JP2014006833A - Autonomous traveling apparatus, autonomous traveling method, markers, and autonomous traveling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous traveling system which offers good flexibility in setting up markers and is capable of precisely carrying out autonomous travel by reliably identifying and detecting markers set up along a travel route regardless of the environment surrounding the markers on the travel route.SOLUTION: An autonomous traveling system 1 includes an autonomous traveling apparatus 3 and markers 5. Each of the markers 5 has a plurality of diffuse reflective members 51 and a plurality of specular reflective members 52 alternately arranged thereon. The autonomous traveling apparatus 3 identifies a marker 5 when a plurality of detection information groups 51a and a plurality of non-detection information groups 52a alternately appear repeatedly a prescribed number of times, the number of pieces of non-detection information (error data e) included in each of the plurality of non-detection information groups 52a is within a first prescribed range, and the number of pieces of detection information (normal data n) included in each of the plurality of detection information groups 51a is within a second prescribed range.

Description

  The present invention relates to an autonomous mobile device that moves autonomously along a travel route, an autonomous travel method, a sign disposed on the travel route, and an autonomous mobile system that includes the autonomous mobile device and the sign.

  2. Description of the Related Art Conventionally, an autonomous mobile device or an autonomous mobile system that autonomously moves from a starting point to a destination along a planned movement route is known (see, for example, Patent Document 1). Here, the moving body system described in Patent Document 1 includes a laser distance sensor that scans a predetermined search range with light for detection and detects the distance and direction between the own device and an object existing in the search range, and a flat plate. A traveling direction that determines the traveling direction of the moving object by comparing the storage unit that stores the map information of the travel route including the position where the sign is installed, the detection result of the laser distance sensor and the map information stored in the storage unit And a determination unit.

  More specifically, the advancing direction determination unit obtains the position (direction) and distance of the flat sign attached to the wall surface from the detection result of the laser distance sensor, and compares it with the map information stored in the storage unit. A command is given to the drive unit so that its own position is along the travel route on the map information. Here, the flat sign is provided with a diffuse reflection surface that diffusely reflects the detection light and a specular reflection surface that specularly reflects (totally reflects) the detection light. Further, the specular reflection surfaces are disposed at both ends of the diffuse reflection surface, and are inclined downward by a predetermined angle θ with respect to the surface orthogonal to the horizontal direction.

JP 2010-140247 A

  According to the moving body system described in Patent Literature 1, when the reflection mode of the detection light is greatly different between the specular reflection surface of the flat sign and the wall surface behind the flat sign, the flat sign is detected using the detection light. Can be detected with high accuracy.

  However, if the flat sign is disposed in, for example, a glass-clad (or mirrored) passage or the like, the reflection mode of the detection light does not differ between the specular reflection surface and the back wall of the flat sign. May not be detected. In addition, in this moving body system, when there is an object that shows a reflection mode similar to a plane sign on the moving path, for example, a mirror group stuck on a wall or an uneven wall itself, it is mistaken for a plane sign. There is also a risk of recognition. On the other hand, if an attempt is made to install a sign while avoiding the above-described environment, the place where the sign is placed is limited, and in some cases, autonomous movement may not be possible.

  The present invention has been made in order to solve the above-mentioned problems, and has a high degree of freedom in placing signs, and no matter what environment the signs are placed on the movement route, An object of the present invention is to provide an autonomous mobile device, an autonomous mobile method, a sign, and an autonomous mobile system that can be reliably discriminated and detected and that can perform autonomous autonomous movement accurately.

  An autonomous mobile device according to the present invention includes an environment map showing an arrangement of obstacles on a movement route, storage means for storing the arrangement of signs installed on the movement route on the environment map, and a detection wave at a predetermined angle. When the reflected wave reflected by the object can be detected and scanned, the detection information including the distance to the object is output for each scanning angle, and when the reflected wave cannot be detected, Created by an object detection means for outputting non-detection information for each scanning angle, a local map creation means for creating a local map around the own aircraft, and a local map creation means based on detection information output from the object detection means The self-position estimation means for comparing the local map with the environmental map stored in the storage means to estimate the self-position, and the sign based on the output pattern of detection information and non-detection information output from the object detection means Detect A sign detection means, and the sign detection means alternately appears a predetermined number of times as a detection information group consisting of a plurality of detection information and a non-detection information group consisting of a plurality of non-detection information, and is included in the non-detection information group If the number of detected non-detected information is within the first predetermined range and the number of detected information included in the detected information group is within the second predetermined range, it is determined as a sign, and self-position estimation When the sign is detected by the sign detection means, the means corrects the estimated self-location based on the arrangement of the sign on the environment map stored in the storage means.

  In addition, the autonomous movement method according to the present invention includes an environment map showing an arrangement of obstacles on a movement route, a storage step for storing the arrangement of signs installed on the movement route on the environment map, and a detection wave. When the reflected wave reflected by the object can be detected and scanned at every predetermined angle, the detection information including the distance to the object is output for each scanning angle, and the reflected wave cannot be detected In the object detection step for outputting non-detection information for each scanning angle, in the local map creation step for creating a local map around the own device based on the detection information output in the object detection step, and in the local map creation step Self-location estimation step for estimating the self-location by comparing the created local map with the environmental map stored in the storage step, and detection information output in the object detection step A label detection step for detecting a label based on an output pattern of non-detection information. In the label detection step, a detection information group consisting of a plurality of detection information and a non-detection information group consisting of a plurality of non-detection information alternately The number of non-detection information included in the non-detection information group is within a first predetermined range, and the number of detection information included in the detection information group is within a second predetermined range. In the self-position estimation step, when the sign is detected in the sign detection step, the estimated self is estimated based on the arrangement of the sign on the environment map stored in the storage step. It is characterized by correcting the position.

  According to the autonomous mobile device or the autonomous mobile method of the present invention, the sign is detected based on the output pattern of the detection information and the non-detection information. More specifically, the plurality of detection information groups and the plurality of non-detection information groups alternately appear a predetermined number of times, and the number of non-detection information included in each of the plurality of non-detection information groups is a first predetermined range. And the number of pieces of detection information included in each of the plurality of detection information groups is determined to be a sign when it is within the second predetermined range. That is, when a unique output pattern is obtained in which a certain number of continuous detection information and a certain number of continuous non-detection information appear repeatedly several times, it is determined that the detected object is a label. Therefore, for example, even when a sign is provided in a glass-clad (or mirror-lined) passage or the like, the sign can be detected. In addition, for example, the sign can be clearly distinguished and recognized from a group of mirrors attached to the wall, the uneven wall or the like. As a result, there is a high degree of freedom of sign placement, and regardless of the travel route of the environment, the sign placed on the travel route can be reliably detected and detected, and autonomous movement is performed accurately. It becomes possible.

  In the autonomous mobile device according to the present invention, it is preferable that the sign detection unit narrows the first predetermined range as the distance from the object included in the detection information constituting the plurality of detection information groups increases.

  In the autonomous movement method according to the present invention, it is preferable that in the sign detection step, the first predetermined range is narrowed as the distance from the object included in the detection information constituting the plurality of detection information groups increases.

  By the way, when the sign is detected while moving along the movement route, the distance and angle between the own apparatus and the sign change as the own apparatus moves. Therefore, the number of non-detection information included in one non-detection information group changes as the own apparatus moves. According to the autonomous mobile device or the autonomous mobile method according to the present invention, the first predetermined range is narrowed as the distance included in the detection information increases, that is, as the distance between the own device and the sign increases. Therefore, it is possible to reduce the erroneous detection of the sign.

  An autonomous mobile device according to the present invention includes an environment map showing an arrangement of obstacles on a movement route, storage means for storing the arrangement of signs installed on the movement route on the environment map, and a detection wave at a predetermined angle. When the reflected wave reflected by the object can be detected and scanned, the detection information including the distance to the object is output for each scanning angle, and when the reflected wave cannot be detected, Created by an object detection means for outputting non-detection information for each scanning angle, a local map creation means for creating a local map around the own aircraft, and a local map creation means based on detection information output from the object detection means The self-position estimation means for comparing the local map with the environmental map stored in the storage means to estimate the self-position, and the sign based on the output pattern of detection information and non-detection information output from the object detection means Detect A label detection unit, and the label detection unit alternately and repeatedly appears a predetermined number of detection information groups consisting of a plurality of detection information and a non-detection information group consisting of a plurality of non-detection information corresponding to the non-detection information group The width of the non-detection area is within the fifth predetermined range and the width of the detection area corresponding to the detection information group is within the sixth predetermined range, When the sign is detected by the sign detection means, the position estimation means corrects the estimated self-position based on the arrangement of the sign on the environment map stored in the storage means.

  An autonomous movement method according to the present invention includes an environment map showing an arrangement of obstacles on a movement route, a storage step for storing the arrangement of signs installed on the movement route on the environment map, and a detected wave at a predetermined angle. When the reflected wave reflected by the object can be detected and scanned, the detection information including the distance to the object is output for each scanning angle, and when the reflected wave cannot be detected, It is created in the object detection step for outputting non-detection information for each scanning angle, the local map creation step for creating a local map around the aircraft based on the detection information output in the object detection step, and the local map creation step A self-position estimation step for estimating the self-position by comparing the local map with the environmental map stored in the storage step, and detection information output in the object detection step; A label detection step for detecting a label based on an output pattern of detection information. In the label detection step, a detection information group composed of a plurality of detection information and a non-detection information group composed of a plurality of non-detection information are alternately arranged. Appearing repeatedly a predetermined number of times, the width of the non-detection area corresponding to the non-detection information group is within the fifth predetermined range, and the width of the detection area corresponding to the detection information group is the sixth predetermined range When it is within the range, it is determined as a sign. In the self-position estimation step, when the sign is detected in the sign detection step, the sign is estimated based on the arrangement of the sign on the environment map stored in the storage step. The self-position is corrected.

  According to the autonomous mobile device or the autonomous mobile method of the present invention, the sign is detected based on the output pattern of the detection information and the non-detection information. More specifically, a plurality of detection information groups and a plurality of non-detection information groups appear alternately repeatedly a predetermined number of times, and the width of the non-detection area corresponding to each of the plurality of non-detection information groups is a fifth predetermined range. And the width of the detection area corresponding to each of the plurality of detection information groups is determined to be a sign when it is within the sixth predetermined range. That is, when a unique output pattern in which a detection area having a certain width and a non-detection area having a certain width appear repeatedly is obtained, it is determined that the detected object is a label. Therefore, for example, even when a sign is provided in a glass-clad (or mirror-lined) passage or the like, the sign can be detected. In addition, for example, the sign can be clearly distinguished and recognized from a group of mirrors attached to the wall, the uneven wall or the like. As a result, there is a high degree of freedom of sign placement, and regardless of the travel route of the environment, the sign placed on the travel route can be reliably detected and detected, and autonomous movement is performed accurately. It becomes possible.

