode [i] = 2 Move the controlled object with Ir = 2 in the a_t [2] direction within the controlled object unit.
The control object of Ir = 2 is moved in the a_t [5] direction within the head control object unit of mode [i] = 3.

(2) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
End of mode [i] = 1 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.

(3) In all columns l in which the number of controlled object units belonging to the M group is 1.
The control object of Ir = 1 is moved in the a_t [4] direction, and the control object of Ir = 2 is moved in the a_t [5] direction within the head control object unit of mode [i] = 1.
The control object with Ir = 1 is moved in the a_t [4] direction, and the control object with Ir = 2 is moved in the a_t [2] direction within the head control object unit of mode [i] = 2.
The control object of Ir = 2 is moved in the a_t [5] direction, and the control object of Ir = 4 is moved in the a_t [6] direction within the head control object unit of mode [i] = 3.

[Third movement planning department 143]
In step S143, the third movement planning unit 143 generates the third movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the third movement information is composed of the following.

(1) Among the control objects in all the columns l belonging to the control object unit having 2 or more units of the control object belonging to the M group, the control objects of Ir = 2 and 3 other than the head control object are selected. Move one step in the a_t [1] direction.

(2) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
Move the controlled object with Ir = 3 in the a_t [1] direction within the head controlled object unit of mode [i] = 1.
Move the controlled object with Ir = 3 in the a_t [1] direction within the head controlled object unit of mode [i] = 2.
Head of mode [i] = 3 Move the controlled object with Ir = 3 in the a_t [1] direction within the controlled object unit.

(3) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
End of mode [i] = 1 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.

(4) In all columns l in which the number of controlled object units belonging to the M group is 1.
The control object of Ir = 1 is moved in the a_t [1] direction, and the control object of Ir = 3 is moved in the a_t [1] direction within the head control object unit of mode [i] = 1.
The control object with Ir = 1 is moved in the a_t [1] direction, and the control object with Ir = 3 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object of Ir = 3 is moved in the a_t [1] direction, and the control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[4th Movement Planning Department 144]
In step S144, the fourth movement planning unit 144 generates the fourth movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the fourth movement information is composed of the following.

(1) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
Move the controlled object with Ir = 2 in the a_t [2] direction within the second controlled object unit from the beginning in the column l of mode [i] = 0.
Move the controlled object with Ir = 3 in the a_t [2] direction within the head controlled object unit of mode [i] = 1.
Move the controlled object with Ir = 2 in the a_t [5] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 2 in the a_t [2] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(2) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
End of mode [i] = 0 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 1 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.

(3) In all columns l in which the number of controlled object units belonging to the M group is 1.
Within the head control object unit of mode [i] = 1, the control object of Ir = 4 is moved in the a_t [6] direction, and the control object of Ir = 3 is moved in the a_t [2] direction.
The control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object with Ir = 1 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[Fifth Movement Planning Department 145]
In step S145, the fifth movement planning unit 145 generates the fifth movement information, which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the fifth movement information is composed of the following.

(1) Of all the control objects in the control object unit belonging to all columns l belonging to the control object unit having 2 or more units belonging to the M group, Ir = 2, other than the head and the second control object from the head. Move the control object of 3 one step in the a_t [1] direction.

(2) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 0.

Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 1.
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(3) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
End of mode [i] = 0 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 1 Move the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.

(4) In all columns l in which the number of controlled object units belonging to the M group is 1.
First of mode [i] = 1 Moves the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.

[6th Movement Planning Department 146]
In step S146, the sixth movement planning unit 146 generates the sixth movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the sixth movement information is composed of the following.

(1) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
Move the controlled object with Ir = 2 in the a_t [6] direction within the head controlled object unit of mode [i] = 0.
Move the controlled object with Ir = 2 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 2 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(2) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
End of mode [i] = 0 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.

[7th Movement Planning Department 147]
In step S147, the 7th movement planning unit 147 generates the 7th movement information which is an operation of moving the M group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the seventh movement information is composed of the following.

(1) All columns belonging to the M group whose number of control object units is 2 or more l Among the control objects in the affiliation control object unit, Ir = 2 and 3 control objects other than the head control object are a_t. Move one step in the [1] direction.

(2) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
Move the controlled object of Ir = 2 or 3 in the direction of a_t [1] within the head controlled object unit of mode [i] = 0, and Ir = in the second controlled object unit from the head in the column l. Move a few controlled objects in the a_t [1] direction.
Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 1.
Move the controlled object of Ir = 3 in the direction of a_t [1] within the first controlled object unit of mode [i] = 2, and Ir = 3 in the second controlled object unit from the beginning in the column l. Move the controlled object in the a_t [1] direction.
Move the controlled object of Ir = 3 in the direction of a_t [1] within the first controlled object unit of mode [i] = 3, and Ir = 3 in the second controlled object unit from the beginning in the column l. Move the controlled object in the a_t [1] direction.

