JP7734085B2 - Control device, mobile object, and program - Google Patents

Description

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

In recent years, studies have been conducted to improve the efficiency of agriculture by utilizing unmanned agricultural machinery or sensing technology. For example, Non-Patent Document 1 discloses an unmanned small weeding robot. Non-Patent Document 2 discloses a top dressing method that utilizes sensing technology to match the growth state of crops.
[Prior art documents]
[Non-Patent Documents]
[Non-Patent Document 1] Nao Kondo et al., "Development of a Ridge Weeding Robot," [online] [searched August 12, 2016], Internet <URL: http://www.aptech.kais.kyoto-u.ac.jp/activity/date/grass_cutter_robot.pdf>
[Non-Patent Document 2] Hokkaido Research Organization, List of Test and Research Results, "Summary of Results (created in January 2006)" [online] [searched October 20, 2016], Internet <URL: https://www.hro.or.jp/list/agricultural/center/kenkyuseika/gaiyosho/h18gaiyo/f5/2006508.pdf>

Conventional unmanned machines are designed to move autonomously within unmanned fields or to follow behind workers. However, depending on the nature of the work, it is expected that improved work efficiency or safety can be achieved by having the unmanned machine move autonomously ahead of the worker.

A first aspect of the present invention provides a control device. The control device controls, for example, the movement of a mobile body having an autonomous movement function. The control device includes, for example, a control unit that controls the drive device of the mobile body to move the mobile body to the other side of the mobile body when a user of the mobile body approaches the mobile body from one side. In the control device, the control unit includes, for example, a position determination unit that determines whether the positional relationship between a predetermined part of the user's body and a predetermined part of the mobile body matches a position condition, which is a predetermined condition regarding the positional relationship. The control unit includes, for example, a destination position determination unit that determines a destination position when the control device moves the mobile body to the other side of the mobile body when the positional relationship matches the position condition.

In the above-mentioned control device, the positional conditions may include at least one of the following conditions: (a) the distance between a predetermined part of the user's body and a predetermined part of the moving body is equal to or less than a first threshold; and (b) (i) the distance between a predetermined part of the user's body and a predetermined part of the moving body is equal to or less than a second threshold, and (ii) the absolute value of the angle formed by the extension direction of an axis constituting a coordinate system having a representative point of the moving body as its origin, the axis extending from one side of the moving body to the other side, and the direction from the representative point of the moving body toward the predetermined part of the user's body, is equal to or less than a third threshold.

In the above control device, the control unit may have a candidate position determination unit that determines candidate positions that are candidates for the destination position. The control unit may have a reach determination unit that determines whether the mobile object can reach the candidate position. The destination position determination unit may determine, as the destination position, a candidate position that the reach determination unit determines to be reachable.

In the above control device, the candidate position determination unit may determine a user movement direction, which is the direction in which the user moved between the first time and the second time, and a user movement distance, which is the distance the user moved between the first time and the second time. The candidate position determination unit may determine, as a candidate position, a position that is located a distance approximately equal to the user movement distance in a direction parallel to the user movement direction, based on the current position of the moving object. In the above control device, the candidate position determination unit may determine a user movement direction, which is the direction in which the user moved between the first time and the second time. The candidate position determination unit may determine, as a candidate position, a position that is located a predetermined distance in a direction parallel to the user movement direction, based on the current position of the moving object.

In the above control device, the candidate position determination unit may acquire information indicating the movement path of the mobile object. The candidate position determination unit may determine positions on the movement path as candidate positions.

In the above control device, the candidate position determination unit may determine a user movement direction, which is the direction in which the user moved between the first time and the second time. The candidate position determination unit may determine a position on the movement path as a candidate position based on the user movement direction. In the above control device, the candidate position determination unit may determine a user movement distance, which is the distance the user moved between the first time and the second time. The candidate position determination unit may determine, as a candidate position, a position that is approximately the same distance as the user movement distance on the movement path, based on the current position of the moving object. In the above control device, the candidate position determination unit may determine, as a candidate position, a position that is a predetermined distance on the movement path, based on the current position of the moving object.

In the above control device, the candidate position determination unit may acquire information indicating the positions of multiple locations where the mobile object is permitted to stop. The candidate position determination unit may determine a candidate position from among the multiple locations.

In the above control device, the reach determination unit may construct a virtual space including a three-dimensional model of the moving object and the features located around the moving object. The reach determination unit may determine whether the moving object can reach the candidate position based on the presence or absence or degree of interference in the virtual space.

In a second aspect of the present invention, a moving body is provided. The moving body includes, for example, the control device according to the first aspect. The moving body includes, for example, a drive device.

In a third aspect of the present invention, a program is provided. The program may be a program for causing a computer to function as the control device according to the first aspect. A computer-readable medium for storing the program may be provided. The computer-readable medium may be a non-transitory computer-readable medium. The computer-readable medium may be a computer-readable recording medium.

Note that the above summary of the invention does not list all of the necessary features of the present invention. Subcombinations of these features may also constitute inventions.

An example of a work machine 120 is shown schematically. 1 shows a schematic diagram of an example of the system configuration of a work machine 120. An example of the positional relationship between the worker 20 and the work machine 120 is shown schematically. 10 illustrates an example of information processing in a work machine 120. 10A and 10B show schematic diagrams of an example of a position condition. 10 illustrates an example of a method for determining candidate locations. 10 illustrates an example of a method for determining candidate locations. 10 illustrates an example of a method for determining candidate locations. 10 illustrates an example of a method for determining candidate locations. 10A and 10B show an example of a method for changing candidate positions. 2 shows an example of the internal configuration of the control unit 140. 10 shows an example of the internal configuration of a candidate position determining unit 1142. 3 shows an example of a system configuration of a computer 3000.

The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention as claimed. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention. In the drawings, the same reference numbers may be used to designate identical or similar parts, and redundant explanations may be omitted.

(Overview of work machine 120)
First, an overview of the work machine 120 will be described using Figures 1 and 2. In this embodiment, the details of the work machine 120 will be described using an orthogonal coordinate system (sometimes referred to as a robot coordinate system) with a representative point 30 of the work machine 120 as the origin. In this embodiment, the robot coordinate system includes an x-axis 32, a y-axis 34, and a z-axis 36. The x-axis 32 and the y-axis 34 are axes parallel to the horizontal direction when the work machine 120 is placed on a horizontal surface. The x-axis 32 extends from the front 122 to the rear 124 of the work machine 120. On the other hand, the z-axis 36 is an axis parallel to the vertical direction when the work machine 120 is placed on a horizontal surface.