  An autonomous mobile device according to the present invention includes an environment map showing an arrangement of obstacles on a movement route, storage means for storing the arrangement of signs installed on the movement route on the environment map, and detection light at a predetermined angle. An object detection means that scans and emits every time, receives reflected light reflected by the object, and outputs detection information including the distance to the object and the received light intensity of the reflected light for each scanning angle; and Based on the detection information output from the detection means, the local map creation means for creating a local map around the aircraft, the local map created by the local map creation means and the environment map stored in the storage means are collated. Self-position estimating means for estimating the self-position and sign detecting means for detecting the sign based on the intensity pattern of the received light intensity of the reflected light included in the detection information output from the object detecting means. means , A high-intensity detection information group consisting of a plurality of detection information whose received light intensity of reflected light included in the detection information is higher than a predetermined value, and a low-intensity detection information group consisting of a plurality of detection information whose received light intensity is lower than a predetermined value Alternately appear a predetermined number of times, the number of detection information included in the high intensity detection information group is within a third predetermined range, and the number of detection information included in the low intensity detection information group is the first If the sign is detected by the sign detecting means when the sign is detected by the self-position estimating means when the sign is within the predetermined range of 4, the arrangement of the sign on the environment map stored in the storage means Based on the above, the estimated self-position is corrected.

  In addition, the autonomous movement method according to the present invention includes an environment map showing the arrangement of obstacles on the movement route, a storage step for storing the arrangement of signs installed on the movement route on the environment map, and detection light. An object detection step of scanning and emitting each predetermined angle, receiving reflected light reflected by the object, and outputting detection information including the distance to the object and the received light intensity of the reflected light for each scanning angle; Based on the detection information output in the object detection step, a local map creation step for creating a local map around the own aircraft, a local map created in the local map creation step, and an environmental map stored in the storage step Based on the intensity pattern of the received light intensity of the reflected light included in the detection information output in the object detection step and the self-position estimation step for collating and estimating the self-position A sign detection step for detecting a sign, and in the sign detection step, a high-intensity detection information group including a plurality of pieces of detection information in which the received light intensity of reflected light included in the detection information is higher than a predetermined value; A low-intensity detection information group composed of a plurality of detection information lower than the value repeatedly appears a predetermined number of times alternately, the number of detection information included in the high-intensity detection information group is within a third predetermined range, and If the number of pieces of detection information included in the low-intensity detection information group is within the fourth predetermined range, it is determined as a sign, and in the self-position estimation step, when the sign is detected in the sign detection step, The estimated self-position is corrected based on the arrangement of the sign stored in the storage step on the environment map.

  According to the autonomous mobile device or the autonomous mobile method according to the present invention, the sign is detected based on the intensity pattern of the received light intensity of the reflected light included in the output detection information. More specifically, the high-intensity detection information group including a plurality of pieces of detection information (high-intensity detection information) in which the received light intensity of the reflected light is higher than a predetermined value, and the received light intensity is lower than the predetermined value. The number of pieces of detection information (high-intensity detection information) included in each of the plurality of high-intensity detection information groups alternately appears a predetermined number of times with a low-intensity detection information group consisting of a plurality of detection information (low-intensity detection information). Is within the third predetermined range, and the number of pieces of detection information (low intensity detection information) included in each of the plurality of low intensity detection information groups is a sign when it is within the fourth predetermined range Determined. That is, when a unique output pattern in which a certain number of continuous high-intensity detection information and a certain number of continuous low-intensity detection information appear repeatedly is obtained, the detected object is determined to be a label. . Therefore, for example, even when a sign is provided in a glass-clad (or mirror-lined) passage or the like, the sign can be detected. In addition, for example, the sign can be clearly distinguished and recognized from a group of mirrors attached to the wall, the uneven wall or the like. As a result, there is a high degree of freedom of sign placement, and regardless of the travel route of the environment, the sign placed on the travel route can be reliably detected and detected, and autonomous movement is performed accurately. It becomes possible.

  An autonomous mobile device according to the present invention includes an environment map showing an arrangement of obstacles on a movement route, storage means for storing the arrangement of signs installed on the movement route on the environment map, and detection light at a predetermined angle. An object detection means that scans and emits every time, receives reflected light reflected by the object, and outputs detection information including the distance to the object and the received light intensity of the reflected light for each scanning angle; and Based on the detection information output from the detection means, the local map creation means for creating a local map around the aircraft, the local map created by the local map creation means and the environment map stored in the storage means are collated. Self-position estimating means for estimating the self-position and sign detecting means for detecting the sign based on the intensity pattern of the received light intensity of the reflected light included in the detection information output from the object detecting means. means , A high-intensity detection information group consisting of a plurality of detection information whose received light intensity of reflected light included in the detection information is higher than a predetermined value, and a low-intensity detection information group consisting of a plurality of detection information whose received light intensity is lower than a predetermined value Are alternately repeated a predetermined number of times, the width of the high intensity detection region corresponding to the high intensity detection information group is within a seventh predetermined range, and the low intensity corresponding to the low intensity detection information group When the width of the detection area is within the eighth predetermined range, the sign is determined to be a sign, and when the sign is detected by the sign detection means, the sign stored in the storage means The estimated self-position is corrected based on the arrangement on the environmental map.

  An autonomous movement method according to the present invention includes an environment map showing an arrangement of obstacles on a movement route, a storage step for storing the arrangement of signs installed on the movement route on the environment map, and detection light at a predetermined angle. An object detection step of scanning and emitting each time, receiving the reflected light reflected by the object, and outputting detection information including the distance to the object and the received light intensity of the reflected light for each scanning angle; Based on the detection information output in the detection step, the local map creation step for creating a local map around the aircraft, the local map created in the local map creation step and the environmental map stored in the storage step are collated. Based on the intensity pattern of the received light intensity of the reflected light included in the detection information output in the object detection step and the self-position estimation step A sign detection step for detecting, wherein the sign detection step includes a high-intensity detection information group composed of a plurality of pieces of detection information in which the received light intensity of reflected light included in the detection information is higher than a predetermined value, and the received light intensity exceeds a predetermined value. A low-intensity detection information group consisting of a plurality of low detection information alternately appear a predetermined number of times, and the width of the high-intensity detection region corresponding to the high-intensity detection information group is within a seventh predetermined range, In addition, when the width of the low-intensity detection area corresponding to the low-intensity detection information group is within the eighth predetermined range, it is determined as a sign, and in the self-position estimation step, the sign is detected in the sign detection step. The estimated self-location is corrected based on the location of the sign stored in the storage step on the environment map.

  According to the autonomous mobile device or the autonomous mobile method according to the present invention, the sign is detected based on the intensity pattern of the received light intensity of the reflected light included in the output detection information. More specifically, the high-intensity detection information group including a plurality of pieces of detection information (high-intensity detection information) in which the received light intensity of the reflected light is higher than a predetermined value, and the received light intensity is lower than the predetermined value. A low-intensity detection information group composed of a plurality of detection information (low-intensity detection information) alternately appears repeatedly a predetermined number of times, and the width of the high-intensity detection region corresponding to each of the plurality of high-intensity detection information groups is the seventh When the width of the low intensity detection region corresponding to each of the plurality of low intensity detection information groups is within the predetermined range and is within the eighth predetermined range, it is determined to be a sign. That is, when a unique output pattern in which a high-intensity detection region with a constant width and a low-intensity detection region with a constant width appear repeatedly is obtained, the object to be detected is determined to be a label. Therefore, for example, even when a sign is provided in a glass-clad (or mirror-lined) passage or the like, the sign can be detected. In addition, for example, the sign can be clearly distinguished and recognized from a group of mirrors attached to the wall, the uneven wall or the like. As a result, there is a high degree of freedom of sign placement, and regardless of the travel route of the environment, the sign placed on the travel route can be reliably detected and detected, and autonomous movement is performed accurately. It becomes possible.

  In the autonomous mobile device according to the present invention, it is preferable that the object detection means is a laser range finder.

  The laser range finder has high resolution and measurement accuracy in both the angle direction and the distance direction, and can measure the distance to the object at high speed. Therefore, by using the laser range finder as the object detection means, the angle and distance from the surrounding object can be measured with high accuracy and high speed.

  In the autonomous mobile device according to the present invention, it is preferable that when the sign detection unit determines that the same detected object is a sign a plurality of times, the detected object is determined to be the sign. In this way, it is possible to more reliably prevent erroneous detection of the sign.

  In the autonomous mobile device according to the present invention, it is preferable that the storage unit stores the arrangement of the sign on the environment map in a layer different from the environment map.

  In this way, when the sign placement (installation location) is changed, only the layer in which the sign placement is stored needs to be corrected, and there is no need to change the environment map itself. As a result, it is possible to flexibly cope with the problem and improve work efficiency.

  The sign according to the present invention is characterized in that a plurality of diffuse reflection members and a plurality of specular reflection members are alternately arranged.

  According to the sign according to the present invention, the detection wave (detection light) incident on the diffuse reflection member is diffusely reflected by the diffuse reflection member, and the incident direction of the detection wave (detection light), for example, object detection of the autonomous mobile device Return to the direction of the means (laser range finder). On the other hand, the detection wave (detection light) incident on the specular reflection member does not return to the object detection means (laser range finder) of the autonomous mobile device unless it is incident at a substantially right angle. Therefore, by installing the sign so that the plurality of diffuse reflection members and the plurality of specular reflection members are alternately arranged along the scanning direction of the detection wave (detection light) output from the autonomous mobile device, A unique output pattern in which a fixed number of continuous detection information (or a detection area of a fixed width) and a fixed number of continuous non-detection information (or a non-detection area of a fixed width) repeatedly appear multiple times in a mobile device Can be obtained.

  In the sign according to the present invention, it is preferable that the cross section of the specular reflection member cut along the direction of the arrangement is formed in an arc shape.

  This makes it possible to increase the reflection angle when the detection wave (detection light) is incident at an angle close to a right angle. Therefore, the detection wave (detection light) incident on the specular reflection member can be made difficult to return by the object detection means (laser range finder) of the autonomous mobile device.

  The marker according to the present invention is characterized in that a plurality of diffuse reflection members and a plurality of light absorbing members are alternately arranged.