(3) In all columns l in which the number of controlled object units belonging to the M group is 2 or more,
The controlled object of Ir = 1, 4 is moved in the a_t [1] direction within the terminal controlled object unit.

(4) In all columns l in which the number of controlled object units belonging to the M group is 1.
Move the controlled object of Ir = 1, 2, 3, 4 in the a_t [1] direction within the head controlled object unit of mode [i] = 0.
First of mode [i] = 1 Moves the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
First of mode [i] = 2 Move the controlled object of Ir = 1, 3 in the a_t [1] direction within the controlled object unit.
First of mode [i] = 3 Move the controlled object of Ir = 3, 4 in the a_t [1] direction within the controlled object unit.

[Movement plan sorting unit 23]
In step S23, the movement plan rearranging unit 23 rearranges the series from the first movement information to the seventh movement information generated by the processing of each of the above units and stored in the storage unit 10 in the reverse order, and is the movement plan series. Output as. That is, the sequence arranged in the order of the 7th movement information, the 6th movement information, ..., The 1st movement information is the movement planning series.

[Moving part 15]
In step S15, the moving unit 15 moves the M group control object in order based on the movement planning sequence stored in the storage unit 10.

<Third Embodiment>
In the first embodiment and the second embodiment, the platoon control device performs platoon control when the S group control object unit is stationary and the M group control object unit moves, but the third embodiment. Describes a platoon control device that performs platoon control when the M group control object unit is stationary and the S group control object unit moves. However, in this case, it is the M group control object unit side that has a defect in the formation. The third embodiment is a platoon control device that moves the S group control object unit in the a = 1, 2, and 5 directions (positive directions of the X, Y, and Z axes). This is an operation in the direction in which the controlled object units of the M group and the S group are united to form a cube.

The platoon control device of the third embodiment has the same device configuration as that of the first embodiment, but the moving direction of the controlled object in each step is different. This is because the shapes of the S group control object unit and the M group control object unit have symmetrical shapes, which corresponds to the processing of the first embodiment just by changing the coordinate direction.

Hereinafter, the formation control device of the third embodiment will be described focusing on the differences from the first embodiment. The description of the same components as in the first embodiment will be omitted.

[Storage unit 10]
It is assumed that the storage unit 10 stores six types of action command values a_t [ia] (ia = 1, 2, 3, 4, 5, 6) that are determined in advance according to the movement direction a. However, since it is the S group that operates in the third embodiment, the value of a_t [ia] calculated accordingly is different from that in the first embodiment. The correspondence of the action command values for each value of a is as shown in the table of FIG. As shown in FIG. 15, the control object unit of the S group is based on the control object (S3) of Ir = 3, and is adjacent to the control object (S2) of Ir = 2 adjacent to S3 in the positive direction on the x-axis. , S3 is composed of a controlled object (S1) having Ir = 1 adjacent to S3 in the positive direction of the y-axis and a controlled object (S4) having Ir = 4 adjacent to S3 in the positive direction of the z-axis.

[Defective state determination unit 13]
In step S13, the defect state determination unit 13 represents the defect state of the control object unit belonging to the S group at the same meta module position as the control object unit for each control object unit in the S group formation. Is determined, and its value (mode value) is determined. There are four types of mode values shown in FIG. It should be noted that in FIG. 16, the directions of the three axes are rotated with respect to FIG. 7. That is, when the control target unit j of the M group control target does not include any control target of Ir = 1, 4, the mode value is set to 0. When the control object unit j of the M group control object includes the control object at both the positions Ir = 1 and 4, the mode value is set to 1. When the control object unit j of the M group control object unit j includes the control object at the position of Ir = 4 and does not include the control object at the position of Ir = 1, the mode value is set to 2. When the control object is included in the position where the M group control object unit j is Ir = 1 and the control object is not included in the position where Ir = 4, the mode value is set to 3.

[1st movement planning unit 141]
In step S141, the first movement planning unit 141 generates the first movement information representing the operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the first movement information is composed of the following.

(1) Common to all modes Move the controlled object with Ir = 2 or 3 in the a_t [1] direction by one step within the controlled object unit belonging to all S groups.

(2) In addition to the above (1), when the number of controlled object units belonging to the S group is 2 or more,
End of mode [i] = 0 Move the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.

(3) In addition to the above (1), when the number of controlled object units belonging to the S group is 1.
The control object of Ir = 1, 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 0.
The control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object with Ir = 1 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[2nd Movement Planning Department 142]
In step S142, the second movement planning unit 142 generates the second movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the second movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 2 or 3 in the a_t [5] direction within the head controlled object unit of mode [i] = 0.
Move the controlled object with Ir = 2 in the a_t [5] direction within the head controlled object unit of mode [i] = 1.
Head of mode [i] = 2 Move the controlled object with Ir = 2 in the a_t [2] direction within the controlled object unit.
The control object of Ir = 2 is moved in the a_t [5] direction within the head control object unit of mode [i] = 3.

