JP7704411B2 - MOBILE BODY, SERVER DEVICE, MOBILE BODY CONTROL SYSTEM, MOBILE BODY CONTROL METHOD, AND PROGRAM - Google Patents

Description

The present invention relates to a mobile object, a server device, a mobile object control system, a mobile object control method, and a program.

By using a camera mounted on a moving object to capture an image of a reference point marker attached to a reference point such as a wall or pillar, it is possible to obtain the position information (coordinate information, attitude information) of the moving object relative to the reference point. By sharing the absolute position, absolute direction, and size of the reference point marker attached to the reference point in advance and using the reference point marker as a landmark, it is possible to obtain/understand the position (coordinates, attitude) of the moving object relative to the reference point.

In addition, by using a camera installed at a reference point such as a building to capture an image of a marker attached to a moving object, it is possible to obtain position information (coordinate information, attitude information) of the moving object relative to the reference point. By sharing in advance the absolute position and absolute direction of the reference point, as well as the size of the marker attached to the moving object, it is possible to obtain/understand the position (coordinates, attitude) of the moving object relative to the reference point.

As described above, it is common to use markers to acquire/understand the position of a moving object and control its movement. For example, Patent Document 1 discloses a system that recognizes the position information of a moving object by photographing a reference point marker attached to a reference point such as a wall or pillar with a camera mounted on the moving object, recognizes the position of an object relative to the position of the moving object by photographing an object marker attached to the object, and manages the positions of the moving object and the objects. Patent Document 2 discloses a system that recognizes the position of a moving object by photographing a marker attached to the moving object with a camera installed in a building.

In these systems, as the moving object moves, an error may occur between the actual position of the moving object and the calculated position of the moving object. As a technology for reducing such an error (position error), there is a system that controls the movement of the moving object according to the estimated error. For example, Patent Document 3 discloses a system that creates a calculation accuracy map using the distance between an autonomous automated guided vehicle and a landmark, and controls the movement of the autonomous automated guided vehicle according to the calculation accuracy of the calculation accuracy map. Furthermore, Patent Document 4 discloses a system that creates an error registration map using the distance between an autonomous mobile device and a landmark, and plans the movement of the autonomous mobile device based on the error registration map. Furthermore, Patent Document 5 discloses a system that allows the reliability of feature points obtained from individual markers to be specified and used.

International Publication No. 2020/032157 International Publication No. 2020/208807 JP 2021-096731 A JP 2011-065308 A Republished Patent No. 2015/040657

The following analysis is provided by the present inventors.

However, when controlling a moving object using a marker, errors in the moving object are not only errors (position errors) between the actual position of the moving object and the calculated position of the moving object as it moves, but also errors in detecting the vertices of the four corners of the marker (vertex detection errors) due to camera performance such as the camera's resolution and angle of view. In addition, the shooting environment, such as the brightness at the time of shooting, and vibrations due to the speed and shaking of the moving object affect how the marker is captured in the image, so errors due to the shooting environment and the moving conditions of the moving object (shooting environment errors, moving condition errors) also occur. Such errors cause problems such as the moving object not being able to be guided to the correct position, or it taking a long time to guide it to the correct position. In this regard, the systems in Patent Documents 3 to 5 do not take into account shooting environment errors and moving condition errors, so there is a possibility that the moving object cannot be accurately controlled.

The main objective of the present invention is to provide a mobile body, a server device, a mobile body control system, a mobile body control method, and a program that can reduce the effects of shooting environment errors and moving situation errors when photographing a marker from a mobile body and contribute to accurate control of the mobile body.

The moving body related to the first viewpoint includes an image capturing unit configured to capture an image of a marker, a position calculation unit configured to analyze the marker in an image captured by the image capturing unit and calculate the position of the moving body itself based on image capturing setting information including a resolution and angle of view set in the image capturing unit and pre-setting information including a type, identification information, and size pre-set for the marker, an error calculation unit configured to calculate an estimated maximum error value related to the position of the marker based on the position of the moving body itself, the pre-setting information, and the image capturing setting information, and a moving body control unit configured to control the position of the moving body itself to move along a travel route on a preset map, control the moving speed of the moving body itself to be smaller than a preset reference moving speed when the estimated maximum error value is greater than a preset error threshold, and control the moving speed of the moving body itself to be equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold.

The server device according to the second aspect includes a receiving unit configured to receive, from a moving body, image data including a marker captured by a capture unit of the moving body; a position calculation unit configured to analyze the marker in the image data and calculate the position of the moving body based on capture setting information including a resolution and angle of view set in the capture unit and pre-setting information including a type, identification information, and size pre-set for the marker; an error calculation unit configured to calculate an estimated maximum error value related to the position of the marker based on the position of the moving body, the pre-setting information, and the capture setting information; a control information generation unit configured to generate control information so that the position of the moving body moves along a travel route on a predetermined map, generate the control information so that the moving speed of the moving body is smaller than a predetermined reference moving speed when the estimated maximum error value is greater than a predetermined error threshold, and generate the control information so that the moving speed of the moving body is equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold; and a transmission unit configured to transmit the control information to the moving body.

The mobile object control system relating to the third viewpoint includes a marker and a mobile object relating to the first viewpoint.

The mobile object control system relating to the fourth viewpoint includes a mobile object including a marker, an image capturing unit configured to capture an image of the marker, and a transmission unit configured to transmit image data including the marker captured by the image capturing unit to an external device, and a server device relating to the second viewpoint.

The moving body control method according to the fifth aspect is a moving body control method in which a moving body autonomously controls its own movement, and includes the steps of: photographing a marker with a photographing unit of the moving body; analyzing the marker in the image photographed by the photographing unit and calculating the position of the moving body itself based on photographing setting information including a resolution and angle of view set in the photographing unit and pre-setting information including a type, identification information, and size pre-set for the marker; calculating an estimated maximum error value for the position of the marker based on the position of the moving body itself, the pre-setting information, and the photographing setting information; and controlling the position of the moving body itself to move along a travel route on a preset map, controlling the moving speed of the moving body itself to be smaller than a preset reference moving speed when the estimated maximum error value is greater than a preset error threshold, and controlling the moving speed of the moving body itself to be equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold.

The mobile object control method according to the sixth aspect is a mobile object control method for controlling the movement of a mobile object by controlling a server device, and includes the steps of receiving image data including a marker captured by a capture unit of the mobile object from the mobile object, analyzing the marker in the image data and calculating the position of the mobile object based on capture setting information including a resolution and angle of view set in the capture unit and pre-setting information including a type, identification information, and size pre-set for the marker, calculating an estimated maximum error value for the position of the marker based on the position of the mobile object, the pre-setting information, and the capture setting information, generating control information so that the position of the mobile object moves along a travel route on a map that is set in advance, generating the control information so that the moving speed of the mobile object is smaller than a preset reference moving speed when the estimated maximum error value is greater than a preset error threshold, and generating the control information so that the moving speed of the mobile object is equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold, and transmitting the control information to the mobile object.

The program according to the seventh aspect is a program for causing a moving body to execute a process for controlling its own movement independently, and causes the moving body to execute the following processes: a process for photographing a marker with a photographing unit of the moving body; a process for calculating the position of the moving body itself by analyzing the marker in an image photographed by the photographing unit based on photographing setting information including a resolution and angle of view set in the photographing unit and pre-setting information including a type, identification information, and size pre-set for the marker; a process for calculating an estimated maximum error value related to the position of the marker based on the position of the moving body itself, the pre-setting information, and the photographing setting information; and a process for controlling the position of the moving body itself to move along a travel route on a preset map, controlling the moving speed of the moving body itself to be smaller than a preset reference moving speed when the estimated maximum error value is greater than a preset error threshold, and controlling the moving speed of the moving body itself to be equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold.

The program according to the eighth aspect is a program that causes a server device to execute a process of controlling the movement of a moving body under the control of the server device, and causes the server device to execute the following processes: receiving image data including a marker captured by a capture unit of the moving body from the moving body; analyzing the marker in the image data to calculate the position of the moving body based on capture setting information including a resolution and angle of view set in the capture unit and pre-setting information including a type, identification information, and size pre-set for the marker; calculating an estimated maximum error value for the position of the marker based on the position of the moving body, the pre-setting information, and the capture setting information; generating control information so that the position of the moving body moves along a travel route on a preset map, generating the control information so that the moving speed of the moving body is smaller than a preset reference moving speed when the estimated maximum error value is greater than a preset error threshold, and generating the control information so that the moving speed of the moving body is equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold; and transmitting the control information to the moving body.

The program can be recorded on a computer-readable storage medium. The storage medium can be a non-transient medium such as a semiconductor memory, a hard disk, a magnetic recording medium, or an optical recording medium. In the present disclosure, the program can also be embodied as a computer program product. The program is input to the computer device from an input device or an external device via a communication interface, stored in a storage device, and drives the processor according to a predetermined step or process, and can display the processing results, including intermediate states as necessary, at each stage via a display device, or can communicate with the outside via the communication interface. As an example, a computer device for this purpose typically includes a processor, a storage device, an input device, a communication interface, and a display device as necessary, all of which can be connected to each other via a bus.

The first to eighth aspects can reduce the effects of shooting environment errors and movement situation errors when photographing a marker from a moving body, contributing to accurate control of the moving body.