Figure 1 shows a schematic diagram of an example of a work machine 120. In this embodiment, the work machine 120 assists the worker 20 in performing work. The work machine 120 may have an autonomous movement function. For example, when the worker 20 performs work along the direction of a work route (sometimes referred to as the route direction), the work machine 120 is positioned approximately ahead of the worker 20 in the route direction. When the worker 20 approaches the work machine 120 from the rear 124 side of the work machine 120 while the work machine 120 is stopped, the work machine 120 moves to the front 122 side of the work machine 120 (sometimes referred to as leading movement).

Depending on the operation mode of the work machine 120, the work machine 120 can also move so as to follow behind the preceding worker 20 (sometimes referred to as "following movement"). When the work machine 120 follows, the destination of the work machine 120 can be set to a position near the worker 20. On the other hand, when the work machine 120 moves ahead, it is difficult to determine the destination of the work machine 120.

In this embodiment, the work machine 120 periodically or at predetermined timings determines the positional relationship between a predetermined part of the worker 20's body and a predetermined part of the work machine 120 (sometimes referred to as the positional relationship between the worker 20 and the work machine 120, the current positional relationship, etc.). For example, the work machine 120 determines the positional relationship between a determination target 22 attached to a part of the worker 20's body and a representative point 30 of the work machine 120.

In one embodiment, the positional relationship between the worker 20 and the work machine 120 is determined based on at least one of an image, stereo image, range image, and point cloud data of the worker 20 captured or acquired by equipment mounted on the work machine 120. Examples of such equipment include a camera, stereo camera, and LiDAR.

In another embodiment, the positional relationship between the worker 20 and the work machine 120 is determined based on at least one of images, stereo images, range images, and point cloud data of the worker 20 and the work machine 120 captured or acquired by equipment located near the work route. Examples of such equipment include cameras, stereo cameras, and LiDAR. The above equipment may be fixed to land or buildings, or may be mobile. The above equipment may be mounted on autonomous flying devices such as drones, other work machines 120, etc.

In yet another embodiment, the positional relationship between the worker 20 and the work machine 120 is determined based on position data of the worker 20 and the work machine 120. The position data of the worker 20 is acquired, for example, by a GPS radio wave receiving device carried by the worker 20. The position data of the work machine 120 is acquired, for example, by a GPS radio wave receiving device mounted on the work machine 120.

Examples of the object of determination 22 include the head, torso, and parts of these. Preferably, the object of determination 22 is a body part other than the hands or feet. For example, when a worker 20 is storing harvested produce in a box mounted on the work machine 120, the distance between the worker's 20's hands or feet and the representative point 30 of the work machine 120 may become very small. Therefore, if the worker's 20 hands or feet are set as the object of determination 22, the work machine 120 may start moving ahead against the worker's 20 wishes. The "hands" mentioned above may be from the fingertips to the wrists. The "feet" mentioned above may be from the toes to the ankles.

The object of determination 22 may be a hand or a foot. When the hand or foot of the worker 20 is set as the object of determination 22, the threshold for the work machine 120 to start moving ahead may be smaller than the threshold when the head or torso of the worker 20 is set as the object of determination 22.

Note that the predetermined body part of the worker 20 is not limited to the determination target 22. The predetermined body part of the work machine 120 is not limited to the representative point 30.

Furthermore, in this embodiment, the work machine 120 determines whether the current positional relationship meets predetermined conditions (sometimes referred to as position conditions) regarding the positional relationship between the worker 20 and the work machine 120. If the current positional relationship meets the positional conditions, the work machine 120 executes processing (sometimes referred to as search processing) to search for a destination position for the preceding movement.

The above position condition may be (a) a condition that the distance between a predetermined part of the worker 20's body and a predetermined part of the work machine 120 is equal to or less than a first threshold. The above position condition may be (b) a condition that (i) the distance between a predetermined part of the worker 20's body and a predetermined part of the work machine 120 is equal to or less than a second threshold, and (ii) the absolute value of the angle between the extension direction of the x-axis 32 and the direction from the representative point 30 of the work machine 120 toward the predetermined part of the worker 20's body is equal to or less than a third threshold. The above position condition may be a combination of these.

The first threshold and the second threshold may be the same or different. If the first threshold and the second threshold are different, the first threshold may be equal to or greater than the second threshold.

In the search process, the destination position for the advance movement is determined based on, for example, the movement pattern of the worker 20 during a unit period, the predetermined movement route of the work machine 120, and the locations of multiple points where the work machine 120 is permitted to stop. This makes it possible to provide a control device or control program for causing the work machine 120 to advance, a work machine 120 capable of advance movement, etc.

(Overview of each part of the work machine 120)

As shown in FIG. 1, in this embodiment, the work machine 120 has, for example, a base unit 130, one or more (sometimes simply referred to as one or more) mobile units 132, one or more forward sensors 134, one or more rearward sensors 136, one or more working units 138, and a control unit 140. Details of each part will be described below.

(Specific configuration of each part of the work machine 120)
Each unit of work machine 120 may be implemented by hardware, software, or a combination of hardware and software. At least a portion of each unit of work machine 120 may be implemented by a single server or multiple servers. At least a portion of each unit of work machine 120 may be implemented on a virtual machine or a cloud system. At least a portion of each unit of work machine 120 may be implemented by a personal computer or a mobile terminal. Examples of mobile terminals include mobile phones, smartphones, PDAs, tablets, notebook or laptop computers, and wearable computers. Each unit of work machine 120 may store information using a distributed ledger technology or a distributed network, such as blockchain.

When at least some of the components constituting the work machine 120 are implemented by software, the components implemented by the software may be implemented by running software or a program that defines the operation of the components in an information processing device with a general configuration. The information processing device with the general configuration described above may include: (i) a data processing device having a processor such as a CPU or GPU, ROM, RAM, a communication interface, etc.; (ii) input devices such as a keyboard, pointing device, touch panel, camera, voice input device, gesture input device, various sensors, and a GPS receiver; (iii) output devices such as a display device, voice output device, and vibration device; and (iv) storage devices (including external storage devices) such as memory, HDD, and SSD.

In the information processing device of the above general configuration, the data processing device or storage device may store the above software or program. When executed by a processor, the above software or program causes the above information processing device to perform the operations specified by the software or program. The above software or program may be stored on a non-transitory computer-readable recording medium. The above software or program may be a program that causes a computer to function as the work machine 120 or a part thereof. The above software or program may be a program that causes a computer to perform information processing on the work machine 120 or a part thereof.

