JP2014154048A - Movement instruction device, computer program, movement instruction method, and mobile body system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movement instruction device or the like capable of intuitively instructing a rotational movement to a mobile body.SOLUTION: The movement instruction device includes a first receiving unit for receiving input of a first coordinate from a coordinate input device; a first determination unit for periodically determining presence or absence of change in the first coordinate; a second receiving unit for receiving input of a second coordinate from the coordinate input device; a second determination unit for periodically determining presence or absence of change in the second coordinate; a stop position receiving unit for receiving a stop position coordinate of the second coordinate from the coordinate input device when the first determination unit determines that there is no change in the first coordinate, the second determination unit determines that there is change in the second coordinate, and then the second determination unit determines that there is no change in the second coordinate; and a calculation unit for calculating an angle formed by a line segment between initial coordinates of the first coordinate and the second coordinate, and a line segment between the first coordinate and the stop position coordinate. The instruction unit instructs a rotation movement to the mobile body according to the calculated angle.

Description

  The present invention relates to a movement instruction apparatus, a computer program, a movement instruction method, and a moving body system that give a moving direction instruction to a moving body that can move in all directions.

  Conventionally, moving bodies that can move in all directions have been proposed (Patent Documents 1 and 2). Also, a cross key is known as an operation device for instructing the moving direction of the moving body.

JP 2004-34435 A International Publication No. 2008/132778

  When using a conventional cross key to control a movable body that can move in all directions, the direction of straight movement is intuitive and easy to understand, but the direction of rotation is not intuitive.

  In view of the above-described situation, an object of the present invention is to provide a movement instructing device and the like capable of intuitively instructing a rotational movement to a moving body.

  A movement instruction apparatus according to the present invention is a movement instruction apparatus including a coordinate input device and an instruction unit that gives a movement instruction to a moving body that performs rotational movement. A first reception that receives an input of a first coordinate from the coordinate input device. A first determination unit that periodically determines whether there is a change in the first coordinate, a second reception unit that receives an input of the second coordinate from the coordinate input device, and whether there is a change in the second coordinate. A second determination unit that periodically determines, the first determination unit determines that there is no change in the first coordinates, and the second determination unit determines that there is a change in the second coordinates. When the second determination unit determines that there is no change in two coordinates, the stop point reception unit that receives the stop point coordinates of the second coordinates from the coordinate input device, and the initial coordinates of the first coordinates and the second coordinates Line segment to be formed and the first coordinate and stop point And a calculation unit that calculates an angle formed line segments formed by the target, wherein the instructing unit are to be rotational movement instruction to the moving body based on the calculated angle.

  In the present invention, after determining that there is a change in the second coordinate and then determining that there is no change in the second coordinate, the stop point coordinate of the second coordinate is received from the coordinate input device, and the first coordinate and the first coordinate An angle formed by a line segment formed by two initial coordinates and a line segment formed by the first coordinate and the stop point coordinate is calculated, and a rotational movement instruction is given to the moving body based on the calculated angle. Therefore, the operator can intuitively instruct the rotational movement to the moving body.

  In the movement instruction device according to the present invention, when the first determination unit determines that the first coordinate is not changed and the second determination unit determines that the second coordinate is not input, The unit is configured to instruct the moving body to stop rotational movement.

  In the present invention, when it is determined that there is no change in the first coordinate and it is determined that the second coordinate is not input, the moving body is instructed to stop the rotational movement. The operator can intuitively instruct to stop the rotational movement.

  In the movement instruction device according to the present invention, the first determination unit determines that the first coordinate is not changed, and the second determination unit determines that the second coordinate is changed from the stop point coordinate. When the second determination unit determines that there is no change in the second coordinate, a second stop point receiving unit that receives a second stop point coordinate of the second coordinate from the coordinate input device; and the second stop point coordinate A line segment determination unit that determines whether or not is on a line segment formed by the initial coordinates of the first coordinate and the second coordinate, and the second stop point coordinate is the first coordinate and the first coordinate When the line segment determination unit determines that the line segment is formed by two initial coordinates, the instruction unit instructs the moving body to stop rotational movement.

  In the present invention, when it is determined that there is no change in the first coordinate, and it is determined that there is no change in the second coordinate after it is determined that the second coordinate has changed from the stop point coordinate, The second stop point coordinate is received from the coordinate input device, it is determined whether the second stop point coordinate is on a line segment formed by the initial coordinates of the first coordinate and the second coordinate, and the second stop point coordinate is When it is determined that it is on the line segment formed by the initial coordinates of the first coordinate and the second coordinate, the moving body is instructed to stop the rotational movement. Can be performed automatically.

  In the movement instruction device according to the present invention, the moving body performs translational movement, and the calculation unit calculates a direction and a length of a line segment formed by a predetermined coordinate and the first coordinate, and the instruction unit Is characterized in that the moving body is instructed to translate based on the calculated direction and length.

  In the present invention, the direction and length of the line segment formed by the predetermined coordinates and the first coordinates are calculated, and the moving body is instructed to translate based on the calculated direction and length. The operator can intuitively instruct the direction and speed of translation.

  In the movement instruction device according to the present invention, when the first determination unit determines that there is no change in the first coordinate after the first determination unit determines that the first coordinate has changed, When the first coordinate coincides with a predetermined coordinate, the instruction unit instructs the moving body to stop translational movement.

  In the present invention, when the first point coincides with the coordinate origin, the analysis unit outputs to the instruction unit that the first point is at the coordinate origin, and the instruction unit issues a translation stop command. Since the mobile body is instructed, the operator can intuitively instruct the translational movement stop.

  In the movement instruction device according to the present invention, when the first determination unit determines that the first coordinate is not input, the instruction unit instructs the moving body to stop the translational movement and the rotation movement. It is characterized by being.

  In the present invention, when it is determined that the first coordinate is not input, the moving body is instructed to stop translational movement and rotational movement. The operator can perform intuitively.

  In the movement instruction device according to the present invention, when the first determination unit determines that the first coordinate has changed and the second determination unit determines that the second coordinate has changed from the stop point coordinate, A parallel reception unit that receives the coordinates after the change of the first coordinate and the second coordinate, the third coordinate, and the fourth coordinate from the coordinate input device, and a line segment formed by the first coordinate and the stop point coordinate When the line segment formed by the third coordinate and the fourth coordinate is parallel, the calculation unit calculates the direction and length of the line segment formed by the predetermined coordinate and the third coordinate, and the instruction unit Is characterized in that the moving body is instructed to translate based on the calculated direction and length.

  In the present invention, when it is determined that the first coordinate and the second coordinate have changed, the coordinate, the third coordinate, and the fourth coordinate after the change of the first coordinate and the second coordinate are determined from the coordinate input device. When the line segment formed by the first coordinate and the stop point coordinate and the line segment formed by the third coordinate and the fourth coordinate are parallel, the direction of the line segment formed by the predetermined coordinate and the third coordinate Since the length is calculated, and the moving body is instructed to translate based on the calculated direction and length, the operator can intuitively change the direction of the translation.

  The movement instruction device according to the present invention is characterized in that the coordinate input device is a track pad.

  In the present invention, since the coordinate input device is used as a track pad, the movement instruction device can be configured with general-purpose components.

  In the movement instruction device according to the present invention, the coordinate input device is a touch panel.

  In the present invention, since the coordinate input device is a touch panel, the movement instruction device can be configured with general-purpose components.

  The movement instruction device according to the present invention includes a display unit, and the touch panel is provided so as to cover a display surface of the display unit, and displays a line segment image formed by the first coordinates and the second coordinates on the display unit. A first display processing unit; and a second display processing unit that displays an arc image connecting the initial coordinates of the second coordinates and the stop point coordinates on the display unit when the stop point coordinates are received. To do.

