JP2011170844A - Control method for unmanned vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control method for an unmanned vehicle which can quickly and easily issue detailed instructions for the direction of movement even for the unmanned vehicle moving at high speed. <P>SOLUTION: The method controls the movement of the half-autonomous travelling vehicle B loaded with a camera 14 for remote control for acquiring image data within a traveling region by a portable type remote controller A and the portable type remote controller includes a display 40 for displaying an image acquired by the camera 14 for remote control. In this case, a position for making the half-autonomous travelling vehicle B turn is indicated and instructing the turning direction and the moving distance at the turning position by a vector by three pointing and clicking operation inputs using a cursor stick 51 in the image on the display 40 of the portable type remote controller. In addition, the turning position and the turning vector in an image coordinate system indicated on the image on the display 40 are converted to a world coordinate system, and the half-autonomous traveling vehicle B is moved according to the instruction for the turning position and the turning vector of the world coordinate system after the conversion on the half-autonomous travelling vehicle B side. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a control method for an unmanned mobile object suitable for use in remote control of the movement of an unmanned mobile object equipped with a remote control camera.

  Conventionally, as a method for controlling the above-described unmanned moving body, for example, a method described in Patent Document 1 is known. In this unmanned moving body control method, a user interface is transmitted from a camera mounted on a robot. A point-and-click operation is input to the image around the robot displayed on the screen to indicate the direction in which the robot should move.

Special table 2003-532218

  However, when the control method for an unmanned mobile body described above is applied to control of a small unmanned mobile robot that moves indoors at a low speed, it is only necessary to indicate a target several meters ahead by a point-and-click operation. An unmanned mobile robot can be moved without hindrance, but in the case of an unmanned vehicle type robot that moves outdoors at a high speed of about 30 km / h, for example, in an area where there are many right and left turns such as an urban area, There is a problem that it is not possible to promptly specify the moving direction, and it has been a conventional problem to solve this problem.

  The present invention has been made paying attention to the above-described conventional problems, and is not limited to an unmanned moving body that moves at a low speed, for example, an unmanned moving body that moves at a high speed in a place where there are many right and left turns. In addition, the present invention aims to provide a method for controlling an unmanned mobile body that can quickly and easily give a detailed direction of movement.

  According to a first aspect of the present invention, there is provided a remote control device having a display unit that displays an image of an unmanned moving body equipped with a remote control camera that acquires image data in a moving region and displays an image of the remote control camera. A method of controlling an unmanned moving body that is controlled by using the unmanned moving body that is capable of coordinate conversion processing between the world coordinate system on the unmanned moving body side and the image coordinate system in the display unit of the remote control device. In the control method, the position for turning the unmanned moving body is instructed via the display unit of the image coordinate system of the remote control device, the turning direction at the turning position is instructed, and the display unit of the remote control device is used. The unmanned moving body of the world coordinate system is moved according to the turning position instructed and the turning direction at the turning position. The configuration of the control method is a means for solving the conventional problems described above.

Further, in the control method for an unmanned mobile body according to claim 2 of the present invention, it is possible to input two or more points and clicks with a cursor stick on the image of the display unit of the remote control device, or to control the remote control device. A position for turning the unmanned moving body is indicated by a drawing operation input on the image of the display unit as a touch panel, and a turning direction and a moving distance at the turning position are designated by a vector. The turning position and turning vector based on the image coordinate system indicated on the image of the display unit of the control device are converted into the world coordinate system, and the unmanned moving body is moved according to the instruction of the turning position and turning vector based on the converted world coordinate system. The configuration is to let
The point-and-click operation described above is a series of operations indicated by clicking on the image after the cursor is moved to a desired position and then clicking at the position where the cursor is moved.

  Furthermore, in the method for controlling an unmanned mobile object according to claim 3 of the present invention, the branch updated in accordance with the movement of the unmanned mobile object at the stage of recognizing the branch path on the unmanned mobile object side having a branch path recognition function. The information for each road is coordinate-converted from the world coordinate system to the image coordinate system, transmitted to the remote control device together with the ID, and a branch path candidate mark on the branch path of the image displayed on the display unit of the remote control device And a position for turning the unmanned moving body from among a plurality of branch roads by a stick operation of the remote control device, and the branch path candidate mark on the branch road that matches the turning direction at the turning position is selected. Thus, the ID of the selected branch path is transmitted to the unmanned mobile body, and the unmanned mobile body is moved to the branch path of the transmitted ID.

