JP2010277236A - Autonomously traveling robot, follow-up system using the same, and follow-up method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To continuously follow up a follow-up object, even when such a phenomenon that the follow-up object is missed is generated in any environment other than a corner. <P>SOLUTION: An autonomously traveling robot is provided with: a missing decision means 34a for determining whether a follow-up object has been missed by a follow-up object detection unit 37: a follow-up object location estimation means 70b for, when it is determined that the follow-up object has been missed, estimating a follow-up object location after the follow-up object is missed; a shading decision means 70a for determining whether the follow-up object has been shaded by a shading body based on the follow-up traveling location before the follow-up object is missed and the relative location relationship of the follow-up object estimation location and the location of the shading body after the follow-up object is missed; a travel path generation means 100a for, when it is determined that the follow-up object has been shaded by the shading object, generating a travel path on which the follow-up object estimation location of the follow-up object is targeted; and a traveling means 110a for making the follow-up object move by a traveling mechanism along the generated travel path. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an autonomous traveling robot, a follow-up system using the autonomous travel robot, and a follow-up method.

As this type of autonomous traveling robot, there is a configuration described in Patent Document 1 under the name of a transfer robot.
The conventional autonomous traveling robot described in Patent Document 1 has a function of recognizing a guider who is a follower and tracking it while maintaining a predetermined distance. The guider and surrounding obstacles, etc. And a travel control unit that controls the travel unit. The travel control unit recognizes and follows the guide by the detection unit.
And when a detection part becomes unable to recognize a guider, if the presence of a corner is recognized in the vicinity of the place which cannot be recognized, a run means will be controlled so that the corner may be turned.

JP 2004-126802 A

However, in the autonomous traveling robot described in Patent Document 1, an event in which the autonomous traveling robot loses sight of the guide is limited to a limited environment in which a corner is turned.
That is, when an event occurs in which an inducer loses sight of a person other than turning a corner, when the autonomous traveling robot loses sight of the guide and there is a corner in the vicinity thereof, the autonomous traveling robot There is a problem that the user turns the corner without noticing that he / she has lost sight, and therefore, regardless of the direction of movement of the guide.

  Therefore, the present invention uses an autonomous traveling robot and an autonomous traveling robot that can continue to follow a tracked object even when an event of losing sight of the tracked object occurs in an environment other than a corner. The purpose is to provide a follow-up system and a follow-up method.

The configuration of the present invention for achieving the above object is as follows.
The autonomous traveling robot described in claim 1 has a follower detection unit for detecting the follower and a traveling mechanism for moving, and autonomously follows the movement of the follower. In the autonomous running robot that runs, the follower detection unit determines whether or not the follower is lost, and when it is determined that the follower is lost, Relative position estimation means for estimating the position of the follower after losing sight, the position before losing sight of the follower, the estimated position of the follower after losing sight of the follower, and the position of the interceptor Based on the specific positional relationship, the occlusion determination means for determining whether or not the follower is obstructed by the obstruction, and when it is determined that the follower is obstructed by the obstruction, Targeting the follower estimated position of the follower, a travel route generating means for generating a travel route, and the generated travel route Along, it is characterized by having a traveling means for traveling by the traveling mechanism.

  According to a second aspect of the present invention, there is provided an autonomous traveling robot according to the first aspect of the present invention, comprising: A discriminant straight line generating means is provided for generating a follower body position before losing sight of the follower and a second occluding discrimination line connecting the follower body estimated position after losing sight of the follower. The occlusion determination means determines whether or not the generated first and second occlusion determination straight lines intersect each other.

  The follow-up system according to claim 3 includes the follow-up body according to claim 3, a follow-up body detection unit for detecting the follow-up body, and a travel mechanism for moving. The follower is autonomously following the movement of the follower, and the follower detector detects whether the follower is lost or not, and the follower is lost. After losing sight of the follower, the position estimation means that estimates the position of the follower after losing sight of the follower, and the follower position before losing sight of the follower An occlusion determination means for determining whether or not the follower is obstructed by the obstruction based on the relative position relationship between the estimated position of the follower and the position of the obstruction; When it is determined that the follower is obstructed by the obstacle, a travel route is generated that generates a travel route with the follower estimated position of the follower as a target. Along a section, the generated the running path, and characterized by providing a traveling means for moving the autonomous mobile robot by the running mechanism.

