JP2017059217A - Movement control method, autonomous movement control system, autonomous mobile robot, and autonomous movement control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movement control method which enables each of a plurality of autonomous mobile robots to execute a task more efficiently.SOLUTION: The movement control method includes: a step (S102) in which a first autonomous mobile robot calculates a first confidence factor indicating the degree of certainty that the current position of the first autonomous mobile robot is a position suitable for executing a task; a step (S104) in which the first autonomous mobile robot receives, from a second autonomous mobile robot, a second confidence factor indicating the degree of certainty that the current position of the second autonomous mobile robot is a position suitable for executing a task; a step (S107) in which the first autonomous mobile robot calculates a movement vector that the first autonomous mobile robot should move, on the basis of the first confidence factor and second confidence factor and the current position of the second autonomous mobile robot; and a step (S108) in which the first autonomous mobile robot controls the movement of the first autonomous mobile robot on the basis of the movement vector.SELECTED DRAWING: Figure 4

Description

  The present disclosure relates to a movement control method in an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task, an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task, and a communication target that is a communication target The present invention relates to an autonomous mobile robot that communicates with an autonomous mobile robot and executes a predetermined task, and an autonomous mobile control program for the autonomous mobile robot.

  Conventionally, technologies related to autonomous mobile robots that execute assigned tasks in cooperation with other autonomous mobile robots have been proposed (see, for example, Patent Document 1 and Patent Document 2).

  Patent Document 1 discloses a technology in which a server allocates a region to be cleaned to each of a plurality of self-propelled cleaners and causes the plurality of self-propelled cleaners to perform cleaning. In Patent Document 2, in a robot remote control system including a control terminal and a plurality of autonomous mobile robots, a plurality of autonomous mobile robots communicate with each other and operate in cooperation with each other according to control commands from the control terminal. The technology to do is disclosed.

JP 2014-054335 A Japanese Patent No. 4713846

  However, in the prior art, further technical improvement is required in order to improve task execution efficiency by a plurality of autonomous mobile robots.

  The present disclosure solves the above-described conventional problems, and a mobile control method, an autonomous mobile control system, an autonomous mobile robot, and an autonomous mobile control program that enable each of a plurality of autonomous mobile robots to execute tasks more efficiently. The purpose is to provide.

  A movement control method according to an aspect of the present disclosure is a movement control method in an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task, wherein the plurality of autonomous mobile robots includes a first autonomous movement. Including a robot and a second autonomous mobile robot communicating with the first autonomous mobile robot, wherein the first autonomous mobile robot has the current position of the first autonomous mobile robot perform the task A certainty factor calculating step for calculating a first certainty factor indicating a degree of a suitable position, and the first autonomous mobile robot is suitable for the current position of the second autonomous mobile robot to execute the task. A receiving step of receiving from the second autonomous mobile robot a second certainty factor indicating the degree of the position of the first autonomous mobile robot, and the first autonomous mobile robot Movement of the first autonomous mobile robot based on the first confidence level of the second autonomous mobile robot, the second confidence level of the second autonomous mobile robot, and the current position of the second autonomous mobile robot A vector calculation step for calculating a movement vector to be performed; and a movement control step for controlling the movement of the first autonomous mobile robot based on the movement vector by the first autonomous mobile robot.

  According to this indication, each of a plurality of autonomous mobile robots can perform a task more efficiently.

It is a general view showing an example of composition of a cleaning robot in Embodiment 1 of this indication. It is a block diagram which shows an example of a structure of the cleaning robot in Embodiment 1 of this indication. It is a schematic diagram which shows a mode that a cleaning robot moves while communicating with several other cleaning robots, and performs a task. It is a flowchart for demonstrating operation | movement of the cleaning robot in this Embodiment 1. It is a general view which shows an example of a structure of the unmanned air vehicle in Embodiment 2 of this indication. It is a block diagram which shows an example of a structure of the unmanned air vehicle in Embodiment 2 of this indication. It is a schematic diagram which shows a mode that an unmanned air vehicle moves, communicating with several other unmanned air vehicles, and performs a task. It is a 1st flowchart for demonstrating operation | movement of the unmanned air vehicle in this Embodiment 2. FIG. It is a 2nd flowchart for demonstrating operation | movement of the unmanned air vehicle in this Embodiment 2. FIG.

(Knowledge that became the basis of this disclosure)
Patent Document 1 discloses a technology in which a server performs cleaning while controlling a plurality of self-propelled cleaners and coordinating the plurality of self-propelled cleaners. More specifically, in the technology disclosed in Patent Document 1, the server allocates a cleaning area to each of the plurality of self-propelled cleaners and causes the plurality of self-propelled cleaners to perform cleaning. . Each self-propelled cleaner notifies the server of the progress of the cleaning while cleaning the cleaning area assigned by the server. The server receives a notification from each self-propelled cleaner and grasps the progress of the task of each self-propelled cleaner. When the server receives a notification that cleaning has been completed from one self-propelled vacuum cleaner, the server is notified of the other self-propelled vacuum cleaner that has not been cleaned. Reassignment that assigns an uncleaned area of the cleaned area is performed.

  However, the technique disclosed in Patent Document 1 is a configuration in which a self-propelled cleaner is coordinated using a server. Therefore, it is necessary to construct a server for coordinating a plurality of self-propelled cleaners, and costs for server construction are required. Furthermore, when the server becomes inoperable due to a failure or the like, a cleaning area cannot be assigned to the self-propelled cleaner, and a plurality of self-propelled cleaners cannot be properly coordinated. There is a problem. In addition, when communication between the server and the self-propelled cleaner is interrupted, the server cannot grasp the progress of the task of the self-propelled cleaner that has lost communication, and multiple self-propelled cleaners It becomes impossible to coordinate a vacuum cleaner appropriately.

  From the above, a method for coordinating a plurality of self-propelled cleaners, that is, autonomous mobile robots, without performing central control by a central device such as a server is required. In other words, each autonomous mobile robot exchanges information with the autonomous mobile robots around it, and cooperates with the autonomous mobile robots around it to coordinate the entire system composed of multiple autonomous mobile robots. There is a need for a way to make it happen.

  If such a configuration can be realized, the central device for grasping the entire system is not used, so that it is not necessary to construct the central device, and the cost for constructing the central device can be suppressed. Furthermore, even if one autonomous mobile robot becomes inoperable due to a failure or the like, the cooperative operation does not fail in the entire system.

  Patent Document 2 discloses a system configuration that does not require a central device. In Patent Document 2, each autonomous mobile robot exchanges information with the autonomous mobile robots around itself, and cooperates with the autonomous mobile robots around itself, instead of cooperation by central control of a server or the like. A method for coordinating the entire system is disclosed. Patent Document 2 discloses a system composed of a server and a plurality of autonomous mobile robots, but the plurality of autonomous mobile robots only receives commands from the server and receives commands from the server. After that, a plurality of autonomous mobile robots transmit / receive information to / from each other and execute tasks in cooperation. When a plurality of autonomous mobile robots in Patent Document 2 execute a task in cooperation with other autonomous mobile robots, they communicate with other autonomous mobile robots in a communication range, and each other's own location information or task Progress information is exchanged, and tasks are executed in cooperation with each other based on such information.

  By the way, when an autonomous mobile robot such as a self-propelled cleaner moves, the communication range of the autonomous mobile robot changes. Therefore, the movement of the autonomous mobile robot may change other autonomous mobile robots that can communicate with the autonomous mobile robot. In this case, information on other autonomous mobile robots that can be acquired by the autonomous mobile robot changes as the autonomous mobile robot moves.

  For example, when the autonomous mobile robot A moves, the autonomous mobile robot A may not be able to communicate with another autonomous mobile robot B that can communicate before the movement. In this case, the autonomous mobile robot A cannot acquire information from the autonomous mobile robot B. Further, for example, when the autonomous mobile robot A moves, the autonomous mobile robot A may be able to communicate with another autonomous mobile robot C that cannot communicate before the movement. In this case, the autonomous mobile robot A can newly acquire information from the autonomous mobile robot C.

  In the case of a method in which each autonomous mobile robot cooperates with surrounding autonomous mobile robots while exchanging information with each other, each autonomous mobile robot performs cooperation using only information of the surrounding autonomous mobile robots. That is, each autonomous mobile robot cannot use information of all autonomous mobile robots constituting the system, and performs cooperation using only information of autonomous mobile robots around the autonomous mobile robot. For this reason, each autonomous mobile robot cannot always perform optimal cooperation from the viewpoint of the entire system. In order to perform more optimal cooperation, it is desired that each autonomous mobile robot performs cooperation using information of more autonomous mobile robots. In particular, when an autonomous mobile robot moves like a self-propelled cleaner, information of other autonomous mobile robots that can be acquired by the autonomous mobile robot dynamically changes as the autonomous mobile robot moves. For this reason, it is desirable to perform more optimal cooperation using information on more other autonomous mobile robots while considering that information on other autonomous mobile robots that can be acquired changes dynamically.