  In the present invention, the display unit is provided, the touch panel is provided so as to cover the display surface of the display unit, the line segment image formed by the first coordinates and the second coordinates is displayed on the display unit, and the stop point coordinates are displayed. When accepted, since an arc image connecting the initial coordinates of the second coordinates and the stop point coordinates is displayed on the display unit, the operator can visually check the touched position and the operability is improved.

  The computer program according to the present invention is a computer program that causes a computer to execute a movement instruction for a moving body that performs rotational movement, acquires a first coordinate from a coordinate input device, determines a change in the first coordinate, and inputs the coordinate The second coordinate is obtained from the device, the change of the second coordinate is determined, the first coordinate is determined not to be changed, the change to the second coordinate is detected after the change of the second coordinate is detected. If it is determined that there is not, a stop point coordinate of the second coordinate is acquired from the coordinate input device, a line segment formed by the initial coordinates of the first coordinate and the second coordinate, and the first coordinate and the stop point coordinate The angle formed by the line segment formed by the above is calculated, and a rotational movement instruction is given to the moving body based on the calculated angle.

  The movement instruction method according to the present invention is a movement instruction method that causes a computer to execute a movement instruction for a moving body that performs rotational movement. The movement instruction method acquires a first coordinate from a coordinate input device, determines a change in the first coordinate, After acquiring the second coordinate from the coordinate input device, determining the change of the second coordinate, determining that the first coordinate is not changed, and detecting that the second coordinate has changed, the second coordinate If it is determined that there is no change, the stop point coordinate of the second coordinate is acquired from the coordinate input device, and the line segment formed by the first coordinate and the second coordinate and the first coordinate and the stop point coordinate are used. An angle formed by the formed line segment is calculated, and a rotational movement instruction is given to the moving body based on the calculated angle.

  A moving body system according to the present invention is a moving body system including a moving body and any one of the movement instruction devices described above, wherein the moving body moves based on an instruction from the movement instruction device. It is characterized by being.

  In the present invention, the operator can intuitively give an instruction to rotate the moving body.

  In the present invention, after determining that there is a change in the second coordinate and then determining that there is no change in the second coordinate, the stop point coordinate of the second coordinate is received from the coordinate input device, and the first coordinate and the first coordinate An angle formed by a line segment formed by two initial coordinates and a line segment formed by the first coordinate and the stop point coordinate is calculated, and a rotational movement instruction is given to the moving body based on the calculated angle. Therefore, the operator can intuitively instruct the rotational movement to the moving body.

1 is a diagram illustrating a configuration example of a mobile system according to Embodiment 1. FIG. 2 is a perspective view of an omnidirectional mobile trolley according to Embodiment 1. FIG. It is a top view of the omnidirectional mobile trolley except a some roller. It is explanatory drawing which shows the movement form of an omnidirectional mobile trolley | bogie. It is explanatory drawing which shows an example of the operation surface of a trackpad. It is explanatory drawing about a movement instruction | indication method. It is explanatory drawing about a movement instruction | indication method. It is explanatory drawing about a movement instruction | indication method. It is explanatory drawing about a movement instruction | indication method. It is explanatory drawing which showed a mode that a translation direction was changed continuously. It is a table | surface which shows an example of the command system of an omnidirectional mobile trolley | bogie. It is explanatory drawing which shows the example of the angle which shows a translation direction. It is a flowchart which shows the procedure of the movement instruction | indication process performed with an operating device. It is a flowchart which shows the procedure of the movement instruction | indication process performed with an operating device. It is a flowchart which shows the procedure of the movement instruction | indication process performed with an operating device. It is a flowchart which shows the procedure of the movement instruction | indication process performed with an operating device. 6 is a diagram illustrating a configuration example of a mobile system according to Embodiment 2. FIG. FIG. 10 is an explanatory diagram for a movement instruction operation in the second embodiment. FIG. 10 is an explanatory diagram for a movement instruction operation in the second embodiment. FIG. 10 is an explanatory diagram for a movement instruction operation in the second embodiment. 10 is an explanatory diagram illustrating an example of a display mode of a display unit during a movement instruction operation in Embodiment 2. FIG. 10 is an explanatory diagram illustrating an example of a display mode of a display unit during a movement instruction operation in Embodiment 3. FIG. 10 is an explanatory diagram illustrating an example of a display mode of a display unit during a movement instruction operation in Embodiment 3. FIG. FIG. 10 is a diagram illustrating a configuration example of a mobile system according to a fourth embodiment. It is explanatory drawing which shows an example of the movement form of an omnidirectional mobile trolley.

Hereinafter, embodiments will be specifically described with reference to the drawings.
Embodiment 1
FIG. 1 is a diagram illustrating a configuration example of a mobile system according to the first embodiment. The moving body system includes an operating device 1 (movement instruction device) and an omnidirectional moving carriage 2 (moving body). The operation device 1 may be provided in the omnidirectional mobile trolley 2 on the assumption that the operator gives instructions while riding the omnidirectional mobile trolley 2, or may be provided separately on the assumption that it is operated remotely. . Further, assuming both cases, the controller device 1 may be detachable from the omnidirectional mobile trolley 2.

  The operating device 1 includes a CPU (Central Processing Unit) 10, a ROM (Read Only Memory) 11, a RAM (Random Access Memory) 12, a coordinate value storage unit 13, a track pad 14 (coordinate input device), and a communication unit 15. The CPU 10 controls each part of the controller device 1 by appropriately loading a control program stored in the ROM 11 into the RAM 12 and executing it.

  The ROM 11 is a nonvolatile memory such as an EEPROM (Electrically Erasable and Programmable ROM) or a flash memory. The ROM 11 stores a control program to be executed by the CPU 10 and various data in advance.

  The RAM 12 is an SRAM (Static RAM), a DRAM (Dynamic RAM), a flash memory, or the like. The RAM 12 temporarily stores various data generated when the CPU 10 executes various programs.

  The coordinate value storage unit 13 is configured using a hard disk or a flash disk. The coordinate value storage unit 13 stores various data necessary for controlling the omnidirectional mobile carriage 2. The program stored in the ROM 11 may be stored in the coordinate value storage unit 13.

  The track pad 14 is a pointing device operated with a finger. Any two-dimensional coordinate value may be used as long as a plurality of points can be input simultaneously, and a digitizer or a touch panel may be used. The track pad 14 accepts a movement instruction input for the omnidirectional mobile trolley 2.

  The omnidirectional mobile carriage 2 includes a moving body control unit 20, a drive motor 21, a moving chain 22, and a communication unit 23. The moving body control unit 20 includes a CPU, a ROM, a RAM, a motor driver, and the like. The CPU of the mobile control unit 20 controls each part of the omnidirectional mobile carriage 2 by appropriately loading a control program stored in the ROM into the RAM and executing it.

  The drive motor 21 drives the moving chain 22 to cause the omnidirectional mobile carriage 2 to travel. The communication unit 23 communicates with the controller device 1. Communication between the controller device 1 and the omnidirectional mobile trolley 2 may be wired or wireless. The communication line may be a public line or a dedicated line. The Internet, a packet communication network, or the like may be used as a communication line.

  2 is a perspective view of the omnidirectional mobile trolley 2 according to Embodiment 1, and FIG. 3 is a plan view of the omnidirectional mobile trolley 2 excluding a plurality of rollers. In the following description, front and rear, left and right, and top and bottom indicated by arrows in the figure are used. The omnidirectional mobile trolley 2 is a multidirectional moving body module that can move on the traveling surface P in multiple directions. The base 30 is a movable body module main body portion to which the chains 51R, 51L, 56R, 56L and the like are attached. Since the traveling surface P is a surface on which the omnidirectional mobile carriage 2 moves, the traveling surface P may be referred to as a traveling surface P, and the meanings of the traveling surface and the moving surface are the same. In the following description, “traveling surface P” is used. The chains 51R, 51L, 56R, and 56L correspond to the moving chain 22 shown in FIG.

