JP2019109769A - Moving object - Google Patents

Abstract

To solve the problem that intended movement is limited since a wall is detected as an obstacle when a moving object moves near the wall.SOLUTION: A moving object 1 comprises: a distance measuring sensor 12 for measuring the distance to an object around relating to a plurality of directions; an obstacle detection unit 13 for detecting an obstacle using the result of distance measurement; a movement mechanism 11 for moving the moving object 1; a movement control unit 17 for controlling the movement mechanism 11 so as to avoid collision against an obstacle detected by the obstacle detection unit 13; and an obstacle detection control unit 16 for controlling the obstacle detection unit 13 so that detection of an obstacle is weakened when a predetermined condition is satisfied. Thus, by setting so that the condition is satisfied when moving near a wall, etc., it is possible to suppress the intended movement from being limited by detection of an obstacle even when the moving object 1 moves near a wall, etc., and to realize smooth movement.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a mobile that performs obstacle detection.

  In a conventional moving body, a distance measuring sensor is used to measure the distance to a surrounding object, and an obstacle is detected using the measurement result (see, for example, Patent Document 1). When an obstacle is detected in such a manner, the mobile body decelerates or stops, for example, to prevent a collision with the obstacle. As such, by performing movement control in accordance with obstacle detection in the moving body, safer movement can be realized.

JP 2017-97535 A

  However, when the moving object enters a narrow passage, passes through a narrow T-junction, moves in and out of the elevator basket, etc., the moving object becomes inoperable by detecting the wall as an obstacle. Could have been. Generally speaking, there is a problem that obstacle detection may limit the original movement depending on the movement environment.

  The present invention has been made to solve the above problems, and it is possible to prevent obstacle detection from restricting the original movement even when the moving object moves near a wall or the like. Intended to provide the body.

In order to achieve the above object, a mobile according to the present invention is a mobile that moves autonomously, and uses a distance measurement sensor that measures the distance to surrounding objects in a plurality of directions, and measurement results by the distance measurement sensor Detection unit that detects an obstacle, a movement mechanism that moves a moving object, and a movement control unit that controls the movement mechanism to prevent a collision with the obstacle detected by the obstacle detection unit; And an obstacle detection control unit configured to control the obstacle detection unit such that detection of the obstacle is weakened when the above conditions are satisfied.
With such a configuration, when a predetermined condition is satisfied, detection of an obstacle can be weakened. Therefore, for example, when passing near a wall or entering or exiting an elevator cage, a wall or the like is detected as an obstacle by setting so as to satisfy predetermined conditions. It is possible to reduce situations where the original movement is restricted by the detection, and to realize smooth movement.

In the mobile object according to the present invention, the obstacle detection control unit may stop the detection of the obstacle by the obstacle detection unit when the predetermined condition is satisfied.
With such a configuration, when a predetermined condition is satisfied, the movement of the moving object can be prioritized by stopping the detection of the obstacle using the measurement result of the distance measurement sensor. Become.

In the mobile object according to the present invention, the obstacle detection control unit may narrow the detection range of the obstacle by the obstacle detection unit when the predetermined condition is satisfied.
With such a configuration, even if the predetermined condition is satisfied, smooth movement of the mobile object is performed by performing detection of an obstacle using a measurement result of the distance measurement sensor in a narrow range, It will be possible to make it compatible with the maintenance of safety.

The mobile unit according to the present invention may further include a current position acquisition unit for acquiring the current position of the mobile unit, and the predetermined condition may be that the current position is a predetermined position.
With such a configuration, by setting the vicinity of a wall or a narrow passage or the like in a predetermined place, detection of an obstacle can be weakened in such a place, and smooth movement is realized. Will be able to

In the mobile object according to the present invention, the mobile object further includes a label detection unit that detects a label in the mobile environment, and the predetermined condition may be that the label is detected by the label detection unit.
With such a configuration, by setting a marker or the like such as a beacon to be detected near a wall or in a narrow aisle, obstacle detection can be weakened in such a place, and smooth. Can be realized.