(2) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 1 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.

(3) When the number of controlled object units belonging to the S group is 1.
The control object of Ir = 1 is moved in the a_t [4] direction, and the control object of Ir = 2 is moved in the a_t [5] direction within the head control object unit of mode [i] = 1.
The control object with Ir = 1 is moved in the a_t [4] direction, and the control object with Ir = 2 is moved in the a_t [2] direction within the head control object unit of mode [i] = 2.
The control object of Ir = 2 is moved in the a_t [5] direction, and the control object of Ir = 4 is moved in the a_t [6] direction within the head control object unit of mode [i] = 3.

[Third movement planning department 143]
In step S143, the third movement planning unit 143 generates the third movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the third movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 2 or 3 in the a_t [1] direction by one step other than the first controlled object.

(2) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 3 in the a_t [1] direction within the head controlled object unit of mode [i] = 1.
Move the controlled object with Ir = 3 in the a_t [1] direction within the head controlled object unit of mode [i] = 2.
Head of mode [i] = 3 Move the controlled object with Ir = 3 in the a_t [1] direction within the controlled object unit.

(3) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 1 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.

(4) When the number of controlled object units belonging to the S group is 1.
The control object of Ir = 1 is moved in the a_t [1] direction, and the control object of Ir = 3 is moved in the a_t [1] direction within the head control object unit of mode [i] = 1.
The control object with Ir = 1 is moved in the a_t [1] direction, and the control object with Ir = 3 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object of Ir = 3 is moved in the a_t [1] direction, and the control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[4th Movement Planning Department 144]
In step S144, the fourth movement planning unit 144 generates the fourth movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the fourth movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 2 in the a_t [2] direction within the second controlled object unit from the beginning in the column l of mode [i] = 0.
Move the controlled object with Ir = 3 in the a_t [2] direction within the head controlled object unit of mode [i] = 1.
Move the controlled object with Ir = 2 in the a_t [5] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 2 in the a_t [2] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(2) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 0 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 1 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.

(3) When the number of controlled object units belonging to the S group is 1.
Within the head control object unit of mode [i] = 1, the control object of Ir = 4 is moved in the a_t [6] direction, and the control object of Ir = 3 is moved in the a_t [2] direction.
The control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object with Ir = 1 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[Fifth Movement Planning Department 145]
In step S145, the fifth movement planning unit 145 generates the fifth movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the fifth movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
The controlled objects of Ir = 2 and 3 other than the first and second controlled objects from the beginning are moved by one step in the a_t [1] direction.

(2) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 0.
Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 1.
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(3) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 0 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 1 Move the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.

(4) When the number of controlled object units belonging to the S group is 1.
First of mode [i] = 1 Moves the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.

[6th Movement Planning Department 146]
In step S146, the sixth movement planning unit 146 generates the sixth movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the sixth movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 2 in the a_t [6] direction within the head controlled object unit of mode [i] = 0.
Move the controlled object with Ir = 2 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 2 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(2) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 0 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.

[7th Movement Planning Department 147]
In step S147, the 7th movement planning unit 147 generates the 7th movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the seventh movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
The controlled object of Ir = 2 or 3 other than the head controlled object is moved by one step in the a_t [1] direction.

(2) When the number of controlled object units belonging to the S group is 2 or more
First of mode [i] = 0 Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the controlled object unit. Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l.
Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 1.
Move the controlled object with Ir = 3 in the a_t [1] direction within the head controlled object unit of mode [i] = 2. Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l.
Head of mode [i] = 3 Move the controlled object with Ir = 3 in the a_t [1] direction within the controlled object unit. Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l.

(3) When the number of controlled object units belonging to the S group is 2 or more
The controlled object of Ir = 1, 4 is moved in the a_t [1] direction within the terminal controlled object unit.

(4) When the number of S group affiliation control object units is 1,
Move the controlled object of Ir = 1, 2, 3, 4 in the a_t [1] direction within the head controlled object unit of mode [i] = 0.
First of mode [i] = 1 Moves the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
First of mode [i] = 2 Move the controlled object of Ir = 1, 3 in the a_t [1] direction within the controlled object unit.
First of mode [i] = 3 Move the controlled object of Ir = 3, 4 in the a_t [1] direction within the controlled object unit.