  According to the sign according to the present invention, the detection wave (detection light) incident on the diffuse reflection member is diffusely reflected by the diffuse reflection member, and the incident direction of the detection wave (detection light), for example, object detection of the autonomous mobile device Return to the direction of the means (laser range finder). On the other hand, since the detection wave (detection light) incident on the light absorbing member is absorbed by the member, it does not return to the object detection means (laser range finder) of the autonomous mobile device. Therefore, autonomous movement is achieved by installing the signs so that a plurality of diffuse reflection members and a plurality of light absorbing members are alternately arranged along the scanning direction of the detection wave (detection light) output from the autonomous mobile device. In a device, a certain number of continuous high-intensity detection information (or a high-intensity detection region having a certain width) and a certain number of continuous low-intensity detection information (or a low-intensity detection region having a certain width) appear repeatedly several times. A unique output pattern can be obtained.

  In the sign according to the present invention, it is preferable that the diffuse reflection member and the light absorbing member are formed in a thin plate shape.

  In this way, since the thickness of the sign can be reduced, the degree of freedom of setting the sign can be improved, and the movement path of the autonomous mobile device can be widened.

  An autonomous mobile system according to the present invention includes any one of the above autonomous mobile devices and any one of the above signs.

  According to the autonomous mobile system of the present invention, since any one of the above autonomous mobile devices and any of the above signs are provided, as described above, the degree of freedom of installation of the signs is high, and what kind of environment the signs are Even if it is installed on the moving route, it is possible to reliably determine and detect the sign placed on the moving route, and to perform autonomous movement accurately.

  According to the present invention, there is a high degree of freedom of sign placement, and it is possible to reliably detect and detect signs placed on a movement route regardless of the environment's travel route, and to autonomously and accurately It is possible to move.

It is a block diagram which shows the structure of the autonomous mobile system which concerns on 1st Embodiment, and the autonomous mobile device which comprises this autonomous mobile system. It is a figure showing the composition of the sign which constitutes the autonomous movement system concerning a 1st embodiment. It is a figure for demonstrating the relationship between the movement amount and rotation amount of the autonomous mobile device which concern on 1st Embodiment, and the wheel movement amount of each omni wheel. It is a figure which shows the relational expression of the movement amount and rotation amount of the autonomous mobile device which concern on 1st Embodiment, and the wheel movement amount of each omni wheel. It is a flowchart which shows the process sequence of the installation process by the autonomous mobile apparatus which concerns on 1st Embodiment. It is a flowchart which shows the process sequence of the label | marker environment map creation process included in an installation process. It is a flowchart which shows the process sequence of the conveyance process by the autonomous mobile apparatus which concerns on 1st Embodiment. It is a flowchart which shows the process sequence of the self-position estimation process by the label | marker included in a conveyance process. It is a figure which shows the movement path | route etc. which were used in order to confirm the effect of the autonomous mobile system which concerns on 1st Embodiment. It is a block diagram which shows the structure of the autonomous mobile system which concerns on 2nd Embodiment, and the autonomous mobile device which comprises this autonomous mobile system. It is a figure which shows the structure of the label | marker which comprises the autonomous mobile system which concerns on 2nd Embodiment. It is a figure for demonstrating how to obtain | require the width | variety of the diffuse reflection member and specular reflection member which comprise a label | marker.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same element and the overlapping description is abbreviate | omitted.

(First embodiment)
First, the configuration of the autonomous mobile system 1 according to the first embodiment, and the autonomous mobile device 3 and the sign 5 constituting the autonomous mobile system 1 will be described using FIG. 1 and FIG. 2 together. FIG. 1 is a block diagram showing a configuration of an autonomous mobile system 1 and an autonomous mobile device 3 constituting the autonomous mobile system 1, and FIG. 2 is a diagram showing a configuration of a sign 5. The autonomous mobile system 1 includes an autonomous mobile device 3 that moves autonomously along a travel route, and a sign 5 that is installed on the travel route. Hereinafter, each will be described in detail.

  The autonomous mobile device 3 uses a SLAM (Simultaneous Localization and Mapping) to map an environment map of a moving route (a region where an obstacle exists and a region where an obstacle does not exist) when the device is guided according to a remote operation by a user. Map), and when it reaches the specified set point after being guided, it has the function of registering the actual self position at that time as the position coordinates of the set point on the environment map (mode to execute this function) Is called “installation mode”). In addition, the autonomous mobile device 3 also has a function of automatically registering the position coordinates of the sign 5 installed on the movement route by a user instruction or by a program when the installation mode is executed. . According to the latter function, when an environmental map is created by SLAM, the environmental map may be created in a distorted coordinate system, and the position of the marker 5 can be registered in this distorted coordinate system. Further, the autonomous mobile device 3 plans the movement route using the set points on the created and stored environment map, and detects the sign 5 installed on the movement route, while planning the movement route A function of autonomously moving from the start point to the goal point along the line (a mode for executing this function is referred to as a “transport mode”).

  Therefore, the autonomous mobile device 3 is a distance between the main body 10 provided with the electric motor 12 and the omni wheel 13 driven by the electric motor 12 at a lower portion thereof and an object (for example, a wall or an obstacle) existing in the surroundings. And a joystick 21 that guides the autonomous mobile device 3 and registers a set point. In addition, the autonomous mobile device 3 includes an electronic control device 30 that integrally manages the creation of an environmental map in the installation mode, the planning of the movement route in the transport mode, and the autonomous movement along the movement route. Hereinafter, each component will be described in detail.

  The main body 10 is, for example, a metal frame formed in a substantially bottomed cylindrical shape, and the above-described laser range finder 20 and the electronic control device 30 are attached to the main body 10. The shape of the main body 10 is not limited to a substantially bottomed cylindrical shape. Four electric motors 12 are arranged in a cross shape and attached to the lower portion of the main body 10. Omni wheels 13 are attached to the drive shafts 12A of the four electric motors 12, respectively. That is, the four omni wheels 13 are mounted on the same circumference at intervals of 90 ° along the circumferential direction.

  The omni wheel 13 is provided so as to be rotatable around two wheels 14 that rotate about the drive shaft 12A of the electric motor 12 and an axis that is orthogonal to the drive shaft 12A of the electric motor 12 on the outer periphery of each wheel 14. Further, the wheel has six free rollers 15 and is movable in all directions. The two wheels 14 are attached with a phase shifted by 30 °. Due to such a configuration, when the electric motor 12 is driven and the wheel 14 rotates, the six free rollers 15 rotate together with the wheel 14. On the other hand, when the grounded free roller 15 rotates, the omni wheel 13 can also move in a direction parallel to the rotation axis of the wheel 14. Therefore, by controlling the four electric motors 12 independently and individually adjusting the rotational direction and rotational speed of the four omni wheels 13, the autonomous mobile device 3 is moved in any direction (all directions). be able to.

  An encoder 16 that detects the rotation angle (that is, the drive amount or the rotation amount) of the drive shaft 12A is attached to the drive shaft 12A of each of the four electric motors 12. Each encoder 16 is connected to the electronic control unit 30, and outputs the detected rotation angle of each electric motor 12 to the electronic control unit 30. The electronic control device 30 calculates the movement amount of the autonomous mobile device 3 from the input rotation angle of each electric motor 12.

  Here, a method for obtaining the movement amount (movement distance) of the own machine from the rotation angle of the electric motor 12, that is, the wheel movement amount of the omni wheel 13, will be described with reference to FIGS. FIG. 3 is a diagram for explaining the relationship between the movement amount and rotation amount of the autonomous mobile device 3 and the wheel movement amount of each omni wheel 13. FIG. 4 is a diagram showing a relational expression between the movement amount and the rotation amount of the autonomous mobile device 3 and the wheel movement amount of each omni wheel 13.

  As shown in FIG. 3, the distance from the center position of the four omni wheels 13 to each omni wheel 13 is L, and the inclination angle of the omni wheel 13 is α. In the present embodiment, the inclination angle α is set to 45 °. Here, when the wheel movement amount of each omni wheel 13 obtained from the rotation angle of the electric motor 12 is ci (i = 0 to 3), each component (dx, dy) of the movement amount of the autonomous mobile device 3 and the rotation angle. φ is obtained by equation (1) in FIG. Moreover, the movement amount S of the autonomous mobile device 3 is calculated | required by substituting each component (dx, dy) of the movement amount of the autonomous mobile device 3 calculated | required from said Formula (1) to (2) Formula.

  Returning to FIG. 1, the laser range finder 20 is attached to the front portion of the autonomous mobile device 3 so as to face the front direction (front) of the own device. The laser range finder 20 emits a laser (detection wave) and reflects the emitted laser with a rotating mirror, thereby scanning the periphery of the autonomous mobile device 3 in a fan shape with a central angle of 240 ° in the horizontal direction. That is, the laser range finder 20 scans and emits the laser at predetermined angles. The laser range finder 20 detects, for example, a laser (reflected wave) reflected and returned by an object such as a wall, a sign 5, or an obstacle, and reflects the laser emission angle and the laser after emitting the laser. The angle and distance from the object are detected based on the time (propagation time) until it is returned.

  More specifically, when the laser range finder 20 can detect the laser (reflected wave) reflected by the object, the laser range finder 20 indicates data (for example, 20 to 4095d) indicating the distance to the object in correspondence with the scanning angle. Output detection information including. On the other hand, when the laser (reflected wave) cannot be detected (that is, the reflected wave does not return), the laser range finder 20 outputs non-detection information (error code, for example, 0 to 19d) corresponding to the scanning angle. . That is, the laser range finder 20 functions as an object detection unit described in the claims. The laser range finder 20 is connected to the electronic control unit 30, and outputs detection information (angle / distance information) with respect to the detected surrounding object and non-detection information to the electronic control unit 30.

  Here, the marker 5 constituting the present embodiment will be described. FIG. 2 shows a front view, a plan view, and an output (detection information or non-detection information) of the laser range finder 20 in order from the top. The sign 5 is configured by attaching three specular reflection members 52 to a rectangular plate-like diffuse reflection member 51 having a lateral width of 300 mm, for example, at equal intervals. That is, when viewed from the front, four diffuse reflection members (regions) 51 and three specular reflection members (regions) 52 are alternately arranged.

  As shown in the middle part of FIG. 2, the specular reflection member 52 is a semi-cylindrical member in which a specular material is formed so that the cross section is arcuate (semicircular). For example, the sign 5 is installed on the wall surface of the moving path so that the diffuse reflection members 51 and the specular reflection members 52 are alternately arranged along the laser scanning direction (horizontal direction) of the laser range finder 20.