Also, in the mobile unit according to the present invention, the predetermined condition may be that the mobile unit has entered the elevator car.
Such a configuration allows the mobile unit to smoothly move in and out of the elevator car.

  According to the mobile object according to the present invention, for example, even when the mobile object moves near a wall or the like, the original movement can not be restricted by the obstacle detection.

Block diagram showing the configuration of a mobile according to an embodiment of the present invention Flow chart showing operation of mobile according to the same embodiment A figure for explaining limitation of detection range of obstacle in the embodiment. A diagram for describing restriction of obstacle detection in the embodiment. A diagram for describing restriction of obstacle detection in the embodiment. A diagram for describing restriction of obstacle detection in the embodiment.

  Hereinafter, the mobile unit according to the present invention will be described using the embodiment. In the following embodiments, components and steps denoted by the same reference numerals are the same or correspond to each other, and the description thereof may not be repeated. The moving object according to the present embodiment is controlled to weaken obstacle detection using the distance measurement result when certain conditions are satisfied.

  FIG. 1 is a block diagram showing the configuration of a mobile unit 1 according to the present embodiment. The moving body 1 according to the present embodiment moves autonomously, and includes the moving mechanism 11, the distance measurement sensor 12, the obstacle detection unit 13, the current position acquisition unit 14, and the sign detection unit 15. An obstacle detection control unit 16 and a movement control unit 17 are provided. Note that moving the mobile unit 1 autonomously may be moving to a destination based on its own judgment instead of moving according to an operation instruction that the mobile unit 1 receives from a user or the like. The destination may be, for example, manually determined or automatically determined. Also, the movement to the destination may or may not be performed, for example, along the movement path. Further, to move to the destination based on its own judgment may be, for example, moving to the destination by the moving body 1 determining itself by the traveling direction, movement, stop, and the like. Also, for example, the mobile unit 1 may move so as not to collide with an obstacle. The moving body 1 may be, for example, a carriage or a moving robot. The robot may be, for example, an entertainment robot, a monitoring robot, a transfer robot, a cleaning robot, or a robot for capturing a moving image or a still image. , May be other robots.

  The moving mechanism 11 moves the moving body 1. For example, the moving mechanism 11 may or may not be capable of moving the moving body 1 in all directions. To be able to move in all directions means to be able to move in any direction. The moving mechanism 11 may have, for example, a traveling unit (for example, a wheel or the like) and a driving unit (for example, a motor or an engine) for driving the traveling unit. When the moving mechanism 11 can move the moving body 1 in all directions, the traveling part may be an all-direction moving wheel (for example, an omni wheel, a mecanum wheel, or the like). For a movable body having an omnidirectionally moving wheel and movable in all directions, see, for example, JP-A-2017-128187. A known mechanism can be used as the moving mechanism 11, and thus the detailed description thereof is omitted.

  The ranging sensor 12 measures the distances to surrounding objects in a plurality of directions. The distance measurement sensor 12 may be, for example, a laser sensor, an ultrasonic sensor, a distance sensor using a microwave, a distance sensor using a stereo image captured by a stereo camera, or the like. The laser sensor may be a laser range sensor (laser range scanner). Note that these distance measuring sensors are already known, and the description thereof will be omitted. In the present embodiment, the case where the distance measuring sensor 12 is a laser range sensor will be mainly described. In addition, the moving body 1 may have one laser range sensor, or may have two or more laser range sensors. In the latter case, all directions may be covered by two or more laser range sensors. Further, when the distance measuring sensor 12 is an ultrasonic sensor, a distance sensor using microwaves, etc., the distances in multiple directions may be measured by rotating the distance measuring direction of the distance measuring sensor 12. A plurality of distance measurement sensors 12 arranged for each direction may be used to measure the distance in a plurality of directions. The distance measuring sensor 12 may measure the distance in the direction of the predetermined range, or may measure the distance in all directions. For example, the distance measuring sensor 12 may measure distances in a plurality of directions with respect to the range only in front of the moving body 1. Further, for example, the distance measurement sensor 12 may measure distances in a plurality of directions at predetermined angular intervals for the entire circumference (360 degrees). The angular interval may be constant, such as, for example, an interval of 1 degree, an interval of 2 degrees, or an interval of 5 degrees. The information obtained from the distance measurement sensor 12 may be, for example, distances to surrounding objects with respect to each of a plurality of azimuth angles based on a certain direction of the mobile body 1. By using the distance, it becomes possible to know what kind of object exists around the moving body 1 in the local coordinate system of the moving body 1.