1 is a block diagram illustrating a configuration of a mobile object control system according to a first embodiment. FIG. 2 is an image diagram showing a typical example of a usage mode of the mobile object control system according to the first embodiment. 4 is a table illustrating an example of item position information used in the mobile object control system according to the first embodiment. 4 is a table showing an example of item position error information used in the mobile object control system according to the first embodiment; FIG. 1 is an image diagram showing a typical cause of an error in a marker position. FIG. 13 is an image diagram showing a schematic representation of a horizontal or vertical error in a marker position. FIG. 13 is an image diagram showing a schematic representation of an error in the forward/backward direction of a marker position. FIG. 13 is an image diagram showing a typical error in the marker attitude. FIG. 13 is an image diagram showing a schematic representation of an X-axis angle error of a marker attitude. FIG. 13 is an image diagram showing a schematic representation of an angle error of the marker attitude in the Y-axis or Z-axis. 4 is a flowchart illustrating an item position management operation of the mobile object control system according to the first embodiment. 4 is a flowchart illustrating a mobile body control operation of a mobile body in the mobile body control system according to the first embodiment. FIG. 11 is a block diagram illustrating a configuration of a mobile object control system according to a second embodiment. 10 is a flowchart illustrating an item position management operation of a mobile object control system according to a second embodiment. 10 is a flowchart illustrating a control information generating operation of a management server in a mobile object control system according to a second embodiment. FIG. 11 is a block diagram illustrating a configuration of a mobile object control system according to a third embodiment. FIG. 11 is an image diagram showing an example of map information used in the mobile object control system according to the third embodiment. FIG. 11 is a block diagram illustrating a configuration of a mobile object control system according to a fourth embodiment. FIG. 13 is a block diagram illustrating a configuration of a mobile object control system according to a fifth embodiment. FIG. 2 is a block diagram illustrating a schematic configuration of hardware resources.

The following describes the embodiments with reference to the drawings. Note that when reference symbols are used in this application, they are intended to aid understanding and are not intended to limit the invention to the illustrated form. The following embodiments are merely illustrative and do not limit the invention. The connection lines between blocks in the drawings and the like referred to in the following description include both bidirectional and unidirectional lines. One-way arrows are used to diagrammatically indicate the flow of the main signal (data) and do not exclude bidirectionality. Furthermore, although not explicitly shown in the circuit diagrams, block diagrams, internal configuration diagrams, connection diagrams, and the like shown in this disclosure, input ports and output ports exist at the input and output ends of each connection line. The same is true for input/output interfaces. The program is executed via a computer device, which includes, for example, a processor, a storage device, an input device, a communication interface, and a display device as necessary, and the computer device is configured to be able to communicate with devices inside or outside the device (including a computer) via the communication interface, whether wired or wireless.

[Embodiment 1]
A mobile object control system according to the first embodiment will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of the mobile object control system according to the first embodiment. FIG. 2 is an image diagram showing a schematic example of a usage mode of the mobile object control system according to the first embodiment. FIG. 3 is a table showing a schematic example of item position information used in the mobile object control system according to the first embodiment. FIG. 4 is a table showing a schematic example of item position error information used in the mobile object control system according to the first embodiment.

The mobile object control system 1 is a system that controls the mobile object 30 using a reference point marker 12 that is attached to a reference point (a predetermined position of the wall 10 and the pillar 11 in FIG. 2) in advance (see FIG. 1). The mobile object control system 1 is configured to control the movement of the mobile object 30 autonomously along a travel route on a map that is set in advance, using information (identification information, absolute position, absolute direction, size) related to the reference point marker 12. The mobile object control system 1 in FIG. 1 is applied to automatically manage (inventory management) the positions (absolute positions) of multiple (multiple or multiple types) items 20 in a warehouse 5 using the mobile object 30 as shown in FIG. 2, but is not limited to this. The mobile object control system 1 can be applied not only to inventory management in the logistics and warehousing industries, but also to automatic inspections (cases where inspections are performed by automatically traveling) in public infrastructure such as factories, tunnels, and roads in the manufacturing industry, and automatic driving of the mobile object 30. The mobile object control system 1 includes one or more reference point markers 12, one or more item markers 21, one or more mobile objects 30, and a server device 50.

Here, reference points such as the wall 10 and pillar 11 in the warehouse 5 in FIG. 2 are provided with reference point markers 12a and 12b (corresponding to the reference point marker 12 in FIG. 1) that identify the reference points. The reference point markers 12a and 12b serve as landmarks. The reference point markers 12a and 12b can be detected by the moving body 30 and serve as the basis for calculating the position of the moving body 30 and the item 20. At least one reference point marker 12a and 12b is sufficient, and if there are multiple reference point markers, they are managed so that they do not overlap. There is a one-to-one correspondence between the reference points (wall 10, pillar 11) and the reference point markers 12a and 12b. The reference point markers 12a and 12b are managed in association with uniquely identifiable identification information, absolute position (coordinates), absolute direction (posture: direction in which the marker surface is facing), and size (marker side length, size, area, etc.). Once the reference point markers 12a and 12b are identified, the absolute positions of the reference points (wall 10, pillar 11) can be determined.

In addition, in the warehouse 5 of FIG. 2, a plurality of items 20 are arranged at arbitrary positions. The items 20 are, for example, containers stacked on pallets, cardboard boxes, machines, devices, etc. Each of the plurality of items 20 is affixed with an item marker 21. The item marker 21 can be detected by the moving body 30 and is used when calculating the relative position between the moving body 30 and the item 20. The plurality of item markers 21 are managed so that they do not overlap. There is a one-to-one correspondence between the items 20 and the item markers 21. Each item marker 21 is managed in association with uniquely identifiable identification information and a size (marker side length, size, area, etc.). If the item marker 21 is uniquely identified and the position of the item marker 21 is identified, the position of the item 20 is identified.

As the reference point markers 12a, 12b and the item marker 21, any shape or size of markers can be used as long as they can be detected by the moving body 30 and the relative positions of the moving body 30 and the markers 12a, 12b, and 21 can be calculated. For example, ArUco markers, QR (Quick Response) codes, AR (Augmented Reality) markers, etc. can be used. For the reference point markers 12a, 12b and the item marker 21, printed matter of markers can be used. The printed markers are affixed to predetermined positions on the item 20 or the warehouse 5.

The mobile body 30 is an object that moves autonomously (see FIG. 1 and FIG. 2). The mobile body 30 travels within the warehouse 5. The number of mobile bodies 30 is not limited to one, and may be multiple. The mobile body 30 is connected to the server device 50 so as to be able to communicate (wireless communication possible, wired communication possible). The mobile body 30 may be connected to the server device 50 so as to be able to communicate via a network (not shown). In FIG. 1, a mobile robot capable of moving on the ground 13 is used as the mobile body 30, but it is sufficient that the position can be changed within the warehouse 5. For example, a work robot such as a forklift, a drone capable of moving within the space within the warehouse 5, a mobile body that moves on rails laid on the ceiling, a walking robot that patrols within the warehouse 5, etc. may be used.

The moving body 30 has a function of photographing the reference point marker 12a or 12b or the item marker 21 while moving. The moving body 30 has a function of analyzing the reference point marker 12a or 12b in the photographed image, calculating the relative position between the moving body 30 and the reference point marker 12a or 12b, and calculating the absolute position of the moving body 30 based on the preset absolute position of the reference point marker 12a or 12b. The moving body 30 has a function of analyzing the item marker 21 in the photographed image, calculating the relative position between the moving body 30 and the item marker 21, and calculating the absolute position of the item marker 21 based on the calculated absolute position of the moving body 30. The moving body 30 has a function of transmitting item position information including the absolute position of the item marker 21 (corresponding to the absolute position of the item 20) to the server device 50. The moving body 30 has a function of calculating an estimated maximum error value of the position of the reference point marker 12a or 12b or the item marker 21 that occurs when the reference point marker 12a or 12b or the item marker 21 is photographed, and controlling the moving speed of the moving body 30 based on the calculated estimated maximum error value.

If the moving body 30 is a mobile robot, it may include a frame, a means of movement (wheels, caterpillars, etc.), a power source (motor, etc.), a power transmission mechanism (transmission, etc.), a power source (battery, etc.), a steering means (rudders, etc.), a safety function to prevent contact or collision, a communication function, a camera, etc. The moving body 30 includes a computer including a memory, a processor, etc. By using the memory and executing a program in the processor, the moving body 30 may virtually include a photographing unit 31, a position calculation unit 32, an error calculation unit 33, a moving body control unit 34, a position information transmission unit 35, a memory unit 36, and a drive unit 37.

The photographing unit 31 is a functional unit that photographs the reference point markers 12 (12a, 12b) and the item markers 21 (see Figures 1 and 2). The photographing unit 31 generates data (image data) related to the photographed image (e.g., a two-dimensional image, a three-dimensional image). The photographing unit 31 outputs the generated image data to the position calculation unit 32 and the error calculation unit 33.

The position calculation unit 32 is a functional unit that calculates the absolute positions of the moving body 30 and the article 20 by analyzing image data (see FIG. 1). The position calculation unit 32 acquires image data from the photographing unit 31. The position calculation unit 32 acquires photographing setting information (e.g., resolution, angle of view, shutter speed, aperture value, zoom, etc.) from the memory unit 36. The position calculation unit 32 uses the acquired photographing setting information to analyze the acquired image data and detect each piece of identification information related to the reference point marker 12 and the article marker 21.

Based on the recognition information related to the detected reference point marker 12, the position calculation unit 32 acquires information (absolute position, absolute direction, size) related to the corresponding reference point marker 12 from the storage unit 36. Based on the acquired information (absolute direction, size) related to the reference point marker 12 and the acquired image data (image of the reference point marker 12), the position calculation unit 32 calculates the relative position between the reference point marker 12 and the moving body 30. Based on the acquired information (absolute position) related to the reference point marker 12 and the calculated relative position between the reference point marker 12 and the moving body 30, the position calculation unit 32 calculates the absolute position (coordinates, attitude) of the moving body 30. The position calculation unit 32 outputs moving body position information including the calculated absolute position (or relative position) of the moving body 30 to the moving body control unit 34 and the error calculation unit 33.