  However, in the above Patent Document 2, there is no suggestion that the information of other autonomous mobile robots that can be acquired by the autonomous mobile robot dynamically changes as the autonomous mobile robot moves. In the above Patent Document 2, it is assumed that all the autonomous mobile robots can communicate with each other, and the communication range of the autonomous mobile robot changes due to the movement of the autonomous mobile robot, and the autonomous mobile robot acquires No consideration is given to changing information about tasks of other autonomous mobile robots that can be made.

  In order to solve such a problem, a movement control method according to an aspect of the present disclosure is a movement control method in an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task, The autonomous mobile robot includes a first autonomous mobile robot and a second autonomous mobile robot that communicates with the first autonomous mobile robot, and the first autonomous mobile robot is configured to transmit the first autonomous mobile robot. A certainty factor calculating step for calculating a first certainty factor indicating a degree that the current position is suitable for executing the task; and the first autonomous mobile robot is configured to receive a current state of the second autonomous mobile robot. A receiving step of receiving from the second autonomous mobile robot a second certainty factor indicating a degree that the position is suitable for executing the task; and the first autonomous mobile robot Based on the first certainty factor of the first autonomous mobile robot, the second confidence factor of the second autonomous mobile robot, and the current position of the second autonomous mobile robot. A vector calculation step of calculating a movement vector to be moved by the first autonomous mobile robot, and a movement in which the first autonomous mobile robot controls the movement of the first autonomous mobile robot based on the movement vector Control steps.

  According to this configuration, the plurality of autonomous mobile robots includes the first autonomous mobile robot and the second autonomous mobile robot that communicates with the first autonomous mobile robot. A first certainty factor indicating the degree to which the current position of the first autonomous mobile robot is a suitable position for executing the task is calculated by the first autonomous mobile robot. The first autonomous mobile robot receives from the second autonomous mobile robot a second certainty factor indicating the degree to which the current position of the second autonomous mobile robot is a suitable position for executing the task. Based on the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the current position of the second autonomous mobile robot by the first autonomous mobile robot, A movement vector to be moved by the first autonomous mobile robot is calculated. The movement of the first autonomous mobile robot is controlled by the first autonomous mobile robot based on the movement vector.

  Therefore, the first certainty factor indicating the degree to which the current position of the first autonomous mobile robot is suitable for executing the task and the current position of the second autonomous mobile robot are suitable for executing the task. Since the movement vector to be moved by the first autonomous mobile robot is calculated based on the second certainty indicating the degree of the position and the current position of the second autonomous mobile robot, a plurality of autonomous movements Each of the robots moves to a more suitable position for executing the task, and each of the plurality of autonomous mobile robots can execute the task more efficiently.

  In the above movement control method, the vector calculating step calculates a direction in which the first autonomous mobile robot heads from the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot. A direction calculating step, a distance calculating step in which the first autonomous mobile robot calculates a distance between the first autonomous mobile robot and the second autonomous mobile robot, and the first autonomous mobile robot Are the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, the direction of the second autonomous mobile robot, and the second A movement vector calculating step of calculating the movement vector of the first autonomous mobile robot based on the distance of the autonomous mobile robot.

  According to this configuration, the direction from the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot is calculated by the first autonomous mobile robot. The distance between the first autonomous mobile robot and the second autonomous mobile robot is calculated by the first autonomous mobile robot. By the first autonomous mobile robot, the first confidence of the first autonomous mobile robot, the second confidence of the second autonomous mobile robot, the direction of the second autonomous mobile robot, and the second autonomous Based on the distance of the mobile robot, the movement vector of the first autonomous mobile robot is calculated.

  Accordingly, the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot. The movement vector of the first autonomous mobile robot can be calculated on the basis of the direction of travel and the distance between the first autonomous mobile robot and the second autonomous mobile robot.

  In the movement control method described above, in the reception step, the first autonomous mobile robot receives an optical signal including the second certainty factor emitted from the second autonomous mobile robot by an optical sensor. Then, in the direction calculating step, the second autonomous mobile robot determines the second autonomous mobile robot from the current position of the first autonomous mobile robot based on the direction in which the optical signal received by the optical sensor is emitted. A direction toward the current position of the autonomous mobile robot is calculated, and in the distance calculating step, the first autonomous mobile robot is based on a signal intensity of the optical signal received by the optical sensor. A distance between the robot and the second autonomous mobile robot may be calculated.

  According to this configuration, the optical signal including the second certainty factor emitted from the second autonomous mobile robot is received by the optical sensor. A direction from the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot is calculated based on the direction in which the optical signal received by the optical sensor is emitted. Based on the signal intensity of the optical signal received by the optical sensor, the distance between the first autonomous mobile robot and the second autonomous mobile robot is calculated.

  Therefore, the direction from the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot can be easily calculated based on the direction in which the optical signal is emitted. Based on the signal strength, the distance between the first autonomous mobile robot and the second autonomous mobile robot can be easily calculated.

  In the movement control method described above, in the reception step, the first autonomous mobile robot receives position information indicating a current position of the second autonomous mobile robot together with the second certainty factor in the second step. In the vector calculation step, the first autonomous mobile robot receives the first certainty factor of the first autonomous mobile robot and the second confidence of the second autonomous mobile robot. The movement vector of the first autonomous mobile robot may be calculated based on the certainty factor and the current position indicated by the position information of the second autonomous mobile robot.

  According to this configuration, the position information indicating the current position of the second autonomous mobile robot is received from the second autonomous mobile robot together with the second certainty factor. Based on the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the current position indicated by the position information of the second autonomous mobile robot, the first A movement vector of the autonomous mobile robot is calculated.

  Therefore, based on the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the current position indicated by the position information received from the second autonomous mobile robot. Thus, the movement vector of the first autonomous mobile robot can be calculated.

  The movement control method may further include a transmission step in which the first autonomous mobile robot transmits the calculated first certainty factor to the second autonomous mobile robot.

  According to this configuration, since the calculated first certainty factor is transmitted to the second autonomous mobile robot by the first autonomous mobile robot, the first autonomous movement is also performed in the second autonomous mobile robot. Similar to the robot, the movement vector of the second autonomous mobile robot can be calculated, and the task can be executed in cooperation with the first autonomous mobile robot.

  Further, in the above movement control method, the first autonomous mobile robot further includes a detection step of detecting an amount of garbage at a current position of the first autonomous mobile robot, and in the certainty calculation step, One autonomous mobile robot calculates the first certainty factor of the first autonomous mobile robot based on the amount of the garbage at the current position of the first autonomous mobile robot, and the second certainty factor Is calculated based on the amount of garbage at the current position of the second autonomous mobile robot, and the value of the first certainty factor and the value of the second certainty factor increase as the amount of dust increases. It can be bigger.

  According to this configuration, the amount of garbage at the current position of the first autonomous mobile robot is detected by the first autonomous mobile robot. The first certainty factor of the first autonomous mobile robot is calculated based on the amount of garbage at the current position of the first autonomous mobile robot. The second certainty factor is calculated based on the amount of garbage at the current position of the second autonomous mobile robot. The first certainty factor value and the second certainty factor value increase as the amount of dust increases.

  Therefore, since the first certainty value and the second certainty value increase as the amount of garbage increases, the first autonomous mobile robot increases when the amount of garbage detected by the first autonomous mobile robot increases. The mobile robot is controlled to be at the current position, and the task of cleaning can be reliably executed. In addition, when the amount of garbage detected by the first autonomous mobile robot increases, the second autonomous mobile robot is controlled so as to approach the first autonomous mobile robot. The autonomous mobile robot can efficiently perform the task of cleaning.

  Further, in the above movement control method, the first autonomous mobile robot further includes a detection step of detecting a likelihood that a person is present at the current position of the first autonomous mobile robot, and in the confidence calculation step, The first autonomous mobile robot calculates the first certainty factor of the first autonomous mobile robot based on the likelihood, and the second certainty factor is a current value of the second autonomous mobile robot. The first certainty factor and the second certainty factor may be calculated based on the likelihood that a person is at a position, and may increase as the likelihood increases.

  According to this configuration, the likelihood that a person is present at the current position of the first autonomous mobile robot is detected by the first autonomous mobile robot. Based on the likelihood, a first certainty factor of the first autonomous mobile robot is calculated. The second certainty factor is calculated based on the likelihood that a person is present at the current position of the second autonomous mobile robot. The first certainty factor value and the second certainty factor value increase as the likelihood increases.