  Furthermore, in the control method for an unmanned mobile body according to claim 4 of the present invention, the unmanned mobile body plans a movement route based on a turning position and a turning direction instructed from the remote control device, and the movement. The moving speed according to the route is planned, and the vehicle moves autonomously according to the planned moving route and moving speed.

  Here, the unmanned moving body is equipped with a distance measuring unit that acquires distance data in the moving area, and has a function of extracting a movable area in the moving area from the distance data acquired by the distance measuring unit. In this case, it is desirable to provide a function for detecting obstacles in the extracted movable area.

Thus, having a function of extracting a movable area and a function of detecting an obstacle together has a function of recognizing a branch path. Specifically, information on features within the moving area, such as white lines and stop lines drawn on the road, and obstacles inside and outside the road, is acquired by a distance measuring unit such as a laser sensor or an autonomous moving camera. Then, by using both the movable area extraction function and the obstacle detection function, the branching path can be recognized by separating the passable part and the other part.
In addition, when map information is available, a branch path can be recognized also by collating self-location information obtained from a sensor such as GPS with map information.

  In addition, the communication delay time with the moving body is calculated in the remote control device, and whether or not the movement according to the turning direction and the moving speed at the instructed turning position is determined based on the calculated communication delay time. In this case, it is desirable to provide a function for invalidating the instruction operation on the display unit of the remote control device when it is determined that movement according to the above instruction is difficult.

  In the control method for an unmanned mobile body according to claim 1 of the present invention, an image obtained by the remote control camera of the unmanned mobile body is displayed on the display unit of the remote control device. The turning position and the turning direction at the turning position are instructed to the moving body.

The unmanned mobile body moves in the world coordinate system according to the turning position designated via the display unit of the remote control device and the turning direction at the turning position.
In other words, a simple operation performed via the display unit of the remote control device can finely indicate the moving direction of the unmanned moving body. As a result, for example, a place with many right and left turns such as an urban area is about 30 km / h. Thus, it is possible to appropriately instruct the moving direction even for an unmanned moving body moving at a high speed.

  In the unmanned mobile control method according to claim 2 of the present invention, the cursor stick 2 is used on the image of the display unit of the remote control device on which the image obtained by the remote control camera of the unmanned mobile is displayed. By performing a point-and-click operation input over a point, or by performing a line drawing operation input on an image displayed on the display unit as a touch panel, the turning position and a turning vector ( Turn direction and travel distance).

  On the unmanned mobile body side, the turning position and turning vector in the image coordinate system indicated on the image of the display unit of the remote control device are converted into the world coordinate system, and the turning position and turning vector in the converted world coordinate system are indicated. Move according to.

  That is, the unmanned moving body moves in accordance with two or more point and click operations with the cursor stick made on the image of the display unit of the remote control device, and the turn position and turn vector instructions by the line drawing operation.

  In other words, the direction of movement of the unmanned moving body can be finely indicated by an intuitive and simple operation. As a result, for example, a place with many right and left turns such as an urban area can be moved at a high speed of about 30 km / h. The moving direction can be appropriately indicated even for the unmanned moving object.

  Furthermore, in the control method of the unmanned mobile object according to claim 3 of the present invention, the image of the remote control device is displayed on the image of the display unit of the remote control device on which the image obtained by the remote control camera of the unmanned mobile object is displayed. By simply selecting a branch path candidate mark on a branch path where the unmanned mobile body is to be advanced from a plurality of branch paths by a stick operation, the unmanned mobile body can be moved toward the branch path of the selected ID. .

  During the selection of the branch path, the unmanned mobile body approaches the branch path from time to time, but the information for each branch path is updated as the unmanned mobile body moves, and the branch path candidate mark is displayed along with the approaching branch path. Since the vehicle moves upward, the branch path can be selected accurately and in a short time. Therefore, it is not necessary to reduce the moving speed of the unmanned moving body, and the maneuverability is improved.