  When the laser emitted from the laser range finder 20 enters the diffuse reflection member 51, the laser is diffusely reflected and the reflected light returns to the laser range finder 20. Therefore, in this case, normal data n (detection information) is output from the laser range finder 20. On the other hand, when the laser emitted from the laser range finder 20 is incident on the specular reflection member 52, the reflected light does not return to the laser range finder 20 except when incident at a right angle. Therefore, at this time, the error code e (non-detection information) is output from the laser range finder 20.

  Therefore, when the laser from the laser range finder 20 is scanned in the horizontal direction and enters the marker 5, a plurality of (four in the example of FIG. 2) are displayed from the laser range finder 20 as shown in the lower part of FIG. 2. Detection information group (normal data n... N) 51a and a plurality (three in the example of FIG. 2) non-detection information group (error code e ·· e) 52a alternately a predetermined number of times (in FIG. Appears repeatedly (3 times in the example). That is, it is possible to obtain a unique output pattern corresponding to the width (length) and horizontal direction (laser scanning direction) of each of the diffuse reflection member 51 and the specular reflection member 52.

  Returning to FIG. The joystick 21 is an input device for guiding and moving the autonomous mobile device 1 according to a user's remote operation. The joystick 21 is a bar-shaped lever 22 that indicates a direction for guiding the autonomous mobile device 3, and a set point on the environmental map. For example, a registration switch 23 for registering. The user can guide the autonomous mobile device 3 by operating the lever 22 of the joystick 21 to instruct the autonomous mobile device 3 in the direction of movement. Further, when the user reaches a predetermined set point (for example, a start point candidate, a target passing point candidate, a goal point candidate) while guiding the autonomous mobile device 3, the user pushes the registration switch 23 to The self position can be registered as the position coordinates of the set point. In addition, the user can be taught to register set point attribute information (e.g., in front of an elevator, in front of a conference room, in front of an emergency staircase, etc.). The joystick 21 is connected to the electronic control unit 30 and outputs a guidance control (direction instruction) signal and a set point registration signal to the electronic control unit 30.

  The electronic control device 30 controls the autonomous mobile device 3 in an integrated manner. The electronic control unit 30 includes a microprocessor that performs calculations, a ROM that stores a program for causing the microprocessor to execute each process, a RAM that temporarily stores various data such as calculation results, and a storage content thereof Backup RAM or the like. The electronic control device 30 also includes a laser range finder 20, an interface circuit that electrically connects the joystick 21 and the microprocessor, a driver circuit that drives the electric motor 12, and the like.

  The electronic control unit 30 creates an environment map of the movement route using the SLAM by executing the installation mode, and registers the position 5 of the sign 5 and the set point on the environment map. In addition, the electronic control unit 30 executes the transfer mode to plan a movement route with the set point as a goal candidate, for example, and detects the sign 5 to correct the self-position, along the planned movement route. Then, the electric motor 12 is controlled so as to move autonomously from the start point to the goal point. Therefore, the electronic control device 30 includes a local map creation unit 31, a self-position estimation unit 32, an environment map creation unit 33, a storage unit 34, a route plan unit 35, a travel control unit 36, a sensor information acquisition unit 37, and obstacle avoidance control. Unit 38, a sign detection unit 39, and the like. Each of these units is constructed by a combination of the hardware and software described above.

  Based on the angle / distance information (detection information) with the surrounding object read from the laser range finder 20 via the sensor information acquisition unit 37, the local map creation unit 31 uses the laser range finder 20 as the origin. A local map of the periphery (within the detectable range of the laser range finder 20) is created. That is, the local map creation unit 31 functions as a local map creation means described in the claims.

  The sign detection unit 39 detects the sign 5 based on the detection information output from the laser range finder 20 via the sensor information acquisition unit 37 and the output pattern of the non-detection information. That is, the sign detection unit 39 functions as the sign detection means described in the claims. More specifically, as shown in the lower part of FIG. 2, the sign detection unit 39 includes a plurality (four in FIG. 2) of detection information groups 51a and a plurality (three in FIG. 2) of non-detection information groups 52a. Alternately appear a predetermined number of times (three times in FIG. 2), and the number of non-detection information contained in each of the plurality of non-detection information groups 52a (proportional to the width of the specular reflection member 52, and a rough width The number of pieces of detection information included in each of the plurality of detection information groups 51a (data proportional to the width of the diffuse reflection member 51 and indicating a rough width) is within the first predetermined range. When it is within the second predetermined range, it is determined that the detected object is the label 5.

  The first predetermined range is set according to the horizontal width (length) of the specular reflection member 52, and the second predetermined range is according to the horizontal width of the diffuse reflection member 51, etc. Is set. Further, each of the first predetermined range and the second predetermined range is set to become narrower as the distance from the object included in the detection information constituting the plurality of detection information groups 51a increases. Each of the first predetermined range and the second predetermined range may be changed in accordance with the angle with the object in addition to the distance with the object. Here, the sign detection unit 39 determines that the target is the sign 5 when the same object is determined to be the sign 5 a plurality of times (for example, about three times).

  By the way, the sign detection unit 39 repeats a plurality of (four in FIG. 2) detection information groups 51a and a plurality (three in FIG. 2) non-detection information groups 52a alternately a predetermined number of times (three in FIG. 2). And the width of the non-detection region corresponding to each of the plurality of non-detection information groups 52a (that is, the width of the specular reflection member 52) is within the fifth predetermined range, and the plurality of detection information groups 51a The detected object may be determined to be the marker 5 when the width of the detection region corresponding to each (that is, the width of the diffuse reflection member 51) is within the sixth predetermined range. The fifth predetermined range is set according to the horizontal width (length) of the specular reflection member 52, and the sixth predetermined range is set according to the horizontal width of the diffuse reflection member 51. Is done.

Here, how to obtain the widths (lengths) Ld and Ls of the diffuse reflection member 51 and the specular reflection member 52 will be described with reference to FIGS. First, the width Ld of the diffuse reflection member 51 is the detection information of the normal data n at both ends of the detection information group 51a, that is, the detection information of the normal data n immediately after switching from the error code e (angle θ1 / distance information R1), And based on detection information (angle θ2 · distance information R2) of normal data n immediately before switching to the error code e, it is obtained from the following equation (3). Note that “θ = θ2−θ1”.
Ld (Ls) = √ {(R1 cos θ) ² + (R ² −R ² sin θ) ² } (3)

  The width Ls of the specular reflection member 52 is the detection information of the normal data n adjacent to the error code e at both ends of the non-detection information group 52a, that is, the detection information (angle θ1) of the normal data n immediately before switching to the error code e. Based on the distance information R1) and the detection information (angle θ2 and distance information R2) of the normal data n immediately after switching from the error code e, it is obtained by the above equation (3).

  The self-position estimation unit 32 performs coordinate conversion to the coordinate system (absolute coordinate system) of the environmental map in consideration of the movement amount of the own machine calculated according to the rotation angle of each electric motor 12 read from each encoder 16. The local map is compared with the environmental map, and the self-location is estimated based on the result. That is, the self-position estimating unit 32 functions as self-position estimating means described in the claims. Further, when a set point registration signal is input from the joystick 21 (registration switch 23), the self position estimating unit 32 registers the self position at that time in the storage unit 34 as the position coordinates of the set point on the environment map. .

  Furthermore, the self-position estimation unit 32 estimates the self-position estimated based on the position of the sign 5 on the environmental map stored in the storage unit 34 when the sign 5 is detected by the sign detection unit 39 in the transport mode. Correct the position.

  The environment map creation unit 33 creates an environment map of the movement space (area) using SLAM during guided movement (when the installation mode is executed). The environment map is a grid map of the movement area of the autonomous mobile device 3, and records the position of a fixed object (object) such as a wall surface. Here, the grid map is a map composed of planes obtained by dividing a horizontal plane with cells of a predetermined size (for example, 1 cm × 1 cm) (hereinafter referred to as “unit grid” or simply “grid”). Object existence probability information indicating whether or not there is present is given.

  Here, the creation method of the environment map will be described in more detail. First, the environment map creation unit 33 acquires a local map from the local map creation unit 31 and self-position on the environment map from the self-position estimation unit 32. To get. Next, the environment map creation unit 33 creates a local map with the laser range finder 20 as the origin based on the self-position on the environment map based on the self-position and the coordinate system with the laser range finder 20 as the origin. By performing coordinate conversion into a map coordinate system (hereinafter referred to as “absolute coordinate system”), a local map (hereinafter referred to as “local map @ absolute coordinate system”) is projected onto the environment map. Then, the environment map creation unit 33 repeatedly executes this process while the autonomous mobile device 3 is guided and moved, and sequentially adds the local map @ absolute coordinate system to the environment map (adds it). ) To create an environment map of the entire moving space (area). Note that the environment map creation unit 33 stops the creation / update of the environment map during autonomous movement (when the transport mode is executed).

  The storage unit 34 includes, for example, the above-described backup RAM and the like, and stores an environment map showing the arrangement of obstacles on the movement route (area) created by the environment map creation unit 33. In addition, the storage unit 34 has a storage area for storing the position coordinates of the set points, movement route information planned by the route planning unit 35 described later, and the like. In addition, the storage unit 34 stores the arrangement of the sign 5 installed on the movement route on the environment map. In that case, the memory | storage part 34 memorize | stores arrangement | positioning on the environmental map of the label | marker 5 in a different layer from an environmental map. Furthermore, in addition to the arrangement of the sign 5, the storage unit 34 is data for determining whether or not the detected object is the sign 5, that is, the output pattern of the laser range finder 20, the detection information, and the non-detection information described above. Each consecutive number (first predetermined range, second predetermined range) is also stored. That is, the storage unit 34 functions as a storage unit described in the claims. Note that the storage unit 34 may be an SRAM, an EEPROM, or the like.

  The route plan unit 35 connects between the own position of the own device and a set point selected by the user (a set point on the environmental map stored in the storage unit 34 (for example, a start point, a target passing point, a goal point)). By doing so, the movement route of the autonomous mobile device 3 is planned. Note that when planning a travel route with a set point as a goal point, it is not always necessary to connect the set points because the self-position is known. More specifically, for example, the route planning unit 35 first creates an extended obstacle region by expanding the outline of the obstacle region included in the environment map by using the Minkowski sum by the radius of the own device, A region excluding the extended obstacle region is extracted as a movable region that can move without contacting the obstacle. Next, the path planning unit 35 thins the extracted movable region using the thinning method of Hilitch. Then, the route planning unit 35 uses the A * algorithm (A star algorithm) from the thinned movable area to connect the set points (start point, target passage point, goal point) to the shortest. Plan travel routes by searching for routes.