  Accordingly, the value of the first certainty factor increases as the likelihood that a person is present at the current position of the first autonomous mobile robot increases, and the value of the second certainty factor indicates the current position of the second autonomous mobile robot. Therefore, when the likelihood that a person is present at the current position of the first autonomous mobile robot increases, the first autonomous mobile robot is controlled to be at the current position, The task of searching can be executed reliably. In addition, when the likelihood that a person is present at the current position detected by the first autonomous mobile robot increases, the second autonomous mobile robot is controlled so as to approach the first autonomous mobile robot. The mobile robot and the second autonomous mobile robot can efficiently execute the task of searching for people.

  In the above movement control method, the plurality of autonomous mobile robots further includes a third autonomous mobile robot that communicates with the first autonomous mobile robot. In the receiving step, the first autonomous mobile robot , Receiving from the third autonomous mobile robot a third certainty factor indicating the degree to which the current position of the third autonomous mobile robot is a position suitable for executing the task, and in the vector calculating step, The first autonomous mobile robot has the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the current status of the second autonomous mobile robot. Based on the position, a first individual vector to be moved by the first autonomous mobile robot is calculated, the first certainty factor of the first autonomous mobile robot, and the third Based on the third certainty factor of the autonomous mobile robot and the current position of the third autonomous mobile robot, a second individual vector to be moved by the first autonomous mobile robot is calculated, and the first The sum of the individual vector and the second individual vector is calculated as the movement vector, and the magnitude of the first individual vector increases as the second certainty factor of the second autonomous mobile robot increases. And the smaller the distance between the first autonomous mobile robot and the second autonomous mobile robot is, the smaller the second individual vector is in the size of the third autonomous mobile robot. The larger the third certainty factor is, the larger the value is, and the larger the distance between the first autonomous mobile robot and the third autonomous mobile robot is, the smaller the value becomes, and the direction of the first individual vector is A direction from the current position of the first autonomous mobile robot to the second autonomous mobile robot; the direction of the second individual vector is from the current position of the first autonomous mobile robot to the third autonomous The direction toward the mobile robot may also be used.

  According to this configuration, the plurality of autonomous mobile robots further includes a third autonomous mobile robot that communicates with the first autonomous mobile robot. A third certainty factor indicating the degree to which the current position of the third autonomous mobile robot is a suitable position for executing the task is received from the third autonomous mobile robot. The movement of the first autonomous mobile robot based on the first certainty factor of the first autonomous mobile robot, the second confidence factor of the second autonomous mobile robot, and the current position of the second autonomous mobile robot A first individual vector to be calculated is calculated. The movement of the first autonomous mobile robot based on the first certainty factor of the first autonomous mobile robot, the third confidence factor of the third autonomous mobile robot, and the current position of the third autonomous mobile robot A second individual vector to be calculated is calculated. The sum of the first individual vector and the second individual vector is calculated as a movement vector. The size of the first individual vector increases as the second certainty factor of the second autonomous mobile robot increases, and the distance between the first autonomous mobile robot and the second autonomous mobile robot increases. It gets smaller. The magnitude of the second individual vector increases as the third certainty factor of the third autonomous mobile robot increases, and the distance between the first autonomous mobile robot and the third autonomous mobile robot increases. It gets smaller. The direction of the first individual vector is a direction from the current position of the first autonomous mobile robot toward the second autonomous mobile robot. The direction of the second individual vector is a direction from the current position of the first autonomous mobile robot toward the third autonomous mobile robot.

  Therefore, since a plurality of surrounding autonomous mobile robots approach the position of the autonomous mobile robot having a high certainty factor, the plurality of autonomous mobile robots can efficiently execute tasks in cooperation.

  An autonomous mobile control system according to another aspect of the present disclosure is an autonomous mobile control system including a plurality of autonomous mobile robots that execute a predetermined task, the first autonomous mobile robot and the first autonomous mobile robot A second autonomous mobile robot that communicates with the second autonomous mobile robot, and the second autonomous mobile robot has a certainty factor indicating a degree that the current position of the second autonomous mobile robot is a position suitable for executing the task A certainty factor calculating unit for calculating the second autonomous mobile robot, and a transmitting unit for transmitting the certainty factor of the second autonomous mobile robot to the first autonomous mobile robot, wherein the first autonomous mobile robot includes the first autonomous mobile robot, A certainty factor calculation unit for calculating a first certainty factor indicating a degree that the current position of one autonomous mobile robot is a position suitable for executing the task, and transmitted by the second autonomous mobile robot A receiver that receives the certainty factor as a second certainty factor, the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, A vector calculation unit for calculating a movement vector to be moved by the first autonomous mobile robot based on the current position of the second autonomous mobile robot; and A movement control unit for controlling movement.

  According to this configuration, the certainty factor indicating the degree that the current position of the second autonomous mobile robot is a suitable position for executing the task is calculated by the certainty factor calculation unit of the second autonomous mobile robot. The reliability of the second autonomous mobile robot is transmitted to the first autonomous mobile robot by the transmission unit of the second autonomous mobile robot. The first certainty factor calculation unit of the first autonomous mobile robot calculates the first certainty factor indicating the degree to which the current position of the first autonomous mobile robot is suitable for executing the task. The receiving unit of the first autonomous mobile robot receives the certainty factor transmitted by the second autonomous mobile robot as the second certainty factor. By the vector calculation unit of the first autonomous mobile robot, the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the current position of the second autonomous mobile robot Based on the above, a movement vector to be moved by the first autonomous mobile robot is calculated. The movement control unit of the first autonomous mobile robot controls the movement of the first autonomous mobile robot based on the movement vector.

  Therefore, the first certainty factor indicating the degree to which the current position of the first autonomous mobile robot is suitable for executing the task and the current position of the second autonomous mobile robot are suitable for executing the task. Since the movement vector to be moved by the first autonomous mobile robot is calculated based on the second certainty indicating the degree of the position and the current position of the second autonomous mobile robot, a plurality of autonomous movements Each of the robots moves to a more suitable position for executing the task, and each of the plurality of autonomous mobile robots can execute the task more efficiently.

  An autonomous mobile robot according to another aspect of the present disclosure is an autonomous mobile robot that executes a predetermined task that communicates with a communication target autonomous mobile robot that is a communication target, and the current position of the autonomous mobile robot indicates the task. A certainty factor calculating unit for calculating a first certainty factor indicating a degree of the position suitable for execution, and a degree that the current position of the communication target autonomous mobile robot is a suitable position for executing the task. A receiving unit that receives a second certainty factor from the communication target autonomous mobile robot, the first certainty factor of the autonomous mobile robot, the second certainty factor of the communication target autonomous mobile robot, and the communication A calculation unit that calculates a movement vector to be moved by the autonomous mobile robot based on the current position of the target autonomous mobile robot, and the autonomous mobile robot based on the movement vector. It comprises a movement control unit for controlling the movement of dot and.

  According to this configuration, the first certainty factor indicating the degree to which the current position of the autonomous mobile robot is a suitable position for executing the task is calculated by the certainty factor calculating unit. The receiving unit receives from the communication target autonomous mobile robot a second certainty factor indicating the degree to which the current position of the communication target autonomous mobile robot is a position suitable for executing the task. Based on the first certainty factor of the autonomous mobile robot, the second certainty factor of the communication target autonomous mobile robot, and the current position of the communication target autonomous mobile robot by the calculation unit, Is calculated. The movement control unit controls the movement of the autonomous mobile robot based on the movement vector.

  Therefore, the first certainty factor indicating the degree to which the current position of the first autonomous mobile robot is suitable for executing the task and the current position of the second autonomous mobile robot are suitable for executing the task. Since the movement vector to be moved by the first autonomous mobile robot is calculated based on the second certainty indicating the degree of the position and the current position of the second autonomous mobile robot, a plurality of autonomous movements Each of the robots moves to a more suitable position for executing the task, and each of the plurality of autonomous mobile robots can execute the task more efficiently.

  An autonomous mobile control program according to another aspect of the present disclosure is an autonomous mobile control program for an autonomous mobile robot that performs a predetermined task and communicates with a communication target autonomous mobile robot that is a communication target. A computer comprising: a certainty factor calculating unit for calculating a first certainty factor indicating a degree that the current position of the autonomous mobile robot is suitable for executing the task; and a current position of the communication target autonomous mobile robot Receiving from the communication target autonomous mobile robot a second certainty factor indicating the degree that is a position suitable for executing the task, the first certainty factor of the autonomous mobile robot, and the communication Based on the second certainty factor of the target autonomous mobile robot and the current position of the communication target autonomous mobile robot, the movement of the autonomous mobile robot A calculating unit for calculating a movement vector, to function as a movement control unit for controlling the movement of the autonomous mobile robot on the basis of the moving vector.