In one embodiment, the information processing method may be a control method for controlling the movement of a mobile body having an autonomous movement function. The control method includes, for example, a control step of controlling a drive device of the mobile body when a user of the mobile body approaches the mobile body from one side of the mobile body to move the mobile body to the other side of the mobile body. In the control method, the control step includes, for example, a position determination step of determining whether the positional relationship between a predetermined part of the user's body and a predetermined part of the mobile body satisfies a position condition, which is a predetermined condition regarding the positional relationship. The control step includes, for example, a destination position determination step of determining a destination position for moving the mobile body to the other side of the mobile body in the control step when the positional relationship satisfies the position condition. Each step of the information processing method may be performed by a computer.

The worker 20 may be an example of a user of a mobile body. The work machine 120 may be an example of a mobile body. The front 122 of the work machine 120 may be an example of the other side of the mobile body. The rear 124 of the work machine 120 may be an example of one side of the mobile body. The mobile unit 132 may be an example of a drive device. The control unit 140 may be an example of a control device or control unit. The destination position of the preceding movement may be an example of a destination position when the control device moves the mobile body to the other side of the mobile body.

(An example of another embodiment)
In this embodiment, an example of a work machine 120 has been described, taking as an example a case where the autonomous movement of the work machine 120 is controlled using an orthogonal coordinate system with the representative point 30 of the work machine 120 as the origin. However, the coordinate system used to control the work machine 120 is not limited to this embodiment. In other embodiments, various coordinate systems other than the orthogonal coordinate system are used. For example, a polar coordinate system is used. In still other embodiments, a tensor or tensor field is used.

In this embodiment, an example of a work machine 120 and control unit 140 has been described in which the control unit 140 of a specific work machine 120 (i) determines whether the positional relationship between a predetermined part of the worker 20's body and a predetermined part of the specific work machine 120 matches a predetermined positional condition, and (ii) determines the destination position of the specific work machine 120 if the positional relationship matches the positional condition. However, the work machine 120 and control unit 140 are not limited to this embodiment.

In another embodiment, the above-mentioned information processing in the control unit 140 of a specific work machine 120 may be executed by another information processing device located outside the specific work machine 120. Examples of other information processing devices include (i) another control unit 140 located in another work machine 120 different from the specific work machine 120, and (ii) a computer or server configured to be able to send and receive information to and from the specific work machine 120 via a communications network. In this case, the control unit 140 of the specific work machine 120 acquires information indicating the destination position of the specific work machine 120 from the above-mentioned other information processing device, for example, via the communications network. Furthermore, the control unit 140 of the specific work machine 120 controls the movement of the specific work machine 120 based on the information indicating the destination position acquired from the other information processing device.

Figure 2 shows a schematic diagram of an example of the system configuration of the work machine 120. As described in relation to Figure 1, in this embodiment, the work machine 120 has a base unit 130, a mobile unit 132, a front sensor 134, a rear sensor 136, a working unit 138, and a control unit 140. As shown in Figure 2, in this embodiment, the work machine 120 further includes one or more power supply units 230, one or more sensor units 240, one or more vibration suppression units 250, and one or more balance adjustment units 280.

In this embodiment, the work machine 120 may be a work machine that performs any work. The work machine 120 performs, for example, various agricultural tasks, monitoring tasks, etc. The work machine 120 may be fixed or mobile. The work machine 120 may have an autonomous driving function or an autonomous navigation function, and may be operated by remote control, or may be operated by an operator on board the work machine 120. The work machine 120 is preferably an unmanned work machine that has an autonomous driving function or an autonomous navigation function.

The work machine 120 may be a small robot. For example, the volume of each work machine 120 may be 2 ^m3 or less, 1 ^m3 or less, 0.5 ^m3 or less, or 0.25 ^m3 or less. This allows the work machine 120 to move freely around the production site. As a result, for example, the work machine 120 can observe products being produced from angles that would be difficult for a human to observe.

In this embodiment, the base unit 130 holds the mobile unit 132, the front sensor 134, the rear sensor 136, the working unit 138, the control unit 140, the power supply unit 230, the sensor unit 240, the vibration suppression unit 250, and the balance adjustment unit 280. In this embodiment, the base unit 130 detachably holds at least one of the mobile unit 132, the front sensor 134, the rear sensor 136, the working unit 138, the control unit 140, the power supply unit 230, the sensor unit 240, the vibration suppression unit 250, and the balance adjustment unit 280. This allows the work machine 120 to handle a number of different types of work.

In this embodiment, the base unit 130 has a control unit 140 and a power supply unit 230. The control unit 140 and the power supply unit 230 may be built into the base unit 130. At least one of the control unit 140 and the power supply unit 230 may be removably arranged on the base unit 130. In one embodiment, at least one of the control unit 140 and the power supply unit 230 is removably arranged inside the base unit 130. In another embodiment, at least one of the control unit 140 and the power supply unit 230 is removably arranged outside the base unit 130.

In this embodiment, the mobile unit 132 drives the work machine 120. For example, the mobile unit 132 moves the work machine 120. The power source of the mobile unit 132 may be electricity, an internal combustion engine, or a steam engine. For example, the mobile unit 132 converts the electricity supplied from the power supply unit 230 into power to move the work machine 120. In this embodiment, the mobile unit 132 may have a built-in power source that generates power using the electricity supplied from the power supply unit 230. Examples of power sources include a motor and an actuator.

In one embodiment, the mobile unit 132 includes wheels for moving on land and a power source for driving the wheels. In another embodiment, the mobile unit 132 includes tracks for moving on land and a power source for driving the tracks. In yet another embodiment, the mobile unit 132 may include a screw for moving on or underwater and a power source for driving the screw. The mobile unit 132 may further include buoyancy material for providing buoyancy. In yet another embodiment, the mobile unit 132 may include a propeller for moving in the air and a power source for driving the propeller. The mobile unit 132 may further include a balloon or air bag for floating in the air.

In this embodiment, the forward sensor 134 detects features located in front 122 of the work machine 120. For example, the forward sensor 134 detects obstacles located in front 122 of the work machine 120, unevenness in the road surface, etc. The forward sensor 134 may also detect the worker 20 located in front 122 of the work machine 120. The forward sensor 134 may also detect a predetermined part of the body of the worker 20 located in front 122 of the work machine 120. The forward sensor 134 may also detect the approach of the worker 20 from the front 122 of the work machine 120. Examples of the forward sensor 134 include a camera, a stereo camera, LiDAR, a human presence sensor, etc. The camera may be a visible light camera or an infrared camera.

The forward sensor 134 outputs data indicating the measurement or detection results to the control unit 140. The data output by the forward sensor 134 may be stored in a memory device of the work machine 120, or may be transmitted to an external information processing device via a communications network.