  The base body 30 that moves along the traveling surface P is provided with a pair of chains (band-like drive bodies) 51R and 51L that are driven independently from each other on the front and left and right, and are driven independently from each other on the left and right of the rear. A pair of chains 56R and 56L are provided. The chains 51R, 51L, 56R, and 56L can be driven in both forward and reverse directions along the circulation path. Driving in the positive direction refers to driving the entire chain so as to drive the lower part, which is the traveling surface side part (grounding surface side part) of the chain, backward and to drive the upper part of the chain forward, Driving in the reverse direction means driving the entire chain in the reverse direction with respect to the forward direction.

  Rollers (rotators) 54R, 54L, 59R, and 59L are arranged on the chains 51R, 51L, 56R, and 56L, for example, at equal intervals along the driving direction D1 of the upper or lower chains 51R, 51L, 56R, and 56L. ing. The rollers 54R, 54L, 59R, and 59L are mounted so that the rotation shafts 541R, 541L, 591R, and 591L that are oblique to the drive direction D1 of the chains 51R, 51L, 56R, and 56L are parallel to each other. The outer peripheral surfaces 542R, 542L, 592R, and 592L are brought into contact with the traveling surface P, respectively. The pair of chains 51R, 51L and the rollers 54R, 54L fixedly installed thereon constitute a pair of driving body units 50, and the pair of chains 56R, 56L and the rollers 59R, 59L fixedly installed thereon are a pair of driving bodies. The unit 55 is configured. The driver units 50 and 55 are arranged in the driving direction D1 and further form a pair.

  The load on the base 2 is shared by the rollers 54R, 54L, 59R, and 59L with the outer peripheral surfaces 542R, 542L, 592R, and 592L of the plurality of rollers 54R, 54L, 59R, and 59L being in contact with the running surface P. To support. Each of the rollers 54R, 54L, 59R, and 59L is generated in order to generate the driving force of the base 30 in the resultant direction of the reaction force against the force acting on the rollers 54R, 54L, 59R, and 59L from the running surface P according to the load of the base 30. Thus, the base body 30 can be moved smoothly and freely in multiple directions along the running surface P.

  Further, as shown in FIG. 3, the drive shaft 402L of the drive sprocket 502L, which is a power transmission rotor, and the shaft 404R of the driven sprocket 503R, which is a power transmission rotor, are not connected to each other. The driven shaft 404L of the driven sprocket 503L and the driving shaft 402R of the driving sprocket 502R are not connected to each other. The driving sprocket 502L and the driven sprocket 503L are arranged in parallel along the front-rear direction. The drive motor 401L drives the drive sprocket 502L and causes the driven sprocket 503L to follow the drive sprocket 502L. The driving sprocket 502R and the driven sprocket 503R are arranged in parallel along the front-rear direction. The drive motor 401R drives the drive sprocket 502R and causes the driven sprocket 503R to follow the drive sprocket 502R.

  The drive shaft 407L of the drive sprocket 507L, which is a power transmission rotor, and the shaft 409R of the driven sprocket 508R, which is a power transmission rotor, are not connected to each other. The driven shaft 409L of the driven sprocket 508L and the drive shaft 407R of the drive sprocket 507R are not connected to each other. The drive sprocket 507L and the driven sprocket 508L are arranged in parallel along the front-rear direction. The drive motor 406L drives the drive sprocket 507L and causes the driven sprocket 508L to follow the drive sprocket 507L. The driving sprocket 507R and the driven sprocket 508R are arranged in parallel along the front-rear direction. The drive motor 406R drives the drive sprocket 507R and causes the driven sprocket 508R to follow the drive sprocket 507R.

  That is, the chains 51L, 51R, 56L, 56R arranged in the front-rear direction are driven independently of each other. Further, in order to realize both the weight balance of the omnidirectional mobile carriage 2 and the securing of the installation space for the motor, as shown in FIG. Drive motors 401L, 401R, 406L, and 406R are arranged one by one.

  Further, the omnidirectional mobile carriage 2 has a pair of chains 51R, 51L, a pair of chains 56R, and a pair of chains 56R, 56L. The base 30 can be moved smoothly and freely in multiple directions along the running surface P by adjusting the moving speed and the direction of the base 30 by controlling the two parameters of the 56L rotational driving direction and the driving speed V. It has become.

  Next, the movement form of the omnidirectional mobile trolley 2 will be described. FIG. 4 is an explanatory view showing the movement form of the omnidirectional mobile trolley 2. The movement form of the omnidirectional carriage 2 is three patterns of translation (FIG. 4A), rotation (FIG. 4B), and translation + rotation (FIG. 4C). Translational movement indicates that the omnidirectional mobile carriage 2 does not rotate (changes direction) and moves in a certain direction. FIG. 4A shows a translational movement in the left direction in which the angle formed with the front-rear direction is d1. The rotational movement indicates a movement in which the omnidirectional mobile carriage 2 rotates about a predetermined axis. In the case of only rotational movement, it rotates on the spot, so the position of the omnidirectional mobile carriage 2 changes, but the position does not change. FIG. 4B shows a movement that rotates counterclockwise at an angular velocity d2. Translational movement + rotational movement is a movement that combines translational movement and rotational movement. This is a movement of rotating in a certain direction while rotating at a predetermined angular velocity around a predetermined axis. An example is shown in FIG. 4C.

  In order to make the omnidirectional mobile trolley 2 perform each of the above movement modes, it is necessary to indicate the following values. In translational movement, the angle indicates the direction of movement and the speed of movement, in rotational movement, the direction of rotation and angular speed of rotation, and in translation + rotation, the angle indicates the direction of movement, speed of movement, rotational direction, and angular speed of rotation.

A movement instruction method in the present embodiment will be described.
FIG. 5 is an explanatory diagram showing an example of the operation surface 14 a of the track pad 14. An axis of a horizontal axis 14b and a vertical axis 14c are shown on the operation surface 14a of the track pad 14. The horizontal axis is the X axis and the vertical axis is the Y axis. An intersection point between the X axis and the Y axis is defined as an origin O (predetermined coordinates). FIG. 6 is an explanatory diagram showing an operation method for instructing translational movement. The user touches the origin O of the operation surface with a finger used for operation. Next, the user slides the touching finger on the operation surface and moves it to a predetermined position. The position after the movement is defined as a point A (first coordinate). A line segment connecting the origin O and the point A (formed by the origin O and the point A) is defined as a line segment OA. Let L1 be the length of the line segment OA. An angle formed by the Y axis and the line segment OA is defined as d1. In this case, the controller device 1 transmits a command to the omnidirectional mobile trolley 2 to move in the direction of the angle d1 at the speed v1 (= m × L1). Here, m is a coefficient. The value of the coefficient m may be appropriately determined according to the area of the operation surface 14a of the track pad 14 and the specifications of the omnidirectional mobile carriage 2. The finger using the operation may be any finger, but it is preferable to use the index finger. This is because it becomes easier to instruct the following rotational movement.

7 and 8 are explanatory diagrams of the movement instruction method. FIGS. 7 and 8 show an instruction method for further rotating the omnidirectional mobile trolley 2 in translation. In other words, the omnidirectional mobile carriage 2 performs a movement (translation movement + rotation movement) in which the translation movement and the rotation movement are combined.
The user touches the other part of the operation surface 14a of the track pad 14 with another finger while holding the finger used to instruct the translational movement. Let that point be B point (second coordinate). Next, the finger placed at the point B with the point A as the rotation axis is moved so as to slide on the operation surface 14a (see FIG. 8). Let C (stop point coordinate) be the point after the movement. In this case, an angle formed by a line segment AB connecting the point A and the point B and a line segment AC connecting the point A and the point C is defined as d2. At this time, the omnidirectional mobile trolley 2 performs rotational movement while performing translational movement. The magnitude of the angular velocity of the rotational movement is proportional to the angle d2. The angular velocity v2 is set to v2 (= n × d2). Here, n is a coefficient. The value of the coefficient n may be appropriately determined according to the area of the operation surface 14a of the track pad 14 and the specifications of the omnidirectional mobile carriage 2. The rotational direction of the rotational movement is determined by the moving direction when the finger is moved from point B to point C. In the example shown in FIG. 8, since the finger is moved counterclockwise, the rotational direction of the omnidirectional mobile carriage 2 is also counterclockwise. When the finger at the point B is moved clockwise, the rotation direction of the omnidirectional mobile carriage 2 is also clockwise. When the index finger is used when instructing the translational movement, it is preferable to use the thumb to instruct the rotational movement. Of course, other fingers may be used.

