Patent Description:
In <CIT>, a moving robot <NUM> is disclosed that conduct following action while maintaining a predetermined diagonally forward and relative position to a moving target <NUM>. The moving robot <NUM> detects an orientation of the target <NUM> by a camera and the like and determines a target position of the moving robot <NUM> corresponding to the detected orientation of the target <NUM>. The moving robot <NUM> calculates a travel route to the determined target position and moves.

In <CIT>, an autonomous mobile device following and moving to an owner B while retaining a relative position (basic position) set beforehand by the owner B is disclosed. When the autonomous mobile device <NUM> detects a dangerous object, the autonomous mobile device <NUM> moves while interrupting between the dangerous object and the owner B depending on the degree of danger, thereby securing safety of the owner B. On the other hand, in a case where the dangerous object disappears, the autonomous mobile device <NUM> follows and moves to the owner B while retaining the original basic position.

In <CIT>, an apparatus for controlling movement of a vehicle is disclosed. Movement of an operator located at a side of the vehicle is identified with a plurality of sensors located in the vehicle and the vehicle is moved in a path that maintains the operator at the side of the vehicle while the operator is moving.

<CIT> discloses controlling a movement of a mobile robot for realizing safe and appropriate accompanying behavior to follow an accompanied target includes detecting at least a position of the accompanied target, and controlling the movement of the mobile robot, based on the detected position of the accompanied target, so that the mobile robot moves along a path that is parallel to a moving direction of the accompanied target.

In <CIT>, a motorized robot is disclosed, that comprises a body mounted on wheels, a tracking device, a guidance module that is configured so as to allow driving by an operator located in a drive zone on one side of the robot to move the robot forward in a forward zone located on the opposite side.

However, in a case where the moving robot <NUM> (autonomous mobile device <NUM>) follows in front of the target <NUM> (owner B), when the target <NUM> turns, the moving robot <NUM> may cut across in front of the target <NUM>. For example, when the moving robot <NUM> operates to follow in right front of the target <NUM> and the moving robot <NUM> is positioned left front of the target <NUM> as a result of the target <NUM> turning right, the moving robot <NUM> cuts across in front of the target <NUM> in order to move to right front of the target <NUM> where is an original following position. This may cause the target <NUM> to have a fear of collision with the moving robot <NUM> and may cause discomfort such as difficulty to walk.

The present invention has been made to solve the above-described problem, and an object of the present invention is to provide a moving body for which traveling such as cutting across in front of the target can be restrained.

In order to achieve this object, there is provided a moving body according to claim <NUM>. Further features and advantageous modifications are shown in the dependent claims.

In particular, a moving body according to the present invention is provided with a movement unit with which the moving body moves following a target while being located in the right front or left front of the target. The moving body includes a detecting unit for detecting the target, a moving target calculation unit for calculating a moving target for the moving body with respect to the target based on a detection result by the detecting unit, a movement control unit for controlling the moving body so that the moving body moves to the moving target calculated by the moving target calculation unit. The moving target calculation unit is provided with a moving target setting unit. In a coordinate system in which the target is constituted as a coordinate origin, assuming that the orientation of the target is y-axis direction, the moving target setting unit sets the moving target to the right front of the target when the moving body is located in the first or fourth quadrant and sets the moving target to the left front of the target when the moving body is located in the second or third quadrant. The moving target setting unit (S5, S6) sets a dead region in a predetermined range in the x-axis direction around the y-axis, setting the moving target to the right front of the target (H) when the moving body is located in the first or fourth quadrant except the dead region and setting the moving target to the left front of the target when the moving body is located in the second or third quadrant except the dead region, whereas not changing the moving target when moving body is located in the dead region.

According to the moving body of the present invention, the moving body moves following the target while being located in the right front or left front of the target, the moving target of the moving body with respect to the target is calculated based on the detection result of the target, and the moving body is controlled so that the moving body moves to the moving target. In a coordinate system in which the target is constituted as a coordinate origin, assuming that the orientation of the target is y-axis direction, the moving target calculation unit sets the moving target to the right front of the target when the moving body is located in the first or fourth quadrant and sets the moving target to the left front of the target when the moving body is located in the second or third quadrant. Therefore, as a result of the target turning, even if the moving body moves to the left side from the right side of the target or moves to the right side from the left side, since the moving target of the moving body is set based on a position of the moving body with respect to the target, it can be possible for the moving body to travel while being restrained from cutting across in front of the target.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. First, with reference to <FIG>, a configuration of a moving body <NUM> according to the present embodiment will be described. <FIG> is an external view of the moving body <NUM>. The moving body <NUM> moves to an appropriate position with respect to a user H in right front or left front of the user H (target), thereby functioning as a device which can follow the user H.

