Control device, moving body, and control method
A control device controls travel direction of a traveling body that travels along a plurality of magnetic markers arranged with intervals therebetween on a track, the control device including: a first sensor for detecting the magnetic markers; a second sensor for detecting speed or acceleration; a first lateral position calculation unit for calculating a lateral position of the traveling body by a detection result from the first sensor, when the first sensor has detected a magnetic marker; a second lateral position calculation unit for calculating a lateral position of the traveling body by a detection result from the second sensor, when the first sensor is not detecting a magnetic marker; and a travel direction control unit for controlling the travel direction of the traveling body by the lateral position of the traveling body as calculated by the first lateral position calculation unit or the second lateral position calculation unit.
1. A control device that controls a running direction of a running body running along a plurality of magnetic markers arranged at intervals on a track, the control device comprising:
a first sensor that detects the magnetic marker;
a second sensor that detects at least one of a velocity or an acceleration of the running body;
a first lateral position calculation unit that calculates a lateral deviation of the running body from a central axis of the track on the basis of a detection result of the first sensor in a case where the first sensor detects the magnetic marker;
a second lateral position calculation unit that calculates the lateral deviation of the running body on the basis of a detection result of the second sensor in a case where the first sensor does not detect the magnetic marker;
wherein the second lateral position calculation unit calculates the lateral deviation of the running body by subtracting at least one of a lateral velocity or a lateral acceleration that depends on running of the running body on a curved portion of the track, and
wherein the second lateral position calculation unit calculates the at least one of the lateral velocity or the lateral acceleration that depends on running of the running body on the curved portion by referencing a track shape database in which each position on the track and information on the curved portion with respect to the each position are stored in association with each other in advance, and using the information on the curved portion corresponding to a running position of the running body; and
a running direction control unit that controls the running direction of the running body on the basis of the lateral deviation of the running body calculated by either the first lateral position calculation unit or the second lateral position calculation unit.
2. A moving body comprising:
the control device according to claim 1 .
3. The control device according to claim 1 ,
wherein the second lateral position calculation unit calculates a lateral velocity or lateral acceleration, which depends on running of the running body on a curved portion of the track, on the basis of a radius of curvature of the curved portion of the track and a running velocity of the running body, and calculates the lateral deviation of the running body by subtracting the calculated lateral velocity or the calculated lateral acceleration.
4. A moving body comprising:
the control device according to claim 3 .
5. A control method of controlling a running direction of a running body running along a plurality of magnetic markers arranged at intervals on a track, in which the running body including a first sensor that detects the magnetic marker, a second sensor that detects at least one of a velocity or an acceleration of the running body, a first lateral position calculation unit that calculates a lateral deviation of the running body from a central axis of the track on the basis of a detection result of the first sensor in a case where the first sensor detects the magnetic marker, a second lateral position calculation unit that calculates the lateral deviation of the running body on the basis of a detection result of the second sensor in a case where the first sensor does not detect the magnetic marker, and a running direction control unit, wherein the second lateral position calculation unit calculates the lateral deviation of the running body by subtracting at least one of a lateral velocity or a lateral acceleration that depends on running of the running body on a curved portion of the track, and wherein the second lateral position calculation unit calculates the at least one of the lateral velocity or the lateral acceleration that depends on running of the running body on the curved portion by referencing a track shape database in which each position on the track and information on the curved portion with respect to the each position are stored in association with each other in advance, and using the information on the curved portion corresponding to a running position of the running body, the control method comprising:
controlling the running direction of the running body by the running direction control unit on the basis of the lateral deviation of the running body calculated by either the first lateral position calculation unit or the second lateral position calculation unit.
6. A control method of controlling a running direction of a running body running along a plurality of magnetic markers arranged at intervals on a track, comprising:
preparing the running body to include a first sensor that detects the magnetic marker, a second sensor that detects at least one of a velocity or an acceleration of the running body, a first lateral position calculation unit that calculates a lateral deviation of the running body from a central axis of the track on the basis of a detection result of the first sensor in a case where the first sensor detects the magnetic marker, a second lateral position calculation unit that calculates the lateral deviation of the running body on the basis of a detection result of the second sensor in a case where the first sensor does not detect the magnetic marker, and a running direction control unit, wherein the second lateral position calculation unit calculates the lateral deviation of the running body by subtracting at least one of a lateral velocity or a lateral acceleration that depends on running of the running body on a curved portion of the track, and wherein the second lateral position calculation unit calculates the at least one of the lateral velocity or the lateral acceleration that depends on running of the running body on the curved portion by referencing a track shape database in which each position on the track and information on the curved portion with respect to the each position are stored in association with each other in advance, and using the information on the curved portion corresponding to a running position of the running body, and
controlling the running direction of the running body by the running direction control unit on the basis of the lateral position of the running body calculated by either the first lateral position calculation unit or the second lateral position calculation unit.