Based on the recognition information related to the detected item marker 21, the position calculation unit 32 acquires preset information (size) related to the corresponding item marker 21 from the storage unit 36. Based on the acquired preset information (size) related to the item marker 21 and the acquired image data (image of the item marker 21), the position calculation unit 32 calculates the relative position between the item marker 21 and the moving body 30. Based on the calculated absolute position of the moving body 30 and the calculated relative position between the item marker 21 and the moving body 30, the position calculation unit 32 calculates the absolute position (coordinates, attitude) of the item marker 21. The position calculation unit 32 outputs item position information (e.g., see FIG. 3) including the calculated absolute position (or a relative position) of the item marker 21 to the error calculation unit 33 and the position information transmission unit 35.

In addition, as a method for calculating the relative position between the reference point marker 12 and the moving body 30, and the relative position between the article marker 21 and the moving body 30, a known calculation method such as the PNP (Perspective-n-Point) method can be used.

Here, the item position information related to the item marker 21 is information that associates the identification information (ID) of the item marker 21, coordinate information (X-axis coordinate (X), Y-axis coordinate (Y), Z-axis coordinate (Z)), and posture information (Z-axis angle (Yaw), Y-axis angle (Pitch), and X-axis angle (Roll)) as shown in FIG. 3.

The error calculation unit 33 is a functional unit that calculates the estimated maximum error value (for example, see the estimated maximum error value in FIG. 4) of the position of the marker (reference point marker 12 or item marker 21) (see FIG. 1). The error calculation unit 33 acquires shooting setting information from the memory unit 36. The error calculation unit 33 acquires pre-setting information (identification information, size, etc.) related to the marker from the memory unit 36. The error calculation unit 33 acquires information necessary to calculate the distance between the marker and the moving body 30 from the position calculation unit 32. When acquiring information necessary to calculate the distance between the reference point marker 12 and the moving body 30, the error calculation unit 33 may acquire information related to the relative position of the reference point marker 12 and the moving body 30 from the position calculation unit 32, or may acquire pre-setting information related to the item marker 21 from the memory unit 36 and acquire moving body position information from the position calculation unit 32. When acquiring information required to calculate the distance between the article marker 21 and the moving body 30, the error calculation unit 33 may acquire information on the relative positions of the article marker 21 and the moving body 30 from the position calculation unit 32, or may acquire article position information and moving body position information from the position calculation unit 32. The error calculation unit 33 calculates an estimated maximum error value of the position of the reference point marker 12 or the article marker 21 (for example, see the estimated maximum error value (coordinate error (for example, see Equation 4), attitude error (for example, see Equations 5 and 6)) in FIG. 4) based on the acquired information. The error calculation unit 33 outputs the calculated estimated maximum error value toward the moving body control unit 34. When the calculated estimated maximum error value is the estimated maximum error value of the position of the article marker 21, the error calculation unit 33 may output the acquired article position information and the calculated item position error information (for example, see FIG. 4) including the estimated maximum error value of the position of the article marker 21 toward the moving body control unit 34. Details of how to calculate the estimated maximum error value will be described later (see Figures 5 to 10).

The mobile object control unit 34 is a functional unit that controls the movement of the mobile object 30 by controlling the drive unit 37 (see FIG. 1). The mobile object control unit 34 acquires mobile object position information from the position calculation unit 32. While checking the acquired mobile object position information, the mobile object control unit 34 controls the mobile object 30 to move according to route information on a map that has been set in advance (while making corrections so as not to deviate from the route information).

The mobile object control unit 34 acquires the item position information from the position calculation unit 32. Based on the acquired mobile object position information and item position information, the mobile object control unit 34 controls the movement of the mobile object 30 so that the mobile object 30 does not collide with the item 20.

The moving body control unit 34 acquires an error threshold value (a preset threshold value) from the memory unit 36. The moving body control unit 34 acquires an estimated maximum error value of the position of the reference point marker 12 or the item marker 21 from the error calculation unit 33. The moving body control unit 34 judges whether the estimated maximum error value (coordinate error, attitude error) is greater than the error threshold value (threshold value for coordinate error, threshold value for attitude error). When the estimated maximum error value is greater than the error threshold value, the moving body control unit 34 controls the movement of the moving body 30 so that the moving speed of the moving body 30 is smaller than the reference moving speed (preset reference moving speed). When the estimated maximum error value is equal to or less than the error threshold value, the moving body control unit 34 controls the movement of the moving body 30 so that the moving speed of the moving body 30 is equal to or greater than the reference moving speed. When controlling the movement of the moving body 30 so that it is equal to or greater than the reference moving speed, the moving body control unit 34 may control the movement of the moving body 30 so that it is equal to or less than the maximum moving speed (preset maximum moving speed). When determining whether the estimated maximum error value is greater than the error threshold, it may be determined whether all of the coordinate errors and attitude errors are greater than the coordinate error threshold and attitude error threshold, or it may be determined whether either the coordinate error or the attitude error is greater than the coordinate error threshold and attitude error threshold.

The result of the mobile body control unit 34 determining whether the estimated maximum error value is greater than the error threshold value can also be used to detect a situation in which the marker is poorly captured and an accurate position cannot be obtained. This reduces the amount of calculations on the mobile body 30 and allows the mobile body 30 to be controlled quickly. It can also be used to detect a deterioration in the capture conditions of the marker.

The position information transmission unit 35 is a functional unit that transmits the item position information (e.g., see FIG. 3) obtained from the position calculation unit 32 to the server device 50 (see FIG. 1).

The memory unit 36 is a functional unit that stores various data (see FIG. 1). For example, the memory unit 36 stores shooting setting information (resolution, angle of view, shutter speed, aperture value, zoom, etc.) related to the shooting unit 31, pre-setting information (identification information, absolute position, absolute direction, size, etc.) related to the reference point marker 12, pre-setting information (identification information, size, etc.) related to the item marker 21, a map (route information, etc.) on which the moving body 30 travels, an error threshold, etc.

The drive unit 37 is a functional unit that drives the moving body 30 (see FIG. 1). The drive unit 37 drives the moving body 30 so that the moving body 30 moves forward, backward, turns left, and turns right under the control of the moving body control unit 34. The drive unit 37 controls the movement speed of the moving body 30 under the control of the moving body control unit 34.

The server device 50 is a device that manages (inventory management) the location of each item 20 in the warehouse 5 based on item location information from the mobile object 30 (see Figures 1 and 2). The server device 50 may be installed in a location other than the warehouse 5, for example, an office. The server device 50 is connected to the mobile object 30 so as to be able to communicate (wireless communication possible, wired communication possible). The server device 50 may be connected to the mobile object 30 so as to be able to communicate via a network (not shown). The server device 50 comprises a computer including a memory, a processor, etc. The server device 50 virtually comprises a location information receiving unit 51 and an item location management unit 52 by executing a program in the processor while using the memory.

The position information receiving unit 51 is a functional unit that receives item position information (e.g., see FIG. 3) transmitted from the mobile object 30 (see FIG. 1). The position information receiving unit 51 outputs the received item position information to the item position management unit 52.

The item location management unit 52 is a functional unit that manages the location (inventory management) of each item 20 based on the item location information from the location information receiving unit 51 (see FIG. 1). The item location management unit 52 also has a function of counting the number of items.

Next, the causes of marker position error and attitude error in the mobile object control system according to the first embodiment will be described with reference to the drawings. Here, an article marker 21 will be used as an example of the marker, but a reference point marker 12 may also be used. FIG. 5 is an image diagram that shows the causes of marker position error. FIG. 6 is an image diagram that shows the horizontal or vertical position error of the marker. FIG. 7 is an image diagram that shows the front-rear position error of the marker. FIG. 8 is an image diagram that shows the attitude error of the marker. FIG. 9 is an image diagram that shows the X-axis angle error of the marker. FIG. 10 is an image diagram that shows the Y-axis or Z-axis angle error of the marker.

Figure 5 illustrates the causes of position error of the item marker 21. In the PNP method used as a method for calculating the relative position of the item marker 21 and the photographing unit 31 (= moving body 30), when calculating the positions (coordinates, attitude) of the item marker 21 and the photographing unit 31, the vertices of the four corners of the item marker 21 are detected and the positions are calculated. The detection deviation of these vertices is the cause of the error. When the item marker 21 is photographed by the photographing unit 31, the four corners of the item marker 21 in the image have a detection width of 1 pixel according to the performance (angle of view, resolution) of the photographing unit 31. This detection width of 1 pixel can be calculated as the position error (coordinate error, attitude error). Note that this detection width of 1 pixel is valid when the image is in focus, and when the image is not in focus, an error exceeding 1 pixel may occur. Here, the explanation is given on the assumption that the image is in focus (detection width is within 1 pixel). The case where the image is not in focus will be described later.

When the photographing unit 31 faces the positive direction of the X axis, if the article marker 21 is directly facing the photographing unit 31, the coordinates of the position of the article marker 21 can be expressed by the X axis in the front-to-back direction, the Y axis in the horizontal direction, and the Z axis in the vertical direction (see Figure 5 (A)). The difference between the physically measured (x, y, z) and the logically estimated (x', y', z') is the coordinate error of the marker.

The coordinates of the item marker 21 can be estimated based on the coordinates of the vertices of the four corners of the item marker 21 (see FIG. 5B). The size of the captured pixel causes deviations in the vertices of the four corners. This causes coordinate errors.

When calculating the four corners (vertices) of the item marker 21 and estimating the coordinates of the item marker 21, the upper right corner of the item marker 21 when light is received by the imaging unit 31 is as shown in Figure 5 (C). As a result of receiving light, the upper right corner of the item marker 21 becomes blurred as shown in Figure 5 (D), and this blurring becomes a source of error.