  FIG. 9 is an explanatory diagram of the movement instruction method. FIG. 9 shows an operation for changing the direction of translation of the omnidirectional mobile carriage 2 that has been translated and rotated by the operations shown in FIGS. 7 and 8. From the state of FIG. 8B, the two fingers are slid and moved on the operation surface 14a without changing the mutual positional relationship. The position of the finger after movement is defined as point A ′ (third coordinate) and point C ′ (fourth coordinate). Point A and point C are the positions of the fingers before moving. The direction in which the omnidirectional mobile carriage 2 translates is indicated by the angle formed by the line segment OA and the Y axis as shown in FIG. 5C. As shown in FIG. 9A, by moving the finger at point A to point A ′, the translation direction is changed from the angle d1 between the line segment OA and the Y axis to the angle d3 between the line segment OA ′ and the Y axis. The The translation direction is changed continuously from angles d1 to d3. Point B is the position where the finger moved to point C first touched the operation surface 14a when instructing rotational movement. Point B ′ is a point at a position corresponding to a point B moved in the same direction and distance as point A and point C. That is, the positional relationship between the points A and C and the point B and the positional relationship between the points A ′ and C ′ and the point B ′ are the same. FIG. 10 is an explanatory view showing a state in which the translation direction is continuously changed. The direction of the arrow shown in FIG. 10 is the translation direction. The state in which the translation direction is continuously changed from the angle d1 to d3 is shown.

  The translation is stopped as follows. When the finger at the point A is returned to the origin, the translation is stopped. When only translational movement is performed, the omnidirectional mobile carriage 2 is completely stopped. When the omnidirectional mobile trolley 2 performs translation + rotation, only the translation is stopped and the rotation continues. The omnidirectional mobile trolley 2 rotates and moves on the spot.

  The rotation is stopped as follows. When the finger at the point C (point C ′) is moved onto the line segment AB (A′B ′) (second stop point coordinates), the rotational movement is stopped. When the omnidirectional mobile trolley 2 is performing translation + rotation, only the rotation is stopped and the translation is continued. When the finger at the point A (point A ′) is released, the translational movement and the rotational movement are stopped, and the omnidirectional moving carriage 2 is completely stopped.

  The instruction operation for the omnidirectional mobile trolley 2 is not limited to the operation described above, and the following instruction operation may be employed. Although the speed of translation is determined by the length of the line segment OA, the time until the finger moves from the origin O to the point A is measured, and a value proportional to the measured time may be used as the speed. When the finger at the point A (point A ′) is released, the translational movement and the rotational movement may not be stopped, but only the translational movement may be stopped and the rotational movement may be continued. The rotational movement may be stopped by releasing the finger at the point C (point C ′).

  When the translation movement is instructed, the translation speed may be increased by moving the finger placed at the point A away from the origin, and the translation speed may be decreased by approaching the origin. In the case where the rotational movement is instructed, the rotational speed may be decreased by moving the finger placed at the point C in the direction approaching the point B, and the rotational speed may be increased by moving in the direction away from the point B.

  A command (command) system is configured to be transmitted from the controller device 1 to the omnidirectional mobile carriage 2 in accordance with the movement instruction method described above. FIG. 11 is a list showing an example of a command system of the omnidirectional mobile carriage 2. Shows commands and arguments. There are four types of commands: a translation command, a rotation command, a translation stop command, and a rotation stop command. The translation command takes speed and translation direction as arguments. The speed is the speed of translation (the magnitude of speed). The unit of speed is, for example, m / s. The translation direction designates an angle formed by a vector indicating the translation direction and the Y axis when the longitudinal direction of the omnidirectional mobile carriage 2 is the Y axis. A positive or negative value is provided for the angle value, and a positive value is used when the vehicle proceeds to the right front and the right rear, and a negative value is used when the vehicle proceeds to the left front and the left rear. FIG. 12 is an explanatory diagram illustrating an example of an angle indicating a translation direction. In the omnidirectional mobile trolley 2, the front-rear direction is a Y-axis and the left-right direction X-axis with a predetermined position as the origin. The coordinate system shown here is associated with the coordinate system of the operation surface 14a of the track pad 14 shown in FIG. As shown in FIG. 12, when the omnidirectional mobile trolley 2 is translated in the direction of 45 degrees to the right, +45 degrees is specified as an argument in the translation direction. When the omnidirectional mobile carriage 2 is translated in the direction of 30 degrees to the left rear, −120 degrees is specified as an argument of the translation direction. The method of taking the angle is not limited to this. The position where the angle is 0 may be the X-axis direction. It is good also as taking the value of 0 degree to 360 degree | times, without providing a negative value as an angle value.

  The rotational movement command takes an angular velocity as an argument. The unit of angular velocity is, for example, rad / s. The direction of rotation is represented by the sign of the value. Positive values are clockwise and negative values are counterclockwise. Not limited to this, the positive and negative meanings may be reversed. Alternatively, two arguments may be used, the first argument may be the angular velocity and the second argument may be the rotation direction. The translation stop command and the rotation stop command are commands for stopping the translation movement and the rotation movement, respectively, and do not take an argument.

  The commands are not limited to the above four. Other commands may be provided, or the number of commands may be reduced. For example, a command for instructing translation + rotation and a complete stop command for stopping translation and rotation may be added. On the other hand, the translation stop command and the rotation stop command may not be provided. This is because when the speed is 0 in the translation command, translation is stopped. Similarly, if the angular velocity is 0 (angular velocity magnitude 0) in the rotational movement command, the rotation is stopped. Further, the translation stop command and the rotation stop command may be integrated into one command, for example, a movement stop command. The movement stop command takes one argument. The arguments are both translation and rotation. When the argument is translation, only translation is stopped. When the argument is rotation, only rotational movement stops. When the arguments are both, both translational and rotational movements stop.

  Next, information processing in the controller device 1 will be described. 13 to 16 are flowcharts showing the procedure of the movement instruction process executed by the controller device 1. The CPU 10 of the controller device 1 processes an input signal generated by operating the track pad 14 (step S1). A / D conversion and filtering processing. The CPU 10 calculates the number of input points and the coordinate value of each point (step S2). The number of input points is the number of points detected by the trackpad. Here, the processing of the input signal and the calculation of the number of input points and the coordinate value of each point are performed by the CPU 10, but the processing is performed by a signal processing driver IC (Integrated Circuit) or the like. The number of input points and the coordinate value of each point may be received. In the following description, sliding the operation surface 14a without the user's finger touching the operation surface 14a of the track pad 14 being separated from the operation surface 14a is expressed as “drag”. “Dragging” means that the user keeps moving the finger.

  The CPU 10 determines whether the number of input points is 0, that is, whether there is an input by the user (step S3). When the number of input points is 0 (YES in step S3), the CPU 10 determines whether or not the omnidirectional mobile trolley 2 is moving (step S4). Whether or not the omnidirectional mobile trolley 2 is moving may be determined from a history of issuing commands to the omnidirectional mobile trolley 2 and stored. Or you may inquire directly to the omnidirectional mobile trolley 2. If the omnidirectional mobile trolley 2 is moving (YES in step S4), the CPU 10 clears the coordinate values stored in the coordinate value storage unit 13 (step S5). CPU10 (instruction | indication part) issues an all stop command with respect to the omnidirectional mobile trolley 2 (step S6). Here, “all stop” means to stop both translational movement and rotational movement.