  In the control method of the unmanned mobile body according to the first aspect of the present invention, since it has the above-described configuration, it is possible to finely indicate the moving direction of the unmanned mobile body by a simple operation performed via the display unit of the remote control device. Therefore, for example, even for an unmanned moving body moving at a high speed in a place with many right and left turns such as an urban area, it is possible to appropriately indicate the moving direction. Brought about.

  In addition, since the method for controlling an unmanned mobile object according to claim 2 of the present invention has the above-described configuration, the moving direction of the unmanned mobile object can be finely instructed by an intuitive and simple operation. For the unmanned moving body that is moving at a high speed of, for example, about 30 km / h in a place with many corners, an excellent effect that the moving direction can be appropriately indicated is brought about.

  Furthermore, in the control method of the unmanned mobile body according to claim 3 of the present invention, the above-described configuration is adopted. Therefore, when the branch road is approached, the branch path can be selected accurately and in a short time with a simple operation. As a result, the unmanned mobile body can be directed toward the designated branch path without reducing the moving speed, and the maneuverability can be improved.

  In addition, in the method for controlling an unmanned mobile object according to the present invention, since it is not a continuous instruction input by, for example, a joystick of the remote control device, but a discrete input, it can cope with a delay or interruption of wireless communication. This is a very good effect that is possible.

It is system configuration explanatory drawing which shows the outline | summary of the control method of the unmanned mobile body by one Example of this invention. It is schematic structure explanatory drawing of the semi-autonomous traveling vehicle as an unmanned mobile body in FIG. It is a connection block diagram of the control apparatus of the unmanned mobile body in FIG. It is explanatory drawing which shows the concept of the coordinate transformation employ | adopted as the control method of the unmanned mobile body in FIG. It is a block diagram which shows the function which the computer for vehicle control of the unmanned mobile body in FIG. 1 has. It is branch road recognition image explanatory drawing (a)-(d) currently reflected on the display of the semi-autonomous vehicle as an unmanned mobile body in FIG. It is branch road recognition image explanatory drawing (a)-(c) currently reflected on the display of the semi-autonomous vehicle as an unmanned mobile body in FIG. FIG. 7 is an explanatory diagram (a) to (d) of branch path recognition images in which a branch path candidate mark for reservation right / left turn input is displayed on a display of a semi-autonomous vehicle as an unmanned moving body in FIG.

Embodiments of the present invention will be described below with reference to the drawings.
1 to 7 show a method for controlling an unmanned mobile body according to an embodiment of the present invention. This unmanned mobile body is controlled by a portable remote control device A as shown in FIG. It is used to control the movement of the moving body B.

  In this embodiment, the unmanned moving body is a semi-autonomous traveling vehicle B that can travel autonomously. As shown in FIGS. 2 and 3, the vehicle control computer 10 and the vehicle control computer 10 and the LAN 11 are used. It is controlled by an autonomous mobile computer 30 connected in this manner.

  A wireless LAN 13 connected to the antenna 12 and a remote control camera 14 are connected to the input side of the vehicle control computer 10 via an input / output circuit 15, a position information acquisition GPS 16, and an attitude control A vertical gyro 17 and a vehicle speed pulse 18 for measuring the moving speed are connected via a serial line.

  Further, a steering actuator 22 and a brake / accelerator actuator 23 are connected to the output side of the vehicle control computer 10 via a motor driver 21, and the drive unit 20 includes these actuators 22, 23 and wheels 24. Is configured.

  The vehicle control computer 10 has a function of transmitting various information acquired by the GPS 16 and the vertical gyro 17 to the portable remote control device A via the LAN 11, the wireless LAN 13 and the antenna 12, and the portable remote control device. The steering actuator 22 and the brake / accelerator actuator 23 are activated and stopped via the motor driver 21 based on the operation information transmitted from A.

  On the other hand, a laser sensor (laser range finder) 31 suitable for acquisition of short-distance information and autonomous movement cameras 32 and 33 suitable for acquisition of wide-angle information at a long distance are connected to the input side of the computer 30 for autonomous movement. The autonomous movement computer 30 calculates a travelable route and speed based on the acquired short distance information and long distance information, and operates the steering actuator 22 and the brake / accelerator actuator 23 to operate autonomously. The traveling vehicle C is caused to autonomously travel.