Figures 6 and 7 illustrate the principle of coordinate error of the item marker 21. A horizontal coordinate error occurs when the item marker 21 is shifted in the lateral direction (see Figure 6). The horizontal error is a maximum of 1 pixel, so the maximum width is 1 pixel. The size of 1 pixel depends on the distance between the image capture unit 31 and the item marker 21. The horizontal (Y-axis) error "Y" can be expressed as in Equation 1. In Equation 1, "H" represents the horizontal angle of view of the image capture unit 31, "L" represents the distance between the image capture unit 31 and the item marker 21, and "Rh" represents the number of horizontal pixels of the image capture unit 31.

[Formula 1]

A vertical coordinate error occurs when the item marker 21 is shifted up or down (see Figure 6). Like the horizontal error, a vertical error can be up to 1 pixel wide, resulting in a maximum width of 1 pixel. The size of 1 pixel depends on the distance between the image capture unit 31 and the item marker 21. The vertical (Z-axis) error "Z" can be expressed as in Equation 2. In Equation 2, "V" represents the vertical angle of view of the image capture unit 31, "L" represents the distance between the image capture unit 31 and the item marker 21, and "Rv" represents the number of pixels in the vertical direction of the image capture unit 31.

[Formula 2]

The forward/backward error in the coordinate error occurs when the item marker 21 is shifted in the near/far direction (see Figure 7). The forward/backward error can occur when the shape of the item marker 21 becomes smaller and appears to be moving towards the viewer, or when the shape of the item marker 21 becomes larger and appears to be moving towards the viewer. Both triangles T1 and T2 in Figure 7 are the same size, and the forward/backward error of the item marker 21 is the same error "X" in both the forward and backward directions. The forward/backward error is a maximum of 1 pixel shift, so the maximum width is 1 pixel. The size of 1 pixel depends on the distance between the photographing unit 31 and the item marker 21. The forward/backward error "X" can be expressed as in Equation 3. In Equation 3, "M" represents the side length of the article marker 21, "C" represents the horizontal or vertical error (the difference between the marker side length M and line length A or line length B: equivalent to the horizontal error "Y" or the vertical error "Z"), and "L" represents the distance between the imaging unit 31 and the article marker 21.

[Formula 3]

The result of combining these errors in the horizontal/vertical/front-back directions (Y-axis/Z-axis/X-axis directions) is the coordinate error G at the estimated maximum error value of the marker, and the coordinate error G can be expressed as in Equation 4.
[Formula 4]

Figure 8 illustrates the principle of posture error (angular error) of the item marker 21. The angular error indicates a deviation in the orientation of the item marker 21, and Figure 8 shows a case where the detection of the vertices is deviated in the up or down direction. As shown in the enlarged view of vertices P1 and P2 in Figure 8, the angular error is maximum when the upper left vertex P1 is erroneously recognized as upward and the upper right vertex P2 is erroneously recognized as downward. When a deviation occurs in the recognition of the vertices in this way, a posture error (angular error) of the item marker 21 occurs.

Figures 9 and 10 show the principle of marker attitude error (angular error) divided into the X-axis and the Y-axis/Z-axis. The X-axis angular error (attitude error) is a rotation error in which the article marker 21 appears to rotate around the X-axis as the central axis, and corresponds to Roll in Figure 5 (see Figure 9). As shown in Figure 8, the X-axis angular error can be up to 2 pixels. The angle "D1" of triangle T3 obtained from the marker side length M and the error of 2 pixels (twice the horizontal error Y in Equation 1) is the X-axis angular error. The X-axis angular error "D1" can be expressed as in Equation 5.

[Formula 5]

The Y-axis and Z-axis angular errors (posture errors) are rotation errors that occur when the apex of the article marker 21 is erroneously detected in the forward and backward directions, and correspond to Yaw and Pitch in FIG. 5 (see FIG. 10). The Y-axis and Z-axis angular errors occur because the article marker 21 is photographed smaller by an error C (corresponding to the error Y in Equation 1 or the error Z in Equation 2: an error of 1 pixel) when it rotates. The angle "D2" of the triangle T4 obtained by the marker side length M/2 and the error C (error Y, error Z) is the Y-axis or Z-axis angular error. The Y-axis or Z-axis angular error "D2" can be expressed as in Equation 6.
[Formula 6]

The attitude error (angle error) at the estimated maximum error value of the item marker 21 is calculated by dividing the X-axis Roll, Y-axis Pitch, and Z-axis Yaw into angular errors, and are not compounded.

The above is based on the premise that the image is captured in focus. Depending on the shooting environment (such as brightness or blur of the shooting unit 31), a detection error of more than one pixel may occur. The shooting environment can be estimated from the shooting setting information of the shooting unit 31 and the control information of the moving body 30. The range in focus can be calculated from the focal length and the aperture value. Therefore, it is possible to determine whether the focus is correct by determining whether the distance between the shooting unit 31 and the marker obtained from the pre-setting information of the marker is within a predetermined range. In addition, the shorter the shutter speed, the more clearly the marker can be determined to be captured. Furthermore, since the blur of the shooting unit 31 can be obtained by acquiring the moving speed and vibration of the moving body 30, it is possible to determine whether the marker is captured clearly. As described above, by defining in advance how many pixels the detection of the four corners of the marker may occur from the shooting setting information of the shooting unit 31 and the control information of the moving body 30, it is possible to calculate the error even in a situation where the focus is not correct, such as calculating the error assuming that an error of 2 pixels may occur in a situation where the focus is not correct.

Next, the item location management operation of the mobile object control system according to the first embodiment will be described with reference to the drawings. FIG. 11 is a flow chart that illustrates the item location management operation of the mobile object control system according to the first embodiment.

First, the moving body 30 photographs the markers (reference point marker 12, item marker 21) using the photographing unit 31 (step A1).

Next, the moving body 30 calculates the respective positions of itself and the item 20 based on the captured image using the position calculation unit 32 (step A2).

Next, the mobile unit 30 controls the mobile unit control unit 34 to travel along the travel route stored in the memory unit 36 based on its calculated position (step A3).

Next, the mobile object 30 transmits information related to the calculated position of the item 20 (item position information) to the server device 50 by the position information transmission unit 35 (step A4). Then, the process returns to the start.

Next, the server device 50 receives the item location information from the mobile object 30 via the location information receiving unit 51 (step A5).

Next, the server device 50 accumulates the positions of the items 20 as inventory results based on the received item position information through the item position management unit 52 (step A6). After that, the process returns to the start. The accumulated inventory results can be output when an inventory operation is performed by the user. Also, when a position confirmation operation is performed by the user, a table of the positions of the items 20 or a diagram showing the placement of the items 20 on a map can be output.

Next, the mobile body control operation of a mobile body in the mobile body control system according to the first embodiment (details of step A3 in FIG. 11) will be described with reference to the drawings. FIG. 12 is a flow chart that illustrates the mobile body control operation of a mobile body in the mobile body control system according to the first embodiment.

After step A2, the moving body 30 calculates an estimated maximum error value using the error calculation unit 33 based on the calculated positions of itself and the item 20, the shooting setting information stored in the memory unit 36, and the pre-setting information (identification information, size, etc.) regarding the item marker 21 (step B1).

Next, the mobile unit 30 determines whether the calculated estimated maximum error value is greater than the error threshold value stored in the memory unit 36 by the mobile unit control unit 34 (step B2).

If the estimated maximum error value is greater than the error threshold value (YES in step B2), the mobile unit 30 controls its own travel so that it travels along the travel route stored in the memory unit 36 based on its calculated position by the mobile unit control unit 34, while controlling its own travel so that its travel speed is smaller than the reference travel speed (preset reference travel speed) (step B3), and then proceeds to step A4.

If the estimated maximum error value is equal to or less than the error threshold value (NO in step B2), the mobile unit 30 controls its own travel so that it travels along the travel route stored in the memory unit 36 based on its calculated position, while controlling its own travel so that its travel speed is equal to or greater than the reference travel speed (step B4), and then proceeds to step A4.

According to the first embodiment, the movement speed of the moving body 30 is controlled using an estimated maximum error value calculated taking into account the shooting environment and movement conditions when the marker (12 or 21) is photographed from the moving body 30, which reduces the effects of shooting environment errors and movement condition errors when photographing, and contributes to accurate movement control of the moving body 30.

Furthermore, according to the first embodiment, the moving speed of the moving body 30 is controlled to be high when the estimated maximum error value is small and the influence of the shooting environment error and the moving situation error is small, so that the moving body 30 can be moved quickly and the position of the item 20 can be managed quickly.

In addition, according to embodiment 1, when the estimated maximum error value is large and the effects of shooting environment errors and movement situation errors are large, the moving speed of the moving body 30 is controlled to be slowed down, so that the moving body 30 can be moved accurately and the positional accuracy of the moving body 30 can be improved, so that the positional accuracy of the item markers 21 collected by the moving body 30 can also be improved, and the positions of the items 20 can be managed accurately.

In addition, according to the first embodiment, the estimated maximum error value of the marker's position is calculated taking into account not only the distance between the moving body 30 and the marker obtained by photographing the marker from the moving body 30, but also the shooting environment and the movement conditions at the time of photographing, so that a more accurate estimate of the marker's position can be obtained.

[Embodiment 2]
A mobile object control system according to the second embodiment will be described with reference to the drawings. Fig. 13 is a block diagram showing a schematic configuration of the mobile object control system according to the second embodiment.

The second embodiment is a modification of the first embodiment, in which the position calculation and error calculation performed by the mobile unit 30 in the first embodiment are performed by the server device 50.