As shown in <FIG>, the moving body <NUM> mainly includes a substantially cylindrical outer case <NUM>, a control unit <NUM> provided in the outer case <NUM> and controlling each part of the moving body <NUM>, a distance measurement sensor <NUM>, and wheels <NUM>. The distance measurement sensor <NUM> is a device arranged on an upper part of the outer case <NUM> and detecting a distance (distance measurement) between the distance measurement sensor <NUM> and an object by irradiating laser light in all directions (<NUM>°). The distance measurement sensor <NUM> transmits a distance to the detected object to the control unit <NUM> in association with the angle to the control unit <NUM>. Further, the distance measurement sensor <NUM> is configured to be movable in vertical direction and the position of the distance measurement sensor <NUM> in the vertical direction is appropriately set so that the laser light from the distance measurement sensor <NUM> is irradiated in advance to the periphery of the shoulder of the user H. Hereinafter, the distance and the angle detected by the distance measurement sensor <NUM> are referred to as "distance measurement data".

A pair of left and right wheels <NUM> are provided facing each other at a bottom part of the outer case <NUM>. A motor (not shown) is connected to each of the left and right wheels <NUM>, and the moving body <NUM> is moved by driving the motors based on a control signal from a drive unit <NUM> (see <FIG>) described later. Forward movement and backward movement of the moving body <NUM> are conducted by normally and reversely rotating the left and right motors with the same output and change of movement direction of the moving body <NUM> is conducted by differentially rotating the motors. When the moving body <NUM> moves in the left and right direction, it is necessary to change the moving direction of the moving body <NUM> since the moving body <NUM> cannot directly move in left and right directions along which the wheels <NUM> are provided. That is, the moving body <NUM> moves through the wheels <NUM> and the drive unit <NUM> (moving part) having non-holonomic restraint condition.

Next, with reference to <FIG>, a moving target T<NUM> for movement of the moving body <NUM> will be described. <FIG> is a view indicating a moving target T<NUM> when the moving body <NUM> is located at the right side of the user H and <FIG> is a view indicating the moving target T<NUM> when the moving body <NUM> is located at the left side of the user H.

The movement control of the moving body <NUM> is performed by processing the distance measurement data MP obtained from the distance measurement sensor <NUM> based on both a "user coordinate system" and a "moving body coordinate system". In the "user coordinate system", the position Pu of the user H is the origin (<NUM>, <NUM>), the direction of the orientation Du of the user H is defined as the yu axis, and the direction orthogonal to the yu axis is defined as the xu axis, and in the "moving body coordinate system", the position Pr of the moving body <NUM> is the origin (<NUM>, <NUM>), the direction of the orientation Dr of the moving body <NUM> is defined as the yr axis, and the direction orthogonal to the yr axis is defined as the xr axis.

In the present embodiment, as shown in <FIG>, when the moving body <NUM> is located at the right side of the user H, that is, the moving body <NUM> is located in a first or fourth quadrant of the user coordinate system, a right-side moving target T1R in right front of the user H is set as the moving target T<NUM>. On the other hand, as shown in <FIG>, when the moving body <NUM> is located at the left side of the user H, that is, the moving body <NUM> is located in a second or third quadrant in the user coordinate system, a left-side moving target T<NUM> in left front of the user H is set as the moving target T<NUM> of the moving body <NUM>. The movement control of the moving body <NUM> is conducted based on the set moving target T<NUM>. Thus, the moving body <NUM> can move following with the user H in the right or left front of the user H while changing the moving target T<NUM> to the right-side moving target T1R or the left-side moving target T<NUM> appropriately based on the position with respect to the user H.

Here, in the present embodiment, the right-side moving target T1R is defined as a position of front side "<NUM>" and right side "<NUM>" of the user H and the left-side moving target T<NUM> is defined as a position of front side "<NUM>" and left side "<NUM>" of the user H. Further, in the initial state immediately after the power of the moving body <NUM> is turned on, the moving target T<NUM> is set as the right-side moving target T1R, thereafter the moving target T<NUM> is set as the right-side moving target T1R or the left-side moving target T<NUM> based on the position of the moving body <NUM> and the user H.