  According to this configuration, the first certainty factor indicating the degree to which the current position of the autonomous mobile robot is a suitable position for executing the task is calculated by the certainty factor calculating unit. The receiving unit receives from the communication target autonomous mobile robot a second certainty factor indicating the degree to which the current position of the communication target autonomous mobile robot is a position suitable for executing the task. Based on the first certainty factor of the autonomous mobile robot, the second certainty factor of the communication target autonomous mobile robot, and the current position of the communication target autonomous mobile robot by the calculation unit, the movement vector to be moved by the autonomous mobile robot Is calculated. The movement control unit controls the movement of the autonomous mobile robot based on the movement vector.

  Therefore, the first certainty factor indicating the degree to which the current position of the first autonomous mobile robot is suitable for executing the task and the current position of the second autonomous mobile robot are suitable for executing the task. Since the movement vector to be moved by the first autonomous mobile robot is calculated based on the second certainty indicating the degree of the position and the current position of the second autonomous mobile robot, a plurality of autonomous movements Each of the robots moves to a more suitable position for executing the task, and each of the plurality of autonomous mobile robots can execute the task more efficiently.

  These general or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM. The system, method, integrated circuit, computer You may implement | achieve with arbitrary combinations of a program or a recording medium.

  Hereinafter, a movement control method and the like according to an aspect of the present disclosure will be described with reference to the drawings.

  Note that each of the embodiments described below shows a specific example of the present disclosure. Numerical values, shapes, materials, components, or arrangement positions of components shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements.

(Embodiment 1)
[Overall view of autonomous mobile robot]
In the first embodiment, a cleaning robot that performs suction cleaning while moving will be described as an example of an autonomous mobile robot. A task executed by an autonomous movement control system including a plurality of autonomous mobile robots is suction cleaning for a predetermined area.

  FIG. 1 is an overall view illustrating an example of the configuration of the cleaning robot according to the first embodiment of the present disclosure.

  As shown in FIG. 1, the cleaning robot 1 includes at least a dust suction port 12, a driving wheel 13, a light emitting and receiving unit 14, a dust sensor 101, an approach sensor 102, and a contact sensor 103. The cleaning robot 1 includes a dust suction unit, a dust storage unit, a battery, and the like in addition to these components, but is omitted because it is not related to the autonomous movement control described here.

  The dust suction port 12 is an opening formed at the bottom of the cleaning robot 1. Dust is sucked into the cleaning robot 1 from the dust suction port 12 by suction by the dust suction unit or by sweeping with a brush.

  The drive wheel 13 is a drive wheel for moving the cleaning robot 1. The drive wheel 13 is installed at the bottom of the cleaning robot 1.

  The light emitting / receiving unit 14 emits infrared light and receives infrared light to perform infrared light communication with other cleaning robots. The light emitting / receiving unit 14 is installed on the upper surface of the cleaning robot 1, emits infrared light to the entire periphery of the cleaning robot 1, and receives infrared light from the entire periphery of the cleaning robot 1.

  The dust sensor 101 is an optical sensor, for example, and detects the amount of dust sucked by the cleaning robot 1. The dust sensor 101 detects the amount of dust at the current position of the cleaning robot 1. The dust sensor 101 is installed inside the cleaning robot 1 between the dust suction port 12 and the dust accumulation unit. For example, the dust sensor 101 counts the number of garbage that has passed through the dust suction port 12.

  The proximity sensor 102 is an ultrasonic sensor, for example, and detects that the cleaning robot 1 has approached an obstacle such as a wall or furniture. The proximity sensor 102 is installed in the front part of the cleaning robot 1 with reference to the traveling direction of the movement by the drive wheels 13.

  The contact sensor 103 is, for example, an electric switch, and detects that the cleaning robot 1 has touched an obstacle such as a wall or furniture. The contact sensor 103 is installed at the forefront of the cleaning robot 1 with reference to the traveling direction of the movement by the drive wheels 13.

[Functional configuration of autonomous mobile robot]
FIG. 2 is a block diagram illustrating an exemplary configuration of the cleaning robot 1 according to the first embodiment of the present disclosure.

  As shown in FIG. 2, the cleaning robot 1 includes a dust sensor 101, an approach sensor 102, a contact sensor 103, a driving unit 104, a light receiving unit 105, a light emitting unit 106, and a control unit 11.

  The dust sensor 101, the proximity sensor 102, and the contact sensor 103 have been described with reference to the overall view of FIG.

  The drive unit 104 includes a motor for moving the cleaning robot 1, a drive wheel 13, and the like, and moves the cleaning robot 1 based on an instruction from the control unit 11.

  The light receiving unit 105 is in the light receiving / emitting unit 14 and receives an infrared light signal from another cleaning robot. The light emitting unit 106 is in the light emitting / receiving unit 14 and transmits an infrared light signal to other cleaning robots.

  The control unit 11 controls the movement of the cleaning robot 1 and includes a plurality of components. For example, an information processing apparatus including a processor and a memory storing a program operates as the control unit 11.

  The control unit 11 includes a certainty factor calculation unit 111, a direction calculation unit 112, a distance calculation unit 113, a movement vector calculation unit 114, and a movement control unit 115.

  The certainty factor calculation unit 111 calculates a certainty factor indicating the degree to which the current position of the cleaning robot 1 is a suitable position for executing the task. The certainty factor calculation unit 111 calculates a certainty factor indicating the degree to which the current position of the cleaning robot 1 is a position suitable for dust cleaning based on the amount of dust detected by the dust sensor 101. The certainty value increases as the current position is suitable for executing the task. The certainty value of the cleaning robot 1 and the certainty values of other cleaning robots increase as the amount of dust increases. The certainty factor calculation method will be described later.

  The light emitting unit 106 transmits the certainty factor calculated by the certainty factor calculating unit 111 to another cleaning robot. That is, the infrared light signal emitted from the light emitting unit 106 includes the certainty factor calculated by the certainty factor calculating unit 111.

  In addition, the light receiving unit 105 receives a certainty factor indicating the degree to which the current position of the other cleaning robot is a suitable position for executing the task from the other cleaning robot. That is, the infrared light signal received by the light receiving unit 105 includes a certainty factor transmitted by another cleaning robot. The light receiving unit 105 receives an infrared light signal including a certainty factor emitted from another cleaning robot by an optical sensor.

  The direction calculation unit 112 calculates a direction from the current position of the cleaning robot 1 to the current position of another cleaning robot. The direction calculation unit 112 calculates a direction from the current position of the cleaning robot 1 to the current position of the other cleaning robot based on the direction in which the infrared light signal from the other cleaning robot received by the light receiving unit 105 is emitted. To do.

  The distance calculation unit 113 calculates the distance between the cleaning robot 1 and another cleaning robot. The distance calculation unit 113 calculates the distance between the cleaning robot 1 and another cleaning robot based on the signal intensity of the infrared light signal from the other cleaning robot received by the light receiving unit 105.

  The movement vector calculation unit 114 calculates a movement vector to be moved by the cleaning robot 1 based on the certainty factor of the cleaning robot 1, the certainty factors of the other cleaning robots, and the current positions of the other cleaning robots. The movement vector calculation unit 114 includes the certainty factor calculated by the certainty factor calculation unit 111, the certainty factor of the other cleaning robot received by the light receiving unit 105, the direction of the other cleaning robot, and the distance of the other cleaning robot. Based on the above, a movement vector composed of the direction and speed of moving the cleaning robot 1 is calculated.

  The movement control unit 115 controls the driving unit 104 based on the movement vector calculated by the movement vector calculation unit 114. The movement control unit 115 controls the movement of the cleaning robot 1 based on the movement vector.

  FIG. 3 is a schematic diagram showing a state in which the cleaning robot 1 moves and executes a task while communicating with a plurality of other cleaning robots. In FIG. 3, a room 15 is an area where the cleaning robot 1 executes a task. The plurality of cleaning robots in the room 15 cleans the floor surface of the room 15 in cooperation with each other by sucking in dust that exists on the floor surface of the room 15. A broken line 16 indicates that the cleaning robot 1 is communicating with another cleaning robot.

  The cleaning robot 1 receives an infrared light signal transmitted by a plurality of other cleaning robots. Moreover, the cleaning robot 1 transmits an infrared light signal toward a plurality of other cleaning robots that are unspecified objects. In FIG. 3, the cleaning robot 1 shows communication with all of the other cleaning robots. However, when there is an obstacle between the cleaning robots or when the distance between the cleaning robots is large, Communication with all cleaning robots is not always possible, and when there are few other cleaning robots that can communicate, there may be cases where communication with other cleaning robots is not possible at all.

  In FIG. 3, only communication between the cleaning robot 1 and another cleaning robot is illustrated, but other cleaning robots also perform communication in the same manner.

  The operation of the cleaning robot 1 of the first embodiment configured as described above will be described with reference to the flowchart of FIG.

  FIG. 4 is a flowchart for explaining the operation of the cleaning robot according to the first embodiment.

  First, in step S101, the dust sensor 101 detects the amount d of dust per unit time sucked by the cleaning robot 1 at the current position.