  In this embodiment, image data acquired from the remote control camera 14 is input to the vehicle control computer 10 via the input / output circuit 15 and subjected to data compression processing, and then the control station via the wireless LAN 13 and the antenna 12. The image data may be transmitted directly from the remote control camera 14 without going through the vehicle control computer 10, although it is transmitted to A and the portable remote control device B.

  The portable remote control device A includes a display (display unit) 40 that displays an image obtained by the remote control camera 14 of the semi-autonomous vehicle B, a remote control unit 50, a vehicle control computer 10, and an autonomous movement computer 30. And a control unit 60 for exchanging data via the LAN 11, and the display 40 is incorporated in the control unit 60 together with a CPU, keyboard 61 and antenna 62 (not shown). It can be attached to P's waist.

  On the other hand, the remote control unit 50 includes a cursor stick 51, a speed instruction lever 52, a transmission / reception unit (not shown) that transmits / receives various information to / from the control unit 60, and an operation mode changeover switch (not shown). The operation mode selector switch switches between a vector instruction mode and a branch path selection mode, which will be described later.

  The cursor stick 51 indicates a position to turn the semi-autonomous vehicle B by inputting two or more points and clicks on the image of the display 40 in the vector instruction mode, and the turning direction and the moving distance at the turning position. Is indicated by a vector.

  Specifically, as shown in an enlarged view in FIG. 1, the current position S of the semi-autonomous vehicle B and the position T for turning the semi-autonomous vehicle B on the image displayed on the screen of the display 40, By performing a click operation with the cursor stick 51 at the position U that arrives after this turn, the movement route R connecting these three positions S, T, U is indicated by a vector, and is semi-autonomous. The traveling speed from the current position S to the turning position T of the traveling vehicle B is input by the speed instruction lever 52 in consideration of surrounding conditions.

  When the display 40 is a touch panel, it is possible to use a drawing operation input on an image with a pen or a finger instead of the two or more point & click operation inputs using the cursor stick 51 described above.

  In addition, the cursor stick 51 selects a branch path candidate mark by an operation of tilting the stick on the image displayed on the display 40 in the branch path selection mode, as will be described in detail later.

  The portable remote control device A is mounted on the head of the operator P, receives the image data from the control unit 60, and displays the so-called head mounted display 41 in front of the eyes of the operator P as the display 40. In the vector indication mode, the semi-autonomous vehicle B connecting the three points (S, T, U) by the cursor stick 51 is displayed on the image of the head mounted display 41 in the vector instruction mode. On the other hand, in the branch path selection mode, a plurality of branch path candidate marks are displayed in a superimposed manner.

  In this case, the vehicle control computer 10 mounted on the semi-autonomous vehicle B has a coordinate conversion function. In the vector instruction mode, the operation information transmitted from the portable remote control device A, that is, the portable The turning position and turning vector (positions S, T, U) in the image coordinate system indicated on the image of the display 40 of the remote control device A are converted into the world coordinate system, and the turning position and the turn in the world coordinate system after this conversion are converted. The steering actuator 22 and the brake / accelerator actuator 23 are actuated via the motor driver 21 based on the turning vector instruction.

  On the other hand, in the branch path selection mode, the vehicle control computer 10 uses the portable remote control for the world coordinate system position information of the branch path obtained by the laser sensor 31 and the autonomous movement cameras 32 and 33 on the semi-autonomous vehicle B side. The image is converted to the image coordinate system of the display 40 of the device A and is transmitted to the portable remote control device A every moment.

  Here, as shown in FIG. 4, a point (X, Y, Z) in a coordinate system (X: traveling direction, Y: left, Z: up) about the direction of the semi-autonomous vehicle B or a bird's-eye view map Which pixel (x, y) on the image of the display 40 corresponds to the data observed on (X, Y, 0) can be obtained by the following corresponding pixel calculation formula.

  At this time, the variable name A is a camera parameter, and is represented as follows by the optical axis centers Cx, Cy and focal lengths fx, fy on the image.

  R is a determinant that transforms the traveling axis coordinate system of the semi-autonomous vehicle B and the image plane coordinate system (right: x, bottom: y, front: z) of the remote control camera 14, and the parameters Rx, From Ry and Rz, it is obtained as follows.