  The follow-up method according to claim 4, wherein in the follow-up method in which the follower is made to follow the autonomous running robot autonomously, the loss determination step of determining whether or not the follower is lost, If it is determined that the follower has been lost, a position estimation step for estimating the position of the follower after losing sight of the follower, the position of the follower before the follower is lost, Based on the relative positional relationship between the estimated position of the follower after losing sight of the runner and the position of the obstacle, it is determined whether or not the follower is blocked by the obstacle. An occlusion determination step, a travel route generation step for generating a travel route with the follower estimated position of the follower as a target when it is determined that the follower is obstructed by the obstruction, and a travel It is characterized by moving along the travel route generated by the mechanism.

According to each of the inventions described in claims 1 to 4, it is determined whether or not the follower is lost. When it is determined that the follower is lost, the follower after losing the follower is lost. Estimated runner position, the position of the follower before losing sight of the follower, the relative position of the follower after losing sight of the follower, and the relative position of the obstacle Based on the relationship, it is determined whether or not the follower is obstructed by the obstacle.
Further, when it is determined that the follower is blocked by the obstacle, a travel route is generated targeting the follower estimated position of the follower and along the travel route generated by the travel mechanism. Since it is moved, even if the event of losing sight of the follower occurs in an environment other than a corner, it is possible to continue to follow the follower.

  According to the second aspect of the present invention, the first occlusion determination straight line connecting both the self and the obstruction object when the follower is lost, and the follower before the follower is lost. A second straight line for determining the occlusion that connects the runner position and the estimated position of the follower after losing sight of the follower; Since it is determined whether or not the straight lines for obscuration determination intersect, it can be easily and reliably determined that the follower is blocked by the obscured object.

It is explanatory drawing which shows schematic structure of the follow-up system using the autonomous running robot which concerns on one Embodiment of this invention. It is a block diagram which shows schematic structure of an autonomous mobile robot same as the above. It is a block diagram which shows the detailed structure of the follow-up system shown in FIG. (A) is explanatory drawing which shows the operation | movement in which an autonomous traveling robot same as the above detects an obstruction, (B) is after losing sight of the to-be-followed body before losing sight of the to-be-followed body. It is explanatory drawing which shows the principle which determines whether the to-be-followed body was obstruct | occluded by the obstruction based on the relative positional relationship of the to-be-followed body estimation position and the position of the obstruction. It is a flowchart for demonstrating the algorithm which detects that a follower is obstruct | occluded by the obstruction. It is a flowchart which shows operation | movement of the autonomous running robot same as the above. (A) is explanatory drawing which shows a mode that the follower is obstruct | occluded by the obstruction object which concerns on another example, (B) is the follower position and follower before losing sight of the follower. Based on the relative position relationship between the estimated position of the follower and the position of the obstruction after losing sight, the principle of determining whether the follower is obstructed by the obstruction according to another example It is explanatory drawing shown.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated with reference to drawings. FIG. 1 is an explanatory diagram illustrating a schematic configuration of a follow-up system using an autonomous traveling robot according to an embodiment of the present invention, and FIG. 2 is a block diagram illustrating a schematic configuration of the autonomous traveling robot. FIG. 3 is a block diagram showing a detailed configuration of the follow-up system shown in FIG.

As shown in FIG. 1, a follow-up system A using an autonomous traveling robot according to an embodiment of the present invention includes a follower B and an autonomous traveling robot C.
The follower B in this embodiment is, for example, a person (hereinafter referred to as “follower”), and is equipped with a controller 10 and a reflective marker 12 attached to the arm.

  As shown in FIG. 3, the controller 10 includes an earphone 11 for listening to a message transmitted from the autonomous mobile robot C, a controller / communication unit 13, and a wireless LAN 14. Necessary communication is performed with the robot C.