  When the number of input points is not 0 (NO in step S3), the CPU 10 determines whether or not the number of input points is 1 (step S7). When the number of input points is 1 (YES in step S7), the CPU 10 (first receiving unit) performs a command determination process 1 (step S8). The CPU 10 ends the process.

  When the number of input points is not 1 (NO in step S7), the CPU 10 determines whether or not the number of input points is 2 (step S9). When the number of input points is 2 (YES in step S9), the CPU 10 (second receiving unit) performs a command determination process 2 (step 10). The CPU 10 ends the process. If the number of input points is not two (NO in step S9), the CPU 10 ends the process. Thereafter, the CPU 10 repeatedly performs the processing shown in the flowcharts of FIGS. Since it is not assumed that the number of input points is 3 or more, if NO is determined in step S9, error processing may be performed. For example, the user may be warned that an unexpected operation has been performed by emitting a beep sound or turning on an error LED (Light Emitting Diode).

  The command determination process 1 (step S8 in FIG. 13) will be described with reference to FIG. In the following description, since the words “first point” and “second point” are used, the meanings of the words will be described. The first point indicates a point when there is an input from a state where nothing is input to the track pad. This corresponds to the point A in FIGS. When a new point is input while the first point is input, the point is referred to as a second point. This corresponds to the point B in FIGS.

  Command determination processing 1 is processing when the number of input points is one. The CPU 10 determines whether or not the coordinate value of the first point is stored in the coordinate value storage unit 13 (step S11). When the first point is not stored (NO in step S11), the CPU 10 determines whether the coordinate value of the input point (hereinafter referred to as “input coordinate value”) is the origin (step S12). If it is the origin (YES in step S12), the CPU 10 stores the input coordinate value in the coordinate value storage unit 13 as the coordinate value of the first point (step S13). The CPU 10 restores the process. This is a case where the user places a finger at the origin in order to instruct translational movement. Note that an input error may be considered in the determination in step S12. For example, even if the input coordinate value does not coincide with the origin coordinate, if the Euclidean distance between the input point and the origin is equal to or less than a predetermined value, it may be treated as being at the origin. If it is not the origin (NO in step S12), the CPU 10 ends the process.

  When the coordinate value of the first point is stored in the coordinate value storage unit 13 (YES in step S11), the CPU 10 (first determination unit) stores the input coordinate value and the first point stored in the coordinate value storage unit 13. It is determined whether or not the coordinate values match (step S14). If the coordinate values do not match (NO in step S14), the CPU 10 determines whether or not the input point is being dragged (step S15). Whether or not the drug is being dragged is performed as follows, for example. When step S15 is reached for the first time, the input coordinate value is temporarily stored in the RAM 12. When step S15 is reached after the next time, the coordinate value stored in the RAM 12 is compared with the input coordinate value, and if they match, the number of matches is incremented. If they do not match, the number of matches is reset to 0, and the coordinate value stored in the RAM 12 is updated to the input coordinate value. It is determined that the user is dragging until the number of matches reaches a predetermined number, and when the number of matches reaches a predetermined number, it is determined that the user is not dragging. This is merely an example, and a conventional technique relating to tracking of input points on a track pad or the like may be applied.

  If it is dragging (YES in step S15), the CPU 10 ends the process. When not dragging (NO in step S15), the CPU 10 determines whether or not the omnidirectional mobile carriage 2 is moving (step S16). If the omnidirectional mobile trolley 2 is moving (YES in step S16), the CPU 10 determines whether or not the input point is the origin (step S20). If the input point is the origin (YES in step S20), the CPU 10 issues a translation stop command (step S21). That is, the CPU 10 transmits a translation stop command to the omnidirectional mobile carriage 2 via the communication unit 23. The CPU 10 ends the process. If the input point is not the origin (NO in step S20), since the finger at the first point is released and only the second point is input, the CPU 10 issues a full stop command to the omnidirectional mobile carriage. 2 (Step S25).

  When the omnidirectional mobile trolley 2 is not moving (NO in step S16), the CPU 10 calculates the length of the line segment connecting the input point and the origin (step S17). The CPU 10 calculates an angle formed by a line segment connecting the input point and the origin and the Y axis (step S18). The CPU 10 issues a translation command including the calculated line segment length and angle (step S19). That is, a translation command is transmitted to the omnidirectional mobile carriage 2 via the communication unit 23. The length of the line segment indicates the translational speed (speed), and the angle indicates the translational direction. Instead of including the length of the line segment obtained as speed in the command to be transmitted, it may be a value obtained by multiplying a predetermined coefficient. The translation direction is as described above with reference to FIG. The speed may be determined not by the length of the line segment but by the dragged time.

  When the input coordinate value matches the coordinate value of the first point (YES in step S14), the CPU 10 determines whether or not the coordinate value of the second point is stored in the coordinate value storage unit 13 (step S22). ). When the coordinate value of the second point is stored (YES in step S22), the CPU 10 clears the coordinate value of the second point stored in the coordinate value storage unit 13 (step S23). The CPU 10 issues a rotational movement stop command (step S24). That is, a command to stop rotational movement is transmitted to the omnidirectional mobile carriage 2 via the communication unit 23. The CPU 10 ends the process. When the coordinate value of the second point is not stored (NO in step S22), the CPU 10 ends the process.

  The command determination process 2 (step S10 in FIG. 13) will be described with reference to FIGS. The command determination process 2 is a process when the number of input points is two. The CPU 10 determines whether or not the coordinate value of the first point is stored in the coordinate value storage unit 13 (step S31). If the coordinate value of the first point is not stored (NO in step S31), the CPU 10 ends the process. In this case, since the operation is not assumed, error processing may be performed. An example of error processing is as described above. When the coordinates of the first point are stored (YES in step S31), the CPU 10 determines the coordinates of the first point stored in the coordinate value storage unit 13 and the coordinate value of the first point out of the two input points. It is determined whether or not the coordinate values match (step S32). When the coordinate value of the first point matches the coordinate value of the first point stored in the coordinate value storage unit 13 (YES in step S32), the CPU 10 stores the coordinate value of the second point in the coordinate value storage unit 13. It is determined whether or not it is stored (step S33). When the coordinate value of the second point is not stored in the coordinate value storage unit 13 (NO in step S33), the CPU 10 stores the coordinate value of the second point in the coordinate value storage unit 13 among the two input points. (Step S34). This is a case where the user places a second finger on the operation surface 14 a of the track pad 14 in order to instruct a rotational movement. The CPU 10 ends the process.

  When the coordinate value of the second point is stored in the coordinate value storage unit 13 (YES in step S33), the CPU 10 (second determination unit) stores the input coordinate value of the second point and the coordinate value storage unit 13. It is determined whether or not the stored coordinate value of the second point matches (step S35). When the input coordinate value of the second point and the coordinate value of the second point stored in the coordinate value storage unit 13 match, that is, when it is determined that there is no change in the coordinates of the second point ( If YES in step S35), the CPU 10 ends the process. This is a state where the user has not yet instructed the rotational movement and the user has left the second finger at the initial position. When it is determined that the input coordinate value of the second point does not match the coordinate value of the second point stored in the coordinate value storage unit 13, that is, the coordinate of the second point has changed (step) If NO in S35, the CPU 10 determines whether or not the second point is being dragged (step S36). Whether or not the drug is being dragged can be determined by a known technique in addition to the above-described method, and thus the description thereof is omitted. If it is being dragged (YES in step S36), the CPU 10 ends the process.

  If it is not dragging (NO in step S36), it is determined whether or not the omnidirectional mobile trolley 2 is rotating (step S37). This is performed based on a command issuance history or by making an inquiry to the omnidirectional mobile carriage 2. When the omnidirectional mobile trolley 2 is not rotationally moved (NO in step S37), the CPU 10 (stop point receiving unit) uses the already stored coordinate value of the second point as the initial position coordinate (the second coordinate of the second coordinate). The initial coordinate) is stored, and the input coordinate value of the second point is stored in the coordinate value storage unit 13 as the current coordinate value of the second point (step S38). The CPU 10 (calculation unit) reads the coordinate value of the first point from the coordinate storage unit 13, and forms a line segment connecting the initial positions of the first point and the second point and a line segment connecting the first point and the current second point. An angle is calculated (step S39). The CPU 10 issues a rotational movement command including the calculated angle (step S40). That is, the CPU 10 transmits a rotational movement command to the omnidirectional mobile carriage 2 via the communication unit 23. The CPU 10 ends the process.