  The parameter Rx is based on the roll direction deviation angle between the semi-autonomous vehicle B and the remote control camera 14, the parameter Ry is based on the elevation angle of the remote control camera 14 from the semi-autonomous vehicle B, and the parameter Rz is The rotation of the remote control camera 14 from the semi-autonomous vehicle B due to the deviation in the yaw direction is as follows.

  Further, t is the installation position of the remote control camera 14 viewed from the center of the semi-autonomous vehicle B, and the offset positions tx, ty, tz at the installation position of the remote control camera 14 from the center of the semi-autonomous vehicle B. Thus, it is obtained as follows.

  If necessary, distortion removal is performed as a pre-process after photographing. At that time, the strain parameter of the remote control camera 14 is obtained in advance and the strain is removed.

  In this embodiment, as shown in FIG. 5, the vehicle control computer 10 plans a movement route based on the turning position and turning vector converted into the world coordinate system in addition to the coordinate conversion function described above. In addition to a path planning function, a speed planning function for planning a moving speed according to the moving path, and an autonomous moving function for autonomously moving according to the planned moving path and moving speed, the laser sensor 31 and the autonomous movement Area extraction function for extracting a movable area in a moving area from distance measurement data acquired by the cameras 32 and 33, an obstacle detecting function for detecting an obstacle inside and outside the extracted movable area, and a semi-autonomous vehicle B Has an approach distance determination function for determining whether or not the vehicle has approached the instructed turning position.

Thus, if it has an area extraction function and an obstacle detection function together, it will have the function to recognize a branch path. Specifically, for example, information on features in the moving area such as white lines and stop lines drawn on the road, and obstacles inside and outside the road are acquired by the laser sensor 31 and the autonomous movement cameras 32 and 33. By using both the movable area extraction function and the obstacle detection function, the branching path can be recognized by separating the passable part and the other part.
In addition, when map information is available, a branch path can be recognized also by collating self-location information obtained from the sensor of GPS16 with map information.

  In this embodiment, the control unit 60 of the portable remote control device A calculates the communication delay time between the portable remote control device A and the semi-autonomous traveling vehicle B, and uses the calculated communication delay time. Based on the function of determining whether or not the movement according to the turning vector at the instructed turning position is possible, and the instruction on the display 40 of the portable remote control device A when it is determined that the movement according to the instruction is difficult Has a function to invalidate the operation.

  In addition, while the semi-autonomous vehicle B travels, the control unit 60 responds to the change in the self-position calculated by the GPS 16 or the vertical gyro 17 and the turning position and turning vector (position S, T, U) and a function of moving a branch path candidate mark to be described later.

  When the movement of the semi-autonomous vehicle B is controlled in the vector instruction mode by the above-described portable remote control device A, the remote control camera 14 of the semi-autonomous vehicle B is displayed on the display 40 of the portable remote control device A. The obtained image is displayed, and by performing three-point point-and-click operation input with the cursor stick 51 on this image, the current position S and the turning position T for the semi-autonomous vehicle B are displayed. The movement route R connecting the position U that is reached after the turn is indicated by a vector.

  In the vehicle control computer 10 of the semi-autonomous traveling vehicle B, the instruction transmitted from the portable remote control device A, that is, the turning position and the turning by the image coordinate system indicated on the image of the display 40 of the portable remote control device A. The vector (positions S, T, U) is converted into the world coordinate system, and the steering actuator 22 and the brake / accelerator actuator are connected via the motor driver 21 according to the instructions of the turning position and turning vector in the world coordinate system after the conversion. 23 is activated.

  During the traveling of the semi-autonomous vehicle B, the turning position designated on the image of the display 40 of the portable remote control device A according to the change in the position of the semi-autonomous vehicle B calculated by the GPS 16 or the vertical gyro 17 and The turning vector (positions S, T, U) also moves.

  That is, the semi-autonomous traveling vehicle B moves according to instructions of the turning position and the turning vector by the three point & click operation with the cursor stick 51 made on the image of the display 40 of the portable remote control device A.