<Fourth Embodiment>
In the fourth embodiment, as in the third embodiment, the S group control object unit occupies the M group control object unit with respect to the M group control object unit and the S group control object unit existing in one column l. It is a platoon control device that controls to move one controlled object unit in a predetermined direction while sharing the space to be controlled. Here, the predetermined direction is one of ap = 3, 4, 6 (the definition of the value of ap is the same as a, that is, it represents the movement of each axis of X, Y, and Z in the negative direction). .. That is, the processing of the first movement planning unit 141 to the seventh movement planning unit 147 of the third embodiment that moves in the forward direction is executed in reverse. This is an operation in the direction in which the control object units of the M group and the S group are separated from each other and the cube is decomposed from the state in which the control object units of the M group and the S group are overlapped to form a cube.

The platoon control device of the fourth embodiment has the same device configuration as the second embodiment, but the moving direction of the controlled object in each step is different. This is because the shapes of the S group control object unit and the M group control object unit have symmetrical shapes, which corresponds to the processing of the second embodiment just by changing the coordinate direction.

Hereinafter, the formation control device of the fourth embodiment will be described focusing on the differences from the second embodiment. The description of the same components as in the second embodiment will be omitted.

[Action command auxiliary value determination unit 21]
In step S21, the action command auxiliary value determination unit 21 determines the action command auxiliary value a according to the predetermined direction ap. In the fourth embodiment, the direction is opposite to that of the second embodiment. Specifically, when the predetermined direction ap = 3, the action command auxiliary value a = 1, when the predetermined direction ap = 4, the action command auxiliary value a = 2, and when the predetermined direction ap = 6, the action command auxiliary value a = Let it be 5.

[Virtual position setting unit 22]
In step S22, the virtual position setting unit 22 sets the position of the S group control object unit and the position of each control object in the S group control object unit to the position after movement (that is, one control object unit). Replace with the virtual position that is the value you want to move in the movement direction a).

[Order acquisition unit 12]
In step S12, the order acquisition unit 12 determines in what order each controlled object unit is arranged in the opposite direction a_inv of the action command auxiliary value a in the initial S group formation. That is, the values of the above-mentioned line [a] [l] [k] (k = 0, 1, 2, ...) Are determined as in the third embodiment. line [a] [l] [0] is the number of the control object unit in which the S group control object unit adjacent to the a direction does not exist.

[Defective state determination unit 13]
In step S13, the defect state determination unit 13 controls the control object belonging to the S group at the same meta module position as the control object unit for each control object unit in the S group row in relation to the action command auxiliary value a. The mode state representing the missing state of the object unit is determined, and the value (mode value) is stored. There are four types of mode values shown in FIG. 16 (that is, the same as in the third embodiment).

[1st movement planning unit 141]
In step S141, the first movement planning unit 141 generates the first movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the first movement information is composed of the following.

(1) Common to all modes Move the controlled object with Ir = 2 or 3 in the a_t [1] direction by one step within the controlled object unit belonging to all S groups.

(2) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 0 Move the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.

(3) When the number of controlled object units belonging to the S group is 1.
The control object of Ir = 1, 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 0.
The control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object with Ir = 1 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[2nd Movement Planning Department 142]
In step S142, the second movement planning unit 142 generates the second movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the second movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 2 or 3 in the a_t [5] direction within the head controlled object unit of mode [i] = 0.
Move the controlled object with Ir = 2 in the a_t [5] direction within the head controlled object unit of mode [i] = 1.
Head of mode [i] = 2 Move the controlled object with Ir = 2 in the a_t [2] direction within the controlled object unit.
The control object of Ir = 2 is moved in the a_t [5] direction within the head control object unit of mode [i] = 3.

(2) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 1 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.

(3) When the number of controlled object units belonging to the S group is 1.
The control object of Ir = 1 is moved in the a_t [4] direction, and the control object of Ir = 2 is moved in the a_t [5] direction within the head control object unit of mode [i] = 1.
The control object with Ir = 1 is moved in the a_t [4] direction, and the control object with Ir = 2 is moved in the a_t [2] direction within the head control object unit of mode [i] = 2.
The control object of Ir = 2 is moved in the a_t [5] direction, and the control object of Ir = 4 is moved in the a_t [6] direction within the head control object unit of mode [i] = 3.

[Third movement planning department 143]
In step S143, the third movement planning unit 143 generates the third movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the third movement information is composed of the following.

(1) When the number of control target units belonging to the S group is 2 or more, the control target with Ir = 2 or 3 other than the head control target is moved by one step in the a_t [1] direction.

(2) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 3 in the a_t [1] direction within the head controlled object unit of mode [i] = 1.
Move the controlled object with Ir = 3 in the a_t [1] direction within the head controlled object unit of mode [i] = 2.
Head of mode [i] = 3 Move the controlled object with Ir = 3 in the a_t [1] direction within the controlled object unit.

(3) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 1 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.