  The travel control unit 36 is electrically driven so that the autonomous mobile device 3 moves (guides) in accordance with a guidance control (direction instruction) signal (that is, user operation) input from the joystick 21 (lever 22) when the installation mode is executed. The motor 12 is driven. On the other hand, the traveling control unit 36 controls the electric motor 12 so as to autonomously move the aircraft to the goal point along the planned movement route while avoiding an obstacle when the conveyance mode is executed.

  Here, in the present embodiment, the virtual potential method is employed as a control method for autonomously moving the aircraft to the goal point along the movement path while avoiding an obstacle when the transfer mode is executed. This virtual potential method creates and superimposes a virtual attractive potential field for the goal point and a virtual repulsive potential field for the obstacle to be avoided, thereby avoiding contact with the obstacle. The way to head. More specifically, the traveling control unit 36 first calculates a virtual attractive force for heading to the goal point based on the self position. On the other hand, the obstacle avoidance control unit 38 calculates a virtual repulsive force for avoiding the obstacle based on the self position, the moving speed, and the position and speed of the obstacle. Subsequently, the traveling control unit 36 calculates a virtual force vector by vector combining the obtained virtual attractive force and the virtual repulsive force. Then, the traveling control unit 36 drives the electric motor 12 (omni wheel 13) according to the obtained virtual force vector, thereby controlling the traveling of the aircraft so as to move to the goal point while avoiding the obstacle. To do.

  Next, the operation of the autonomous mobile device 3 will be described with reference to FIGS. FIG. 5 is a flowchart showing a processing procedure of installation processing (installation mode) by the autonomous mobile device 3, and FIG. 6 is a flowchart showing a processing procedure of sign environment map (marker global map) creation processing included in the installation processing. is there. FIG. 7 is a flowchart showing a processing procedure of a transport process (transport mode) by the autonomous mobile device 3, and FIG. 8 is a flowchart showing a processing procedure of a self-position estimation process by a marker (marker) 5 included in the transport process. is there. Each process shown in FIGS. 5 to 8 is mainly performed by the electronic control unit 30 and is activated and executed by an operation from the user. The installation process shown in FIGS. 5 and 6 is executed prior to the conveyance process shown in FIGS.

  First, the processing procedure of the installation process (installation mode) shown in FIGS. In step S100, an initial process including a process for creating a marker map file for storing the coordinates (marker global coordinates) of the marker (marker) 5 on the environment map is executed.

  Next, in step S102, the detection information acquired by the laser range finder 20, that is, the angle / distance information with respect to surrounding objects, the non-detection information, and the rotation angle of each electric motor 12 detected by the encoder 16 are read. It is.

  In the subsequent step S104, a local map (local map) having the laser range finder 20 as the origin is generated based on the angle / distance information with the surrounding object read in step S102, and the rotation angle of each electric motor 12 is determined. The amount of movement of the aircraft is calculated based on the above.

  In step S106, the self-position is probabilistically estimated using the Bayes filter from the local map (local map) generated in step S104 and the movement amount of the own device. In step S106, the marker 5 is extracted based on the arrangement order of the detection information (normal data n) and the non-detection information (error code e) read from the laser range finder 20. Further, in step S106, the coordinates of the marker 5 (marker local coordinates) in the coordinate system with the laser range finder 20 as the origin are calculated.

  Subsequently, in step S108, the local map generated in step S104 is coordinate-transformed from the coordinate system with the laser range finder 20 as the origin to the coordinate system of the global map according to its own position, and projected onto the global map. Thus, a global map of the entire surrounding environment is generated or updated. In step S108, a marker global map update process that holds coordinates (marker global coordinates) of the sign 5 on the environment map is executed. Here, the update process of the marker global map will be described with reference to FIG.

  In step S1080, a determination is made as to whether or not a marker local map has been created (that is, marker local coordinates have been calculated). If the marker local map cannot be created, the process proceeds to step S110 in FIG. On the other hand, when the marker local map has been created, the process proceeds to step S1082.

  In step S1082, the coordinate calculation of the marker global map is performed. That is, the marker global coordinates are calculated from the marker local map coordinates and the self position coordinates.

  Subsequently, in step S1084, a marker (marker) search is performed. That is, the calculated marker global coordinates and the already registered marker global coordinates are compared, and it is searched whether there is a marker 5 nearby. When there is a sign 5, the marker ID of the nearest sign 5 is acquired.

  In subsequent step S1086, a determination is made as to whether or not there is a marker 5 nearby based on the marker (marker) search result in step S1084. If there is no sign 5 nearby, the process proceeds to step S1088. On the other hand, if there is a sign 5 nearby, the process proceeds to step S1090.

  In step S1088, the detected marker 5 is newly registered in the marker coordinate storage area. Thereafter, the process proceeds to step S110 in FIG.

  On the other hand, in step S1090, the detected sign 5 is integrated with the already registered sign 5. Here, the integration of the markers 5 is performed by adding both the marker global coordinates and dividing (average processing) by the number of additions. Thereafter, the process proceeds to step S110 shown in FIG.

  Returning to FIG. 5, in step S <b> 110, a determination is made as to whether an environment map creation end instruction from the user has been accepted. If the environment map creation end instruction has not been received, the process proceeds to step S102, and the above-described steps S102 to S108 are repeatedly executed until the environment map creation end instruction is received. On the other hand, when an environment map creation end instruction is accepted, the created environment map or the like is stored in step S112, and the installation process ends.

  Next, the processing procedure of the transport process (the transport mode in which the autonomous mobile device 3 moves to the destination while autonomously avoiding an obstacle) by the autonomous mobile device 3 will be described. In step S200, initial processing (initialization processing) including loading processing of a marker map file in which coordinates (marker global coordinates) on the environment map of the marker (marker) 5 are stored is executed.

  Next, in step S202, the detection information acquired by the laser range finder 20, that is, the angle / distance information with respect to surrounding objects, the non-detection information, and the rotation angle of each electric motor 12 detected by the encoder 16 are read. It is.

  In the subsequent step S204, a local map with the laser range finder 20 as the origin is generated based on the angle / distance information with the surrounding object read in step S202, and the local map is automatically generated based on the rotation angle of each electric motor 12. The amount of movement of the machine is calculated.

  In step S206, the self-position is probabilistically estimated using the Bayes filter from the local map generated in step S204 and the movement amount of the own device. In step S206, the marker 5 is extracted based on the order of detection information (normal data n) and non-detection information (error code e) read from the laser range finder 20. Further, in step S206, the coordinates of the marker 5 (marker local coordinates) in the coordinate system with the laser range finder 20 as the origin are calculated. In step S206, the self position is corrected based on the marker local map calculated from the output data of the laser range finder 20 and the global coordinates (marker global coordinates) of the marker 5 near the self position. Here, the self-position correcting process by the marker 5 will be described with reference to FIG.

  In step S2060, it is determined whether or not the number of additions of the self-position (self-position correction information) obtained from the marker global coordinates and the marker local coordinates is equal to or greater than a predetermined number M (for example, 3 times). If the number of additions of the self-position correction information is equal to or greater than the predetermined number M, the process proceeds to step S2062. On the other hand, when the number of additions of the self-position correction information is less than the predetermined number M, the process proceeds to step S2066.

  In step S2062, the average value of the added self-position correction information is calculated, and the self-position correction information is reflected (that is, the self-position is corrected). Then, after the self-position correction information is cleared in step S2064, the process proceeds to step S208 in FIG.

  On the other hand, in step S2066, a marker (marker) search is performed. That is, it is searched whether or not there is a sign 5 nearby. If there is a sign 5, the marker ID of the nearest sign 5 is acquired.

  In step S2068, based on the search result in step S2066, a determination is made as to whether or not there is a sign 5 nearby. If there is no sign 5 nearby, the self-position correction information is cleared in step S2064, and then the process proceeds to step S208 in FIG. On the other hand, if there is a sign 5 nearby, the process proceeds to step S2070.

  In step S2070, a determination is made as to whether or not a marker local map has been created (that is, marker local coordinates have been calculated). If the marker local map cannot be created, the process proceeds to step S208 in FIG. On the other hand, when the marker local map has been created, the process proceeds to step S2072.

  In step S2072, self-position coordinate calculation is performed. That is, self-position correction information centered on the laser range finder 20 is calculated from the marker local coordinates and the marker global coordinates.

  Subsequently, in step S2074, the self-position correction information obtained in step S2072 is added and the number of self-position correction additions is incremented. Thereafter, the process proceeds to step S210 in FIG.

  Returning to FIG. 7, in step S210, a determination is made as to whether or not the aircraft has arrived at the goal point. Here, when the own aircraft has not arrived at the goal point, the process proceeds to step S202, and the above-described processes of step S202 to step S208 are repeatedly executed until the arrival at the goal point. On the other hand, when the own aircraft arrives at the goal point, after the end process is executed in step S212, the transport process ends.

  Here, in order to detect the sign 5 and confirm that the self position can be corrected based on the arrangement of the detected sign 5, the experiment is performed to move the initial position (start position) of the autonomous mobile device 3 to the goal position autonomously. Went. Here, the movement path | route used in order to confirm the effect of the autonomous mobile system 1 which concerns on this embodiment is shown in FIG. As shown in FIG. 9, one sign 5 is installed at a position 2 m before the corner 110 of the passage 100. The reference start position 200 registered at the time of installation was set 10 m before the sign 5 (between the corner 110 and 12 m). Furthermore, the goal position 210 was set to a position 4 m left ahead by turning left on the passage 100 (a corner 110).

  Then, the autonomous mobile device 3 moves the start position between the reference start position 200 registered at the time of installation by ± 2000 mm and ± 500 mm, and the autonomous mobile device 3 determines whether the sign 5 is installed or not. The error with respect to the goal position 210 at the position where it was determined that it reached 210 and stopped was measured.

First, experimental results when the start position is shifted by ± 2000 mm will be described.
(1) When the start position (x, y) is shifted to (2000, 0) mm, the error (x, y) with respect to the goal position 210 is (5, 0) mm when the marker 5 is present.
(2) When the start position (x, y) is shifted to (2000, 0) mm, the error (x, y) with respect to the goal position 210 is (2200, −20) mm when there is no sign 5. .
(3) When the start position (x, y) is shifted to (−2000, 0) mm, and the sign 5 is present, the error (x, y) with respect to the goal position 210 is (−10, −40) mm. became.
(4) When the start position (x, y) was shifted to (−2000, 0) mm, the goal position 210 could not be reached when there was no sign 5.
From the above experimental results, it was confirmed that when the sign 5 is installed, the sign 5 is detected and a large deviation that cannot be corrected when the sign 5 is not present can be corrected.