The mobile object control system 2 is a system that controls a mobile object 40 using a reference point marker 12 that is attached to a reference point in advance (see FIG. 13). The mobile object control system 2 is configured to use information related to the reference point marker 12 (identification information, absolute position, absolute direction, size) to move the mobile object 40 along a predetermined travel route on a map under the control of a server device 60. The mobile object control system 2 includes one or more reference point markers 12, one or more item markers 21, one or more mobile objects 40, and a server device 60. The reference point marker 12 and the item marker 21 are similar to the reference point marker 12 and the item marker 21 of the first embodiment.

The moving body 40 is an object that moves under the control of the server device 60 (see FIG. 13). The moving body 40 is similar to the moving body 30 of embodiment 1 (see FIG. 1), but by executing a program, it can be virtually configured to include an image capture unit 41, a transmission unit 42, a reception unit 43, a moving body control unit 44, and a drive unit 45. The image capture unit 41 and the drive unit 45 are similar to the image capture unit 31 and the drive unit 37 of embodiment 1 (see FIG. 1).

The transmitting unit 42 is a functional unit that transmits predetermined data to the server device 60 (see FIG. 13). The transmitting unit 42 is connected to the server device 60 so as to be able to communicate with it (wireless communication and wired communication are possible). The transmitting unit 42 may be connected to the server device 60 so as to be able to communicate with it via a network (not shown). The transmitting unit 42 transmits the image data generated by the photographing unit 41 to the server device 60.

The receiving unit 43 is a functional unit that receives predetermined data from the server device 60 (see FIG. 13). The receiving unit 43 is connected to the server device 60 so as to be able to communicate with it (wireless communication and wired communication are possible). The receiving unit 43 may be connected to the server device 60 so as to be able to communicate with it via a network (not shown). The receiving unit 43 receives control information from the server device 60. The receiving unit 43 outputs the received control information to the mobile object control unit 44.

The mobile object control unit 44 is a functional unit that controls the movement of the mobile object 40 by controlling the drive unit 45 (see FIG. 13). The mobile object control unit 44 acquires control information from the receiving unit 43. Based on the acquired control information, the mobile object control unit 44 controls the movement of the mobile object 40 according to route information on a map that has been set in advance (while making corrections so as not to deviate from the route information) so that the mobile object 40 does not collide with an item 20. Based on the acquired control information, the mobile object control unit 44 controls the movement speed of the mobile object 40.

The server device 60 is a device that controls the movement of the mobile object 40 based on image data from the mobile object 40 and manages the position of each item in the warehouse (inventory management) (see FIG. 13). The server device 60 is similar to the server device 50 of the first embodiment, but by executing a program, it can be virtually configured to include a receiving unit 61, a position calculation unit 62, an item position management unit 63, an error calculation unit 64, a control information generation unit 65, a transmission unit 66, and a storage unit 67. The item position management unit 63, the error calculation unit 64, and the storage unit 67 are similar to the item position management unit 52, the error calculation unit 33, and the storage unit 36 of the first embodiment (see FIG. 1).

The receiving unit 61 is a functional unit that receives predetermined data from the mobile object 40 (see FIG. 13). The receiving unit 61 is connected to the mobile object 40 so as to be able to communicate with it (wireless communication possible, wired communication possible). The receiving unit 61 may be connected to the mobile object 40 so as to be able to communicate with it via a network (not shown). The receiving unit 61 receives image data from the mobile object 40. The receiving unit 61 outputs the received image data to the position calculation unit 62.

The position calculation unit 62 is a functional unit that calculates the absolute positions of the moving body 40 and the item (item marker 21) by analyzing image data (see FIG. 13). The position calculation unit 62 acquires image data from the receiving unit 61. The position calculation unit 62 acquires shooting setting information (e.g., resolution, angle of view, shutter speed, aperture value, zoom, etc.) from the memory unit 67. The position calculation unit 62 uses the acquired shooting setting information to analyze the acquired image data and detect each piece of identification information related to the reference point marker 12 and the item marker 21.

Based on the recognition information related to the detected reference point marker 12, the position calculation unit 62 acquires information (absolute position, absolute direction, size) about the corresponding reference point marker 12 from the storage unit 67. Based on the acquired information (absolute direction, size) about the reference point marker 12 and the acquired image data (image of the reference point marker 12), the position calculation unit 62 calculates the relative position between the reference point marker 12 and the moving body 40. Based on the acquired information (absolute position) about the reference point marker 12 and the calculated relative position between the reference point marker 12 and the moving body 40, the position calculation unit 62 calculates the absolute position (coordinates, attitude) of the moving body 40. The position calculation unit 62 outputs moving body position information including the calculated absolute position (or relative position) of the moving body 40 to the error calculation unit 64 and the control information generation unit 65.

Based on the recognition information related to the detected item marker 21, the position calculation unit 62 acquires preset information (size) related to the corresponding item marker 21 from the storage unit 67. Based on the acquired preset information (size) related to the item marker 21 and the acquired image data (image of the item marker 21), the position calculation unit 62 calculates the relative position between the item marker 21 and the moving body 40. Based on the calculated absolute position of the moving body 40 and the calculated relative position between the item marker 21 and the moving body 40, the position calculation unit 62 calculates the absolute position (coordinates, attitude) of the item marker 21. The position calculation unit 62 outputs item position information including the calculated absolute position (or a relative position) of the item marker 21 to the item position management unit 63 and the error calculation unit 64.

The control information generating unit 65 is a functional unit that generates control information for controlling the movement of the moving body 40 (see FIG. 13). The control information generating unit 65 acquires moving body position information from the position calculating unit 62. While checking the acquired moving body position information, the control information generating unit 65 generates control information for moving the moving body 40 according to route information on a map that has been set in advance (while making corrections so as not to deviate from the route information).

The control information generation unit 65 acquires the item position information from the position calculation unit 62. Based on the acquired moving body position information and item position information, the control information generation unit 65 generates control information for controlling the movement of the moving body 40 so that the moving body 40 does not collide with the item 20.

The control information generating unit 65 acquires an error threshold value (a preset threshold value) from the storage unit 67. The control information generating unit 65 acquires an estimated maximum error value from the error calculation unit 64. The control information generating unit 65 judges whether the estimated maximum error value (coordinate error, attitude error) is greater than an error threshold value (threshold value for coordinate error, threshold value for attitude error). When the estimated maximum error value is greater than the error threshold value, the control information generating unit 65 generates control information for controlling the movement of the moving body 40 so that the speed is smaller than a reference movement speed (a preset reference movement speed). When the estimated maximum error value is equal to or less than the error threshold value, the control information generating unit 65 generates control information for controlling the movement of the moving body 40 so that the speed is equal to or greater than the reference movement speed. When controlling the movement of the moving body 40 so that the speed is equal to or greater than the reference movement speed, the control information generating unit 65 may generate control information for controlling the movement of the moving body 40 so that the speed is equal to or less than a maximum movement speed (a preset maximum movement speed). When determining whether the estimated maximum error value is greater than the error threshold, it may be determined whether all of the coordinate errors and attitude errors are greater than the coordinate error threshold and attitude error threshold, or it may be determined whether either the coordinate error or the attitude error is greater than the coordinate error threshold and attitude error threshold.

The transmitting unit 66 is a functional unit that transmits predetermined data to the mobile body 40 (see FIG. 13). The transmitting unit 66 is connected to the mobile body 40 so as to be able to communicate with it (wireless communication and wired communication). The transmitting unit 66 may be connected to the mobile body 40 so as to be able to communicate with it via a network (not shown). The transmitting unit 66 transmits the control information generated by the control information generating unit 65 to the mobile body 40.

Next, the item location management operation of the mobile object control system according to the second embodiment will be described with reference to the drawings. FIG. 14 is a flow chart that illustrates the item location management operation of the mobile object control system according to the second embodiment.

First, the moving body 40 photographs the markers (reference point marker 12, item marker 21) using the photographing unit 41 (step C1).

Next, the mobile body 40 transmits image data including the photographed markers (reference point marker 12, item marker 21) to the server device 60 via the transmission unit 42 (step C2).

Next, the server device 60 receives the image data from the mobile object 40 via the receiving unit 61 (step C3).

Next, the server device 60 calculates the positions of the moving object 40 and the object 20 based on the received image data using the position calculation unit 62 (step C4).

Next, the server device 60 generates control information using the control information generation unit 65 to control the moving body 40 to travel along the travel route stored in the memory unit 67 based on the calculated position of the moving body 40 (step C5).

Next, the server device 60 transmits the generated control information to the mobile object 40 via the transmission unit 66 (step C6).

Next, the server device 60 accumulates the calculated positions of the items 20 as inventory results using the item position management unit 63 (step C7). After that, the process returns to the start. The accumulated inventory results can be output when an inventory operation is performed by the user. Also, when a position confirmation operation is performed by the user, a table of the positions of the items 20 or a diagram showing the placement of the items 20 on a map can be output.

Next, the mobile unit 40 receives the control information from the server device 60 via the receiving unit 43 (step C8).

Next, the mobile unit 40 controls its own movement based on the received control information using the mobile unit control unit 44 (step C9). Then, the process returns to the start.

Next, the control information generation operation of the management server in the mobile object control system according to the second embodiment (details of step C5 in FIG. 14) will be described with reference to the drawings. FIG. 15 is a flow chart that illustrates the control information generation operation of the management server in the mobile object control system according to the second embodiment.

After step C4, the server device 60 calculates an estimated maximum error value using the error calculation unit 64 based on the calculated positions of the moving body 40 and the item 20, the shooting setting information stored in the memory unit 67, and the pre-setting information (identification information, size, etc.) regarding the item marker 21 (step D1).