In this embodiment, the rear sensor 136 detects features located behind 124 of the work machine 120. For example, the front sensor 134 detects obstacles located behind 124 of the work machine 120, unevenness in the road surface, etc. The front sensor 134 may detect the worker 20 located behind 124 of the work machine 120. The rear sensor 136 may detect a predetermined part of the body of the worker 20 located behind 124 of the work machine 120. The rear sensor 136 may detect the approach of the worker 20 from behind 124 of the work machine 120. Examples of the rear sensor 136 include a camera, a stereo camera, LiDAR, a human presence sensor, etc. The camera may be a visible light camera or an infrared camera.

The rear sensor 136 outputs data indicating the measurement or detection results to the control unit 140. The data output by the rear sensor 136 may be stored in a memory device of the work machine 120, or may be transmitted to an external information processing device via a communication network.

In this embodiment, the work unit 138 may be an attachment specialized for a particular task. According to this embodiment, the work unit 138 suited to the application is attached to the base unit 130. This allows the work machine 120 to perform a number of different types of tasks.

When the worker 20 is working on agricultural produce, or when the worker 20 is working in the field, the work unit 138 may be an attachment for agricultural work. In this embodiment, the work unit 138 may be a unit specialized for one or more agricultural tasks. Examples of the work unit 138 include a chemical sprayer for pest control, a fertilizer sprayer for spraying fertilizer, a gas sprayer for spraying gas, a ridge-making device, a seedling dropping device, a seed sowing device, a tilling device, a manipulator having a jig for removing unnecessary branches and leaves, a manipulator having a jig for thinning agricultural produce, a weeding device (for example, a weeding device for abandoned fields), a watering device, a bird and animal scaring device (for example, a device that scares birds and animals with sound or light), a thinning device, a flower picking device, a fruit thinning device, and a bagging device (for example, a bagging device for fruit trees).

In this embodiment, the working unit 138 is detachably held on the base unit 130. The working unit 138 may incorporate a power source that uses power supplied from the power supply unit 230 to generate power for driving the working unit 138. Examples of power sources include a motor and an actuator.

In this embodiment, the operation unit 138 may include an information processing device that executes firmware and controls the operation unit 138. The information processing device may be a processor such as a CPU or GPU. The information processing device may include (i) a data processing device having a processor such as a CPU or GPU, ROM, RAM, a communication interface, etc.; (ii) input devices such as a keyboard, pointing device, touch panel, camera, voice input device, gesture input device, various sensors, and GPS receiver; (iii) output devices such as a display device, voice output device, and vibration device; and (iv) storage devices (including external storage devices) such as memory, HDD, and SSD.

The above firmware may be updated at an appropriate time. For example, the control unit 140 accesses an external information processing device via a communication line and obtains the latest firmware. The control unit 140 cooperates with the information processing device arranged in the operation unit 138 to perform the firmware update process.

In this embodiment, the control unit 140 controls the work machine 120. The control unit 140 may control the operation of each part of the work machine 120. For example, the control unit 140 controls the operation of the movement unit 132 to move the work machine 120 toward an arbitrary destination position. Details of the control unit 140 will be described later.

In this embodiment, the power supply unit 230 supplies power to each part of the work machine 120. The power supply unit 230 may supply power to at least one of the vibration damping unit 250, the front sensor 134, the rear sensor 136, and the control unit 140.

In this embodiment, the sensor unit 240 measures various physical quantities. For example, the sensor unit 240 measures at least one of a physical quantity related to the worker 20 and the work machine 120, a physical quantity related to features around the work machine 120, a physical quantity related to the worker 20, and a physical quantity related to the work target of the worker 20.

In one embodiment, the sensor unit 240 is removably disposed outside the base unit 130. In another embodiment, the sensor unit 240 is disposed in another unit. For example, the sensor unit 240 is incorporated into the working unit 138. The sensor unit 240 may also be incorporated into the control unit 140.

The sensor unit 240 may include one or more sensors. The sensor unit 240 may include one or more types of sensors. The front sensor 134 and the rear sensor 136 may be part of one or more sensors that make up the sensor unit 240. The sensor unit 240 may output information indicating the measurement or detection results of the one or more sensors to the control unit 140. The data output by the sensor unit 240 may be stored in a memory device of the work machine 120, or may be transmitted to an external information processing device via a communications network.

In this embodiment, the vibration suppression unit 250 controls vibration. The vibration suppression unit 250 may suppress vibration of each part of the work machine 120. For example, the vibration suppression unit 250 controls vibration of at least one of the front sensor 134, the rear sensor 136, the working unit 138, and the sensor unit 240. The vibration suppression unit 250 may control vibration in accordance with commands from the control unit 140. The vibration suppression unit 250 may have a power source that uses power supplied from the power supply unit 230 to generate power for driving the vibration suppression unit 250. Examples of power sources include a motor and an actuator.

In this embodiment, the balance adjustment unit 280 has a weight. The balance adjustment unit 280 is detachably held on the base unit 130. Depending on the weight of the unit attached to the base unit 130 and the position of its center of gravity, the weight balance of the work machine 120 may become poor, causing the work machine 120 to become unstable. Therefore, by attaching the balance adjustment unit 280 to an appropriate position on the base unit 130, the weight balance of the work machine 120 can be adjusted.

Figure 3 shows a schematic example of the positional relationship between the worker 20 and the work machine 120. In this embodiment, for the purpose of simplifying the explanation, an example of the positional relationship between the two in two-dimensional space is described. Note that a person skilled in the art who has read the description of this embodiment will be able to easily expand the positional relationship between the two in two-dimensional space to the positional relationship between the two in three-dimensional space.

In this embodiment, the position 310 of the worker 20's object of judgment 22 at time t1 is represented by (x1, y1) in the robot coordinate system, and the position 310 of the worker's object of judgment 22 at time t2 is represented by (x2, y2) in the robot coordinate system.

At this time, at time t1, the direction from representative point 30 toward position 310 of worker 20's object of judgment 22 is represented by vector 312. Similarly, at time t2, the direction from representative point 30 toward position 320 of worker 20's object of judgment 22 is represented by vector 322. Furthermore, the angle between vector 312 and x-axis 32 is angle 314, and the angle between vector 322 and x-axis 32 is angle 324.

A vector (sometimes referred to as a movement vector) representing the movement of the worker 20 during the period from time t1 to time t2 (which may be an example of the unit period described above) is represented by movement vector 332. The direction in which the worker 20 moved between time t1 and time t2 (sometimes referred to as the user movement direction) is represented as the direction of movement vector 332. The distance moved by the worker 20 between time t1 and time t2 (sometimes referred to as the user movement distance) is represented as the magnitude of movement vector 332.