When the omnidirectional mobile trolley 2 is rotationally moving (YES in step S37), the CPU 10 (second stop point receiving unit) receives the coordinate value of the first point and the coordinate value of the initial position of the second point as the coordinate storage unit 13. Read from. The CPU 10 (line segment determination unit) determines whether or not the input second point is on a line segment connecting the first point and the initial position of the second point (step S41). When the input second point is on a line segment connecting the first point and the initial position of the second point (YES in step S41), the CPU 10 stores the current second point and the first point stored in the coordinate storage unit 13. The coordinate values of the initial positions of the two points are cleared (step S42). CPU10 issues a rotational movement stop command (step S43). That is, the CPU 10 transmits a rotational movement stop command to the omnidirectional mobile carriage 2 via the communication unit 23. The CPU 10 ends the process. When the input second point is not on a line segment connecting the first point and the initial position of the second point (NO in step S41), the CPU 10 ends the process. In this case, since the operation is not assumed, error processing as described above may be performed.
When the number of input points is two, which point is dragged when one point is dragged, or where each point is dragged when both points are dragged What is necessary is just to determine using a well-known technique.

  If the coordinate value of the first point does not match the coordinate value of the first point stored in the coordinate value storage unit 13 (NO in step S32), it is determined whether or not the first point is being dragged (NO in step S32). Step S44). If it is dragging (YES in step S44), the CPU 10 ends the process. When not dragging (NO in step S44), the CPU 10 determines whether or not the first point coincides with the origin (step S45). If the first point coincides with the origin (YES in step S45), the CPU 10 issues a translation stop command (step S46). That is, the CPU 10 transmits a translation stop command to the omnidirectional mobile carriage 2 via the communication unit 23. This stops only the translational movement and continues the rotational movement, so that the omnidirectional mobile carriage 2 rotates on the spot.

  When the first point does not coincide with the origin (NO in step S45), the CPU 10 performs a command determination process 3 (step S47). The command determination process 3 will be described with reference to FIG. The command determination process 3 is a process performed when an instruction operation for changing the translation movement direction is performed when the omnidirectional mobile carriage 2 performs translation + rotation movement.

  The CPU 10 determines whether or not the coordinate value of the second point is stored in the coordinate value storage unit 13 (step S51). When the coordinate value of the second point is stored in the coordinate value storage unit 13 (YES in step S51), the CPU 10 is input with the coordinate value of the second point stored in the input coordinate value storage unit 13. It is determined whether or not the coordinate values of the second points match (step S52). If the coordinate value of the second point stored in the coordinate value storage unit 13 does not match the coordinate value of the input second point (NO in step S52), the CPU 10 determines whether the second point is being dragged. Is determined (step S53). When the second point is not being dragged (NO in step S53), the CPU 10 reads out the coordinate value of the first point and the coordinate value of the initial position of the second point in the coordinate value storage unit 13 (step S54). The CPU 10 determines whether or not the line connecting the coordinate value of the first point and the initial position of the second point is parallel to the line connecting the current first point and the current second point (step S55). For example, the slopes of two line segments may be obtained to determine whether the values match. In order to allow a certain amount of error, not only when the values of the slopes match but also when the difference of the slope values is within a predetermined value, it may be determined as parallel.

  When the line segment connecting the coordinate value of the first point and the initial position of the second point and the line segment connecting the current first point and the current second point are parallel (YES in step S55), the CPU 10 (parallel acceptance) Part) stores the current coordinate value of the first point and the current coordinate value of the second point in the coordinate value storage unit 13 (step S56). The CPU 10 obtains an angle formed by a line segment connecting the current first point and the origin with the Y axis (step S57). The CPU 10 calculates the coordinate value of the position when the initial position of the second point is translated similarly to the first point and the second point, and the calculated coordinate value is the coordinate value of the initial position of the second point. The coordinate value storage unit 13 is updated (step S58). The CPU 10 issues a translation movement command including the calculated angle (step S59). That is, a translation command is transmitted to the omnidirectional mobile carriage 2 via the communication unit 23. In this case, since the speed is not changed, it may be set to the same value as that when the translation stop command is first issued. Alternatively, the speed may be an optional parameter, and when only the angle is given, only the translation direction may be changed without changing the speed. The CPU 10 ends the process.

  If the coordinate value of the second point is not stored in the coordinate value storage unit 13 (NO in step S51), the CPU 10 ends the process. When the coordinate value of the 2nd point memorize | stored in the coordinate value memory | storage part 13 and the coordinate value of the input 2nd point correspond (YES in step S52), CPU10 complete | finishes a process. If the second point is being dragged (YES in step S53), the CPU 10 ends the process. If the line segment connecting the coordinate value of the first point and the initial position of the second point is not parallel to the line segment connecting the current first point and the current second point (NO in step S55), the CPU 10 ends the process. To do. Since the operation is not assumed in any case except when the second point is being dragged, the error processing as described above may be performed.

  The controller device 1 according to the first embodiment can instruct the translational movement direction simply by dragging the finger placed at the origin in the direction instructing the finger. It is possible to specify the speed by the drag distance. Therefore, it is possible to instruct the omnidirectional mobile trolley 2 to move in translation by an intuitive operation.

  The operating device 1 according to the first embodiment rotates and moves only by dragging a finger other than the finger used for the translation movement instruction on the track pad so that the finger used for the translation movement instruction is rotated. Can be instructed. The speed (speed) of rotational movement is specified by the rotated angle. Therefore, it is possible to instruct rotational movement to the omnidirectional mobile carriage 2 by an intuitive operation.

  The controller device 1 according to the first embodiment stops the translational movement of the omnidirectional mobile carriage 2 by moving a finger other than the finger used for the translational movement instruction to the origin position. Therefore, it is possible to instruct the omnidirectional mobile trolley 2 to stop the translational movement with an intuitive operation.

    The operating device 1 according to the first embodiment stops the rotational movement of the omnidirectional mobile carriage 2 by returning the finger used for the rotational movement instruction to the position where the finger is first touched. Alternatively, the rotational movement of the omnidirectional mobile trolley 2 is stopped by releasing the finger used for the rotational movement instruction from the track pad 14. Therefore, it is possible to instruct the omnidirectional mobile carriage 2 to stop the rotational movement by an intuitive operation.

  The controller device 1 according to the first embodiment changes the direction of translational movement by dragging the finger used for the translational movement instruction and the finger used for the rotational movement instruction. Therefore, it is possible to instruct the omnidirectional mobile trolley 2 to change the direction of translational movement with an intuitive operation.

  The operating device 1 according to the first embodiment stops the movement by separating the finger used for the translation movement instruction from the track pad 14. Therefore, it is possible to instruct the omnidirectional mobile carriage 2 to stop by an intuitive operation.

Embodiment 2
FIG. 17 is a diagram illustrating a configuration example of a mobile system according to the second embodiment. Since the configuration of the mobile system according to the second embodiment is substantially the same as that of the mobile system according to the first embodiment, the differences will mainly be described. The mobile body system includes an operating device 1 and an omnidirectional mobile carriage 2. The operation device 1 includes a CPU 10, a ROM 11, a RAM 12, a coordinate value storage unit 13, an operation unit 14, and a communication unit 15. Since the omnidirectional mobile trolley 2 is the same as that of Embodiment 1, description is abbreviate | omitted.