  Next, in step S <b> 102, the certainty factor calculation unit 111 sets a certainty factor c indicating whether the current position is a suitable position for executing the task from the amount d of dust detected by the dust sensor 101. It calculates using Formula (1).

c = max (1, k × d) (1)
In the above equation (1), k is a coefficient. Note that the function is not limited to the expression (1) as long as the function increases in accordance with the amount of dust d.

  Next, in step S103, the light emitting unit 106 transmits the certainty factor c calculated by the certainty factor calculating unit 111 to another cleaning robot. The light emitting unit 106 transmits the certainty factor using infrared light and broadcasts an infrared light signal including the certainty factor to other unspecified many cleaning robots by emitting light in all directions. The infrared light signal may include identification information for identifying the cleaning robot in addition to the certainty factor.

  Next, in step S104, the light receiving unit 105 receives a certainty factor from another cleaning robot by receiving an infrared light signal. When the infrared light signals can be received from a plurality of other cleaning robots, the light receiving unit 105 receives the plurality of infrared light signals. In this case, the light receiving unit 105 does not identify a plurality of other cleaning robots that are transmission sources, but distinguishes a plurality of infrared light signals. Here, the i-th received infrared light signal is s (i), and the certainty of another cleaning robot received by the infrared light signal s (i) is c (i). Note that the light receiving unit 105 cannot receive the infrared light signal when there is no other cleaning robot within the range in which the infrared light signal can be received or when there is an obstacle between the other cleaning robots. May be.

  Next, in step S105, the direction calculation unit 112 calculates a unit vector A (i) indicating the direction in which the infrared light signal s (i) is transmitted. The calculation of the direction is performed by, for example, transmitting the direction based on the bias of the signal intensity of the infrared light signal between the plurality of optical sensors when the light receiving unit 105 includes a plurality of optical sensors having directivity. Is calculated.

  Next, in step S106, the distance calculation unit 113 calculates the distance r (i) between the cleaning robot 1 and another cleaning robot that has transmitted the infrared light signal s (i). The distance calculation unit 113 calculates the distance based on the signal intensity of the infrared light signal received by the light receiving unit 105, for example. That is, the distance calculation unit 113 stores in advance a table or function in which the signal intensity of the infrared light signal is associated with the distance, and is associated with the signal intensity of the infrared light signal using the table or function. Calculate the distance.

  Next, in step S107, the movement vector calculation unit 114 determines the certainty factor c calculated by the certainty factor calculation unit 111, the certainty factor c (i) obtained from the infrared light signal s (i), and the direction. From the unit vector A (i) and the distance r (i), a movement vector R (i) for moving the cleaning robot 1 is calculated using the following equation (2).

  Next, in step S108, the movement control unit 115 controls the moving direction and speed of the cleaning robot 1 in accordance with the direction and magnitude of the movement vector calculated by the movement vector calculation unit 114, so that the cleaning robot 1 is moved. Move.

  That is, the cleaning robot 1 is pulled in the direction of the infrared light signal s (i) as the certainty factor c (i) included in the infrared light signal s (i) is larger. In addition, the cleaning robot 1 is configured such that the closer the distance r (i) between the cleaning robot 1 and another cleaning robot that has transmitted the infrared light signal s (i), the closer the infrared light signal s (i) is. Pulled in the direction. Furthermore, the cleaning robot 1 is controlled to move so that the greater the certainty factor c of the cleaning robot 1, the smaller the degree of pulling.

  Here, the operation | movement which the cleaning robot 1 moves in cooperation with several other cleaning robots is demonstrated using FIG.

  As shown in FIG. 3, the light receiving unit 105 of the cleaning robot 1 (first autonomous mobile robot) is a position where the current position of the cleaning robot 121 (second autonomous mobile robot) is suitable for executing a task. The degree of certainty indicating the degree is received from the cleaning robot 121, and the degree of certainty indicating the degree that the current position of the cleaning robot 122 (third autonomous mobile robot) is suitable for performing the task is indicated. Receive from.

  The movement vector calculation unit 114 calculates a first individual vector to be moved by the cleaning robot 1 based on the certainty factor of the cleaning robot 1, the certainty factor of the cleaning robot 121, and the current position of the cleaning robot 121. Further, the movement vector calculation unit 114 calculates a second individual vector to be moved by the cleaning robot 1 based on the certainty factor of the cleaning robot 1, the certainty factor of the cleaning robot 122, and the current position of the cleaning robot 122. To do. Then, the movement vector calculation unit 114 calculates the sum of the first individual vector and the second individual vector as the movement vector.

  Here, the magnitude of the first individual vector increases as the certainty factor of the cleaning robot 121 increases, and decreases as the distance between the cleaning robot 1 and the cleaning robot 121 increases. The magnitude of the second individual vector increases as the certainty factor of the cleaning robot 122 increases, and decreases as the distance between the cleaning robot 1 and the cleaning robot 122 increases. The direction of the first individual vector is a direction from the current position of the cleaning robot 1 toward the cleaning robot 121, and the direction of the second individual vector is a direction from the current position of the cleaning robot 1 toward the cleaning robot 122.

  Next, in step S109, the proximity sensor 102 detects that the cleaning robot 1 has approached an obstacle such as a wall or furniture using an ultrasonic sensor or the like, and the contact sensor 103 detects that the proximity sensor 102 has approached the obstacle. It is detected by an electric switch or the like that the cleaning robot 1 has touched an obstacle such as a wall or furniture.

  Next, in step S110, the movement control unit 115 determines whether the approach sensor 102 has approached the obstacle or the contact sensor has detected contact with the obstacle. If it is determined that an approach or contact has been detected (YES in step S110), in step S111, the movement control unit 115 changes the direction of the cleaning robot 1 in a direction to avoid a collision with an obstacle, The cleaning robot 1 is moved. Thereafter, the process returns to step S101.

  On the other hand, when it is determined that no approach or contact has been detected (NO in step S110), in step S112, the movement control unit 115 determines whether or not a predetermined time has elapsed since the cleaning robot 1 started operating. Judging. If it is determined that the predetermined time has elapsed (YES in step S112), the movement control unit 115 ends the operation. At this time, for example, the movement control unit 115 may move the cleaning robot 1 so as to return to a position (charging position) where the cleaning robot 1 starts operation. On the other hand, if it is determined that the predetermined time has not elapsed (NO in step S112), the process returns to step S101.

  Through the above operation, in an autonomous mobile control system that executes a predetermined task in cooperation with a plurality of autonomous mobile robots, the task of the entire system can be more efficiently performed using information on the positions and tasks of other autonomous mobile robots. Can be executed. In particular, by transmitting and receiving the certainty level indicating the degree to which the current position is suitable for executing a task among a plurality of autonomous mobile robots, each autonomous mobile robot is more suitable for executing a task. The predetermined task can be executed. Thereby, a task can be executed more efficiently in the entire system.

  In the first embodiment, the autonomous mobile control system includes a plurality of cleaning robots. However, the present disclosure is not particularly limited thereto, and the autonomous mobile control system includes a plurality of cleaning robots and a plurality of cleaning robots. A server that is communicably connected to at least one of the robots may be provided.

  In this case, the cleaning robot includes a communication unit in addition to the dust sensor 101, the proximity sensor 102, the contact sensor 103, the driving unit 104, the light receiving unit 105, the light emitting unit 106, and the control unit 11. The control unit 11 includes a certainty factor calculation unit 111, a direction calculation unit 112, a distance calculation unit 113, and a movement control unit 115. The server includes a communication unit and a control unit. The control unit of the server includes a movement vector calculation unit 114. The communication unit of the cleaning robot transmits the certainty factor of the other cleaning robot, the direction of the other cleaning robot, and the distance of the other cleaning robot to the server. The communication unit of the cleaning robot receives the calculated movement vector from the server. The communication unit of the server receives the certainty factor of the other cleaning robot, the direction of the other cleaning robot, and the distance of the other cleaning robot from the cleaning robot. The communication unit of the server transmits the calculated movement vector to the cleaning robot.

(Embodiment 2)
[Overall view of autonomous mobile robot]
In the first embodiment, the cleaning robot has been described as an example of an autonomous mobile robot. In the second embodiment, an unmanned air vehicle that searches for a victim in a disaster area such as an earthquake or flood will be described as an example of an autonomous mobile robot. A task executed by an autonomous mobile control system including a plurality of autonomous mobile robots is a search for a victim in a predetermined area.

  FIG. 5 is an overall view illustrating an example of the configuration of the unmanned air vehicle according to the second embodiment of the present disclosure.

  As shown in FIG. 5, the unmanned air vehicle 2 includes at least four rotors 22, human sensors 201, and position sensors 202. The unmanned air vehicle 2 includes a battery and the like in addition to these components, but is omitted because it is not related to the autonomous movement control described here.