Time t1 may be an example of a first time. Time t2 may be an example of a second time.

Figure 4 shows an example of information processing in the work machine 120. Using Figure 4, an example of information processing when the control unit 140 moves the work machine 120 ahead will be explained.

In this embodiment, in step 412 (sometimes abbreviated as S), the control unit 140 periodically or at predetermined times determines the positional relationship between the worker 20 and the work machine 120. Furthermore, each time the positional relationship between the worker 20 and the work machine 120 is determined, the control unit 140 determines whether the positional relationship satisfies the above-described positional conditions.

If it is determined that the above positional relationship does not meet the positional condition (No in S412), the control unit 140 repeats the process of S412. On the other hand, if it is determined that the above positional relationship meets the positional condition (Yes in S412), in S414 the control unit 140 determines candidate positions (sometimes referred to as candidate positions) for the destination position of the preceding movement.

Next, in S420, the control unit 140 determines whether the work machine 120 can reach the candidate position. For example, if there is an obstacle, a deep ditch, a steep slope, or the like between the current position of the work machine 120 and the candidate position, the work machine 120 will not be able to reach the candidate position.

If it is determined that the work machine 120 can reach the candidate position (Yes in S420), then in S422 the control unit 140 determines the candidate position as the destination position of the work machine 120. Furthermore, in S424, the control unit 140 controls the mobile unit 132 to move the work machine 120 to the destination position. Once the work machine 120 reaches the destination position, the control unit 140 controls the mobile unit 132 to stop the work machine 120. The control unit 140 then returns to processing in S412.

On the other hand, if it is determined that the work machine 120 cannot reach the candidate position (No in S420), then in S430 the control unit 140 determines whether the candidate position can be changed. If it is determined that the candidate position can be changed (Yes in S430), the control unit executes the process of S422.

On the other hand, if it is determined that the above candidate position cannot be changed (No in S430), in S432 the control unit decides not to move the work machine 120. Furthermore, in S434 the control unit 140 decides to output a warning to the worker 20 and ends the processing.

Figure 5 shows an example of a position condition. In Figure 5, dotted line 520 indicates a position where the distance from the representative point 30 of the work machine 120 is a predetermined value. Dotted lines 542 and 544 indicate positions where the absolute value of the angle with the x-axis 32 is a predetermined value.

In one embodiment, if the position of the judgment target 22 of the worker 20 (sometimes referred to as the position of the worker 20) is located in the area inside dotted line 520, it is determined that the positional relationship between the worker 20 and the work machine 120 meets the positional condition. In another embodiment, if the position of the worker 20 is located inside the area surrounded by dotted line 520, dotted line 542, and dotted line 544, where the value of x is positive, it is determined that the positional relationship between the worker 20 and the work machine 120 meets the positional condition.

Figure 6 shows an example of a method for determining a candidate position. In this embodiment, the control unit 140 determines to move the work machine 120 in a direction substantially parallel to the user movement direction indicated by the movement vector 332. In this case, the direction of the vector 632 from the representative point 30 to the candidate position 630 substantially coincides with the direction of the movement vector 332. The angle between the vector 632 and the x-axis 32 is represented as angle 634.

In one embodiment, the candidate position 630 is determined so that the magnitude of the vector 632 is approximately the same as the magnitude of the movement vector 332. In this case, the candidate position is determined to be a position that is located from the current position of the work machine 120, in a direction approximately parallel to the user's movement direction, a distance approximately equal to the user's movement distance.

In another embodiment, the candidate position 630 is determined so that the magnitude of the vector 632 is a predetermined value. In this case, a position that is a predetermined distance from the current position of the work machine 120 in a direction approximately parallel to the user's direction of movement is determined as the candidate position.

Figure 7 shows an example of a method for determining a candidate position. In this embodiment, the work machine 120 moves along a predetermined route 700. The route 700 is represented, for example, by a plurality of points 702. In this embodiment, the candidate position 730 is determined so that the distance from the current position of the work machine 120 on the route 700 to the candidate position 730 approximately matches the magnitude Lr of the component of vector 632 in the direction along the route 700. In this embodiment, if the magnitude of the movement vector is Lm and the angle of corner 634 is θ, Lr can be calculated as Lr = -Lm × cos θ.

Figure 8 shows an example of a method for determining a candidate position. In this embodiment, the work machine 120 moves along a predetermined route 700. In this embodiment, the candidate position 830 is determined so that the distance from the current position of the work machine 120 on the route 700 to the candidate position 730 approximately matches the magnitude of the vector 632 (i.e., the magnitude Lm of the movement vector 332). Note that in other embodiments, the candidate position 830 may be determined so that the distance from the current position of the work machine 120 on the route 700 to the candidate position 730 is a predetermined value.

Figure 9 shows an example of a method for determining candidate positions. In this embodiment, positions where the work machine 120 is permitted to stop (sometimes referred to as stop positions) are determined in advance. A sequence may be assigned to each of the multiple stop positions. In Figure 9, stop positions 900, 902, 904, and 906 are arranged in this order. When the current position of the work machine 120 is stop position 900, if the positional relationship between the worker 20 and the work machine 120 meets the positional conditions, for example, stop position 902, which is the next stop position, is determined as candidate position 930.

Figure 10 shows an example of a method for changing the candidate position. In this embodiment, an obstacle 50 is located between the current position of the work machine 120 and the candidate position 1030, and the work machine 120 cannot reach the candidate position 1030. In this case, the control unit 140 executes processing to change the candidate position.

In one embodiment, the changed candidate position 1032 is determined so that the distance between the work machine 120 and the obstacle 50 at the changed candidate position 1032 is greater than a predetermined value d, and the distance from the current position of the work machine 120 to the candidate position 1032 (expressed as the sum of Lra and Lrb in the figure) approximately matches the magnitude Lr of the vector 632. In another embodiment, the control unit 140 may determine the changed candidate position 1032 by rotating the vector 632 around the representative point 30 to a position that the work machine 120 can reach.

Figure 11 shows an example of the internal configuration of the control unit 140. In this embodiment, the control unit 140 includes, for example, a position determination unit 1120 and a drive control unit 1140. In this embodiment, the position determination unit 1120 includes, for example, a user recognition unit 1122, a determination part detection unit 1124, a first condition determination unit 1126, and a second condition determination unit 1128. The drive control unit 1140 includes, for example, a candidate position determination unit 1142, an arrival determination unit 1144, a candidate position change unit 1146, and a destination position determination unit 1148.