Next, the server device 60 determines whether the estimated maximum error value calculated by the control information generating unit 65 is greater than the error threshold value stored in the memory unit 67 (step D2).

If the estimated maximum error value is greater than the error threshold value (YES in step D2), the server device 60 generates control information using the control information generation unit 65 to control the traveling of the mobile body 40 so that the traveling speed is slower than the reference traveling speed (preset reference traveling speed) while controlling the traveling of the mobile body 40 to travel along the traveling route stored in the memory unit 67 based on the calculated position of the mobile body 40, (step D3), and then proceeds to step C6.

If the estimated maximum error value is equal to or less than the error threshold value (NO in step D2), the server device 60 generates control information using the control information generation unit 65 to control the traveling of the mobile body 40 so that the traveling speed of the mobile body 40 is equal to or greater than the reference traveling speed, while controlling the traveling of the mobile body 40 along the traveling route stored in the memory unit 67 based on the calculated position of the mobile body 40 (step D4), and then proceeds to step C6.

According to the second embodiment, as in the first embodiment, the moving speed of the moving body 40 is controlled using an estimated maximum error value calculated taking into account the shooting environment and moving conditions when the marker (12 or 21) is photographed from the moving body 40, which reduces the influence of shooting environment errors and moving condition errors when photographing, and contributes to accurate movement control of the moving body 40. Also, according to the second embodiment, the calculation of each position of the moving body 40 and the article 20 and the calculation of the estimated maximum error value are performed by the server device 60, which reduces the processing load on the moving body 40.

[Embodiment 3]
A mobile object control system according to embodiment 3 will be described with reference to the drawings. Fig. 16 is a block diagram showing a schematic configuration of the mobile object control system according to embodiment 3. Fig. 17 is an image diagram showing a schematic example of map information used in the mobile object control system according to embodiment 3.

Embodiment 3 is a modified example of embodiment 2, in which the server device 60 operates in the same manner as embodiment 2 the first time and sets an estimated maximum error value or a maximum movement speed for each section 71 of the map information 70 (sections for which an estimated maximum error value or a maximum movement speed has not been set), and from the next time onwards, the calculation of the estimated maximum error value and the determination of whether the estimated maximum error value is greater than the error threshold value are omitted, and control information is generated to control the movement speed of the moving body 40 according to the estimated maximum error value or the maximum movement speed of the section 71 of the map information 70 (sections for which an estimated maximum error value or a maximum movement speed has been set) corresponding to the calculated position of the moving body 40 (see Figures 16 and 17). As a configuration for this purpose, a map information setting unit 68 is added to the server device 60.

Here, the map information 70 is information about a map used to control the movement of the moving body 40 (see FIG. 17). For example, data about the layout of a warehouse can be used for the map information 70. A reference point marker 12 is attached to a position that is a reference point of the map information 70. The map information 70 has a plurality of sections 71 divided into a lattice shape. For each section 71, an estimated maximum error value calculated by the error calculation unit 64 or a maximum movement speed included in the control information generated by the control information generation unit 65 can be set. Since the estimated maximum error value is calculated using the distance between the moving body 40 and the reference point marker 12, it is possible to calculate the estimated maximum error value if the position of the reference point marker 12 in the map information 70 is known. In FIG. 17, the maximum movement speed is indicated by a shade of black to white. The darker the shade, the lower the maximum movement speed, and the lighter the shade, the higher the maximum movement speed.

The map information setting unit 68 is a functional unit that sets the estimated maximum error value calculated by the error calculation unit 64 or the maximum movement speed included in the control information generated by the control information generation unit 65 for each section 71 in which the estimated maximum error value or maximum movement speed is not set in the map information 70 stored in the storage unit 67 (see FIG. 16). When the position calculation unit 62 calculates the position of the moving body 40, the map information setting unit 68 determines whether the estimated maximum error value or maximum movement speed is not set for the section 71 corresponding to the position of the moving body 40 calculated by the position calculation unit 62 in the map information 70 stored in the storage unit 67. When the estimated maximum error value or maximum movement speed is not set, the map information setting unit 68 sets the estimated maximum error value calculated by the error calculation unit 64 or the maximum movement speed included in the control information generated by the control information generation unit 65 to the section 71 corresponding to the position of the moving body 40 calculated by the position calculation unit 62. When the estimated maximum error value or maximum movement speed has already been set, the map information setting unit 68 does not set the estimated maximum error value calculated by the error calculation unit 64 or the maximum movement speed included in the control information generated by the control information generation unit 65 to the section 71 corresponding to the position of the moving body 40 calculated by the position calculation unit 62.

The control information generating unit 65 performs the same operation as the control information generating unit 65 of the second embodiment when the estimated maximum error value or maximum moving speed is not set for the section 71 corresponding to the position of the moving body 40 calculated by the position calculating unit 62, but generates control information by omitting the calculation of the estimated maximum error value and the determination of whether the estimated maximum error value is greater than the error threshold value when the estimated maximum error value or maximum moving speed has been set. In other words, when the estimated maximum error value or maximum moving speed has been set, the control information generating unit 65 acquires the moving body position information and the item position information from the position calculating unit 62, and acquires from the storage unit 67 the estimated maximum error value or maximum moving speed set for the section 71 of the map information 70 corresponding to the position of the moving body 40 calculated by the position calculating unit 62. The control information generating unit 65 generates control information in the same manner as the control information generating unit 65 of the second embodiment based on the acquired moving body position information, item position information, estimated maximum error value, or maximum moving speed. When the control information generating unit 65 acquires an estimated maximum error value, it determines whether the estimated maximum error value is greater than the error threshold value. However, when the control information generating unit 65 acquires a maximum moving speed, it is possible to omit the determination of whether the estimated maximum error value is greater than the error threshold value.

The rest of the configuration and operation are the same as in embodiment 2.

According to the third embodiment, as in the second embodiment, the moving speed of the moving body 40 is controlled using the estimated maximum error value calculated in consideration of the shooting environment and moving conditions when the marker (12 or 21) is photographed from the moving body 40, which reduces the influence of shooting environment errors and moving condition errors when photographing, and contributes to accurate movement control of the moving body 40. Also, according to the third embodiment, the moving speed of the moving body 40 can be controlled by using the map information 70 in which the estimated maximum error value or maximum moving speed is set for each section 71, without calculating the estimated maximum error value or omitting the determination of whether the estimated maximum error value is greater than the error threshold value, and the processing load of the server device 60 can be reduced. Furthermore, by dividing the sections 71 finely in the map information 70 and setting the estimated maximum error value or maximum moving speed, the moving speed of the moving body 40 can be controlled more finely, and the position error of the moving body 40 can be reduced.

[Embodiment 4]
A mobile object control system according to the fourth embodiment will be described with reference to the drawings. Fig. 18 is a block diagram showing a schematic configuration of the mobile object control system according to the fourth embodiment.

The fourth embodiment is a modified example of the first embodiment, in which the mobile body 30 operates in the same manner as in the first embodiment and sets an estimated maximum error value or a maximum moving speed for each section 71 of the map information 70 (sections for which the estimated maximum error value or maximum moving speed has not been set), and from the next time onwards, the calculation of the estimated maximum error value and the determination of whether the estimated maximum error value is greater than the error threshold are omitted, and the moving speed of the mobile body 30 is controlled according to the estimated maximum error value or the maximum moving speed of the section 71 of the map information 70 (sections for which the estimated maximum error value or maximum moving speed has been set) corresponding to the calculated position of the mobile body 30 (see Figs. 17 and 18). As a configuration for this purpose, a map information setting unit 38 is added to the mobile body 30. The map information 70 and the section 71 are the same as those of the map information 70 and the section 71 of the third embodiment (see Fig. 17).

The map information setting unit 38 is a functional unit that sets the estimated maximum error value calculated by the error calculation unit 33 or the maximum movement speed when the movement of the moving body 30 is controlled by the moving body control unit 34 for each section 71 in which the estimated maximum error value or maximum movement speed is not set in the map information 70 stored in the memory unit 36 (see FIG. 18). When the position calculation unit 32 calculates the position of the moving body 30, the map information setting unit 38 determines whether the estimated maximum error value or maximum movement speed is not set for the section 71 corresponding to the position of the moving body 30 calculated by the position calculation unit 32 in the map information 70 stored in the memory unit 36. When the estimated maximum error value or maximum movement speed is not set, the map information setting unit 38 sets the estimated maximum error value calculated by the error calculation unit 33 or the maximum movement speed when the movement of the moving body 30 is controlled by the moving body control unit 34 to the section 71 corresponding to the position of the moving body 30 calculated by the position calculation unit 32. When the estimated maximum error value or maximum movement speed has already been set, the map information setting unit 38 does not set the estimated maximum error value calculated by the error calculation unit 33 or the maximum movement speed when the movement of the moving body 30 is controlled by the moving body control unit 34 in the section 71 corresponding to the position of the moving body 30 calculated by the position calculation unit 32.

When the estimated maximum error value or maximum movement speed is not set for the section 71 corresponding to the position of the moving body 30 calculated by the position calculation unit 32, the moving body control unit 34 performs the same operation as the moving body control unit 34 of the first embodiment. However, when the estimated maximum error value or maximum movement speed has been set, the calculation of the estimated maximum error value and the determination of whether the estimated maximum error value is greater than the error threshold value are omitted, and the moving body control unit 34 controls the movement of the moving body 30 based on the estimated maximum error value or maximum movement speed. In other words, when the estimated maximum error value or maximum movement speed has been set, the moving body control unit 34 acquires the moving body position information and the item position information from the position calculation unit 32, and acquires from the storage unit 36 the estimated maximum error value or maximum movement speed set for the section 71 of the map information 70 corresponding to the position of the moving body 30 calculated by the position calculation unit 32. The moving body control unit 34 controls the movement of the moving body 30 in the same manner as the moving body control unit 34 of the first embodiment, based on the acquired moving body position information, item position information, estimated maximum error value, or maximum movement speed. When the mobile unit control unit 34 acquires an estimated maximum error value, it determines whether the estimated maximum error value is greater than the error threshold value. However, when the maximum movement speed is acquired, it is possible to omit the determination of whether the estimated maximum error value is greater than the error threshold value.