  The rotor 22 is a rotor blade for obtaining lift, thrust, or torque for flying the unmanned air vehicle 2. In the second embodiment, the unmanned air vehicle 2 includes the four rotors 22, but the present disclosure is not particularly limited thereto, and the number of the rotors 22 may be any number.

  The human sensor 201 detects a victim (person) on the ground substantially directly below the unmanned air vehicle 2. The human sensor 201 is installed below the unmanned air vehicle 2 so as to face the ground. The human sensor 201 detects the likelihood that a person is present at the current position of the unmanned air vehicle 2. Here, the human sensor 201 uses an infrared temperature sensor that detects a person by detecting the body temperature of the person. The human sensor 201 may be a millimeter wave sensor so that it can detect a person in a building or under a rubble.

  The position sensor 202 detects the current position of the unmanned air vehicle 2. Here, the position sensor 202 uses, for example, a GPS (Global Positioning System) sensor.

[Functional configuration of autonomous mobile robot]
FIG. 6 is a block diagram illustrating an example of a configuration of the unmanned air vehicle 2 according to the second embodiment of the present disclosure.

  As shown in FIG. 6, the unmanned air vehicle 2 includes a human sensor 201, a position sensor 202, a drive unit 203, a reception unit 204, a transmission unit 205, a storage unit 206, and a control unit 21.

  The human sensor 201 and the position sensor 202 have been described with reference to the overall view of FIG.

  The drive unit 203 includes a motor or a rotor 22 for flying the unmanned aerial vehicle 2, and moves the unmanned aerial vehicle 2 based on an instruction from the control unit 21.

  The receiving unit 204 receives radio signals from other unmanned air vehicles. The transmission unit 205 transmits a radio signal to another unmanned air vehicle.

  The storage unit 206 has searched for position information indicating the current position of the unmanned air vehicle 2 detected by the position sensor 202 and position information indicating the current position of another unmanned air vehicle obtained from the wireless signal. Remember as.

  The control unit 21 controls the movement of the unmanned air vehicle 2 and includes a plurality of components. For example, an information processing apparatus including a processor and a memory storing a program operates as the control unit 21.

  The control unit 21 includes a certainty factor calculation unit 211, a movement vector calculation unit 212, and a movement control unit 213.

  The certainty factor calculation unit 211 calculates a certainty factor indicating the degree to which the current position of the unmanned air vehicle 2 is a suitable position for executing the task. The certainty factor calculation unit 211 is a position where the current position of the unmanned air vehicle 2 is suitable for searching for a person based on the likelihood that a person is present at the current position of the unmanned air vehicle 2 detected by the human sensor 201. A certainty factor indicating a certain degree is calculated. The value of the certainty factor increases as the current position of the unmanned air vehicle 2 is a position suitable for performing the task. The certainty value increases as the likelihood that a person is present at the current position of the unmanned air vehicle 2 increases. The certainty factor calculation method will be described later.

  The transmitting unit 205 transmits the certainty factor calculated by the certainty factor calculating unit 211 to another unmanned air vehicle. That is, the radio signal transmitted by the transmission unit 205 includes the certainty factor calculated by the certainty factor calculation unit 211. The transmission unit 205 transmits position information indicating the current position of the unmanned air vehicle 2 together with the certainty factor to other unmanned air vehicles.

  In addition, the receiving unit 204 receives a certainty factor indicating the degree to which the current position of the other unmanned air vehicle is a position suitable for executing the task from the other unmanned air vehicle. That is, the radio signal received by the receiving unit 204 includes the certainty factor transmitted by another unmanned air vehicle. In addition, the receiving part 204 receives the positional information which shows the present position of another unmanned air vehicle from other unmanned air vehicles with a certainty factor.

  The movement vector calculation unit 114 calculates a movement vector to be moved by the unmanned air vehicle 2 based on the certainty factor of the unmanned air vehicle 2, the certainty factors of the other unmanned air vehicles, and the current positions of the other unmanned air vehicles. calculate. The movement vector calculation unit 212 is represented by the certainty factor calculated by the certainty factor calculation unit 211, the certainty factor from other unmanned air vehicles received by the receiving unit 204, and the current position information of the other unmanned air vehicles. Based on the position, a movement vector composed of the direction and speed of moving the unmanned air vehicle 2 is calculated.

  The movement control unit 213 controls the driving unit 203 based on the movement vector calculated by the movement vector calculation unit 212. The movement control unit 213 controls the movement of the unmanned air vehicle 2 based on the movement vector.

  FIG. 7 is a schematic diagram showing how the unmanned aerial vehicle 2 moves and executes a task while communicating with a plurality of other unmanned aerial vehicles. The plurality of unmanned aerial vehicles search for a person existing on the ground in cooperation with each other by detecting a person existing on the ground. In FIG. 7, a broken line 23 indicates that the unmanned aerial vehicle 2 is communicating with other unmanned aerial vehicles.

  The unmanned aerial vehicle 2 receives radio signals transmitted by a plurality of other unmanned aerial vehicles. The unmanned aerial vehicle 2 transmits a radio signal to a plurality of other unmanned aerial vehicles that are unspecified objects. In FIG. 7, the unmanned aerial vehicle 2 shows a state in which it communicates with all of a plurality of other unmanned aerial vehicles. If the communication status of wireless communication is bad, it is not always possible to communicate with all unmanned air vehicles, and when there are few other unmanned air vehicles that can communicate, it is completely different from other unmanned air vehicles. Communication may not be possible.

  In FIG. 7, only communication between the unmanned aerial vehicle 2 and another unmanned air vehicle is illustrated, but other unmanned air vehicles also perform communication in the same manner.

  The operation of the unmanned air vehicle 2 of the second embodiment configured as described above will be described with reference to the flowcharts of FIGS.

  FIG. 8 is a first flowchart for explaining the operation of the unmanned aerial vehicle in the second embodiment, and FIG. 9 is a second flowchart for explaining the operation of the unmanned aerial vehicle in the second embodiment. It is a flowchart.

  First, in step S <b> 201, the human sensor 201 detects a victim (person) on the ground substantially below the unmanned air vehicle 2, and detects a likelihood d which is a likelihood that the disaster victim is present at the current position. Here, the likelihood d is 0 ≦ d ≦ 1. When the human sensor 201 is an infrared temperature sensor, the human sensor 201 measures the temperature of the ground almost directly below the unmanned air vehicle 2, and the measured temperature is an average body temperature of the human body (for example, 36.5 degrees). ), The likelihood d is set to 1, and the likelihood d is brought closer to 0 as the measured temperature goes away from the average body temperature of the human body.

  Next, in step S202, the position sensor 202 detects the current position of the unmanned air vehicle 2 using GPS, and outputs position information P indicating the current position.

  Next, in step S202, the certainty factor calculation unit 211 determines whether or not the current position detected by the position sensor 202 has already been searched. That is, the certainty factor calculation unit 211 determines whether or not the current position detected by the position sensor 202 matches the searched position stored in the storage unit 206. In this way, by determining whether or not the current position has already been searched, it is possible to prevent the same place from being searched many times, and to efficiently execute the task.

  If it is determined that the current position has already been searched (YES in step S203), the process proceeds to step S212.

  On the other hand, when it is determined that the current position has not been searched (NO in step S203), in step S204, the certainty factor calculation unit 211 calculates the current d from the likelihood d of the affected person detected by the human sensor 201. A certainty factor c indicating whether the position is suitable for executing the task is calculated using the following equation (3).

c = max (1, k × d) (3)
In the above equation (3), k is a coefficient. Note that the function is not limited to Expression (3) as long as the function increases according to the likelihood d.

  Next, in step S <b> 205, the transmission unit 205 uses the position information P indicating the current position of the unmanned air vehicle 2 detected by the position sensor 202 and the certainty factor c calculated by the certainty factor calculation unit 211 to other unmanned persons. Send to the aircraft. The transmitting unit 205 transmits the position information and the certainty factor using radio, and broadcasts a radio signal including the position information and the certainty factor to other unspecified unmanned air vehicles. The wireless signal may include identification information for identifying the unmanned air vehicle in addition to the position information and the certainty factor.

  Next, in step S206, the receiving unit 204 receives position information and certainty factor from another unmanned air vehicle by wireless communication. When radio signals can be received from a plurality of other unmanned air vehicles, the reception unit 204 receives a plurality of radio signals. In this case, the receiving unit 204 does not identify a plurality of other unmanned air vehicles that are transmission sources, but distinguishes a plurality of radio signals. Here, the radio signal received i-th is s (i), the certainty of another unmanned air vehicle received by the radio signal s (i) is c (i), and the position information of the other unmanned air vehicle is Let P (i). Note that the receiving unit 204 may be used when there is no other unmanned air vehicle within a range in which a wireless signal can be received, when there is an obstacle between other unmanned air vehicles, or when the communication status of wireless communication is poor. May not be able to receive radio signals.