Next, with reference to <FIG>, an electrical configuration of the moving body <NUM> will be described. <FIG> is a block diagram indicating an electric configuration of the moving body <NUM>. The moving body <NUM> includes the control unit <NUM> having a CPU <NUM>, a flash ROM <NUM> and a RAM <NUM> which are respectively connected to an input/output port <NUM> through a bus line <NUM>. The distance measurement sensor <NUM> and the drive unit <NUM> are further connected to the input/output port <NUM>.

The CPU <NUM> is an arithmetic device for controlling the respective sections mutually connected with the bus line <NUM>. A control program 12a is stored in the flash ROM <NUM> as a non-volatile rewritable memory device for storing the program executed by the CPU <NUM> and data of fixed values. Upon execution of the control program 12a by the CPU <NUM>, a main processing shown in <FIG> is executed.

The RAM <NUM> is a memory for storing rewritably various work data and flags and the like in execution of the control program 12a by the CPU <NUM>, and includes a distance measurement data memory 13a in which distance measurement data MP measured by the distance measurement sensor <NUM>, a user position memory 13b in which a position Pu of the user H is stored, a user velocity memory 13c in which a velocity Vu of the user H is stored, a user orientation memory 13d in which an orientation Du of the user H is stored, a moving body position memory 13e in which a position Pr of the moving body <NUM> is stored, a target position memory 13f in which the moving target T<NUM> of the moving body <NUM> is stored, and a control target position memory <NUM> in which a control target T<NUM> (see <FIG>) of the moving body <NUM> is stored.

In the present embodiment, each value of the user position memory 13b and the user orientation memory 13d is defined as a value on the basis of the moving body coordinate system mentioned in the above and each value of the moving body position memory 13e, the target position memory 13f, and the control target position memory <NUM> is defined as a value on the basis of the user coordinate system.

The drive unit <NUM> is a device to move and operate the moving body <NUM>, and is constituted from the wheels <NUM> (see <FIG>), the motor (not shown) serving as a drive source of the wheels <NUM>, and the like. When a control signal is input from the control unit <NUM> to the drive unit <NUM>, the motor rotates based on the input control signal, and the wheels <NUM> are driven by the rotation of the motor to operate the moving body <NUM>.

Next, with reference to <FIG>, the main processing executed by the CPU <NUM> of the moving body <NUM> will be described. <FIG> is a flowchart of the main processing of the moving body <NUM>. The main processing is executed immediately after the moving body <NUM> is powered on. In the main processing, first, the distance measurement data MP obtained from the distance measurement sensor <NUM> are stored in the distance measurement data memory 13a (S1).

Subsequent to the processing of S1, based on the distance measurement data MP of the distance measurement data memory 13a, the position Pu of the user H, the velocity Vu, and the orientation Du of the user H are calculated and respectively stored in the user position memory 13b, the user velocity memory 13c, and the user orientation memory 13d (S2). Since the distance measurement data MP are values based on the moving body <NUM>, the position Pu of the user H and the orientation Du of the user H are calculated based on the moving body coordinate system.

After the processing of S2, the position Pr and the orientation Dr of the moving body <NUM> in the user coordinate system are calculated by performing coordinate transformation on the position Pu and the orientation Du of the user H in the moving body coordinate system, which are stored in the user position memory 13b and the user orientation memory 13d, and are respectively stored in the moving body position memory 13e (S3).

After the processing of S3, it is confirmed whether or not the position Pr of the moving body <NUM> in the moving body position memory 13e is located at the right side of the user H (S4). Specifically, since the position Pu of the user H in the user coordinate system is the origin (<NUM>,<NUM>), it is determined whether the position in the direction of the xu-axis direction corresponding to the position Pr of the moving body <NUM> which is stored in the moving body position memory 13e is located at the more right side than the yu-axis, that is, more than <NUM>.

In the processing of S4, when the position Pr of the moving body <NUM> in the moving body position memory 13e is located at the right side of the user H (S4: Yes), based on the position Pu of the user H in the user coordinate system (the origin (<NUM>,<NUM>) in the user coordinate system), the right-side moving target T1R (see <FIG>) is calculated and stored in the target position memory 13f (S5).

On the other hand, in the processing of S4, when the position Pr of the moving body <NUM> in the moving body position memory 13e is located at the left side of the user H (S4: No), the left-side moving target T<NUM> (see <FIG>) is calculated based on the position Pu of the user H in the user coordinate system and stored in the target position memory 13f (S6). By the processing of S4 to S6, when the moving body <NUM> is located at the right side of the user H, the right-side moving target T1R is set as the moving target T<NUM> and when the moving body <NUM> is located at the left side, the left-side moving target T<NUM> is set as the moving target T<NUM>.

