Control device and control method for moving body
A control device for a moving body according to the present disclosure is a control device for a moving body capable of recognizing and supporting a cargo handling device on which a package is placed and moving while estimating a self-location, and the control device is configured to, when causing the moving body to align and arrange multiple cargo handling devices at an arrangement location, acquire a position of a previous cargo handling device placed in advance at the arrangement location and control the moving body to place a next cargo handling device at a position determined based on the acquired position of the previous cargo handling device. Accordingly, it is possible to align and arrange multiple cargo handling devices at an arrangement location so that a gap is as small as possible by using a moving body capable of moving while estimating a self-location.
1 . A control device for a moving body capable of recognizing and supporting a cargo handling device on which a package is placed and moving while estimating a self-location,
wherein the control device is configured to
control the moving body to move a first cargo handling device to a first arrangement location,
store first coordinates of first cargo handling device at the first arrangement location,
acquire the first coordinates of the first cargo handling device and set second coordinates of a second cargo handling device at a second arrangement location based on the first coordinates,
control the moving body to move the second cargo handling device to a periphery of the first arrangement location,
recognize a first marker of the first cargo handling device at the first arrangement location, and
control the moving body to move the second cargo handling device to the second arrangement location based on the first marker of the first cargo handling device.
2 . The control device for the moving body according to claim 1 , wherein
the control device is configured to store the first coordinates of the first cargo handling device in a storage device, and acquire the second arrangement location of the second cargo handling device and store the second coordinates of the second cargo handling device in the storage device.
3 . The control device for the moving body according to claim 1 , wherein
the first coordinates of the first cargo handling device is acquired by an other moving body by which the first cargo handling device is placed at the first arrangement location, and
the first coordinates of the first cargo handling device is directly or indirectly acquired from the other moving body.
4 . The control device for the moving body according to claim 1 , wherein
the control device is configured to, when the first cargo handling device is arranged at the first arrangement location, recognize a marker attached to a position where the first cargo handling device is to be arranged and move the moving body based on a position of the marker.
5 . The control device for the moving body according to claim 1 , wherein
the control device is configured to control the moving body to arrange the first cargo handling device at a predetermined position of the first arrangement location.
6 . The control device for the moving body according to claim 1 , wherein
the first arrangement location is a storage location of the cargo handling device, the storage location being provided in a physical distribution center, a store, a retail store, a stockroom of a retail store, or around a production line.
7 . The control device for the moving body according to claim 1 , wherein
the cargo handling device is a wheeled platform or a pallet.
8 . The control device for the moving body according to claim 1 , wherein
the moving body includes multiple wheels configured to be rotationally driven by respective corresponding electric motors, the moving body being movable in all directions.
9 . A control method for a moving body capable of recognizing and supporting a cargo handling device on which a package is placed and moving while estimating a self-location, the method comprising:
controlling the moving body to move a first cargo handling device to a first arrangement location;
storing first coordinates of first cargo handling device at the first arrangement location;
acquiring the first coordinates of the first cargo handling device and set second coordinates of a second cargo handling device at a second arrangement location based on the first coordinates;
controlling the moving body to move the second cargo handling device to a periphery of the first arrangement location;
recognizing a first marker of the first cargo handling device at the first arrangement location; and
controlling the moving body to move the second cargo handling device to the second arrangement location based on the first marker of the first cargo handling device.