  Next, in step S207, the movement vector calculation unit 212 determines the certainty factor c calculated by the certainty factor calculation unit 211, the certainty factor c (i) obtained from the wireless signal s (i), and the wireless signal s ( From the position information P (i) obtained from i), a movement vector R (i) for moving the unmanned air vehicle 2 is calculated using the following equation (4).

  Next, in step S208, the movement control unit 213 controls the moving direction and speed of the unmanned air vehicle 2 according to the direction and magnitude of the movement vector calculated by the movement vector calculating unit 212, and the unmanned air vehicle. Move 2.

  That is, the unmanned air vehicle 2 is pulled toward the other unmanned air vehicles that have transmitted the radio signal s (i) as the certainty factor c (i) included in the radio signal s (i) is larger. In addition, the unmanned air vehicle 2 is such that the closer the distance | P (i) -P | between the unmanned air vehicle 2 and the other unmanned air vehicle that transmitted the radio signal s (i) is, the closer the radio signal s ( i) pulled in the direction of the other unmanned air vehicle that transmitted Furthermore, the unmanned aerial vehicle 2 is controlled to move so that the greater the certainty factor c of the unmanned air vehicle 2, the smaller the degree of pulling.

  Here, the operation | movement which the unmanned air vehicle 2 moves in cooperation with several other unmanned air vehicles is demonstrated using FIG.

  As shown in FIG. 7, the receiving unit 204 of the unmanned air vehicle 2 (first autonomous mobile robot) is a position where the current position of the unmanned air vehicle 221 (second autonomous mobile robot) is suitable for executing the task. The degree of certainty indicating the degree to which the unmanned aerial vehicle 222 (third autonomous mobile robot) is present is the position suitable for executing the task. Is received from the unmanned air vehicle 222.

  The movement vector calculation unit 212 is a first individual vector to which the unmanned air vehicle 2 is to move based on the certainty factor of the unmanned air vehicle 2, the certainty factor of the unmanned air vehicle 221, and the current position of the unmanned air vehicle 221. Is calculated. Further, the movement vector calculation unit 212 is configured to move the unmanned air vehicle 2 to the second position on the basis of the certainty factor of the unmanned air vehicle 2, the certainty factor of the unmanned air vehicle 222, and the current position of the unmanned air vehicle 222. Calculate individual vectors. Then, the movement vector calculation unit 212 calculates the sum of the first individual vector and the second individual vector as the movement vector.

  The magnitude of the first individual vector increases as the certainty factor of the unmanned air vehicle 221 increases, and decreases as the distance between the unmanned air vehicle 2 and the unmanned air vehicle 221 increases. Further, the magnitude of the second individual vector increases as the certainty factor of the unmanned air vehicle 222 increases, and decreases as the distance between the unmanned air vehicle 2 and the unmanned air vehicle 222 increases. The direction of the first individual vector is a direction from the current position of the unmanned air vehicle 2 toward the unmanned air vehicle 221, and the direction of the second individual vector is from the current position of the unmanned air vehicle 2 toward the unmanned air vehicle 222. Direction.

  Next, in step S209, the movement control unit 213 detects the current position of the unmanned air vehicle 2 detected by the position sensor 202, and the position indicating the current position of another unmanned air vehicle obtained from the radio signal. Information is stored in the storage unit 206. These pieces of position information are stored in the storage unit 206 as searched positions.

  In the second embodiment, position information indicating the current position is stored, but the present disclosure is not particularly limited to this. The movement control unit 213 includes region information indicating a predetermined region including the current position of the unmanned air vehicle 2 detected by the position sensor 202 and a predetermined region including the current position of another unmanned air vehicle obtained from the radio signal. May be stored in the storage unit 206.

  In addition, the movement control unit 213 stores map information in which the current position of the unmanned air vehicle 2 detected by the position sensor 202 and the current position of another unmanned air vehicle obtained from the radio signal are represented by a map. May be stored.

  Further, the movement control unit 213 has position information indicating the current position of the unmanned air vehicle 2 with the certainty degree calculated by the certainty degree calculating unit 211 equal to or greater than a predetermined value, and the certainty degree obtained from the radio signal is equal to or larger than the predetermined value. The position information indicating the current position of the other unmanned air vehicle may be stored in the storage unit 206.

  Next, in step S210, the movement control unit 213 determines whether the distance | P (i) -P | between the unmanned air vehicle 2 and another unmanned air vehicle is shorter than a predetermined distance. If it is determined that the distance | P (i) −P | between the unmanned air vehicle 2 and another unmanned air vehicle is shorter than a predetermined distance (YES in step S210), movement control is performed in step S211. The unit 213 moves the unmanned aerial vehicle 2 by changing the direction of the unmanned aerial vehicle 2 in a direction avoiding other unmanned aerial vehicles. Thereafter, the process returns to step S201.

  On the other hand, when it is determined that the distance | P (i) −P | between the unmanned air vehicle 2 and another unmanned air vehicle is equal to or greater than a predetermined distance (NO in step S210), movement control is performed in step S212. The unit 213 determines whether or not a predetermined time has elapsed since the unmanned air vehicle 2 started operation. If it is determined that the predetermined time has elapsed (YES in step S212), the movement control unit 115 ends the operation. At this time, the movement control unit 213 may move the unmanned aerial vehicle 2 such that the unmanned aerial vehicle 2 returns to a position (charging position) where the unmanned aerial vehicle 2 starts to operate, for example. On the other hand, if it is determined that the predetermined time has not elapsed (NO in step S212), the process returns to step S201.

  In the second embodiment, the movement control unit 213 determines whether or not a predetermined time has elapsed since the unmanned air vehicle 2 started to operate, but the present disclosure is particularly limited to this. Instead, the movement control unit 213 may determine whether or not the search within a predetermined area is completed.

  Through the above operation, in an autonomous mobile control system that executes a predetermined task in cooperation with a plurality of autonomous mobile robots, the task of the entire system can be more efficiently performed using information on the positions and tasks of other autonomous mobile robots. Can be executed. In particular, by transmitting and receiving the certainty level indicating the degree to which the current position is suitable for executing a task among a plurality of autonomous mobile robots, each autonomous mobile robot is more suitable for executing a task. The predetermined task can be executed. Thereby, a task can be executed more efficiently in the entire system.

  In the second embodiment, the autonomous mobile control system includes a plurality of unmanned aerial vehicles. However, the present disclosure is not particularly limited thereto, and the autonomous mobile control system includes a plurality of unmanned aerial vehicles and a plurality of unmanned air vehicles. And a server communicatively connected to at least one of the unmanned aerial vehicles.

  In this case, the unmanned air vehicle includes a human sensor 201, a position sensor 202, a drive unit 203, a reception unit 204, a transmission unit 205, a storage unit 206, and a control unit 21. The control unit 11 of the unmanned air vehicle includes a certainty factor calculation unit 211 and a movement control unit 213. The server includes a communication unit and a control unit. The server control unit includes a movement vector calculation unit 212. The unmanned aerial vehicle transmission unit 205 transmits the certainty factor of the other unmanned aerial vehicles and the position information of the other unmanned aerial vehicles to the server. Furthermore, the unmanned air vehicle receiving unit 204 receives the calculated movement vector from the server. The communication unit of the server receives the certainty factor of the other unmanned air vehicle and the position information of the other unmanned air vehicle from the unmanned air vehicle. The communication unit of the server transmits the calculated movement vector to the unmanned air vehicle.

  Further, the transmission unit 205 of the unmanned air vehicle may transmit position information indicating its current position detected by the position sensor 202 to the server. In this case, the server stores the position information of a plurality of unmanned air vehicles, identifies the movement paths of the plurality of unmanned air vehicles, and moves each unmanned air vehicle so that each unmanned air vehicle does not search for a position that has already been searched. May be controlled.

  In this disclosure, all or part of a unit, device, member, or part, or all or part of the functional blocks in the block diagrams shown in FIGS. 2 and 6 are a semiconductor device, a semiconductor integrated circuit (IC), or an LSI ( It may be implemented by one or more electronic circuits including Large Scale Integration). The LSI or IC may be integrated on a single chip, or may be configured by combining a plurality of chips. For example, the functional blocks other than the memory element may be integrated on one chip. Here, it is called LSI or IC, but the name changes depending on the degree of integration, and may be called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). A Field Programmable Gate Array (FPGA), which is programmed after manufacturing the LSI, or a Reconfigurable Logic Device capable of reconfiguring the junction relationship inside the LSI or setting up a circuit partition inside the LSI can be used for the same purpose.

  Furthermore, all or part of the functions or operations of the unit, apparatus, member, or unit can be executed by software processing. In this case, the software is recorded on a non-temporary recording medium such as one or more ROMs, optical disks, hard disk drives, etc., and is specified by the software when the software is executed by a processor. Functions are executed by a processor and peripheral devices. The system or apparatus may include one or more non-transitory recording media on which software is recorded, a processor, and a required hardware device such as an interface.