  As described above, in the control method according to the present embodiment, the moving direction of the semi-autonomous vehicle B can be finely indicated by an intuitive and simple operation. As a result, for example, there are many right and left turns such as in an urban area. For the semi-autonomous traveling vehicle B moving at a high speed of about 30 km / h, the moving direction can be appropriately instructed.

  On the other hand, when the movement of the semi-autonomous vehicle B is controlled in the branch path selection mode with the above-described portable remote control device A, the branch consisting of the area extraction function and the obstacle detection function of the vehicle control computer 10 together. The road recognition function recognizes not only the direction of the road but also the position of the branch road in the world coordinate system (start position and end position of the branch road) and a branch road ID that does not overlap with each of the recognized plurality of branch roads. To generate branch path information in the world coordinate system composed of the branch path ID and the branch path position. At this time, even if the traveling semi-autonomous vehicle B and the relative position of the recognized branch road change from moment to moment, the same branch path ID assigned to the same branch path by the branch path recognition function is assigned. It is done.

  When the vehicle control computer 10 mounted on the semi-autonomous vehicle B recognizes the branch path from the distance measurement data acquired by the laser sensor 31 and the autonomous movement cameras 32 and 33, the branch path in the world coordinate system. The position is used to calculate the pixel (x, y) from the point (X, Y, Z) by the corresponding pixel calculation formula (Equation 1), and the branch path position is displayed on the display of the portable remote control device A. 40 is converted into an image coordinate system to be displayed.

Next, the vehicle control computer 10 determines the branch path direction θ (= tan ⁻¹ {(y2−y1) from the start position (x1, y1) and the end position (x2, y2) of each branch path after the coordinate transformation. ) / (X2-x1)}) is calculated, and each branch path information in all recognized branch paths, that is, the branch path ID, the branch path starting point position (x1, y1) and the branch path after being converted into the image coordinate system. The direction θ is transmitted to the portable remote control device A.

  In the portable remote control device A, when the branch information of the image coordinate system is not received from the vehicle control computer 10 mounted on the semi-autonomous vehicle B, the display 40 of the portable remote control device A includes As shown in FIG. 6A, no information about the branch road is displayed, and the semi-autonomous vehicle B travels along the road.

  On the other hand, when the portable remote control device A receives the branch information of the image coordinate system from the semi-autonomous vehicle B, the control unit 60 of the portable remote control device A, as shown in FIG. In addition, arrow-like branch path candidate marks M are displayed in an overlapping manner for each branch path on the display 40 on which the image obtained by the remote control camera 14 of the semi-autonomous vehicle B is displayed.

  At this time, the coordinates of the arrowhead portion in the arrow-like branch path candidate mark M are set to the branch path starting point position (x1, y1) after conversion into the image coordinate system, and the direction in which the branch path candidate mark M faces is branched in the branch path information. The road direction θ is assumed (in FIG. 6B, the front direction is 0 °, and the directions of the two branch path candidate marks M1 and M2 are about ± 90 °, respectively).

  In addition, as shown in FIG. 6C, the size of the arrow-shaped branch path candidate mark M is such that the branch path starting point position is farther from the semi-autonomous vehicle B (upward on the display 40 image). A certain thing, that is, a branching path candidate mark M3) is displayed in a small size so as to give a sense of perspective to the driver who views the display 40.

  And in general branch roads such as intersections, T-shaped roads, Y-shaped roads, multi-level roads, etc., when it is desired to enter a road other than the direction in which the semi-autonomous vehicle B is recognized as a road direction, that is, a branch road In the control unit 60 of the portable remote control device A, it is desired by operating the cursor stick 51 shown below among the branch path candidate marks M (M1 to M3) displayed on the image of the display 40. A branch path candidate mark M displayed in an overlapping manner on the branch path is selected.

  First, when the operation of the cursor stick 51 for selecting the branch path is not performed, the control unit 60 uses the same color for all the branch path candidate marks M1 to M3 as shown in FIG. For example, it is displayed in white.