  The operation device 1 according to the present embodiment includes an operation unit 14 including a display unit 141 and a contact detection unit 142 (touch panel) instead of the track pad 14 provided in the operation device 1 according to the first embodiment. . The contact detection unit 142 is usually called a touch panel, and has a panel shape that detects the contact of a human finger, a stylus, or the like. The contact detection unit 142 is provided so as to cover the display surface of the display unit 141. Thereby, the operation unit 14 has the same configuration as a so-called touch panel display. Since the contact detection unit 142 is configured to transmit light, the user can visually recognize the image displayed on the display unit 141 through the contact detection unit 142. The user can instruct the omnidirectional mobile carriage 2 to move by operating the contact detection unit 142 as in the first embodiment.

  18 to 20 are explanatory diagrams for the movement instruction operation in the second embodiment. As shown in FIG. 18, the CPU 10 displays a marker Ma on the display unit 141 at a position corresponding to the point (first point) touched by the user's finger. FIG. 18 shows a translation movement instruction operation, in which the user drags the finger from the origin to the position indicated by the marker Ma. Accordingly, the CPU 10 (first display processing unit) displays the line segment S1 connecting the origin O and the marker Ma on the display unit 141. By displaying the marker Ma and the line segment S1, the user can confirm that the contact detection unit 142 detects an input and the translational movement instruction direction. The speed obtained from the length of the line segment S1 and the angle d1 formed by the line segment S1 and the Y axis may be displayed numerically.

  When performing the rotational movement instruction, as shown in FIG. 19, the CPU 10 displays the markers Ma and Mb on the display unit 141 at positions corresponding to the two fingers placed by the user. Further, the CPU 10 displays a line segment S2 connecting the marker Ma and the marker Mb on the display unit 141 (see FIG. 19A). Thereby, the user can visually confirm the position of the reference line of the angle. When the user moves the second finger and gives an instruction for rotational movement, the CPU 10 erases the marker Mb and displays the marker Mc on the display unit 141 at the position of the new finger. The CPU 10 displays a line segment S3 connecting the marker Ma and the marker Mc on the display unit 141 (see FIG. 19B). The markers Ma and Mc allow the user to visually check the detection position of the contact detection unit 142. Further, it is possible to visually confirm the angle designated by the line segments S2 and S3. Further, since the line segment S2 is displayed, the user can easily perform an instruction to stop the rotational movement of returning the finger at the position of the marker Mc onto the line segment S2.

When the omnidirectional mobile trolley 2 performs translation + rotation, when changing the translation direction, the user drags two fingers without changing their positional relationship. FIG. 20 shows a state after the finger shown in FIG. 19B is dragged and a translation direction change instruction is issued. In FIG. 20, the CPU 10 displays markers Ma and Mc on the display unit 141. A part of the markers Ma and Mc is visible. Further, the CPU 10 displays a line segment S1 connecting the marker Ma and the origin O and a line segment S3 connecting the marker Ma and the marker Mc on the display unit 141. Further, the CPU 10 calculates a position when the marker Mb shown in FIG. 19A is dragged in the same manner as the markers Ma and Mc, and displays a line segment S2 passing through the marker Ma and the calculated position on the display unit 141. The user can confirm the translation instruction direction of the omnidirectional mobile trolley 2 by viewing the line segment S1. Since the line segment S2 is displayed, the user can easily return the finger at the position of the marker Mc and instruct to stop the rotational movement.
In addition, when the omnidirectional mobile trolley 2 is completely stopped, only the marker Ma may be displayed at the origin O, or neither of the markers Ma and Mc may be displayed.

  The display on the display unit 141 is not limited to that described above. FIG. 21 is an explanatory diagram illustrating an example of a display mode of the display unit 141 during a movement instruction operation in the second embodiment. The display in the case of instructing translational movement + rotational movement is shown. As shown in FIG. 21A, the line segment S1 may be displayed on the display unit 141 even when a rotational movement instruction is given. Furthermore, in order to show the translation direction more clearly, it may be displayed as a vector instead of a line segment. In addition, when the rotational movement is instructed as shown in FIG. 21B, the CPU 10 (second display processing unit) displays an arc S4 connecting the position where the marker Mb is displayed and the position where the marker Mc is displayed. It is also good. Thereby, the user can visually confirm the instructed rotation direction.

  The operation device 1 according to the second embodiment has the following effects in addition to the effects exhibited by the operation device 1 according to the first embodiment. In the operation device 1 according to the second embodiment, the user performs an operation using the display unit 141 and the contact detection unit 142. The display unit 141 displays a marker, a reference line segment, and the like together with the vertical axis and the horizontal axis. Since the user can perform an operation while confirming the marker and the reference line segment, the movement instruction operation can be performed more accurately.

  In the second embodiment, the user needs to keep the finger touching the contact detection unit 142 in order to continue the movement of the omnidirectional mobile carriage 2. When the omnidirectional mobile trolley 2 is moved for a long time, a burden is imposed on the user. Therefore, a button for continuing the movement even when the finger is removed from the contact detection unit 142 may be provided. This button may be provided on the contact detection unit 142 or may be a mechanical switch other than the contact detection unit 142. Even if the user operates the button to release the finger from the contact detection unit 142, the omnidirectional mobile trolley 2 continues to move and the marker is continuously displayed on the display unit 141. When the operation instruction is performed again, the button operation is performed after the finger is returned to the original position, and the movement continuation is canceled.

  Further, instead of providing a button for continuing the movement, the movement may be continued by double-tapping the touching finger. When the translation movement + rotation movement is instructed using two fingers, only the movement corresponding to the double-tapped finger may be continued, or both movements may be continued. When the finger is placed at the marker display position of the display unit 141 or the finger is placed at the marker display position and then double-tapped, the operation can be performed again. In the first embodiment, the same operation can be performed. However, since the marker cannot be displayed on the track pad 14, it is difficult for the user to accurately place the finger at the original position. Therefore, when it is determined again whether or not the finger has been placed, the process may be performed while allowing a slight positional deviation.

Embodiment 3
22 and 23 are explanatory diagrams illustrating an example of a display mode of the display unit 141 during a movement instruction operation according to the third embodiment. Since the difference from the second embodiment is the display mode of the display unit 141, this point will be mainly described and description of the other parts will be omitted. As shown in FIGS. 22 and 23, in the third embodiment, the marker Ma is the icon Ma of the omnidirectional mobile carriage 2. When the translation movement instruction is performed as shown in FIG. 22, the icon Ma of the omnidirectional moving carriage 2 is dragged from the origin O. Thereby, the user can visually confirm the contents of the translation movement instruction to the omnidirectional mobile carriage 2 more clearly.

  As shown in FIG. 23, when a rotational movement instruction is given, the icon Ma of the omnidirectional mobile trolley 2 is tilted and displayed by an angle proportional to the angular velocity. Thereby, the user can visually confirm the content of the rotational movement instruction to the omnidirectional mobile trolley 2 more clearly. The icon Ma may not be displayed tilted, but may be rotated while the rotation movement instruction is given.

  The operation device 1 according to the third embodiment has the following effects in addition to the effects exhibited by the operation device 1 according to the first and second embodiments. In the operating device 1 according to the third embodiment, by using one of the markers as an icon of the omnidirectional mobile carriage 2, the user can more clearly visually check the contents of the movement instruction.

Embodiment 4
FIG. 24 is a diagram illustrating a configuration example of a mobile system according to the fourth embodiment. The mobile system includes an information processing terminal 3 and an omnidirectional mobile carriage 2. The information processing terminal 3 has a touch panel display and a communication function. The information processing terminal 3 is, for example, a smartphone or a tablet computer.

  The omnidirectional mobile carriage 2 includes a moving body control unit 20, a drive motor 21, a moving chain, and a communication unit 23. The moving body control unit 20 includes a CPU 20a, a ROM 20b, a RAM 20c, a coordinate value storage unit 20d, a motor driver (not shown), and the like. The CPU 20a controls each part of the omnidirectional mobile trolley 2 by appropriately loading the control program stored in the ROM 20b into the RAM 20c and executing it.