In this embodiment, the position determination unit 1120 determines the positional relationship between the worker 20 and the work machine 120. The position determination unit 1120 also determines whether the positional relationship between the worker 20 and the work machine 120 meets the position conditions.

In this embodiment, the user recognition unit 1122 recognizes the worker 20. For example, the user recognition unit 1122 analyzes the data output by the rear sensor 136 to recognize the worker 20. In this embodiment, the judgment part detection unit 1124 analyzes the data of the recognized worker 20 to detect the judgment target 22 of the worker 20.

In this embodiment, the first condition determination unit 1126 determines the positional relationship between the determination target 22 of the worker 20 and the representative point 30 of the work machine 120. Examples of the positional relationship include the above-mentioned vector 312, angle 314, vector 322, and angle 324. The first condition determination unit 1126 determines whether the condition that the distance between the determination target 22 of the worker 20 and the representative point 30 of the work machine 120 is less than or equal to a first threshold is met. The first condition determination unit 1126 outputs the determination result to the drive control unit 1140.

In this embodiment, the second condition determination unit 1128 determines the positional relationship between the determination target 22 of the worker 20 and the representative point 30 of the work machine 120. Examples of the positional relationship include the vector 312, angle 314, vector 322, and angle 324 described above. The second condition determination unit 1128 determines whether the following conditions are met: (i) the distance between the determination target 22 of the worker 20 and the representative point 30 of the work machine 120 is less than or equal to a first threshold value, and (ii) the absolute value of the angle between the positive direction of the x-axis 32 and the direction from the representative point 30 of the work machine 120 toward the determination target 22 of the worker 20 is less than or equal to a third threshold value. The second condition determination unit 1128 outputs the determination result to the drive control unit 1140.

In this embodiment, the drive control unit 1140 controls the movement of the work machine 120. For example, the drive control unit 1140 controls the moving unit 132 to move the work machine 120 to a specific position. When the positional relationship between the worker 20 and the work machine 120 meets the positional conditions, the drive control unit 1140 may control the moving unit 132 to move the work machine 120 to the front 122 side of the work machine 120.

In this embodiment, the candidate position determination unit 1142 determines the candidate positions described above. Details of the candidate position determination unit 1142 will be described later.

In this embodiment, the reach determination unit 1144 determines whether the work machine 120 can reach the candidate position. In one embodiment, the candidate position determination unit 1142 determines whether the work machine 120 can reach the candidate position on a two-dimensional plane. In another embodiment, the candidate position determination unit 1142 determines whether the work machine 120 can reach the candidate position in three-dimensional space. For example, the candidate position determination unit 1142 constructs a virtual space including a three-dimensional model of the work machine 120 and the features located around the work machine 120. The candidate position determination unit 1142 also determines whether the work machine 120 can reach the candidate position based on the presence or absence, or the degree of, interference in the virtual space.

In this embodiment, the candidate position change unit 1146 changes the candidate position when the work machine 120 is unable to reach the candidate position determined by the candidate position determination unit 1142. The candidate position change unit 1146 changes the candidate position, for example, using the procedure described in relation to FIG. 10.

In this embodiment, the destination position determination unit 1148 determines the destination position described above. In one embodiment, the destination position determination unit 1148 determines the candidate position determined by the candidate position determination unit 1142 as the destination position. In another embodiment, the destination position determination unit 1148 determines the candidate position changed by the candidate position change unit 1146 as the destination position.

The position determination unit 1120 arranged in the control unit 140 of the work machine 120 may be an example of a position determination unit. The first condition determination unit 1126 may be an example of a position determination unit. The second condition determination unit 1128 may be an example of a position determination unit. The destination position determination unit 1148 arranged in the control unit 140 of the work machine 120 may be an example of a destination position determination unit. The candidate position determination unit 1142 arranged in the control unit 140 of the work machine 120 may be an example of a candidate position determination unit. The arrival determination unit 1144 arranged in the control unit 140 of the work machine 120 may be an example of an arrival determination unit.

(An example of another embodiment)
In this embodiment, an example of a work machine 120 and a control unit 140 has been described, taking as an example a case where a position determination unit 1120 and a drive control unit 1140 for determining a target position of a specific work machine 120 are arranged in the control unit 140 of that specific work machine 120. However, the work machine 120 and the control unit 140 are not limited to this embodiment.

In other embodiments, information processing in the position determination unit 1120 or a part thereof may be performed by another information processing device located outside the specific work machine 120. The position determination unit 1120 or a part thereof may be located in the other information processing device described above. In still other embodiments, information processing in the drive control unit 1140 or a part thereof may be performed by another information processing device located outside the specific work machine 120. The drive control unit 1140 or a part thereof may be located in the other information processing device described above. Examples of other information processing devices include (i) another control unit 140 located in a work machine 120 different from the specific work machine 120, and (ii) a computer or server configured to be able to send and receive information to and from the specific work machine 120 via a communications network.

Figure 12 shows an example of the internal configuration of the candidate position determination unit 1142. In this embodiment, the candidate position determination unit 1142 includes, for example, a setting information storage unit 1222, a route information storage unit 1224, and a stop position information storage unit 1226. In this embodiment, the candidate position determination unit 1142 includes, for example, an operation mode determination unit 1232 and a movement vector derivation unit 1234. In this embodiment, the candidate position determination unit 1142 includes, for example, a first mode determination unit 1242, a second mode determination unit 1244, and a third mode determination unit 1246.

In this embodiment, the setting information storage unit 1222 stores various setting information. Examples of the various setting information include the operating mode of the work machine 120, thresholds or setting values for the various information processes described above, etc.

In this embodiment, the route information storage unit 1224 stores information indicating the route of the work machine 120 described above. In this embodiment, the stop position information storage unit 1226 stores information indicating the stop position of the work machine 120 described above.

In this embodiment, the operation mode determination unit 1232 determines the operation mode of the work machine 120. For example, the procedure for determining the destination position is determined depending on the operation mode of the work machine 120.

In this embodiment, the movement vector derivation unit 1234 derives a movement vector 322 for each unit period. This determines the user movement direction and user movement distance for each unit period.

In this embodiment, the first mode determination unit 1242 determines, as a candidate position, a position that is located a distance parallel to the user's movement direction that is approximately the same as the user's movement distance, based on the current position of the work machine 120. The first mode determination unit 1242 may also determine, as a candidate position, a position that is located a predetermined distance parallel to the user's movement direction, based on the current position of the work machine 120.