Next, experimental results when the start position is shifted by ± 500 mm will be described.
(1) When the start position (x, y) is shifted to (500, 0) mm, the error (x, y) with respect to the goal position 210 is (−15, −10) mm when there is no sign 5. It was.
(2) When the start position (x, y) is shifted to (−500, 0) mm, the error (x, y) with respect to the goal position 210 is (−15, 0) mm when there is no sign 5. It was.

  From the above experimental results, it was confirmed that a deviation of ± 500 mm or less can be corrected by dead reckoning and SLAM even without the marker 5. If the marker 5 can be detected before the accumulated error due to dead reckoning exceeds 500 mm, the self-position can be corrected by SLAM. Therefore, when the error of dead reckoning is set to 2%, for example, the marker 5 is not required until the accumulated error exceeds 25 mm and is 25 m.

  According to the autonomous mobile device 3 according to the present embodiment, the sign 5 is detected based on the output patterns of detection information (normal data n) and non-detection information (error code e). More specifically, the plurality of detection information groups 51a and the plurality of non-detection information groups 52a appear alternately repeatedly a predetermined number of times, and the number of non-detection information included in each of the plurality of non-detection information groups 52a is the first predetermined number. And the number of pieces of detection information included in each of the plurality of detection information groups 51a is within the second predetermined range, it is determined that the marker 5 is present. That is, it is determined that the detected object is the label 5 when a unique output pattern is obtained in which a certain number of continuous detection information and a certain number of continuous non-detection information appear repeatedly. Therefore, for example, even when the sign 5 is disposed in a glass-clad (or mirror-lined) passage or the like, the sign 5 can be detected. Further, the sign 5 can be clearly distinguished and recognized from, for example, a group of mirrors attached to a wall or an uneven wall. As a result, the degree of freedom of installation of the sign 5 is high, and it is possible to reliably determine and detect the sign 5 installed on the movement route, regardless of the environment in which the sign 5 is installed, and to autonomously accurately It is possible to move.

  According to the autonomous mobile device 3 according to the present embodiment, the first predetermined range becomes narrower as the distance included in the detection information (normal data n) is longer, that is, as the distance between the own device and the sign 5 is longer. Is set. For this reason, it is possible to reduce false detection of the sign 5.

  Moreover, according to the autonomous mobile device 3 according to the present embodiment, the plurality of detection information groups 51a and the plurality of non-detection information groups 52a alternately appear a predetermined number of times, and correspond to each of the plurality of non-detection information groups 52a. The width of the non-detection area (that is, the width of the specular reflection member 52) is within the fifth predetermined range, and the width of the detection area corresponding to each of the plurality of detection information groups 51a (that is, the width of the diffuse reflection member 51). ) Is within the sixth predetermined range, it can also be determined that it is the sign 5. That is, it is determined that the detected object is the marker 5 when a unique output pattern in which a detection area with a constant width and a non-detection area with a constant width appear repeatedly is obtained. Therefore, in this case as well, the degree of freedom of installation of the sign 5 is high, and the sign 5 installed on the movement path is reliably determined and detected no matter what environment the movement path of the sign 5 is installed. Is possible.

  According to the autonomous mobile device 3 according to the present embodiment, by using the laser range finder 20 as a sensor, it is possible to measure an angle and a distance with an object existing in the vicinity with high accuracy and high speed.

  According to the autonomous mobile device 3 according to the present embodiment, since it is determined that the detected object is the sign 5 when the same detected object is determined a plurality of times as the sign 5, the sign 5 It becomes possible to prevent erroneous detection more reliably.

  According to the autonomous mobile device 3 according to the present embodiment, the arrangement of the sign 5 on the environment map is stored in a layer different from the environment map. Therefore, when the arrangement (installation location) of the sign 5 is changed, only the layer in which the arrangement of the sign 5 is stored needs to be corrected, and it is not necessary to change the environment map itself. On the other hand, it is possible to respond flexibly and improve work efficiency.

  According to the sign 5 according to the present embodiment, the laser incident on the diffuse reflection member 51 is diffusely reflected by the diffuse reflection member 51 and is incident on the laser, that is, in the direction of the laser range finder 20 of the autonomous mobile device 3. Return. On the other hand, the laser incident on the specular reflection member 52 does not return to the laser range finder 20 of the autonomous mobile device 3 unless it is incident at a substantially right angle. Therefore, autonomous movement is achieved by installing the marker 5 so that the plurality of diffuse reflection members 51 and the plurality of specular reflection members 52 are alternately arranged along the scanning direction of the laser output from the autonomous mobile device 3. In the device 3, a fixed number of continuous detection information (normal data n) (or a detection area having a constant width) and a fixed number of continuous non-detection information (error code e) (or a non-detection area having a fixed width) are generated a plurality of times. It is possible to obtain a unique output pattern that appears repeatedly.

  According to the sign 5 according to this embodiment, since the cross section of the specular reflection member 52 is formed in an arc shape, the reflection angle when the laser is incident at an angle close to a right angle can be further increased. Therefore, the laser incident on the specular reflection member 52 can be made difficult to return by the laser range finder 20 of the autonomous mobile device 3.

  According to the autonomous mobile system 1 according to the present embodiment, since the autonomous mobile device 3 and the sign 5 are provided, as described above, the degree of freedom of installation of the sign 5 is high, and what kind of environment the sign 5 is in Even if installed on the moving route, the sign 5 installed on the moving route can be reliably determined and detected, and autonomous movement can be performed accurately.

  By the way, when autonomous movement is performed in the above-described transport mode, in an actual movement environment, for example, a moving obstacle such as a cart or a person carrying the cart is placed between the autonomous mobile device 3 and the sign 5. It can happen to exist. In such a case, the sign 5 is shielded by the moving obstacle, which may cause a problem that the autonomous mobile device 3 cannot detect the sign 5 and loses its own position. In order to cope with this problem, the route planning unit 35 refers not only to the environment map but also to the sign environment map, and the autonomous mobile device 3 passes near the sign 5 in the passage where the sign 5 is installed. It is preferable to set the movement route as described above. In this way, since the autonomous mobile device 3 moves near the sign 5, it is possible to prevent a moving obstacle from passing between the autonomous mobile device 3 and the sign 5. Therefore, the problem that the autonomous mobile device 3 cannot detect the sign 5 due to the moving obstacle and loses its own position can be solved.

  Further, when the autonomous mobile device 3 is moving in the transport mode in a passage where the sign 5 is installed, the travel control unit 36 moves the self-machine in a direction approaching the sign 5. It is preferable to avoid it. In this way, it is possible to further reduce the risk of losing sight of the self position without detecting the sign 5 during movement. Further, when the own vehicle is moving near the sign 5 and recognizes a moving obstacle in the advancing direction, the traveling control unit 36 temporarily stops the own device on the spot, and performs means such as voice or display. Thus, the moving obstacle may be instructed to move away from the vicinity of the sign 5. In this way, the frequency of losing sight of the self position without being able to detect the sign 5 during movement can be further reduced.

  On the other hand, the sign 5 could not be completely detected, but if a pattern that seems to be a part of the sign 5 is detected, the sign 5 is shielded by the relative positional relationship between the aircraft and the moving or fixed obstacle. It is also possible. Therefore, in such a case, based on the environment map, the sign environment map, the detection information of the laser range finder 20, etc., a position where the sign 5 is not shielded is set as a temporary destination and headed to the destination. It is good also as a structure switched to route planning and / or traveling control. In this way, the frequency of losing sight of the self position without detecting the sign 5 can be further reduced.

(Second Embodiment)
Next, the configuration of the autonomous mobile system 2 according to the second embodiment, the autonomous mobile device 4 and the sign 6 constituting the autonomous mobile system 2 will be described using FIG. 10 and FIG. 11 together. FIG. 10 is a block diagram showing the configuration of the autonomous mobile system 2 and the autonomous mobile device 4 constituting the autonomous mobile system 2, and FIG. 11 is a diagram showing the configuration of the sign 6. In FIG. 10, the same or equivalent components as those in the first embodiment are denoted by the same reference numerals. The autonomous mobile system 2 includes an autonomous mobile device 4 that moves autonomously along a travel route, and a sign 6 that is installed on the travel route.

  The autonomous mobile device 4 is different from the autonomous mobile device 3 in that it includes a laser range finder 24 that outputs received light intensity instead of the laser range finder 20 described above. The autonomous mobile device 4 is different from the autonomous mobile device 3 in that an electronic control device 40 is provided instead of the electronic control device 30 described above. The electronic control device 40 is different from the electronic control device 30 in that it includes a sign detection unit 49 that detects a sign based on the received light intensity pattern instead of the sign detection unit 39 described above. Hereinafter, components different from those of the autonomous mobile device 3 will be described in detail. Since the other configuration is the same as or equivalent to that of the autonomous mobile device 3, the description thereof is omitted here.

  The laser range finder 24 scans and emits a laser (detection light) at a predetermined angle, and when the laser (reflected light) reflected by the object can be received, Detection information including the distance and the received light intensity of the reflected light. That is, the laser range finder 24 also functions as an object detection unit described in the claims. Since other configurations are the same as those of the laser range finder 20 described above, detailed description thereof is omitted here.

  Here, the label | marker 6 which comprises this embodiment is demonstrated. FIG. 11 shows a front view of the sign 6 and an output (light reception intensity) of the laser range finder 24 in order from the top. The sign 6 is formed in a rectangular plate shape with a horizontal width of, for example, 500 mm. When the sign 6 is viewed from the front, a plurality (three in the example of FIG. 11) of diffuse reflection members 61 and a plurality of (four in the example of FIG. 11) light absorbing (shading) members 62 are alternately arranged. Has been.

  The diffuse reflection member 61 and the light absorbing member 62 are formed in a thin plate shape. For example, the marker 6 is a wall surface of a moving path such that the diffuse reflection member (region) 61 and the light absorbing member (region) 62 are alternately arranged along the laser scanning direction (horizontal direction) of the laser range finder 24. Installed.

  When the laser emitted from the laser range finder 24 enters the diffuse reflection member 61, the laser is diffusely reflected and returned to the laser range finder 24. Therefore, in this case, high received light intensity data is output from the laser range finder 24. On the other hand, when the laser emitted from the laser range finder 20 enters the light absorbing member 62, the laser is absorbed and the intensity of the reflected light returning to the laser range finder 24 is reduced. Therefore, at this time, low received light intensity data is output from the laser range finder 20.