As shown in FIG. 1, the autonomous traveling robot C has a substantially hemispherical head 31 mounted on an upper portion of a cylindrical main body 30, and four traveling wheels 32 a (32 a), The external structure is provided with 32b (32b).
The traveling wheels 32a (32a) and 32b (32b) are independently driven to rotate by a traveling mechanism 36 including a motor (not shown) by a so-called skid steer method.

  The outer shell of the main body 30 includes an opening / closing door 30a of a cargo storage portion (not shown) defined in the interior thereof, and a plurality of speakers 30b arranged on the upper position of the opening / closing door 30a at predetermined angular intervals. Is provided.

  The head portion 31 has a head portion 31a that is omnidirectional, and a horizontal rectangular region 31b that is transparently formed on the front side in the movement direction α. The PTZ camera 37 is formed inside the head portion 31a. In addition, a three-dimensional laser scanner 35 is provided inside the horizontal rectangular region 31b.

  In the head 31, there are a robot position / speed measurement unit 40, a traveling path detection unit 50, a follower position / speed measurement unit 60, a mission environment evaluation unit 70, a follower communication unit 80, and a behavior control unit D. And an external notification unit 90 are provided.

As shown in FIG. 3, the robot position / speed measurement unit 40 includes a dead reckoning 41, a robot GPS (Global Positioning System) 42, and a robot speed calculation unit 43.
The dead reckoning 41 is for outputting a relative movement vector from the reference position based on the traveling information to estimate the self position. In the present embodiment, for example, odometry is employed.

The robot GPS 42 is for measuring the self-position of the autonomous traveling robot C.
The robot speed calculation unit 43 executes a required program,
Based on the output information from the dead reckoning 41 and the position information from the robot GPS 42, the moving speed of the autonomous traveling robot C is calculated. This function is referred to as “movement speed calculation means 43a”.
Moreover, the function which acquires the self position when the follower B mentioned later mentioned is lost. This function is referred to as “robot position acquisition means 43b”.

The travel path detection unit 50 includes the above-described three-dimensional laser scanner 35 and an obstacle detection / map creation unit 51.
In the present embodiment, the three-dimensional laser scanner 35 is a distance measurement unit for acquiring distance measurement data of a distance measurement area.

The obstacle detection / map creation unit 51 exhibits the following functions by executing a required program.
A function of acquiring the position of the shielding object based on the distance measurement data acquired by the three-dimensional laser scanner 35 that is a distance measurement unit. This function is referred to as “obscured object position acquisition means 51a”.

A function for creating an environmental map including an obstacle (obstacle) by determining whether or not the vehicle can travel based on distance measurement data acquired by the three-dimensional laser scanner 35. This function is referred to as “map creation means 51a”.
For example, on the basis of a predetermined height, an environmental map including a movable area, a non-movable area, and an obstacle (obstacle) in the distance measurement area is created.

The follower position / speed measurement unit 60 includes the above-described PTZ camera 37 and the follower position recognition unit 34.
The PTZ camera 37 is a pan / tilt / zoom lens integrated camera, and is used to photograph the follower B.

The follower position recognition unit 34 has the following functions by executing a required program.
A function for determining whether or not the follower B is lost by the PTZ camera 37 which is the follower detection unit. This function is referred to as “missing judgment means 34a”.
-It has the function to acquire the position of the follower B until the follower B is missed by the PTZ camera 37 which is a follower detection unit. This function is referred to as “follower position acquisition means 34b”.

Specifically, the position (coordinates) of the follower B is recognized and acquired based on the reflection marker 12 included in the photographed image of the follower B.
The reflective marker may be a light emitting marker, or the reflective marker may be detected by LRF.

  The mission environment evaluation unit 70 has a function of evaluating the environment in which the follow-up is executed, and selecting and notifying the notification information to the follower B and the surrounding people based on the evaluation result.