  The drive motor 21 drives the moving chain and causes the omnidirectional moving carriage 2 to travel. The communication unit 23 communicates with the information processing terminal 3. Communication between the information processing terminal 3 and the omnidirectional mobile trolley 2 may be wired or wireless. The communication line may be a public line or a dedicated line. The Internet, a packet communication network, or the like may be used as a communication line. In addition, when the user gives an operation instruction in a state where the user is on the omnidirectional mobile trolley 2 or nearby, short-range wireless communication may be used for communication between the information processing terminal 3 and the omnidirectional mobile trolley 2.

  In the fourth embodiment, the information processing terminal 3 accepts an instruction input to the omnidirectional mobile trolley 2 on the touch panel display, similarly to the operation device 1 of the first to third embodiments. The method of inputting instructions is the same as in the first to third embodiments. The information processing terminal 3 transmits the input of the touch panel display to the omnidirectional mobile carriage 2. What is transmitted is, for example, the number of input points and the coordinate values of the input points on the touch panel display. The omnidirectional mobile trolley 2 operates based on the input information received from the information processing terminal 3. The processing performed by the CPU 20a is similar to the flowcharts shown in FIGS.

  In the fourth embodiment, an information processing terminal with a touch panel display such as a smartphone or a tablet computer can be used as a terminal for performing operation input.

  As described above, in Embodiments 1 to 4, the movement form of the translation movement + rotation movement of the omnidirectional mobile carriage 2 is as shown in FIG. 4C, but the following movement form may be adopted. FIG. 25 is an explanatory diagram showing an example of the movement form of the omnidirectional mobile carriage 2. As shown in FIG. 25, the center of the omnidirectional mobile trolley 2 moves in the instructed translational movement direction, while the omnidirectional mobile trolley 2 rotates at the angular velocity instructed around the center.

The technical features (components) described in each embodiment can be combined with each other, and new technical features can be formed by combining them.
The embodiments disclosed herein are illustrative in all respects and should not be considered as restrictive. The scope of the present invention is defined not by the above-mentioned meaning but by the scope of the claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of the claims.

1 Operating device (movement instruction device)
10 CPU (instruction unit, first reception unit, first determination unit, second reception unit, second determination unit, stop point reception unit, calculation unit, second stop point reception unit, line segment determination unit, parallel reception unit, (First display processing unit, second display processing unit)
11 ROM
12 RAM
13 Coordinate value storage unit 14 Track pad, operation unit (coordinate input device)
141 display unit 142 contact detection unit 15 communication unit 2 omnidirectional mobile carriage 20 moving body control unit 20a CPU (instruction unit)
20b ROM
20c RAM
20d Coordinate value storage unit 21 Drive motor 22 Drive chain 23 Communication unit 3 Information processing terminal 30 Base

Claims (13)

In a movement instruction device comprising a coordinate input device and an instruction unit for instructing a moving body that performs rotational movement,
A first receiving unit that receives an input of the first coordinate from the coordinate input device;
A first determination unit that periodically determines whether there is a change in the first coordinate;
A second accepting unit for accepting an input of a second coordinate from the coordinate input device;
A second determination unit that periodically determines whether there is a change in the second coordinate;
The first determination unit determines that there is no change in the first coordinates, and the second determination unit determines that there is no change in the second coordinates after the second determination unit determines that there is a change in the second coordinates. When the unit determines, a stop point reception unit that receives the stop point coordinates of the second coordinates from the coordinate input device;
A calculation unit for calculating an angle formed by a line segment formed by the initial coordinates of the first coordinate and the second coordinate and a line segment formed by the first coordinate and the stop point coordinate;
The movement instructing device, wherein the instruction unit is configured to instruct the moving body to rotate and move based on the calculated angle. When the first determination unit determines that there is no change in the first coordinate, and when the second determination unit determines that the second coordinate is not input, the instruction unit stops rotational movement on the moving body. The movement instruction device according to claim 1, wherein The first determination unit determines that there is no change in the first coordinate, and the second determination unit determines that the second coordinate has changed from the stop point coordinate, and then the second coordinate does not change. A second stop point receiving unit that receives a second stop point coordinate of the second coordinate from the coordinate input device when the second determination unit determines;
A line segment determination unit that determines whether or not the second stop point coordinate is on a line segment formed by the initial coordinates of the first coordinate and the second coordinate;
When the line segment determination unit determines that the second stop point coordinate is on a line segment formed by the initial coordinates of the first coordinate and the second coordinate, the instruction unit stops rotating the mobile object. The movement instruction device according to claim 1 or 2, wherein the movement instruction device is configured to instruct the user. The moving body performs translational movement,
The calculation unit calculates the direction and length of a line segment formed by predetermined coordinates and the first coordinates,
The movement instructing device according to any one of claims 1 to 3, wherein the instruction unit instructs the moving body to translate based on the calculated direction and length. After the first determination unit determines that the first coordinate has changed, when the first determination unit determines that there is no change in the first coordinate, the first coordinate after the change matches the predetermined coordinate. 5. The movement instructing device according to claim 1, wherein the instruction unit instructs the moving body to stop translational movement. The determination unit is configured to instruct the moving body to stop translational movement and to stop rotational movement when the first determination unit determines that the first coordinate is not input. The movement instruction device according to any one of claims 1 to 5. When the first determination unit determines that the first coordinate has changed, and the second determination unit determines that the second coordinate has changed from the stop point coordinate, the first coordinate from the coordinate input device And a parallel receiving unit that receives the respective coordinates after the change of the second coordinates, the third coordinates, and the fourth coordinates;
When the line segment formed by the first coordinate and the stop point coordinate and the line segment formed by the third coordinate and the fourth coordinate are parallel, the calculation unit is formed by the predetermined coordinate and the third coordinate. Calculate the direction and length of the line segment
The movement instruction apparatus according to any one of claims 4 to 6, wherein the instruction unit instructs the moving body to perform a translational movement based on the calculated direction and length. The movement instruction device according to any one of claims 1 to 7, wherein the coordinate input device is a track pad. The movement instruction device according to any one of claims 1 to 7, wherein the coordinate input device is a touch panel. With a display,
The touch panel is provided to cover the display surface of the display unit,
A first display processing unit for displaying a line segment image formed by the first coordinate and the second coordinate on a display unit;
The second display processing unit that displays an arc image connecting the initial coordinates of the second coordinates and the stop point coordinates on the display unit when the stop point coordinates are received. Movement instruction device. In a computer program for causing a computer to execute a movement instruction for a moving body that performs rotational movement,
Obtain the first coordinate from the coordinate input device,
Determining a change in the first coordinate;
Obtaining a second coordinate from the coordinate input device;
Determining a change in the second coordinate;
When it is determined that there is no change in the first coordinate and it is determined that there is no change in the second coordinate after detecting that the second coordinate has changed,
Obtaining the stop point coordinates of the second coordinates from the coordinate input device;
Calculating the angle formed by the line segment formed by the initial coordinates of the first coordinate and the second coordinate and the line segment formed by the first coordinate and the stop point coordinate;
A computer program characterized by instructing the movable body to rotate and move based on the calculated angle. In a movement instruction method for causing a computer to execute a movement instruction for a moving body that performs rotational movement,
Obtain the first coordinate from the coordinate input device,
Determining a change in the first coordinate;
Obtaining a second coordinate from the coordinate input device;
Determining a change in the second coordinate;
When it is determined that there is no change in the first coordinate and it is determined that there is no change in the second coordinate after detecting that the second coordinate has changed,
Obtaining the stop point coordinates of the second coordinates from the coordinate input device;
Calculating the angle formed by the line segment formed by the first coordinate and the second coordinate and the line segment formed by the first coordinate and the stop point coordinate;
A moving instruction method characterized by instructing the moving body to rotate and move based on the calculated angle. A moving body system comprising a moving body and the movement instructing device according to any one of claims 1 to 10,
The moving body system is configured to move based on an instruction from the movement instruction device.

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