  Therefore, when the laser from the laser range finder 24 is scanned in the horizontal direction and enters the marker 6, the laser range finder 24 outputs an output pattern corresponding to the intensity of received light as shown in the lower part of FIG. That is, a plurality (three in the example of FIG. 11) of detection information groups (high intensity detection information group) having a high light reception intensity and a plurality of detection information groups (four in the example of FIG. 11) having a low light reception intensity (low intensity). The detection information group) alternately appears a predetermined number of times (three times in the example of this embodiment (FIG. 7)). That is, it is possible to obtain a unique output pattern according to the width (length) and the horizontal direction (laser scanning direction) of each of the diffuse reflection member 61 and the light absorption member 62.

  Returning to FIG. 10 and continuing the description, the sign detection unit 49 detects the sign 6 based on the intensity pattern of the received light intensity of the reflected light included in the detection information output from the laser range finder 24 via the sensor information acquisition unit 37. Is detected. That is, the sign detection unit 49 also functions as the sign detection means described in the claims. More specifically, as shown in the lower part of FIG. 11, the sign detection unit 49 uses a plurality of (three in FIG. 11) detection information whose received light intensity of reflected light included in the detection information is higher than a predetermined value. The high-intensity detection information group 61a and the low-intensity detection information group 62a composed of a plurality of (four in FIG. 11) detection information whose received light intensity is lower than a predetermined value are alternately repeated a predetermined number of times (three in FIG. 11). The number of pieces of detection information that repeatedly appears and is included in each of the plurality of high-intensity detection information groups 61a (data proportional to the width of the diffuse reflection member 61 and indicating a rough width) is within the third predetermined range, In addition, when the number of pieces of detection information included in each of the plurality of low-intensity detection information groups 62a (data indicating a rough width proportional to the width of the light-absorbing member 62) is within the fourth predetermined range, the object to be detected Is determined to be the sign 6.

  The third predetermined range is set according to the width (length) of the diffuse reflection member 61 and the fourth predetermined range is set according to the width (length) of the light absorbing member 62 and the like. The In addition, each of the third predetermined range and the fourth predetermined range is set so as to become narrower as the distance from the object increases in the detection information included in the plurality of high-intensity detection information groups 61a. Is done.

  By the way, the sign detection unit 49 includes a high-intensity detection information group 61a composed of a plurality of (three in FIG. 11) detection information whose received light intensity of reflected light included in the detection information is higher than a predetermined value, and the received light intensity is predetermined. A plurality of low-intensity detection information groups 62a composed of detection information (four in FIG. 11) lower than the value alternately appear a predetermined number of times (three times in FIG. 11), and the plurality of high-intensity detection information groups 61a The width of the high-intensity detection region corresponding to each (that is, the width of the diffuse reflection member 61) is within the seventh predetermined range, and the width of the low-intensity detection region corresponding to each of the plurality of low-intensity detection information groups 62a If the (that is, the width of the light absorbing member 62) is within the eighth predetermined range, it may be determined that the detected object is the label 6. The seventh predetermined range is set according to the horizontal width (length) of the diffuse reflection member 61, and the eighth predetermined range is set according to the horizontal width of the diffuse reflection member 61. Is done.

  In addition, since the width | variety of each of the diffuse reflection member 61 and the light absorption member 62 can be calculated | required with the view similar to the width | variety of the diffuse reflection member 51 mentioned above and the specular reflection member 52, detailed description is abbreviate | omitted here.

  The operation of the autonomous mobile device 4 differs only in the detection process of the sign 6 (steps S104 and S204 described above). Since other processes are the same as or similar to the processes in the autonomous mobile device 3 described above, detailed description thereof is omitted here. Moreover, since the detection method (process) of FIG. 6 is as having mentioned above, the overlapping description is abbreviate | omitted here.

  According to the autonomous mobile device 4 according to the present embodiment, the sign 6 is detected based on the intensity pattern of the received light intensity of the reflected light included in the output detection information. More specifically, a high-intensity detection information group 61a composed of a plurality of detection information (high-intensity detection information) in which the received light intensity of reflected light included in the detection information is higher than a predetermined value, and the received light intensity is lower than a predetermined value The low-intensity detection information group 62a composed of a plurality of detection information (low-intensity detection information) alternately appears repeatedly a predetermined number of times, and the detection information (high-intensity detection information) included in each of the plurality of high-intensity detection information groups 61a And the number of detection information (low-intensity detection information) included in each of the plurality of low-intensity detection information groups 62a is within the fourth predetermined range. 6 is determined. That is, when a unique output pattern is obtained in which a certain number of continuous high-intensity detection information and a certain number of continuous low-intensity detection information appear repeatedly several times, it is determined that the detected object is the label 6 Is done. Therefore, for example, even when the sign 6 is disposed in a glass-clad (or mirror-covered) passage or the like, the sign 6 can be detected. Further, the sign 6 can be clearly distinguished and recognized from, for example, a group of mirrors attached to a wall or a wall having an uneven surface. As a result, the degree of freedom of installation of the sign 6 is high, and it is possible to reliably determine and detect the sign 6 installed on the movement route, regardless of the environment in which the sign 6 is installed, and to autonomously accurately It is possible to move.

  Further, according to the autonomous mobile device 4 according to the present embodiment, the high-intensity detection information group 61a including a plurality of pieces of detection information (high-intensity detection information) whose received light intensity of reflected light is higher than a predetermined value included in the detection information. And a low-intensity detection information group 62a composed of a plurality of detection information (low-intensity detection information) whose received light intensity is lower than a predetermined value alternately appear a predetermined number of times, and each of the plurality of high-intensity detection information groups 61a The width of the high-intensity detection region corresponding to (that is, the width of the diffuse reflection member 61) is within the sixth predetermined range, and the width of the low-intensity detection region corresponding to each of the plurality of low-intensity detection information groups 62a ( That is, it can be determined that the marker 6 is present when the width of the light absorbing member 62 is within the seventh predetermined range. In other words, the object to be detected is determined to be the label 6 when a unique output pattern is obtained in which a high-intensity detection region having a certain width and a low-intensity detection region having a certain width appear repeatedly. Therefore, in this case as well, the degree of freedom of installation of the sign 6 is high, and the sign 6 installed on the movement path is reliably determined and detected no matter what environment the movement path of the sign 6 is installed. Is possible.

  According to the sign 6 according to the present embodiment, the laser incident on the diffuse reflection member 61 is diffusely reflected by the diffuse reflection member 61 and returns to the laser incident direction, that is, the laser range finder 24 of the autonomous mobile device 4. . On the other hand, since the laser incident on the light absorbing member 62 is absorbed by the light absorbing member 62, the intensity of the reflected light returning to the laser range finder 24 of the autonomous mobile device 4 decreases. Therefore, the autonomous mobile device is provided by installing the marker 6 so that the plurality of diffuse reflection members 61 and the plurality of light absorbing members 62 are alternately arranged along the scanning direction of the laser output from the autonomous mobile device 4. 4, a certain number of continuous high-intensity detection information (or a high-intensity detection region having a certain width) and a certain number of continuous low-intensity detection information (or a low-intensity detection region having a certain width) appear repeatedly several times. A unique output pattern can be obtained.

  According to the sign 6 according to the present embodiment, the diffuse reflection member 61 and the light absorbing member 62 are formed in a thin plate shape. Therefore, since the thickness of the sign 6 can be reduced, the degree of freedom of installation of the sign 6 is improved, and the movement path of the autonomous mobile device 4 can be widened.

  As mentioned above, although embodiment of this invention was described in detail, this invention is not limited to the said embodiment, A various deformation | transformation is possible. For example, in the above embodiment (sign 5), the plurality of specular reflection members 52 are arranged at equal intervals, but may be arranged at unequal intervals. In this way, when a plurality of signs 5 are installed on the movement path, the individual signs 5 can be distinguished by detecting the arrangement interval (arrangement pattern) of the specular reflection member 52 of each sign 5. It becomes possible. Similarly, in the marker 6, the diffuse reflection members 61 (or light absorbing members 62) are arranged at equal intervals, but may be arranged at unequal intervals. Also in this case, when a plurality of signs 6 are installed on the movement path, the individual signs 6 are detected by detecting the arrangement interval (arrangement pattern) of the diffuse reflection members 61 (or the light absorbing members 62) of the signs 6. It becomes possible to distinguish. Further, the number, shape, width (length), and the like of the specular reflection member 52 and the diffuse reflection member 61 (or the light absorption member 62) are not limited to the above embodiment.

  In the above embodiment, when the sign 5 is detected, the determination / detection is made based on the continuous number of non-detection information (error code e) and the continuous number of detection information (normal data n). Or it can also be set as the structure which calculates | requires the actual width (length) etc. of the diffuse reflection member 51, and determines whether it is the label | marker 5 based on the result. Note that the label 6 can also be determined and detected using the same method.

  In the above-described embodiment, the signs 5 and 6 are detected using the laser range finders 20 and 24. However, for example, the signs 5 and 6 may be detected by pattern recognition using a stereo camera.

  In the above embodiment, as the autonomous mobile systems 1 and 2, the autonomous mobile device 3 and the sign 5 or the autonomous mobile device 4 and the sign 6 are used in combination. However, the autonomous mobile device 3 and the sign 6 or the autonomous mobile device are used. 4 and 5 may be used in combination.