The rest of the configuration and operation are the same as in embodiment 1.

According to the fourth embodiment, as in the first embodiment, the moving speed of the moving body 30 is controlled using the estimated maximum error value calculated in consideration of the shooting environment and moving conditions when the marker (12 or 21) is photographed from the moving body 30, which reduces the influence of shooting environment errors and moving condition errors when photographing, and contributes to accurate movement control of the moving body 30. Also, according to the fourth embodiment, the moving speed of the moving body 30 can be controlled by using the map information 70 in which the estimated maximum error value or maximum moving speed is set for each section 71, without calculating the estimated maximum error value or omitting the determination of whether the estimated maximum error value is greater than the error threshold value, and the processing load of the server device 60 can be reduced. Furthermore, by dividing the sections 71 finely in the map information 70 and setting the estimated maximum error value or maximum moving speed, the moving speed of the moving body 30 can be controlled more finely, and the position error of the moving body 30 can be reduced.

[Embodiment 5]
A mobile object control system according to the fifth embodiment will be described with reference to the drawings. Fig. 19 is a block diagram showing a schematic configuration of the mobile object control system according to the fifth embodiment.

The moving body 30 is configured to analyze an image including the captured marker 12, calculate its own position, and control its own movement. The moving body 30 includes a photographing unit 31, a position calculation unit 32, an error calculation unit 33, and a moving body control unit 34. The photographing unit 31 is configured to photograph the marker 12. The position calculation unit 32 is configured to analyze the marker 12 in the image photographed by the photographing unit 31 and calculate the position of the moving body 30 itself based on the photographing setting information including the resolution and angle of view set in the photographing unit 31, and the pre-setting information including the type, identification information, and size pre-set for the marker 12. The error calculation unit 33 is configured to calculate an estimated maximum error value regarding the position of the marker 12 based on the position of the moving body 30 itself, the pre-setting information, and the photographing setting information. The moving body control unit 34 controls the position of the moving body 30 itself to move along a travel route on a map that has been previously set. When the estimated maximum error value is greater than a preset error threshold value, the moving body control unit 34 controls the moving speed of the moving body 30 itself to be less than a preset reference moving speed. When the estimated maximum error value is equal to or less than the error threshold value, the moving body control unit 34 controls the moving speed of the moving body 30 itself to be equal to or greater than the reference moving speed.

According to the fifth embodiment, the movement speed of the moving body 30 is controlled using an estimated maximum error value calculated taking into account the shooting environment and movement conditions when the marker 12 is photographed from the moving body 30, which reduces the effects of shooting environment errors and movement condition errors when photographing, and contributes to accurate movement control of the moving body 30.

Note that the server device, a part of the mobile object according to the first to fifth embodiments, can be configured with so-called hardware resources (information processing device, computer), and a device having the configuration shown in FIG. 20 can be used. For example, the hardware resource 100 includes a processor 101, a memory 102, a network interface 103, etc., which are interconnected by an internal bus 104.

Note that the configuration shown in FIG. 20 is not intended to limit the hardware configuration of the hardware resource 100. The hardware resource 100 may include hardware (e.g., an input/output interface) that is not shown. Furthermore, the number of units such as the processor 101 included in the device is not intended to be limited to the example shown in FIG. 20, and for example, multiple processors 101 may be included in the hardware resource 100. The processor 101 may be, for example, a CPU (Central Processing Unit), an MPU (Micro Processor Unit), a GPU (Graphics Processing Unit), etc.

Memory 102 may be, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a HDD (Hard Disk Drive), or a SSD (Solid State Drive).

The network interface 103 may be, for example, a LAN (Local Area Network) card, a network adapter, a network interface card, etc.

The functions of the hardware resource 100 are realized by the above-mentioned processing module. The processing module is realized, for example, by the processor 101 executing a program stored in the memory 102. The program can be downloaded via a network or updated using a storage medium on which the program is stored. Furthermore, the processing module may be realized by a semiconductor chip. In other words, it is sufficient that the functions performed by the processing module are realized by the execution of software on some kind of hardware.

A part or all of the above embodiments may be described as follows, but is not limited to the following:

[Appendix 1]
An imaging unit configured to image the marker;
a position calculation unit configured to analyze the marker in the image captured by the imaging unit and calculate a position of the moving object itself based on imaging setting information including a resolution and an angle of view set in the imaging unit and pre-setting information including a type, identification information, and size pre-set for the marker;
an error calculation unit configured to calculate an estimated maximum error value regarding the position of the marker based on a position of the moving object itself, the presetting information, and the shooting setting information;
a mobile body control unit configured to control the position of the mobile body itself to move along a predetermined travel route on a map, and to control the moving speed of the mobile body itself to be smaller than a predetermined reference moving speed when the estimated maximum error value is larger than a predetermined error threshold value, and to control the moving speed of the mobile body itself to be equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold value;
A mobile body comprising:
[Appendix 2]
a map information setting unit configured to set, for each section in which an estimated maximum error value or a maximum movement speed has not been set in the preset map information, an estimated maximum error value calculated by the error calculation unit, or a maximum movement speed when the movement of the moving body itself is controlled by the moving body control unit;
the moving object control unit controls the movement of the moving object itself by using the estimated maximum error value or the maximum movement speed set in the section of the map information corresponding to the position of the moving object calculated by the position calculation unit.
2. The moving object of claim 1.
[Appendix 3]
the moving body control unit is configured to control a moving speed of the moving body itself to be equal to or higher than the reference moving speed and equal to or lower than a preset maximum moving speed when the estimated maximum error value is equal to or lower than the error threshold value.
2. The moving object of claim 1.
[Appendix 4]
A receiving unit configured to receive image data including a marker captured by an image capturing unit of the moving object from the moving object;
a position calculation unit configured to analyze the marker in the image data and calculate a position of the moving object based on shooting setting information including a resolution and an angle of view set in the shooting unit and presetting information including a type, identification information, and size set in advance for the marker;
an error calculation unit configured to calculate an estimated maximum error value regarding the position of the marker based on the position of the moving object, the presetting information, and the shooting setting information;
a control information generating unit configured to generate control information so that the position of the moving body moves along a predetermined travel route on a map, generate the control information so that the moving speed of the moving body is smaller than a predetermined reference moving speed when the estimated maximum error value is greater than a predetermined error threshold, and generate the control information so that the moving speed of the moving body is equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold;
a transmitter that transmits the control information to the mobile unit;
A server device comprising:
[Appendix 5]
a map information setting unit configured to set the estimated maximum error value calculated by the error calculation unit or the maximum movement speed when controlling the movement of the moving object for each section in which the estimated maximum error value or the maximum movement speed has not been set in the preset map information;
the control information generation unit generates the control information so as to control the movement of the moving body by using the estimated maximum error value or the maximum movement speed set in the section of the map information corresponding to the position of the moving body calculated by the position calculation unit.
5. The server device according to claim 4.
[Appendix 6]
the control information generation unit is configured to generate the control information such that, when the estimated maximum error value is equal to or less than the error threshold value, a moving speed of the moving object is equal to or more than the reference moving speed and equal to or less than a preset maximum moving speed.
5. The server device according to claim 4.
[Appendix 7]
A marker and
A moving object according to any one of Supplementary Notes 1 to 3;
A mobile control system comprising:
[Appendix 8]
A marker and
A moving body including an image capturing unit configured to capture an image of the marker and a transmission unit configured to transmit image data including the marker captured by the image capturing unit to an outside;
A server device according to any one of Supplementary Notes 4 to 6;
A mobile control system comprising:
[Appendix 9]
A method for controlling a moving object in which a moving object autonomously controls its own movement, comprising the steps of:
taking an image of a marker with an imaging unit of the moving object;
A step of calculating a position of the moving object itself by analyzing the marker in the image captured by the imaging unit based on imaging setting information including a resolution and an angle of view set in the imaging unit, and pre-setting information including a type, identification information, and size pre-set for the marker;
Calculating an estimated maximum error value regarding the position of the marker based on the position of the moving object itself, the presetting information, and the shooting setting information;
a step of controlling the position of the moving body itself so as to move along a predetermined travel route on a map, and controlling the moving speed of the moving body itself so as to be smaller than a predetermined reference moving speed when the estimated maximum error value is larger than a predetermined error threshold value, and controlling the moving speed of the moving body itself so as to be equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold value;
A mobile object control method comprising:
[Appendix 10]
A mobile object control method for controlling movement of a mobile object by controlling a server device, comprising:
receiving image data including a marker photographed by an imaging unit of the moving object from the moving object;
A step of calculating a position of the moving object by analyzing the marker in the image data based on shooting setting information including a resolution and an angle of view set in the shooting unit, and presetting information including a type, identification information, and size set in advance for the marker;
Calculating an estimated maximum error value for the position of the marker based on the position of the moving object, the presetting information, and the shooting setting information;
generating control information so that the position of the moving body moves along a predetermined travel route on a map, generating the control information so that the moving speed of the moving body is smaller than a predetermined reference moving speed when the estimated maximum error value is greater than a predetermined error threshold, and generating the control information so that the moving speed of the moving body is equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold;
transmitting said control information to said mobile unit;
A mobile object control method comprising:
[Appendix 11]
A program for causing a moving body to execute a process for autonomously controlling its own movement,
A process of photographing a marker with an imaging unit of the moving object;
A process of calculating a position of the moving object itself by analyzing the marker in the image captured by the imaging unit based on imaging setting information including a resolution and an angle of view set in the imaging unit, and pre-setting information including a type, identification information, and size pre-set for the marker;
A process of calculating an estimated maximum error value regarding the position of the marker based on the position of the moving object itself, the presetting information, and the shooting setting information;
a process of controlling the position of the moving body itself to move along a predetermined travel route on a map, controlling the moving speed of the moving body itself to be smaller than a predetermined reference moving speed when the estimated maximum error value is larger than a predetermined error threshold value, and controlling the moving speed of the moving body itself to be equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold value;
A program for causing the moving object to execute the above.
[Appendix 12]
A program for causing a server device to execute a process for controlling movement of a moving object by controlling the server device,
A process of receiving image data including a marker photographed by an imaging unit of the moving object from the moving object;
A process of calculating a position of the moving object by analyzing the marker in the image data based on shooting setting information including a resolution and an angle of view set in the shooting unit, and pre-setting information including a type, identification information, and size set in advance for the marker;
A process of calculating an estimated maximum error value regarding the position of the marker based on the position of the moving object, the presetting information, and the shooting setting information;
generating control information so that the position of the moving body moves along a predetermined travel route on a map, generating the control information so that the moving speed of the moving body is smaller than a predetermined reference moving speed when the estimated maximum error value is greater than a predetermined error threshold, and generating the control information so that the moving speed of the moving body is equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold;
transmitting the control information to the mobile unit;
A program for causing the server device to execute the above.