-Based on the relative position of the follower B before losing sight of the follower B, the estimated position of the follower after losing sight of the follower B, and the position of the follower B, the follower B A function of determining whether or not the object 130 is blocked by the shielding object 130 (see FIGS. 4A and 4B). This function is referred to as “occlusion judging means 70a”.
In the present embodiment, it is determined whether or not the first and second occlusion determination straight lines L1 and L2 generated by the following determination straight line generation means 70b intersect each other.

A function for estimating the self-position after losing sight of the follower B when it is determined that the follower B has been lost. This function is referred to as “follower position estimation means 70b”.

First straight line for obscuration discrimination L1 that connects both the position of the subject and the shield 130 when the follower B is lost, the position of the follower before the follower B is lost, and the follower A function of generating a second obscuration discrimination straight line L2 connecting the estimated positions of the followers after losing sight of the runner B. This function is referred to as “discrimination line generation means 70c”.

A function for selecting a plurality of preset notification information based on the evaluation result. This function is referred to as “notification information selection means 70d”.
As the “notification information”, when it is determined that the first occluding determination straight line L1 and the second obscuring determining straight line L2 do not intersect, that is, for example, “lost” or “corresponding to the evaluation result” It will stop. "

A function for notifying the follower B and surrounding people of the selected notification information. This function is referred to as “notification information notification means 70e”.
Specifically, the notification information is notified through the speaker 30b disposed in the external notification unit 90 and the earphone 11 of the follower B.

The behavior control unit D includes a route generation unit 100, a vehicle body control unit 110, and a vehicle body drive unit 120.
The path generation unit 100 performs the following functions by executing a required program.
A function of generating a travel route targeting the estimated coordinate position of the follower B after losing sight of the follower B when it is determined that the follower B is blocked by the obstacle 130. This function is referred to as “travel route generation means 100a”.
In the present embodiment, the travel route is generated by the potential method, the steepest descent method, or the like based on the environmental map described above.

  The following is based on the relative position relationship between the position of the tracked object before losing sight of the tracked object, the estimated position of the tracked object after losing sight of the tracked object, and the position of the shielding object. A detailed principle for determining whether or not the follower is blocked by the obstacle is described with reference to FIGS.

  FIG. 4 (A) is an explanatory view showing the operation of the autonomous mobile robot detecting an obstacle, and FIG. 4 (B) shows the position of the follower before losing sight of the follower, after losing sight of the follower. FIG. 5 is an explanatory diagram showing the principle of determining whether or not the follower is obstructed by the obstruction based on the relative positional relationship between the estimated position of the follower and the position of the obstruction. It is a flowchart for demonstrating the algorithm which detects that a follower was interrupted by the obstruction.

Step 1 (abbreviated as “S1” in the figure. The same applies hereinafter): A portion having a large differential value with respect to the phase direction of the distance measurement value of the three-dimensional laser scanner 35 is recognized as the corner 130b of the building 130 which is an obstacle. (See FIG. 4A).
In the figure, “b” indicates the laser optical axis, and “β” indicates the phase direction. In the present embodiment, the corner 130b of the building 130 is described as an obstruction, but the present invention is not limited to the “corner”.

Step 2: A coordinate E (t + Δt) (see FIG. 4B) of the corner 130b of the building 130 is calculated from the phase and the distance measurement value, and the process proceeds to Step 3.
Step 3: By the dead reckoning 41, the coordinate P (t + Δt) of the position of the autonomous traveling robot C is acquired, and the process proceeds to Step 4.

  Instead of dead reckoning 41, the self-position coordinates P (t + Δt) may be measured by self-position estimation using GPS and an environmental map.

  Step 4: A line (a line for visual discrimination) L1 shown in FIG. 4B is generated. The line (a line for determining occlusion) L1 is a straight line that passes through the position coordinates of the autonomous mobile robot C and the position coordinates of the corner 130b of the building 130.

Step 5: Calculate the movement speed of the follower B immediately before losing sight of the follower B from the autonomous robot C.
Movement speed V (t) = R (t) −R (t−Δt) of the follower B
R (t) is the position coordinate immediately before the follower B is lost.
R (t−Δt) is the previous position coordinate before losing sight of the follower B.
The speed may be calculated using an average of a plurality of past points. That is, it is only necessary to accurately calculate the speed immediately before losing sight.