In a case where the user H turns or the user H moves in the left and right direction, or further there is fluctuation in walking of the user H, the moving target T<NUM> is positioned not in the front-back direction but in the left and right direction of the moving body <NUM>. As mentioned in the above, since the moving body <NUM> cannot directly move in the left and right direction, the moving body <NUM> moves following the user H by turning. Especially, when the user H moves right beside (along the xu-axis), it is necessary for the moving body <NUM> to make a sharp turn with the smallest turning radius. Further, since the distance between the moving body <NUM> and the moving target T<NUM> is relatively small, the turning radius of the moving body <NUM> becomes small when the moving body <NUM> is moved following the moving target T<NUM>. Since the moving body <NUM> turns by differentiating the left and right wheels <NUM>, the moving body <NUM> cannot turn enough even if the moving body <NUM> tries to make a sharp turn with a small turning radius. This may cause delay in movement following the user H and for the moving body <NUM> itself to be hindrance in walking of the user H.

In the present embodiment, to secure the turning radius of the moving body <NUM>, the moving body <NUM> is moved following with respect to the control target T<NUM> which is in the more front side than the moving target T1. Specifically, after the processing of S5 or S6, the control target T<NUM> of the moving body <NUM> is calculated from the moving target T<NUM> in the target position memory 13f and the velocity Vu of the user H in the user velocity memory, and stored in the control target position memory <NUM> (S7). Referring to <FIG>, a calculation of the control target T<NUM> of the moving body <NUM> by the processing of S7 will be described.

<FIG> is a view indicating the control target T<NUM> of the moving body <NUM>. In <FIG>, a case where the right-side moving target T1R is set as the moving target T<NUM> will be described. It should be noted that the same applies to a case where the left-side moving target T<NUM> is set as the moving target T<NUM>, therefore a description thereof will be omitted.

As shown in <FIG>, by moving (shifting) the moving target T<NUM> to the yu-axis direction by Ys, the control target T<NUM> is set. Specifically, the shift amount Ys of the moving target T<NUM> is calculated by Formula <NUM> on the basis of the velocity Vu of the user H.

In Formula <NUM>, ΔT is a predetermined time interval and "<NUM> second" is exemplified. That is, since the control target T<NUM> is a position where the distance that user H advances in one second is added to the moving target T<NUM>, a distance between the moving body <NUM> and the moving target can be secured by the moving body <NUM> moving with the control target T<NUM> as the moving target T. Thus, the turning radius of the moving body <NUM> can be enlarged in comparison with a case where the moving body moves with the moving target T<NUM> as the moving target. Therefore, even if the user H turns sharply, the moving body <NUM> only needs to turn slowly along a large turning radius, so that the delay in the movement following the user H can be restrained and further prevent the moving body <NUM> itself from being hindrance in walking of the user H.

Referring back to <FIG>, after the processing of S7, the control signal is output based on the control target T<NUM> of the control target position memory <NUM> and the drive unit <NUM> is driven, and the moving body <NUM> is moved (S8). After the processing of S8, subsequent processing after S1 are repeated.

With reference to <FIG>, the case where the moving target T<NUM> is changed to the left-side moving target T<NUM> or the right-side moving target T1R according to the position Pr of the moving body <NUM> in the present embodiment and the case in the prior art where the moving target T<NUM> is fixed to the right front of the user H are compared with each other when the user H moves in a figure of eight.

First, with reference to <FIG> and <FIG>, the case in the prior art where the moving target T<NUM> is fixed to the right front (right-side moving target T1R) and the user H moves in a figure of eight will be described. <FIG> is a view indicating a case where the moving body <NUM> in the prior art moves following the user H who moves in a figure of eight. <FIG> is a view indicating the detailed movement trajectories in VII part of <FIG> of the user H and the moving body <NUM> in the prior art. In <FIG> and <FIG>, the movement trajectory of the user H is shown by a dotted-line and the movement trajectory of the moving body <NUM> in the prior art is shown by a solid line.

As shown in <FIG>, the user H moves so as to draw a figure of eight from the center portion of <FIG>. The moving body <NUM> in the prior art moves so as to follow the user H in the right front thereof according to movement of the user H. Movement in a figure of eight by the user H represents the repeated movement of the left and right turn, thus at first, the user H makes a left turn from the center to the top in <FIG>. When the user H make a left turn, the moving body <NUM> that moves following the user H in the right front thereof is located in a direction departing from the user H that makes a left turn. As a result, the moving body <NUM> does not cut across in front of the user H, thereby not being a hindrance of the user H movement. Therefore, the user H and the moving body <NUM> can move smoothly.