The disclosures of the above patent documents are incorporated herein by reference and may be used as the basis or part of the present invention as necessary. Within the framework of the entire disclosure of the present invention (including the claims and drawings), and further based on the basic technical ideas, modifications and adjustments of the embodiments and examples are possible. Furthermore, within the framework of the entire disclosure of the present invention, various combinations or selections (or non-selection as necessary) of various disclosed elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) are possible. In other words, the present invention naturally includes various modifications and corrections that a person skilled in the art would be able to make in accordance with the entire disclosure, including the claims and drawings, and the technical ideas. Furthermore, with regard to the numerical values and numerical ranges described in this application, any intermediate value, lower numerical value, and small range are considered to be described even if not specified. Furthermore, the disclosures of the above cited documents may be used in part or in whole in combination with the descriptions in this document as part of the disclosure of the present invention as necessary, in accordance with the spirit of the present invention, and are considered to be included (belong) to the disclosures of this application.

1, 2 Mobile control system 5 Warehouse 10 Wall (reference point)
11 Pillar (reference point)
12, 12a, 12b Reference point marker (marker)
13 Ground 20 Item 21 Item marker 30, 40 Mobile object 31, 41 Photographing unit 32 Position calculation unit 33 Error calculation unit 34, 44 Mobile object control unit 35 Position information transmission unit 36 Memory unit 37, 45 Driving unit 38 Map information setting unit 42 Transmission unit 43 Reception unit 50, 60 Server device 51 Position information reception unit 52, 63 Item position management unit 61 Reception unit 62 Position calculation unit 64 Error calculation unit 65 Control information generation unit 66 Transmission unit 67 Memory unit 68 Map information setting unit 70 Map information 71 Partition 100 Hardware resource 101 Processor 102 Memory 103 Network interface 104 Internal bus

Claims (10)

An imaging unit configured to image the marker;
a position calculation unit configured to analyze the marker in the image captured by the imaging unit and calculate a position of the moving object itself based on imaging setting information including a resolution and an angle of view set in the imaging unit and pre-setting information including a type, identification information, and size pre-set for the marker;
an error calculation unit configured to calculate an estimated maximum error value regarding the position of the marker based on a position of the moving object itself, the presetting information, and the shooting setting information;
a mobile body control unit configured to control the position of the mobile body itself to move along a predetermined travel route on a map, and to control the moving speed of the mobile body itself to be smaller than a predetermined reference moving speed when the estimated maximum error value is larger than a predetermined error threshold value, and to control the moving speed of the mobile body itself to be equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold value;
A mobile body comprising: a map information setting unit configured to set, for each section in the preset map information in which an estimated maximum error value or a maximum movement speed has not been set, an estimated maximum error value calculated by the error calculation unit, or a maximum movement speed when the movement of the moving body itself is controlled by the moving body control unit;
the moving body control unit controls the movement of the moving body itself by using the estimated maximum error value or the maximum movement speed set in the section of the map information corresponding to the position of the moving body calculated by the position calculation unit.
The moving body according to claim 1. the moving body control unit is configured to control a moving speed of the moving body itself to be equal to or higher than the reference moving speed and equal to or lower than a preset maximum moving speed when the estimated maximum error value is equal to or lower than the error threshold value.
The moving body according to claim 1. A receiving unit configured to receive image data including a marker captured by an image capturing unit of the moving object from the moving object;
a position calculation unit configured to analyze the marker in the image data and calculate a position of the moving object based on shooting setting information including a resolution and an angle of view set in the shooting unit and presetting information including a type, identification information, and size set in advance for the marker;
an error calculation unit configured to calculate an estimated maximum error value regarding the position of the marker based on the position of the moving object, the presetting information, and the shooting setting information;
a control information generating unit configured to generate control information so that the position of the moving body moves along a predetermined travel route on a map, generate the control information so that the moving speed of the moving body is smaller than a predetermined reference moving speed when the estimated maximum error value is greater than a predetermined error threshold, and generate the control information so that the moving speed of the moving body is equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold;
a transmitter that transmits the control information to the mobile unit;
A server device comprising: a map information setting unit configured to set the estimated maximum error value calculated by the error calculation unit or the maximum movement speed when controlling the movement of the moving object for each section in which the estimated maximum error value or the maximum movement speed has not been set in the preset map information;
the control information generation unit generates the control information so as to control the movement of the moving body by using the estimated maximum error value or the maximum movement speed set in the section of the map information corresponding to the position of the moving body calculated by the position calculation unit.
5. The server device according to claim 4. the control information generation unit is configured to generate the control information when the estimated maximum error value is equal to or less than the error threshold value, such that a moving speed of the moving object is equal to or more than the reference moving speed and equal to or less than a preset maximum moving speed.
5. The server device according to claim 4. A method for controlling a moving object in which a moving object autonomously controls its own movement, comprising the steps of:
taking an image of a marker with an imaging unit of the moving object;
A step of calculating a position of the moving object itself by analyzing the marker in the image captured by the imaging unit based on imaging setting information including a resolution and an angle of view set in the imaging unit, and pre-setting information including a type, identification information, and size pre-set for the marker;
Calculating an estimated maximum error value regarding the position of the marker based on the position of the moving object itself, the presetting information, and the shooting setting information;
a step of controlling the position of the moving body itself so as to move along a predetermined travel route on a map, and controlling the moving speed of the moving body itself so as to be smaller than a predetermined reference moving speed when the estimated maximum error value is larger than a predetermined error threshold value, and controlling the moving speed of the moving body itself so as to be equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold value;
A mobile object control method comprising: A mobile object control method for controlling movement of a mobile object by controlling a server device, comprising:
receiving image data including a marker photographed by an imaging unit of the moving object from the moving object;
A step of calculating a position of the moving object by analyzing the marker in the image data based on shooting setting information including a resolution and an angle of view set in the shooting unit, and presetting information including a type, identification information, and size set in advance for the marker;
Calculating an estimated maximum error value for the position of the marker based on the position of the moving object, the presetting information, and the shooting setting information;
generating control information so that the position of the moving body moves along a predetermined travel route on a map, generating the control information so that the moving speed of the moving body is smaller than a predetermined reference moving speed when the estimated maximum error value is greater than a predetermined error threshold, and generating the control information so that the moving speed of the moving body is equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold;
transmitting said control information to said mobile unit;
A mobile object control method comprising: A program for causing a moving body to execute a process for autonomously controlling its own movement,
A process of photographing a marker with an imaging unit of the moving object;
A process of calculating a position of the moving object itself by analyzing the marker in the image captured by the imaging unit based on imaging setting information including a resolution and an angle of view set in the imaging unit, and pre-setting information including a type, identification information, and size pre-set for the marker;
A process of calculating an estimated maximum error value regarding the position of the marker based on the position of the moving object itself, the presetting information, and the shooting setting information;
a process of controlling the position of the moving body itself to move along a predetermined travel route on a map, controlling the moving speed of the moving body itself to be smaller than a predetermined reference moving speed when the estimated maximum error value is larger than a predetermined error threshold value, and controlling the moving speed of the moving body itself to be equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold value;
A program for causing the moving object to execute the above. A program for causing a server device to execute a process for controlling movement of a moving object by controlling the server device,
A process of receiving image data including a marker photographed by an imaging unit of the moving object from the moving object;
A process of calculating a position of the moving object by analyzing the marker in the image data based on shooting setting information including a resolution and an angle of view set in the shooting unit, and pre-setting information including a type, identification information, and size set in advance for the marker;
A process of calculating an estimated maximum error value regarding the position of the marker based on the position of the moving object, the presetting information, and the shooting setting information;
generating control information so that the position of the moving body moves along a predetermined travel route on a map, generating the control information so that the moving speed of the moving body is smaller than a predetermined reference moving speed when the estimated maximum error value is greater than a predetermined error threshold, and generating the control information so that the moving speed of the moving body is equal to or greater than the reference moving speed when the estimated maximum error value is equal to or less than the error threshold;
transmitting the control information to the mobile unit;
A program for causing the server device to execute the above.

Images