Step 6: Estimate the position R (t + Δt) of the follower B at the time of losing sight.
R (t + Δt) = R (t) + V (t) × Δt
Note that Δt is a calculation cycle.

Step 7: A line L2 shown in FIG. 4B is generated.
That is, a line (follower movement straight line) L2 connecting the position coordinates R (t) of the follower B immediately before losing and the estimated position R (t + Δt) of the follower B at the time when losing is generated is generated.

Step 8: It is determined whether or not there is an intersection between the line L1 and the line L2.
Step 9: If it is determined that an intersection exists, the process proceeds to Step 10; otherwise, the process proceeds to Step 12.

Step 10: Notify that the follower B is lost, and go to Step 11.
Step 11: Stop control is performed by the traveling mechanism 36.
Step 12: Set the movement target point to R (t + Δt).

The vehicle body control unit 110 has a function of being moved by the travel mechanism 36 along the generated travel route. This function is referred to as “running means 110a”.
Specifically, it has a function of determining the rotational speed of each of the traveling wheels 32a (32a) and 32b (32b).
The vehicle body drive unit 120 has a function of rotating the traveling wheels 32a (32a) and 32b (32b) by the determined number of rotations by the traveling mechanism 36 described above.

Next, the operation of the autonomous traveling robot will be described with reference to FIG. FIG. 6 is a flowchart showing the operation of the autonomous mobile robot.
The reflective marker 12 is extracted from the image of the follower B taken by the PTZ camera 37 of the robot position / velocity measuring unit 40, and the follower B is positioned based on the extraction result of the reflective marker 12 and the obstacle information in the environment map. In addition to acquiring the coordinates to be moved and the moving speed, the geometric shape of the distance measurement area by the three-dimensional laser scanner 35 is measured, and for example, whether or not the movement is possible based on the height is determined, and an environment map is created. Further, the coordinates of the autonomous traveling robot C are measured by the robot GPS 42, and those data are appropriately output to the mission environment evaluation unit 70.

Step 1 (abbreviated as “Sa1” in the figure. The same applies hereinafter): Update the time information and go to Step 2.
Step 2: The mission environment evaluation unit 70 performs a mission environment evaluation.
Specifically, when the position of the follower B cannot be detected, it is determined whether the follower B is obstructed by the building 120 or other factors.
In addition, when it determines with having lost the follower for other reasons, as shown in step 10 of FIG. 5, the notification information corresponding to an evaluation result is alert | reported.

Step 3: When it is determined that the building 120 is blocked, a moving target point is set as described in Step 12 of FIG.
Step 4: A potential field is generated based on the environmental map described above.
Step 5: A travel route is generated by the steepest descent method.

Step 6: Calculate the braking distance.
Specifically, the braking distance is calculated from the braking distance of the autonomous traveling robot C + the position of the follower B and the position measurement error of the autonomous traveling robot C. Thereby, optimal speed setting can be performed.
Step 7: Calculation of vehicle control such as setting of the rotation speed of each traveling wheel is performed.
Step 8: Move by the traveling mechanism 36.

The present invention is not limited to the above-described embodiments, and the following modifications can be made.
-In this embodiment, although a building is demonstrated as an example as an obstruction, it is not restricted to this, Of course, it can apply also in the following situations. FIG. 7A is an explanatory view showing a state in which a follower is blocked by an obstruction according to another example, and FIG. 7B is a follower position and follower before losing sight of the follower. Based on the relative position relationship between the estimated position of the follower after losing sight of the body and the position of the shielding object, it is determined whether or not the following object is blocked by the shielding object according to another example. It is explanatory drawing which shows a principle. In addition, about the thing equivalent to what was demonstrated in embodiment mentioned above, the code | symbol same as them is attached | subjected and description is abbreviate | omitted.