After that, the user H makes a right turn from the center to the lower part in <FIG>. With reference to <FIG>, the movement of the user H and the moving body <NUM> during the right turn will be described. In <FIG>, the position Pu of the user H is shown as a not color-filled square and the position Pr of the moving body <NUM> is shown as a not color-filled circle. An alphabet (such as A, B, C, to M) in the not color-filled squares and circles represents a time point and the same alphabet in the not color-filled squares and circles represents the position Pu of the user H and the position Pr of the moving body <NUM> at the same time point.

As shown in <FIG>, the user H makes a right turn through the time points A to M. Especially, since the user H changes direction sharply to the right at the time point F, the position Pr of the moving body <NUM> after the user H changing direction becomes at the left side with respect to the position Pu of the user H. As a result, the moving body <NUM> tries to follow the user H in the right front thereof, and thus, the moving body <NUM> moves so as to cut across in front of the user H through the time points F to G. Due to such a movement of the moving body <NUM>, the user H may feel a fear of collision with the moving body <NUM> and discomfort such as a difficulty in walking by being blocked their course due to the moving body <NUM>.

Furthermore, since the moving body <NUM> also changes direction sharply to the right at the time point F, the moving body <NUM> may lose its balance to fall down or the time necessary to change direction may cause a delay in the following the user H by the moving body <NUM>.

Next, with reference to <FIG> and <FIG>, a case where the moving target T<NUM> is changed to the left-side moving target T<NUM> or the right-side moving target T1R corresponding to the position Pr of the moving body <NUM> in the present embodiment will be described. <FIG> is a view indicating the case where the moving body <NUM> of the present embodiment moves following the user H moving in a figure of eight. <FIG> is a view indicating the detailed movement trajectories in IX part of <FIG> of the user H and the moving body <NUM> in the present embodiment. Also in <FIG> and <FIG>, the movement trajectory of the user H is shown by a dotted-line and the movement trajectory of the moving body <NUM> is shown by a solid line.

Also in <FIG>, the user H make a left turn, the moving body <NUM> moves following the user H in the right front thereof, thereby smoothly moving without becoming hindrance of the movement of the user H. After that, the user H makes a right turn from the center to the lower part in <FIG>. When the user H is located at the left side of the moving body <NUM> due to the right turn, the moving target T<NUM> of the moving body <NUM> is changed from the right-side moving target T1R to the left-side moving target T<NUM>, and the moving body <NUM> is moved based on the left-side moving target T<NUM> at the left front of the user H. With reference to <FIG>, the movement of the user H and the moving body <NUM> in a case of the right turn will be described.

In <FIG>, as is the case with <FIG>, the position Pu of the user H is shown as a not color-filled square and the position Pr of the moving body <NUM> is shown as a not color-filled circle. An alphabet in the not color-filled squares and circles represents a time point and the same alphabet in the not color-filled squares and circles represents the position Pu of the user H and the position Pr of the moving body <NUM> at the same time point.

As shown in <FIG>, the user H makes a right turn through the time points A to M. Especially, due to the right turn of the user H at the time point F, the position Pr of the moving body <NUM> becomes at the left side with respect to the position Pu of the user H. In such a case, according to the moving body <NUM> of the present embodiment, the moving target T<NUM> is changed from the right-side moving target T1R to the left-side moving target T<NUM> due to that the position Pr of the moving body <NUM> is changed to at the left side with respect to the position Pu of the user H.

As a result, when the position Pr of the moving body <NUM> that moves following the user H in the right front of the user H is changed to the left side with respect to the position Pu of the user H, the moving body <NUM> moves following the user H in the left front of the user H. Thus, the moving body <NUM> can be prevented from traveling cutting across in front of the user H due to the right turn of the user H and the like, thereby smoothly moving following the user H in the left front of the user H.

Further, unlike the moving body <NUM> of the prior art, the moving body <NUM> that has been changed to the left side with respect to the position Pu of the user H does not need to make a sharp turn in order to follow the user H in the right front of the user H, thus the behavior of the moving body <NUM> can be kept stable. Since the behavior of the moving body <NUM> is stabilized, the delay of the moving body <NUM> from the user H can be minimized.