  Here, as shown in FIG. 6 (d), the lowermost center of the display 40 is the origin O, and the line connecting the origin of the arrowheads of the branch path candidate marks M1 to M3 from the origin O and the bottom of the display 40 When the angle formed by and is φ, when the operator tilts the cursor stick 51 in the right direction in the figure from the state where the branch path candidate marks M1 to M3 are not selected, as shown in FIG. Highlighting is performed so that the color of the branch path candidate mark M2 having the smallest value of φ is different from the colors of the other branch path candidate marks M1 and M3.

  At this time, in a state where the branch path candidate marks M1 to M3 are not selected, when the operator depresses the cursor stick 51 in the left direction in the figure, the branch path candidate mark M1 having the largest φ value. The color is highlighted.

  That is, every time the operator performs an operation of tilting the cursor stick 51 to the right, the color of the branch candidate mark having the next largest value of φ is highlighted (in FIG. 7B, the color of the branch candidate mark M3). Is highlighted in place of the branch candidate mark M2), and the color of the branch candidate mark having the next smallest value of φ is highlighted each time the operator performs an operation of tilting the cursor stick 51 to the left.

  The ID assigned to the highlighted branch path candidate mark M becomes the currently selected branch path candidate, that is, the selected branch path candidate is displayed every time the cursor stick 51 is tilted to the right. The selected branch candidate moves clockwise each time it moves counterclockwise and performs an operation of tilting the cursor stick 51 leftward.

  When a branch road to be directed to the semi-autonomous vehicle B is selected by depressing the cursor stick 51 described above, when a decision button (not shown) of the remote operation unit 50 or a push switch of the cursor stick 51 is pressed, The control unit 60 transmits the branch road ID selected at this time to the semi-autonomous vehicle B side.

  When the vehicle control computer 10 of the semi-autonomous vehicle B receives the branch path ID transmitted from the portable remote control device A, it transmits the branch path ID selected and determined as the answer back signal to the portable remote control device A. Then, the process of entering the designated branch path is started, that is, the steering actuator 22 and the brake / accelerator actuator 23 are operated via the motor driver 21 in accordance with the instruction.

  When the portable remote control device A receives the answer back signal, for example, as shown in FIG. 7 (c), the color of the selected branch path candidate mark M3 is changed, and the determination input to the driver is semi-autonomous. Notify car B that it has been received.

  Here, as described above, the remote operation unit 50 of the portable remote control device A has a function (branch path cancel button) that invalidates the instruction operation on the display 40 of the portable remote control device A. When the driver presses the enter button to determine the branch road that he / she wants to enter and then inputs the branch road cancel button, the controller 60 transmits the branch road cancel notification once determined and input to the semi-autonomous vehicle B. When the semi-autonomous traveling vehicle B receives the cancel notification, the semi-autonomous traveling vehicle B accepts the cancellation unless the entry into the branch road has started, and travels along the road.

  In this way, on the image of the display 40 of the remote control device A, the branch that the semi-autonomous vehicle B is desired to advance from among a plurality of branch roads by an intuitive operation such as the simple operation of depressing the cursor stick 51 described above. Only by selecting the branch road candidate mark M on the road, the semi-autonomous vehicle B can be moved toward the branch road of the selected ID.

  During the selection of the branch road, the semi-autonomous vehicle B approaches the branch road from time to time, but the information for each branch road is updated as the semi-autonomous vehicle B moves, and the branch path candidate mark M is approached. Since the vehicle moves on the image together with the branch road, the selection of the branch road can be performed accurately and in a short time. Therefore, it is not necessary to reduce the moving speed of the semi-autonomous vehicle B, and the maneuverability is improved. Become.

  In the above-described embodiments, the case where the unmanned moving body is the semi-autonomous traveling vehicle B that can move autonomously is shown, but the unmanned moving body may be a traveling vehicle that travels by completely manual remote control.

  In the above-described embodiment, the vehicle control computer 10 is configured to perform the coordinate conversion process. However, the coordinate conversion process may be performed by a computer different from the vehicle control computer 10 or a portable type. You may perform in the control part 60 of the remote control apparatus A.

  Further, the cursor stick 51 for selecting the branch path may be a jog dial, and the highlighting method of the branch path candidate mark M is not only the method by changing the color but also the shape of the mark or the mark can be changed. Any method of lighting or flashing the mark may be used.