As shown in FIG. 7A, when the follower B is lost in the vicinity of the automobile 130 which is an obstructing object according to another example, it is determined whether or not the automobile 130 is obstructed.
That is, as described above, a portion having a large differential value with respect to the phase direction of the distance measurement value of the three-dimensional laser scanner 35 is recognized as the corner 130a of the automobile 130, and the angle 130a of the automobile 130 is determined based on the laser phase and the distance measurement value. The coordinates of are calculated.
Then, the dead reckoning 41 acquires the coordinates of the position of the autonomous traveling robot C, and generates the above-described line (a line for determining the occlusion) L1.
Further, the movement speed of the follower B before losing sight of the follower B from the autonomous traveling robot C is calculated, and the position of the follower B at the time when the follower B is lost is estimated to generate the line L2.
Then, it is determined whether or not the vehicle 130 is obstructed by determining the presence or absence of an intersection between the line L1 and the line L2.

In the above-described embodiment, the human being is described as an example of the follower. However, the present invention is not limited to this, and includes a vehicle and other robots.

34a Missing determination means 34b Follower position acquisition means 35 Distance measuring unit (three-dimensional laser scanner)
36 Traveling mechanism 37 Tracked body detection unit (PTZ camera)
43a Movement speed calculation means 43b Robot position acquisition means 70a obscuration determination means 70b follower position estimation means 70c discrimination straight line generation means 100a travel route generation means 110a travel means 130 obstacle (obscuration object)
A Follower system B Follower (follower)
C Autonomous traveling robot L1 First straight line for visual discrimination L2 Second linear line for visual discrimination

Claims (4)

In an autonomous traveling robot having a follower detection unit for detecting a follower and a traveling mechanism for traveling and autonomously following the movement of the follower,
Loss determination means for determining whether or not the follower is lost by the follower finding part;
When it is determined that the follower has lost sight, position estimation means for estimating the follower position after losing sight of the follower,
Based on the relative position of the tracked object before losing sight of the tracked object, the estimated position of the tracked object after losing sight of the tracked object, and the position of the interceptor. An occlusion determination means for determining whether or not the object is obstructed by an obstruction;
When it is determined that the follower is obstructed by the obstructing object, a travel route generating means for generating a travel route targeting the follower estimated position of the follower,
An autonomous traveling robot comprising traveling means that is moved by a traveling mechanism along the generated traveling route. The first line for distinguishing obstruction that connects both the self and the position of the obstruction when the follower is lost, the position of the follower before losing sight of the follower, and the follower A discrimination straight line generating means for generating a second occlusive discrimination straight line connecting the estimated follower position after losing sight is provided,
2. The autonomous traveling robot according to claim 1, wherein the obscuration determining unit determines whether or not the generated first and second occluding determination straight lines intersect each other. An autonomous traveling robot having a tracked body, a tracked body detection unit for detecting the tracked body, and a travel mechanism for moving, and autonomously tracking the movement of the tracked body In
When the follower detection unit determines whether the follower has been lost or not, and when it is determined that the follower has been lost, the follower after losing the follower Relative position of the position estimation means for estimating the body position, the position of the follower before losing sight of the follower, the estimated position of the follower after losing sight of the follower Based on the relationship, the obstruction determining means for determining whether or not the follower is obstructed by the obstruction, and when it is determined that the follower is obstructed by the obstruction, the follower The autonomous traveling robot is provided with a travel route generating means for generating a travel route targeting the estimated position of the follower and a travel means for moving the travel path along the generated travel route. A follow-up system using an autonomous robot. In the follow-up method to make the follower autonomously follow the autonomous running robot,
A loss determination step for determining whether or not the follower is lost;
When it is determined that the follower has lost sight, the position estimation step for estimating the follower position after losing sight of the follower,
Based on the relative position of the tracked object before losing sight of the tracked object, the estimated position of the tracked object after losing sight of the tracked object, and the position of the interceptor. An occlusion determination step for determining whether or not is obstructed by an obstruction;
A travel path generation step for generating a travel path for wrapping around the obstruction object with the target position of the follow-up object as a target when the follow-up object is determined to be obstructed by the obstruction object; ,
A follow-up method characterized by moving along the travel route generated by a travel mechanism.

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