Although not shown, when the right turn of the user H is finished and the user H changes direction to the left in order to make a left turn, the moving body <NUM> that has been following the user H in the left front of the user H comes to be located in the right side of the user H. In such a case, since the moving target T<NUM> is changed from the left-side moving target T<NUM> to the right-side moving target T1R, even when the user H changes from turning left to turning right, the moving body <NUM> can smoothly move following the user H in the right front of the user H without cutting across in front of the user H.

Although the present invention has been described based on embodiments, the present invention is not limited to the above-described embodiments in any way, and it can be easily understood that various improvements and modifications are possible within the present invention.

In the above embodiments, the case where the right-side moving target T1R is set as the moving target T<NUM> in the initial state immediately after the moving body <NUM> is powered on has been described. However, the present invention is not necessarily limited thereto. The left-side moving target T<NUM> may be set as the moving target T<NUM> in the initial state immediately after the moving body <NUM> is powered on.

In the above embodiments, the case where whether or not the moving body <NUM> is located at the right side of the user H is confirmed by whether or not the position of the position Pr of the moving body <NUM> in the xu-axis direction is equal to or larger than <NUM> has been described. However, the present invention is not necessarily limited thereto. Whether or not the position of the position Pr of the moving body <NUM> is located at the right side of the user H may be determined by whether or not the position of the position Pr in the xu-axis direction is equal to or larger than <NUM>.

Further, a "dead region" in which the moving target T<NUM> is not changed to the left-side moving target T<NUM> or the right-side moving target T1R is provided in a predetermined range in the xu-axis direction around the yu-axis (e.g., in the range of <NUM> right and left around the yu-axis), and if the position Pr is located at the right side than the dead region, the moving target T<NUM> is set as the right-side moving target T1R, if the position Pr is located at the left side than the dead area, the moving target T<NUM> is set as the left-side moving target T<NUM>. With such a dead region, it is possible to prevent the moving target T<NUM> from being frequently changed from the left-side moving target T<NUM> to the right-side moving target T1R and vise versa, when the moving body <NUM> is located near the yu axis. Therefore, vibration due to the movement of the moving body <NUM> in the left-right direction is reduced, and the moving body <NUM> can be stably moved.

In the above embodiments, the position Pu, the velocity Vu, and the orientation Du of the user H are calculated based on the distance measurement data obtained by the distance measurement sensor <NUM>. However, the present invention is not necessarily limited thereto. The position Pu, the velocity Vu, and the orientation Du of the user H may be calculated based on images obtained by a camera that is installed instead of the distance measurement sensor <NUM>.

In the above embodiments, the case where the control target T<NUM> is calculated by shifting the moving target T<NUM> in the yu-axis direction based on the velocity Vu of the user H, and based on the control target T<NUM> the drive unit <NUM> is driven has been described. However, the present invention is not necessarily limited thereto. The drive unit <NUM> may be driven based on the moving target T<NUM>, or based on the position obtained by shifting the control target T<NUM> or the moving target T<NUM> in the xu-axis direction according to the orientation Dr and the like of the moving body <NUM>.

Claim 1:
A moving body (<NUM>) having a movement unit (<NUM>, <NUM>), the moving body moves following a target (H) with the movement unit (<NUM>, <NUM>) while being located in the right front or left front of the target (H),
the moving body (<NUM>) comprising:
a detection unit (<NUM>) configured to detect the target (H);
a moving target calculation unit (S4 to S7) configured to calculate a moving target (T1) of the moving body (<NUM>) with respect to the target (H) based on a detection result by the detection unit (<NUM>); and
a movement control unit (S8) configured to control the movement unit (<NUM>, <NUM>) so that the moving body (<NUM>) moves to the moving target (T1) calculated by the moving target calculation unit (S4 to S7),
characterized in that
the moving target calculation unit (S4 to S7) comprises a moving target setting unit (S5, S6) configured to set the moving target (T1) to the right front of the target (H) when the moving body (<NUM>) is located in a first or fourth quadrant and setting the moving target (T1) to the left front of the target (H) when the moving body is located in a second or third quadrant assuming an orientation (Du) of the target (H) is y-axis direction in a coordinate system with the target being as an origin, , and
the moving target setting unit (S5, S6) is configured to set a dead region in a predetermined range in the x-axis direction around the y-axis, and is configured to set the moving target (T1) to the right front of the target (H) when the moving body (<NUM>) is located in the first or fourth quadrant except the dead region, and to set the moving target (T1) is set to the left front of the target (H) when the moving body is located in the second or third quadrant except the dead region, whereas the moving target setting unit (S5, S6) is further configured to not change the moving target (T1) when moving body (<NUM>) is located in the dead region.