(4) When the number of controlled object units belonging to the S group is 1.
The control object of Ir = 1 is moved in the a_t [1] direction, and the control object of Ir = 3 is moved in the a_t [1] direction within the head control object unit of mode [i] = 1.
The control object with Ir = 1 is moved in the a_t [1] direction, and the control object with Ir = 3 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object of Ir = 3 is moved in the a_t [1] direction, and the control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[4th Movement Planning Department 144]
In step S144, the fourth movement planning unit 144 generates the fourth movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the fourth movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 2 in the a_t [2] direction within the second controlled object unit from the beginning in the column l of mode [i] = 0.
Move the controlled object with Ir = 3 in the a_t [2] direction within the head controlled object unit of mode [i] = 1.
Move the controlled object with Ir = 2 in the a_t [5] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 2 in the a_t [2] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(2) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 0 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.
End of mode [i] = 1 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.

(3) When the number of controlled object units belonging to the S group is 1.
Within the head control object unit of mode [i] = 1, the control object of Ir = 4 is moved in the a_t [6] direction, and the control object of Ir = 3 is moved in the a_t [2] direction.
The control object of Ir = 4 is moved in the a_t [1] direction within the head control object unit of mode [i] = 2.
The control object with Ir = 1 is moved in the a_t [1] direction within the head control object unit of mode [i] = 3.

[Fifth Movement Planning Department 145]
In step S145, the fifth movement planning unit 145 generates the fifth movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the fifth movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
The controlled objects of Ir = 2 and 3 other than the first and second controlled objects from the beginning are moved by one step in the a_t [1] direction.

(2) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 0.
Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 1.
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(3) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 0 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 1 Move the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 1 in the a_t [1] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 4 in the a_t [1] direction within the controlled object unit.

(4) When the number of controlled object units belonging to the S group is 1.
First of mode [i] = 1 Moves the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.

[6th Movement Planning Department 146]
In step S146, the sixth movement planning unit 146 generates the sixth movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the sixth movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object with Ir = 2 in the a_t [6] direction within the head controlled object unit of mode [i] = 0.
Move the controlled object with Ir = 2 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 2.
Move the controlled object with Ir = 2 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 3.

(2) When the number of controlled object units belonging to the S group is 2 or more
End of mode [i] = 0 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.
End of mode [i] = 2 Move the controlled object with Ir = 4 in the a_t [6] direction within the controlled object unit.
End of mode [i] = 3 Move the controlled object with Ir = 1 in the a_t [4] direction within the controlled object unit.

[7th Movement Planning Department 147]
In step S147, the 7th movement planning unit 147 generates the 7th movement information which is an operation of moving the S group control object specified by the mode value in the predetermined direction specified by the mode value, and the storage unit 10 Store in.

Specifically, the seventh movement information is composed of the following.

(1) When the number of controlled object units belonging to the S group is 2 or more
The controlled object of Ir = 2 or 3 other than the head controlled object is moved by one step in the a_t [1] direction.

(2) When the number of controlled object units belonging to the S group is 2 or more
Move the controlled object of Ir = 2 or 3 in the direction of a_t [1] within the head controlled object unit of mode [i] = 0, and Ir = in the second controlled object unit from the head in the column l. Move a few controlled objects in the a_t [1] direction.
Move the controlled object with Ir = 2 or 3 in the a_t [1] direction within the second controlled object unit from the beginning in the column l of mode [i] = 1.
Move the controlled object of Ir = 3 in the direction of a_t [1] within the first controlled object unit of mode [i] = 2, and Ir = 3 in the second controlled object unit from the beginning in the column l. Move the controlled object in the a_t [1] direction.
Move the controlled object of Ir = 3 in the direction of a_t [1] within the first controlled object unit of mode [i] = 3, and Ir = 3 in the second controlled object unit from the beginning in the column l. Move the controlled object in the a_t [1] direction.

(3) When the number of controlled object units belonging to the S group is 2 or more
The controlled object of Ir = 1, 4 is moved in the a_t [1] direction within the terminal controlled object unit.

(4) When the number of controlled object units belonging to the S group is 1.
Move the controlled object of Ir = 1, 2, 3, 4 in the a_t [1] direction within the head controlled object unit of mode [i] = 0.
First of mode [i] = 1 Moves the controlled object of Ir = 1, 4 in the a_t [1] direction within the controlled object unit.
First of mode [i] = 2 Move the controlled object of Ir = 1, 3 in the a_t [1] direction within the controlled object unit.
First of mode [i] = 3 Move the controlled object of Ir = 3, 4 in the a_t [1] direction within the controlled object unit.

<Modification example>
From the first embodiment to the fourth embodiment, the platoon control device that controls the platoon for the controlled objects of the M group and the S group in one row l has been described.