DESCRIPTION OF SYMBOLS 1, 2 Autonomous mobile system 3,4 Autonomous mobile device 5,6 Sign 10 Main body 12 Electric motor 13 Omni wheel 14 Wheel 15 Free roller 16 Encoder 20, 24 Laser range finder 21 Joystick 22 Lever 23 Registration switch 30, 40 Electronic control device DESCRIPTION OF SYMBOLS 31 Local map creation part 32 Self-position estimation part 33 Environmental map creation part 34,44 Storage part 35 Path planning part 36 Travel control part 37 Sensor information acquisition part 38 Obstacle avoidance control part 39,49 Sign detection part 51 Diffuse reflection member 52 Specular reflection member 51a Detection information group 52a Non-detection information group 61 Diffuse reflection member 62 Light absorption member 61a High intensity detection information group 62a Low intensity detection information group

Claims (18)

An environmental map showing the arrangement of obstacles on the movement route, and storage means for storing the arrangement of the signs installed on the movement route on the environmental map;
The detection wave is scanned and emitted at a predetermined angle, and when the reflected wave reflected by the object is detected, detection information including the distance to the object is output at each scanning angle to detect the reflected wave. If not possible, object detection means for outputting non-detection information for each scanning angle; and
Based on the detection information output from the object detection means, a local map creation means for creating a local map around the own machine,
Self-location estimating means for comparing the local map created by the local map creating means with the environmental map stored in the storage means to estimate the self-position;
A sign detection means for detecting a sign based on an output pattern of detection information and non-detection information output from the object detection means,
The label detection means includes a detection information group consisting of a plurality of detection information and a non-detection information group consisting of a plurality of non-detection information alternately appearing a predetermined number of times, and the non-detection information included in the non-detection information group When the number is within the first predetermined range and the number of detection information included in the detection information group is within the second predetermined range, it is determined that the number is a sign,
The self-position estimating means corrects the estimated self-position based on the arrangement of the sign on the environment map stored in the storage means when the sign is detected by the sign detecting means. An autonomous mobile device.   2. The autonomous system according to claim 1, wherein the sign detection unit narrows the first predetermined range as a distance from an object included in the detection information included in the plurality of detection information groups increases. Mobile equipment. An environmental map showing the arrangement of obstacles on the movement route, and storage means for storing the arrangement of the signs installed on the movement route on the environmental map;
The detection wave is scanned and emitted at a predetermined angle, and when the reflected wave reflected by the object is detected, detection information including the distance to the object is output at each scanning angle to detect the reflected wave. If not possible, object detection means for outputting non-detection information for each scanning angle; and
Based on the detection information output from the object detection means, a local map creation means for creating a local map around the own machine,
Self-location estimating means for comparing the local map created by the local map creating means with the environmental map stored in the storage means to estimate the self-position;
A sign detection means for detecting a sign based on an output pattern of detection information and non-detection information output from the object detection means,
The label detection means is a non-detection area corresponding to the non-detection information group, wherein a detection information group consisting of a plurality of detection information and a non-detection information group consisting of a plurality of non-detection information appear alternately and repeatedly a predetermined number of times. And the width of the detection region corresponding to the detection information group is within the sixth predetermined range, and is determined to be a sign,
The self-position estimating means corrects the estimated self-position based on the arrangement of the sign on the environment map stored in the storage means when the sign is detected by the sign detecting means. An autonomous mobile device. An environmental map showing the arrangement of obstacles on the movement route, and storage means for storing the arrangement of the signs installed on the movement route on the environmental map;
An object that scans and emits detection light for each predetermined angle, receives reflected light reflected by the object, and outputs detection information including the distance to the object and the received light intensity of the reflected light for each scanning angle Detection means;
Based on the detection information output from the object detection means, a local map creation means for creating a local map around the own machine,
Self-location estimating means for comparing the local map created by the local map creating means with the environmental map stored in the storage means to estimate the self-position;
A sign detection means for detecting a sign based on the intensity pattern of the received light intensity of the reflected light included in the detection information output from the object detection means,
The sign detection unit includes a high-intensity detection information group including a plurality of pieces of detection information whose reflected light intensity included in the detection information is higher than a predetermined value, and a plurality of pieces of detection information whose light reception intensity is lower than a predetermined value. The low-intensity detection information group alternately appears a predetermined number of times, the number of detection information included in the high-intensity detection information group is within the third predetermined range, and is included in the low-intensity detection information group When the number of detected information is within the fourth predetermined range, it is determined as a sign,
The self-position estimating means corrects the estimated self-position based on the arrangement of the sign on the environment map stored in the storage means when the sign is detected by the sign detecting means. An autonomous mobile device. An environmental map showing the arrangement of obstacles on the movement route, and storage means for storing the arrangement of the signs installed on the movement route on the environmental map;
An object that scans and emits detection light for each predetermined angle, receives reflected light reflected by the object, and outputs detection information including the distance to the object and the received light intensity of the reflected light for each scanning angle Detection means;
Based on the detection information output from the object detection means, a local map creation means for creating a local map around the own machine,
Self-location estimating means for comparing the local map created by the local map creating means with the environmental map stored in the storage means to estimate the self-position;
A sign detection means for detecting a sign based on the intensity pattern of the received light intensity of the reflected light included in the detection information output from the object detection means,
The sign detection unit includes a high-intensity detection information group including a plurality of pieces of detection information whose reflected light intensity included in the detection information is higher than a predetermined value, and a plurality of pieces of detection information whose light reception intensity is lower than a predetermined value. The low-intensity detection information group alternately appears a predetermined number of times, the width of the high-intensity detection area corresponding to the high-intensity detection information group is within the seventh predetermined range, and the low-intensity detection information group If the width of the low-intensity detection area corresponding to is within the eighth predetermined range,
The self-position estimating means corrects the estimated self-position based on the arrangement of the sign on the environment map stored in the storage means when the sign is detected by the sign detecting means. An autonomous mobile device.   The autonomous moving device according to claim 1, wherein the object detection unit is a laser range finder.   The said label | marker detection means determines that the said to-be-detected object is a label | marker, when it determines with the label | marker about the same to-be-detected object in multiple times. The autonomous mobile device described.   The autonomous storage device according to any one of claims 1 to 7, wherein the storage unit stores an arrangement of the sign on the environment map in a layer different from the environment map.   A sign, wherein a plurality of diffuse reflection members and a plurality of specular reflection members are alternately arranged.   The sign according to claim 9, wherein the specular reflection member has a cross section cut along the direction of the arrangement in an arc shape.   A sign, wherein a plurality of diffuse reflection members and a plurality of light absorbing members are alternately arranged.   The sign according to claim 11, wherein the diffuse reflection member and the light absorption member are formed in a thin plate shape. The autonomous mobile device according to any one of claims 1 to 8,
An autonomous mobile system comprising the sign according to any one of claims 9 to 12. A storage step for storing an environment map showing an arrangement of obstacles on the movement route, and an arrangement of the signs installed on the movement route on the environment map;
The detection wave is scanned and emitted at a predetermined angle, and when the reflected wave reflected by the object is detected, detection information including the distance to the object is output at each scanning angle to detect the reflected wave. If not, an object detection step for outputting non-detection information for each scanning angle;
Based on the detection information output in the object detection step, a local map creation step for creating a local map around the own machine,
A self-position estimation step of estimating a self-position by comparing the local map created in the local map creation step with the environmental map stored in the storage step;
A sign detection step for detecting a sign based on the output pattern of detection information and non-detection information output in the object detection step;
In the label detection step, a detection information group composed of a plurality of the detection information and a non-detection information group composed of the plurality of non-detection information appear alternately and repeatedly, and the non-detection information included in the non-detection information group When the number is within the first predetermined range and the number of detection information included in the detection information group is within the second predetermined range, it is determined that the number is a sign,
In the self-position estimation step, when a sign is detected in the sign detection step, the estimated self-position is corrected based on the arrangement of the sign on the environment map stored in the storage step. Autonomous way to move.   15. The autonomous system according to claim 14, wherein, in the sign detection step, the first predetermined range is narrowed as the distance from an object included in the detection information constituting the plurality of detection information groups increases. Moving method. A storage step for storing an environment map showing an arrangement of obstacles on the movement route, and an arrangement of the signs installed on the movement route on the environment map;
The detection wave is scanned and emitted at a predetermined angle, and when the reflected wave reflected by the object is detected, detection information including the distance to the object is output at each scanning angle to detect the reflected wave. If not, an object detection step for outputting non-detection information for each scanning angle;
Based on the detection information output in the object detection step, a local map creation step for creating a local map around the own machine,
A self-position estimation step of estimating a self-position by comparing the local map created in the local map creation step with the environmental map stored in the storage step;
A sign detection step for detecting a sign based on the output pattern of detection information and non-detection information output in the object detection step;
In the label detection step, a detection information group consisting of a plurality of detection information and a non-detection information group consisting of a plurality of non-detection information appear alternately and repeatedly a predetermined number of times, and a non-detection region corresponding to the non-detection information group And the width of the detection region corresponding to the detection information group is within the sixth predetermined range, and is determined to be a sign,
In the self-position estimation step, when a sign is detected in the sign detection step, the estimated self-position is corrected based on the arrangement of the sign on the environment map stored in the storage step. Autonomous way to move. A storage step for storing an environment map showing an arrangement of obstacles on the movement route, and an arrangement of the signs installed on the movement route on the environment map;
An object that scans and emits detection light for each predetermined angle, receives reflected light reflected by the object, and outputs detection information including the distance to the object and the received light intensity of the reflected light for each scanning angle A detection step;
Based on the detection information output in the object detection step, a local map creation step for creating a local map around the own machine,
A self-position estimation step of estimating a self-position by comparing the local map created in the local map creation step with the environmental map stored in the storage step;
A sign detection step for detecting a sign based on the intensity pattern of the received light intensity of the reflected light included in the detection information output in the object detection step,
The marker detection step includes a high-intensity detection information group composed of a plurality of pieces of detection information whose reflected light intensity included in the detection information is higher than a predetermined value, and a plurality of pieces of detection information whose light reception intensity is lower than a predetermined value. The low-intensity detection information group alternately appears a predetermined number of times, the number of detection information included in the high-intensity detection information group is within the third predetermined range, and is included in the low-intensity detection information group When the number of detected information is within the fourth predetermined range, it is determined as a sign,
In the self-position estimation step, when a sign is detected in the sign detection step, the estimated self-position is corrected based on the arrangement of the sign on the environment map stored in the storage step. Autonomous way to move. A storage step for storing an environment map showing an arrangement of obstacles on the movement route, and an arrangement of the signs installed on the movement route on the environment map;
An object that scans and emits detection light for each predetermined angle, receives reflected light reflected by the object, and outputs detection information including the distance to the object and the received light intensity of the reflected light for each scanning angle A detection step;
Based on the detection information output in the object detection step, a local map creation step for creating a local map around the own machine,
A self-position estimation step of estimating a self-position by comparing the local map created in the local map creation step with the environmental map stored in the storage step;
A sign detection step for detecting a sign based on the intensity pattern of the received light intensity of the reflected light included in the detection information output in the object detection step,
The marker detection step includes a high-intensity detection information group composed of a plurality of pieces of detection information whose reflected light intensity included in the detection information is higher than a predetermined value, and a plurality of pieces of detection information whose light reception intensity is lower than a predetermined value. The low-intensity detection information group alternately appears a predetermined number of times, the width of the high-intensity detection area corresponding to the high-intensity detection information group is within the seventh predetermined range, and the low-intensity detection information group If the width of the low-intensity detection area corresponding to is within the eighth predetermined range,
In the self-position estimation step, when a sign is detected in the sign detection step, the estimated self-position is corrected based on the arrangement of the sign on the environment map stored in the storage step. Autonomous way to move.

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