  A movement control method, an autonomous movement control system, an autonomous mobile robot, and an autonomous movement control program according to the present disclosure are such that each of a plurality of autonomous mobile robots can more efficiently execute a task, and a plurality of predetermined tasks are executed. A movement control method in an autonomous movement control system including a plurality of autonomous mobile robots, an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task, and a predetermined task that communicates with a communication target autonomous mobile robot that is a communication target This is useful as an autonomous mobile robot to be executed and an autonomous mobile control program for the autonomous mobile robot.

DESCRIPTION OF SYMBOLS 1 Cleaning robot 2 Unmanned air vehicle 11 Control part 12 Garbage suction inlet 13 Drive wheel 14 Light receiving / emitting part 21 Control part 22 Rotor 101 Waste sensor 102 Proximity sensor 103 Contact sensor 104 Drive part 105 Light receiving part 106 Light emitting part 111 Certainty factor calculation part 112 Direction calculation unit 113 Distance calculation unit 114 Movement vector calculation unit 115 Movement control unit 201 Human sensor 202 Position sensor 203 Drive unit 204 Reception unit 205 Transmission unit 206 Storage unit 211 Certainty factor calculation unit 212 Movement vector calculation unit 213 Movement control unit

Claims (11)

A movement control method in an autonomous movement control system comprising a plurality of autonomous mobile robots that perform a predetermined task,
The plurality of autonomous mobile robots includes a first autonomous mobile robot and a second autonomous mobile robot that communicates with the first autonomous mobile robot;
A first certainty factor calculating step in which the first autonomous mobile robot calculates a first certainty factor indicating a degree that a current position of the first autonomous mobile robot is a suitable position for executing the task;
The first autonomous mobile robot receives, from the second autonomous mobile robot, a second certainty factor indicating the degree to which the current position of the second autonomous mobile robot is a position suitable for executing the task. Receiving step to
The first autonomous mobile robot has the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the current status of the second autonomous mobile robot. A vector calculation step of calculating a movement vector to be moved by the first autonomous mobile robot based on the position;
A movement control step in which the first autonomous mobile robot controls the movement of the first autonomous mobile robot based on the movement vector;
A movement control method including: The vector calculation step includes:
A direction calculating step in which the first autonomous mobile robot calculates a direction from the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot;
A distance calculating step in which the first autonomous mobile robot calculates a distance between the first autonomous mobile robot and the second autonomous mobile robot;
The first autonomous mobile robot has the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the second autonomous mobile robot. A movement vector calculating step of calculating the movement vector of the first autonomous mobile robot based on a direction and the distance of the second autonomous mobile robot;
including,
The movement control method according to claim 1. In the receiving step, the first autonomous mobile robot receives an optical signal including the second certainty factor emitted from the second autonomous mobile robot by an optical sensor,
In the direction calculating step, the second autonomous movement of the first autonomous mobile robot from the current position of the first autonomous mobile robot based on the direction in which the optical signal received by the optical sensor is emitted. Calculate the direction to the current position of the robot,
In the distance calculating step, the first autonomous mobile robot is connected between the first autonomous mobile robot and the second autonomous mobile robot based on the signal intensity of the optical signal received by the optical sensor. Calculate distance,
The movement control method according to claim 2. In the receiving step, the first autonomous mobile robot receives position information indicating the current position of the second autonomous mobile robot together with the second certainty factor from the second autonomous mobile robot;
In the vector calculating step, the first autonomous mobile robot has the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the second Calculating the movement vector of the first autonomous mobile robot based on the current position indicated by the position information of the autonomous mobile robot;
The movement control method according to claim 1. The first autonomous mobile robot further includes a transmission step of transmitting the calculated first certainty factor to the second autonomous mobile robot,
The movement control method of any one of Claims 1-4. The first autonomous mobile robot further includes a detection step of detecting an amount of garbage at a current position of the first autonomous mobile robot;
In the certainty factor calculating step, the first autonomous mobile robot determines the first certainty factor of the first autonomous mobile robot based on the amount of garbage at the current position of the first autonomous mobile robot. Calculate
The second certainty factor is calculated based on the amount of garbage at a current position of the second autonomous mobile robot,
The value of the first certainty factor and the value of the second certainty factor increase as the amount of garbage increases.
The movement control method according to claim 5. The first autonomous mobile robot further includes a detection step of detecting a likelihood that a person is present at a current position of the first autonomous mobile robot,
In the certainty factor calculating step, the first autonomous mobile robot calculates the first certainty factor of the first autonomous mobile robot based on the likelihood,
The second certainty factor is calculated based on a likelihood that a person is present at the current position of the second autonomous mobile robot,
The value of the first certainty factor and the value of the second certainty factor increase as the likelihood increases.
The movement control method according to claim 5. The plurality of autonomous mobile robots further includes a third autonomous mobile robot that communicates with the first autonomous mobile robot;
In the receiving step, the third autonomous mobile robot has a third certainty factor indicating the degree to which the current position of the third autonomous mobile robot is suitable for executing the task. Received from an autonomous mobile robot,
In the vector calculating step, the first autonomous mobile robot has the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the second A first individual vector to be moved by the first autonomous mobile robot is calculated based on the current position of the autonomous mobile robot, and the first certainty factor of the first autonomous mobile robot and the first Calculating a second individual vector to be moved by the first autonomous mobile robot based on the third certainty factor of the third autonomous mobile robot and a current position of the third autonomous mobile robot; Calculating the sum of the first individual vector and the second individual vector as the movement vector;
The magnitude of the first individual vector increases as the second certainty factor of the second autonomous mobile robot increases, and between the first autonomous mobile robot and the second autonomous mobile robot. The greater the distance between, the smaller
The magnitude of the second individual vector increases as the third certainty factor of the third autonomous mobile robot increases, and between the first autonomous mobile robot and the third autonomous mobile robot. The greater the distance between, the smaller
The direction of the first individual vector is a direction from the current position of the first autonomous mobile robot to the second autonomous mobile robot,
The direction of the second individual vector is a direction from the current position of the first autonomous mobile robot to the third autonomous mobile robot.
The movement control method according to claim 1. An autonomous mobile control system comprising a plurality of autonomous mobile robots that perform a predetermined task,
A first autonomous mobile robot;
A second autonomous mobile robot communicating with the first autonomous mobile robot,
The second autonomous mobile robot is:
A certainty factor calculating unit that calculates a certainty factor indicating a degree that the current position of the second autonomous mobile robot is a position suitable for executing the task;
A transmitter for transmitting the certainty factor of the second autonomous mobile robot to the first autonomous mobile robot;
With
The first autonomous mobile robot is:
A certainty factor calculating unit that calculates a first certainty factor indicating a degree that the current position of the first autonomous mobile robot is a position suitable for executing the task;
A receiving unit that receives the certainty factor transmitted by the second autonomous mobile robot as a second certainty factor;
Based on the first certainty factor of the first autonomous mobile robot, the second certainty factor of the second autonomous mobile robot, and the current position of the second autonomous mobile robot, the first A vector calculation unit for calculating a movement vector to be moved by the autonomous mobile robot,
A movement control unit for controlling movement of the first autonomous mobile robot based on the movement vector;
An autonomous mobile control system. An autonomous mobile robot that communicates with a communication target autonomous mobile robot that is a communication target and performs a predetermined task,
A certainty factor calculating unit that calculates a first certainty factor indicating a degree that the current position of the autonomous mobile robot is a position suitable for executing the task;
A receiver that receives from the communication target autonomous mobile robot a second certainty factor indicating a degree that the current position of the communication target autonomous mobile robot is a position suitable for executing the task;
Based on the first certainty factor of the autonomous mobile robot, the second certainty factor of the communication target autonomous mobile robot, and the current position of the communication target autonomous mobile robot, the autonomous mobile robot should move A calculation unit for calculating a movement vector;
A movement control unit for controlling movement of the autonomous mobile robot based on the movement vector;
An autonomous mobile robot with An autonomous mobile control program for an autonomous mobile robot that communicates with a communication target autonomous mobile robot that is a communication target and that performs a predetermined task,
A computer provided in the autonomous mobile robot,
A certainty factor calculating unit that calculates a first certainty factor indicating a degree that the current position of the autonomous mobile robot is a position suitable for executing the task;
A receiver that receives from the communication target autonomous mobile robot a second certainty factor indicating a degree that the current position of the communication target autonomous mobile robot is a position suitable for executing the task;
Based on the first certainty factor of the autonomous mobile robot, the second certainty factor of the communication target autonomous mobile robot, and the current position of the communication target autonomous mobile robot, the autonomous mobile robot should move A calculation unit for calculating a movement vector;
Function as a movement control unit that controls movement of the autonomous mobile robot based on the movement vector;
Autonomous movement control program.

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