When realizing platoon control in which the M group passes through the space occupied by the S group and moves by one controlled object unit in a predetermined direction for an arbitrary platoon consisting of a combination of a plurality of rows, a plurality of arbitrary platoons are used. It is sufficient to divide into the rows l of the above and simultaneously execute the formation control by any of the formation control devices from the first embodiment to the fourth embodiment for each of the divided rows l (referred to as a partial formation).

Since the controlled object does not protrude into the space other than the row in the movement of each row, the movement of each row is independent of each other and can be executed in parallel. Therefore, by simultaneously moving each row according to any one of the first to fourth embodiments, the entire target formation can be moved in a predetermined direction by one controlled object unit.

Although the embodiments of the present invention have been described above, the specific configuration is not limited to these embodiments, and even if the design is appropriately changed without departing from the spirit of the present invention, the specific configuration is not limited to these embodiments. Needless to say, it is included in the present invention. The various processes described in the embodiments are not only executed in chronological order according to the order described, but may also be executed in parallel or individually as required by the processing capacity of the device that executes the processes.

[Program, recording medium]
When various processing functions in each device described in the above embodiment are realized by a computer, the processing contents of the functions that each device should have are described by a program. Then, by executing this program on the computer, various processing functions in each of the above devices are realized on the computer.

The program describing the processing content can be recorded on a computer-readable recording medium. The computer-readable recording medium may be, for example, a magnetic recording device, an optical disk, a photomagnetic recording medium, a semiconductor memory, or the like.

In addition, the distribution of this program is carried out, for example, by selling, transferring, renting, or the like a portable recording medium such as a DVD or CD-ROM on which the program is recorded. Further, the program may be stored in the storage device of the server computer, and the program may be distributed by transferring the program from the server computer to another computer via the network.

A computer that executes such a program first temporarily stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. Then, when the process is executed, the computer reads the program stored in its own storage device and executes the process according to the read program. Further, as another execution form of this program, a computer may read the program directly from a portable recording medium and execute processing according to the program, and further, the program is transferred from the server computer to this computer. It is also possible to execute the process according to the received program one by one each time. In addition, the above processing is executed by a so-called ASP (Application Service Provider) type service that realizes the processing function only by the execution instruction and result acquisition without transferring the program from the server computer to this computer. May be. The program in this embodiment includes information to be used for processing by a computer and equivalent to the program (data that is not a direct command to the computer but has a property of defining the processing of the computer, etc.).

Further, in this embodiment, the present device is configured by executing a predetermined program on the computer, but at least a part of these processing contents may be realized by hardware.

1, 2 Formation control device 10 Storage unit 11 In-unit position acquisition unit 12 Order acquisition unit 13 Missing state determination unit 14 Movement planning unit 141 1st movement planning unit 142 2nd movement planning unit 143 3rd movement planning unit 144 4th movement Planning unit 145 5th movement planning unit 146 6th movement planning unit 147 7th movement planning unit 15 Operation unit 21 Action command auxiliary value determination unit 22 Virtual position setting unit 23 Movement plan sorting unit

Claims (7)