In this embodiment, the second mode determination unit 1244 acquires information indicating the travel route of the work machine 120 and determines positions on the travel route as candidate positions. The second mode determination unit 1244 may determine the user's travel direction for each unit period. The second mode determination unit 1244 may determine positions on the travel route as candidate positions based on the user's travel direction.

The second mode determination unit 1244 may determine the user's travel distance in each unit period. The second mode determination unit 1244 may determine, as a candidate position, a position that is approximately the same distance along the travel route as the user's travel distance, based on the current position of the work machine 120. The second mode determination unit 1244 may determine, as a candidate position, a position that is a predetermined distance along the travel route, based on the current position of the work machine 120.

In this embodiment, the third mode determination unit 1246 acquires information indicating each of a plurality of stop positions. The third mode determination unit 1246 may determine a candidate position from among the plurality of stop positions.

Figure 13 shows an example of a computer 3000 in which aspects of the present invention may be embodied, in whole or in part. At least a portion of the work machine 120 may be implemented by the computer 3000. For example, the control unit 140 of the work machine 120 is implemented by the computer 3000.

Programs installed on computer 3000 can cause computer 3000 to function as or perform operations associated with an apparatus according to an embodiment of the present invention or one or more "parts" of the apparatus, and/or can cause computer 3000 to perform processes or steps of processes according to an embodiment of the present invention. Such programs can be executed by CPU 3012 to cause computer 3000 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

The computer 3000 according to this embodiment includes a CPU 3012, RAM 3014, GPU 3016, and display device 3018, which are interconnected by a host controller 3010. The computer 3000 also includes input/output units such as a communications interface 3022, a hard disk drive 3024, a DVD-ROM drive 3026, and an IC card drive, which are connected to the host controller 3010 via an input/output controller 3020. The computer also includes legacy input/output units such as a ROM 3030 and a keyboard 3042, which are connected to the input/output controller 3020 via an input/output chip 3040.

The CPU 3012 operates according to programs stored in the ROM 3030 and RAM 3014, thereby controlling each unit. The GPU 3016 acquires image data generated by the CPU 3012 into a frame buffer provided in the RAM 3014 or into the GPU 3016 itself, and causes the image data to be displayed on the display device 3018.

The communication interface 3022 communicates with other electronic devices via a network. The hard disk drive 3024 stores programs and data used by the CPU 3012 in the computer 3000. The DVD-ROM drive 3026 reads programs or data from the DVD-ROM 3001 and provides the programs or data to the hard disk drive 3024 via the RAM 3014. The IC card drive reads programs and data from an IC card and/or writes programs and data to an IC card.

ROM 3030 stores therein boot programs and the like that are executed by computer 3000 upon activation, and/or programs that depend on the hardware of computer 3000. I/O chip 3040 may also connect various I/O units to I/O controller 3020 via parallel ports, serial ports, keyboard ports, mouse ports, etc.

The programs are provided on a computer-readable storage medium such as a DVD-ROM 3001 or an IC card. The programs are read from the computer-readable storage medium, installed on the hard disk drive 3024, RAM 3014, or ROM 3030, which are also examples of computer-readable storage media, and executed by the CPU 3012. The information processing described in these programs is read by the computer 3000, resulting in cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing the operation or processing of information in accordance with the use of the computer 3000.

For example, when communication is performed between computer 3000 and an external device, CPU 3012 may execute a communication program loaded into RAM 3014 and instruct communication interface 3022 to perform communication processing based on the processing described in the communication program. Under the control of CPU 3012, communication interface 3022 reads transmission data stored in a transmission buffer area provided in RAM 3014, hard disk drive 3024, DVD-ROM 3001, or a recording medium such as an IC card, and transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area or the like provided on the recording medium.

The CPU 3012 may also cause all or a necessary portion of a file or database stored on an external recording medium such as the hard disk drive 3024, DVD-ROM drive 3026 (DVD-ROM 3001), IC card, etc. to be read into the RAM 3014, and perform various types of processing on the data on the RAM 3014. The CPU 3012 may then write the processed data back to the external recording medium.

Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and may undergo information processing. The CPU 3012 may perform various types of processing on data read from RAM 3014, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search/replacement, etc., as described throughout this disclosure and specified by the program's instruction sequence, and write the results back to RAM 3014. The CPU 3012 may also search for information in files, databases, etc. on the recording medium. For example, if multiple entries, each having an attribute value of a first attribute associated with an attribute value of a second attribute, are stored on the recording medium, the CPU 3012 may search for an entry whose attribute value of the first attribute matches a specified condition from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

The above-described programs or software modules may be stored on computer-readable storage media on or near computer 3000. Recording media such as a hard disk or RAM provided within a server system connected to a dedicated communications network or the Internet can also be used as computer-readable storage media, thereby providing the above-described programs to computer 3000 via the network.

In this embodiment, an example of the computer 3000 has been described using a hard disk drive 3024, a DVD-ROM drive 3026 (DVD-ROM 3001), an IC card, etc. as an external recording medium, which is an example of a storage device, recording medium, or computer-readable storage medium. However, the various recording media or storage devices are not limited to this embodiment. In other embodiments, an SSD, eMMC, SD card, etc. may be used as a recording medium or storage device.

The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be clear to those skilled in the art that various modifications and improvements can be made to the above embodiments. Furthermore, to the extent that they are not technically inconsistent, the details described for a particular embodiment can be applied to other embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

The order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," or the like, and it should be noted that processes can be performed in any order, unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that it is necessary to perform the processes in that order.

20 Worker, 22 Judgment object, 30 Representative point, 32 x-axis, 34 y-axis, 36 z-axis, 50 Obstacle, 120 Work machine, 122 Front, 124 Rear, 130 Base unit, 132 Mobile unit, 134 Front sensor, 136 Rear sensor, 138 Work unit, 140 Control unit, 230 Power supply unit, 240 Sensor unit, 250 Vibration control unit, 280 Balance adjustment unit, 310 Position, 312 Vector, 314 Angle, 320 Position, 322 Vector, 324 Angle, 332 Movement vector, 520 Dotted line, 542 Dotted line, 544 Dotted line, 630 Candidate position, 632 Vector, 634 Angle, 700 Route, 702 Point, 730 Candidate position, 830 Candidate position, 900 Stop position, 902 Stop position, 904 Stop position, 906 Stop position, 930 Candidate position, 1030 Candidate position, 1032 Candidate position, 1120 Position determination unit, 1122 User recognition unit, 1124 Determination part detection unit, 1126 First condition determination unit, 1128 Second condition determination unit, 1140 Drive control unit, 1142 Candidate position determination unit, 1144 Arrival determination unit, 1146 Candidate position change unit, 1148 Destination position determination unit, 1222 Setting information storage unit, 1224 Route information storage unit, 1226 Stop position information storage unit, 1232 Operation mode determination unit, 1234 Movement vector derivation unit, 1242 First mode determination unit, 1244 Second mode determination unit, 1246 Third mode determination unit, 3000 Computer, 3001 DVD-ROM, 3010 host controller, 3012 CPU, 3014 RAM, 3016 GPU, 3018 display device, 3020 input/output controller, 3022 communication interface, 3024 hard disk drive, 3026 DVD-ROM drive, 3030 ROM, 3040 input/output chip, 3042 keyboard