  Furthermore, in the branch road recognition function that combines the area extraction function and the obstacle detection function of the vehicle control computer 10, a branch road ID for entering a reserved right / left turn can be assigned and selected among the branch road candidates. Also good. There are two branch road IDs for right turn and left turn in the branch right / left turn input branch ID, and when the right turn branch road ID is selected, the semi-autonomous vehicle B is the closest at that time. If the left turn branch ID is selected, the semi-autonomous vehicle B enters the branch road that can enter to the left most recently at that time. To do.

  FIG. 8A shows an example in which the branch path candidate mark Mr for inputting the reservation left / right turn is arranged on the left and right outside the image of the display 40. FIG. 8B shows a state where the branch right candidate mark Mrr for the reservation right turn input is selected. FIG. 8C shows that the reservation right turn is input by the determination button, and the portable remote control device A The answer back signal is received from the vehicle control computer 10 of the semi-autonomous traveling vehicle B, and the reservation right turn input is confirmed. FIG. 8D shows a state in which the semi-autonomous vehicle B has traveled and the bifurcation route is automatically selected when the vehicle control computer 10 recognizes a bifurcation route that can turn right. Yes.

  The method of selecting the branch candidate mark Mr for entering the pre-reserved right or left turn may be provided with a dedicated button on the remote control unit 50 or selected when the cursor stick 51 is first tilted to the right or left. It may be. The display position of the branch candidate mark Mr for entering the reserved right / left turn may be always displayed in a position that does not overlap the branch candidate mark M other than for entering the reserved right / left turn in the image of the display 40. .

  Furthermore, in the above-described embodiments, the case where the unmanned moving body is the semi-autonomous traveling vehicle B has been shown. However, the present invention is not limited to this, and the unmanned moving body is a robot that autonomously walks or autonomously flies. It may be an aircraft, or it may be a robot or an aircraft that moves by fully manual remote control.

14 Remote control camera 40 Display (display)
51 Cursor Stick A Portable Remote Control Device B Semi-autonomous vehicle (unmanned vehicle)
M (M1-M3) branch path candidate mark

Claims (4)

Control method for an unmanned movable body control for using the remote control apparatus having a display unit for displaying an image the movement of the unmanned mobile body incorporating a remote control camera for acquiring image data of the moving area according to prior Symbol remote control camera Because
In the control method of the unmanned moving body that can perform coordinate conversion processing between the world coordinate system on the unmanned moving body side and the image coordinate system in the display unit of the remote control device
Instructing the position for turning the unmanned mobile body via the display unit of the image coordinate system of the remote control device, and instructing the turning direction at this turning position,
A control method for an unmanned mobile body, characterized in that the unmanned mobile body in the world coordinate system is moved in accordance with a turning position designated via a display unit of the remote control device and a turning direction at the turning position.   The unmanned moving body by two or more point-and-click operation inputs with a cursor stick on the display unit image of the remote control device, or by a line drawing operation input on the display unit image as a touch panel of the remote control unit And a turn direction and a movement distance at the turn position are indicated by a vector, and on the unmanned moving body side, the turn position by the image coordinate system indicated on the image of the display unit of the remote control device and The method of controlling an unmanned moving body according to claim 1, wherein the turning vector is converted into a world coordinate system, and the unmanned moving body is moved according to an instruction of the turning position and the turning vector in the world coordinate system after the conversion.   At the stage of recognizing a branch path on the side of the unmanned mobile body having a branch path recognition function, the information for each branch path that is updated as the unmanned mobile body is moved is coordinate-converted from the world coordinate system to the image coordinate system. And a branch path candidate mark superimposed on the branch path of the image displayed on the display unit of the remote control apparatus and displayed by the stick operation of the remote control apparatus. A position for turning the unmanned mobile body and a branch candidate mark on a branch road that matches the turning direction at the turning position are selected, and the ID of the selected branch road is transmitted to the unmanned mobile body, The method for controlling the unmanned mobile body according to claim 1, wherein the unmanned mobile body is moved to the branch path of the transmitted ID.   The unmanned moving body plans a movement route based on the turning position and the turning direction instructed from the remote control device, and also plans a movement speed according to the movement route, and the planned movement route and movement. The control method of the unmanned mobile body according to any one of claims 1 to 3, which autonomously moves according to speed.

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