The M group control object unit includes an M3 control object, an M2 control object adjacent to the M3 control object in the negative direction on the x-axis, and an M1 control object adjacent to the M3 control object in the negative direction on the y-axis. It consists of an M4 control object adjacent to the M3 control object in the negative z-axis direction.
The S group control object unit includes an S3 control object, an S2 control object adjacent to the S3 control object in the x-axis positive direction, and an S1 control object adjacent to the S3 control object in the y-axis positive direction. It consists of at least one control object with the S4 control object adjacent to the S3 control object in the positive z-axis direction.
The sub-group consists of an M group control object group in which a plurality of M group control object units are connected along a predetermined movement direction and an S group control object in which a plurality of S group control object units are connected along the movement direction. Composed of a combination of objects,
The S group control while each M group control object unit in the M group control object group maintains a connection with each other and each control object in each M group control object unit maintains a connection with each other. It is a platoon control device that controls the sub-platoon so as to move in the movement direction through the space where the object unit exists.
For each S group control object unit, a defect state determination unit that determines a mode value depending on whether or not the S1 control object and the S4 control object are missing,
For each M group control object unit
The first action of moving the control object belonging to the reference row in which only the control object belonging to the M group control object unit is continuous in the movement direction in the sub-unit row, and the first action of moving the control object belonging to the movement direction.
The S group control object unit that is combined with the M group control object unit that is headed in the movement direction in the sub-unit line, or the S group control object that is adjacent to the S group control object unit on the movement direction side. The object unit is set as the object S group control object unit, and the control object at the head of the reference column is set in the object S group control object unit based on the mode value of the object S group control object unit. The second action to move to the missing void,
In the M group control object unit at the end in the movement direction in the sub-unit row, either the M1 control object or the M4 control object that is not adjacent to the control object belonging to the reference sequence is described. The third action to move to the end of the reference sequence,
A movement planning unit that generates a movement plan series, which is a series consisting of movement plans that perform either of
An operation unit that moves each control object belonging to the M group control object group according to the movement plan series, and
Only including,
The mode values are the first mode in which neither the S1 control object nor the S4 control object is missing in the S group control object unit, and the S1 control object in the S group control object unit. In the second mode in which the object is missing and the S4 control object is not missing, the S4 control object is missing in the S group control object unit, and the S1 control object is missing. Represents either a third mode in which the S group is not controlled, or a fourth mode in which both the S1 controlled object and the S4 controlled object are missing in the S group controlled object unit.
Formation control device. The platoon control device according to claim 1.
The action command auxiliary value determination unit that determines the opposite direction of the movement direction as the action command auxiliary value,
After the M group control object group moves in the moving direction through the space where the S group control object unit exists, the position where each control object of the M group control object group should exist is set as a virtual position. Virtual position setting unit and
An action plan sorting unit that generates a new movement plan series by rearranging the movement plans included in the above movement plan series so that the time series is reversed.
Including
The movement planning unit generates the movement planning series with the action command auxiliary value as the movement direction and the virtual position as the initial position of the M group control object group.
Formation control device. The M group control object unit includes an M3 control object, an M2 control object adjacent to the M3 control object in the negative direction on the x-axis, and an M1 control object adjacent to the M3 control object in the negative direction on the y-axis. It consists of at least one control object with the M4 control object adjacent to the M3 control object in the negative direction on the z-axis.
The S group control object unit includes an S3 control object, an S2 control object adjacent to the S3 control object in the x-axis positive direction, and an S1 control object adjacent to the S3 control object in the y-axis positive direction. It consists of an S4 control object that is adjacent to the S3 control object in the positive z-axis direction.
The sub-group consists of an M group control object group in which a plurality of M group control object units are connected along a predetermined movement direction and an S group control object in which a plurality of S group control object units are connected along the movement direction. Composed of a combination of objects,
The M group control while each S group control object unit in the S group control object group maintains a connection with each other and each control object in each S group control object unit maintains a connection with each other. It is a platoon control device that controls the sub-platoon so as to move in the above-mentioned movement direction through the space where the object unit exists.
For each M group control object unit, a defect state determination unit that determines a mode value depending on whether or not the M1 control object and the M4 control object are missing,
For each S group control object unit
The first action of moving the controlled object belonging to the reference row in which only the controlled object belonging to the S group controlled object unit is continuous in the moving direction in the sub-unit row, and the first action of moving the controlled object belonging to the moving direction.
The M group control object unit that is combined with the S group control object unit that is headed in the movement direction in the sub-unit line, or the M group control object that is adjacent to the M group control object unit on the movement direction side. The object unit is the target M group control object unit, and based on the mode value of the target M group control object unit, the control object at the head of the reference column is the control object in the target M group control object unit. The second action to move to the missing void,
In the S group control object unit at the end in the movement direction in the sub-unit row, either the S1 control object or the S4 control object that is not adjacent to the control object belonging to the reference sequence is described. The third action to move to the end of the reference sequence,
A movement planning unit that generates a movement plan series, which is a series consisting of movement plans that perform either of
An operation unit that moves each control object belonging to the S group control object group according to the movement plan series, and
Only including,
The mode values are the first mode in which neither the M1 control object nor the M4 control object is missing in the M group control object unit, and the M1 control object in the M group control object unit. In the second mode in which the object is missing and the M4 control object is not missing, the M4 control object is missing in the M group control object unit, and the M1 control object is missing. It represents either a third mode in which the M group is not controlled, or a fourth mode in which both the M1 controlled object and the M4 controlled object are missing in the M group controlled object unit.
Formation control device. The platoon control device according to claim 3.