Claims (12)

A control device for controlling movement of a moving body having an autonomous movement function,
a control unit that controls a drive device of the moving body to move the moving body to the other side of the moving body when a user of the moving body approaches the moving body from one side of the moving body;
The control unit
a position determination unit that determines whether a positional relationship between a predetermined part of the user's body and a predetermined part of the moving object satisfies a position condition that is a predetermined condition regarding the positional relationship;
a destination position determination unit that determines a destination position when the control device moves the moving body to the other side of the moving body when the positional relationship matches the position condition ;
a candidate position determination unit that determines a first candidate position that is a candidate for the destination position;
an arrival determination unit that determines whether the moving object can reach the first candidate position;
and
the candidate position determination unit acquires information indicating a moving path of the moving object;
determining a user movement direction, which is a direction in which the user moved between a first time and a second time;
determining a user travel distance, which is a distance traveled by the user between the first time and the second time;
determining, as the first candidate position, a position that is located a distance approximately equal to a distance that the user has moved along the movement path from a current position of the moving object based on the user movement direction and the user movement distance;
the destination position determination unit determines the first candidate position determined by the reach determination unit to be reachable as the destination position;
Control device. A control device for controlling movement of a moving body having an autonomous movement function,
a control unit that controls a drive device of the moving body to move the moving body to the other side of the moving body when a user of the moving body approaches the moving body from one side of the moving body;
The control unit
a position determination unit that determines whether a positional relationship between a predetermined part of the user's body and a predetermined part of the moving object satisfies a position condition that is a predetermined condition regarding the positional relationship;
a destination position determination unit that determines a destination position when the control device moves the moving body to the other side of the moving body when the positional relationship matches the position condition;
a candidate position determination unit that determines a first candidate position that is a candidate for the destination position;
an arrival determination unit that determines whether the moving object can reach the first candidate position;
a candidate position change unit that determines a second candidate position when the arrival determination unit determines that the moving object cannot reach the first candidate position because an obstacle is located between the current position of the moving object and the first candidate position; and
and
the candidate position change unit determines the second candidate position such that a distance between the moving body and the obstacle is greater than a predetermined value, and a distance from the current position of the moving body to a first position, which is a position on a line connecting the current position of the moving body and the first candidate position at which the distance to the obstacle is a predetermined value, plus a distance from the first position to the second candidate position substantially matches a distance from the current position of the moving body to the first candidate position;
the destination position determination unit determines the second candidate position as the destination position;
Control device. A control device for controlling movement of a moving body having an autonomous movement function,
a control unit that controls a drive device of the moving body to move the moving body to the other side of the moving body when a user of the moving body approaches the moving body from one side of the moving body;
The control unit
a position determination unit that determines whether a positional relationship between a predetermined part of the user's body and a predetermined part of the moving object satisfies a position condition that is a predetermined condition regarding the positional relationship;
a destination position determination unit that determines a destination position when the control device moves the moving body to the other side of the moving body when the positional relationship matches the position condition;
a candidate position determination unit that determines a first candidate position that is a candidate for the destination position;
an arrival determination unit that determines whether the moving object can reach the first candidate position;
a candidate position change unit that determines a second candidate position when the arrival determination unit determines that the moving object cannot reach the first candidate position because an obstacle is located between the current position of the moving object and the first candidate position; and
and
the candidate position change unit determines the second candidate position that can be reached by the mobile body such that a distance from the current position of the mobile body to the second candidate position is approximately equal to a distance from the current position of the mobile body to the first candidate position;
the destination position determination unit determines the second candidate position as the destination position;
Control device. The candidate position determination unit
determining a user movement direction, which is a direction in which the user moved between a first time and a second time, and a user movement distance, which is a distance in which the user moved between the first time and the second time;
determining, as the first candidate position, a position that is located a distance substantially equal to the user movement distance in a direction parallel to the user movement direction, based on the current position of the moving object;
The control device according to claim 2 or 3. The candidate position determination unit
determining a user movement direction, which is a direction in which the user moved between a first time and a second time;
determining, as the first candidate position, a position that is a predetermined distance ahead in a direction parallel to the user's moving direction, based on the current position of the moving object;
The control device according to claim 2 or 3. The candidate position determination unit
acquiring information indicating a travel route of the moving object;
determining a position on the movement path as the first candidate position;
The control device according to claim 2 or 3. The candidate position determination unit
determining a user movement direction, which is a direction in which the user moved between a first time and a second time ; and determining a user movement distance, which is a distance in which the user moved between the first time and the second time;
determining, as the first candidate position , a position on the movement path that is a distance substantially equal to the user movement distance from a current position of the moving object based on the user movement direction;
The control device according to claim 6 . the candidate position determination unit determines, as the first candidate position, a position that is a predetermined distance along the movement path from a current position of the moving object as a reference ;
The control device according to claim 6. The candidate position determination unit
acquiring information indicating the positions of a plurality of points at which the moving body is permitted to stop;
determining the first candidate location from among the plurality of locations;
The control device according to claim 2 or 3. The arrival determination unit
constructing a virtual space including a three-dimensional model of the moving object and features arranged around the moving object;
determining whether the moving object can reach the first candidate position based on the presence or absence or the degree of interference in the virtual space;
The control device according to any one of claims 1 to 9. The position condition is:
(a) a condition that a distance between a predetermined part of the user's body and a predetermined part of the moving object is equal to or less than a first threshold; and
(b) (i) the distance between a predetermined part of the user's body and a predetermined part of the moving body is equal to or less than a second threshold, and (ii) the absolute value of the angle formed by the extension direction of an axis constituting a coordinate system having a representative point of the moving body as its origin, the axis extending from the other side of the moving body to the one side, and the direction from the representative point of the moving body toward the predetermined part of the user's body is equal to or less than a third threshold;
including at least one of
The control device according to any one of claims 1 to 10. A program for causing a computer to function as the control device according to any one of claims 1 to 11 .