The action command auxiliary value determination unit that determines the opposite direction of the movement direction as the action command auxiliary value,
After the S group control object group moves in the moving direction through the space where the M group control object unit exists, the position where each control object of the S group control object group should exist is set as a virtual position. Virtual position setting unit and
An action plan sorting unit that generates a new movement plan series by rearranging the movement plans included in the above movement plan series so that the time series is reversed.
Including
The movement planning unit generates the movement planning series with the action command auxiliary value as the movement direction and the virtual position as the initial position of the S group control object group.
Formation control device including. The M group control object unit includes an M3 control object, an M2 control object adjacent to the M3 control object in the negative direction on the x-axis, and an M1 control object adjacent to the M3 control object in the negative direction on the y-axis. It consists of an M4 control object adjacent to the M3 control object in the negative z-axis direction.
The S group control object unit includes an S3 control object, an S2 control object adjacent to the S3 control object in the x-axis positive direction, and an S1 control object adjacent to the S3 control object in the y-axis positive direction. It consists of at least one control object with the S4 control object adjacent to the S3 control object in the positive z-axis direction.
The sub-group consists of an M group control object group in which a plurality of M group control object units are connected along a predetermined movement direction and an S group control object in which a plurality of S group control object units are connected along the movement direction. Composed of a combination of objects,
The S group control while each M group control object unit in the M group control object group maintains a connection with each other and each control object in each M group control object unit maintains a connection with each other. It is a platoon control method executed by a platoon control device that controls the sub-platoon so as to move in the movement direction through the space where the object unit exists.
The defect state determination unit determines the mode value for each S group control object unit depending on whether or not the S1 control object and the S4 control object are missing.
The movement planning department is responsible for each M group control object unit.
The first action of moving the controlled object belonging to the reference row in which only the controlled object belonging to the M group controlled object unit is continuous in the moving direction in the sub-unit row, and the first action of moving the controlled object belonging to the moving direction.
The S group control object unit that is combined with the M group control object unit that is headed in the movement direction in the sub-unit line, or the S group control object that is adjacent to the S group control object unit on the movement direction side. The object unit is set as the object S group control object unit, and the control object at the head of the reference column is set in the object S group control object unit based on the mode value of the object S group control object unit. The second action to move to the missing void,
In the M group control object unit at the end in the movement direction in the sub-unit row, either the M1 control object or the M4 control object that is not adjacent to the control object belonging to the reference sequence is described. The third action to move to the end of the reference sequence,
Generate a movement plan series, which is a series of movement plans that do one of the above:
The moving unit moves each control object belonging to the M group control object group according to the movement plan series, and then moves each control object .
The mode values are the first mode in which neither the S1 control object nor the S4 control object is missing in the S group control object unit, and the S1 control object in the S group control object unit. In the second mode in which the object is missing and the S4 control object is not missing, the S4 control object is missing in the S group control object unit, and the S1 control object is missing. Represents either a third mode in which the S group is not controlled, or a fourth mode in which both the S1 controlled object and the S4 controlled object are missing in the S group controlled object unit.
Formation control method. The M group control object unit includes an M3 control object, an M2 control object adjacent to the M3 control object in the negative direction on the x-axis, and an M1 control object adjacent to the M3 control object in the negative direction on the y-axis. It consists of at least one control object with the M4 control object adjacent to the M3 control object in the negative direction on the z-axis.
The S group control object unit includes an S3 control object, an S2 control object adjacent to the S3 control object in the x-axis positive direction, and an S1 control object adjacent to the S3 control object in the y-axis positive direction. It consists of an S4 control object that is adjacent to the S3 control object in the positive z-axis direction.
The sub-group consists of an M group control object group in which a plurality of M group control object units are connected along a predetermined movement direction and an S group control object in which a plurality of S group control object units are connected along the movement direction. Composed of a combination of objects,
The M group control while each S group control object unit in the S group control object group maintains a connection with each other and each control object in each S group control object unit maintains a connection with each other. It is a platoon control method executed by a platoon control device that controls the sub-platoon so as to move in the movement direction through the space where the object unit exists.
The defect state determination unit determines the mode value for each M group control object unit depending on whether or not the M1 control object and the M4 control object are missing.
The movement planning department describes each S group controlled object unit.
The first action of moving the control object belonging to the reference row in which only the control object belonging to the S group control object unit is continuous in the movement direction in the sub-unit row, and the first action of moving the control object belonging to the movement direction.
The M group control object unit that is combined with the S group control object unit that is headed in the movement direction in the sub-unit line, or the M group control object that is adjacent to the M group control object unit on the movement direction side. The object unit is the target M group control object unit, and based on the mode value of the target M group control object unit, the control object at the head of the reference column is the control object in the target M group control object unit. The second action to move to the missing void,
In the S group control object unit at the end in the movement direction in the sub-unit row, either the S1 control object or the S4 control object that is not adjacent to the control object belonging to the reference sequence is described. The third action to move to the end of the reference sequence,
Generate a movement plan series, which is a series of movement plans that do one of the above:
The moving unit moves each control object belonging to the S group control object group according to the movement plan series, and then moves each control object .
The mode values are the first mode in which neither the M1 control object nor the M4 control object is missing in the M group control object unit, and the M1 control object in the M group control object unit. In the second mode in which the object is missing and the M4 control object is not missing, the M4 control object is missing in the M group control object unit, and the M1 control object is missing. It represents either a third mode in which the M group is not controlled, or a fourth mode in which both the M1 controlled object and the M4 controlled object are missing in the M group controlled object unit.
Formation control method. A program for operating a computer as a platoon control device according to any one of claims 1 to 4.

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