  The obstacle detection unit 13 detects an obstacle using the distance measured by the distance measurement sensor 12. The obstacle detection unit 13 may detect an object as an obstacle, for example, when the distance measured by the distance measurement sensor 12 indicates that an object is present near the moving body 1. For example, when the distance to the surrounding object measured by the distance measurement sensor 12 becomes equal to or less than a predetermined threshold, the obstacle detection unit 13 may detect the object as an obstacle. The distance to the surrounding object may be, for example, the distance from the distance measurement sensor 12 or the distance from the outer edge of the moving body 1, and the outer edge of the moving body 1 is virtually expanded It may be a distance from a position or a distance from another reference. The threshold may be one, or two or more. In the latter case, for example, two threshold values may be present depending on the stop area and the deceleration area. When an obstacle present in the stop area is detected, the mobile body 1 may be stopped, and when an obstacle present in the deceleration area is detected, the mobile body 1 may be decelerated. The threshold value and the area where the obstacle is detected may be changed by the obstacle detection control unit 16 as described later. Note that the number of regions in which an obstacle is detected may be one. The area may be, for example, a stop area or a deceleration area.

  The current position acquisition unit 14 acquires the current position of the mobile unit 1. The acquisition of the current position may be performed, for example, using wireless communication, may be performed using a measurement result of the distance to the surrounding object, or may be performed by capturing an image of the surrounding , And other means capable of obtaining the current position may be used. As a method of acquiring the current position using wireless communication, for example, a method using GPS (Global Positioning System), a method using indoor GPS, a method using a nearest wireless base station, and the like are known. Also, for example, as a method of acquiring the current position by using the measurement result of the distance to the surrounding object or photographing the surrounding image, for example, known by SLAM (Simultaneous Localization and Mapping) or the like. Any method may be used. As a measurement result of the distance to the surrounding object, for example, the measurement result of the distance measurement sensor 12 may be used. In addition, when a map (for example, a measurement result of the distance to a surrounding object, a map having a photographed image, etc.) created in advance is stored, the current position acquisition unit 14 uses the map to The current position may be obtained by specifying the position corresponding to the measurement result of the distance to the object, and the surrounding image is taken and the map is used to specify the position corresponding to the photographing result. The position may be acquired. Also, the current position acquisition unit 14 may acquire the current position using, for example, an autonomous navigation device. Further, it is preferable that the current position acquisition unit 14 acquire the current position including the direction (direction) of the mobile body 1. The direction may be indicated by an azimuth angle measured clockwise, for example, with 0 degrees to the north, and may be indicated by information indicating other directions. The orientation may be obtained by an electronic compass or a geomagnetic sensor.

  The marker detection unit 15 detects a marker in a mobile environment. The sign may be, for example, a marker (indication sign), may be a beacon (radio sign, radio sign), may be light emission (light sign), or is sound (sound sign) It may also be another label. When the marker is a marker, the marker may be visually recognized and may be a predetermined figure or the like installed in the moving environment of the mobile body 1. Then, the sign detection unit 15 has a photographing means, and when it is recognized that the image photographed by the photographing means contains a marker which is a mark, it may be judged that the mark is detected. . In the case where the sign is a beacon, the beacon may be, for example, a radio wave of a predetermined format periodically transmitted from a predetermined transmitting station installed in the mobile environment of the mobile unit 1 . The beacon may be transmitted by a communication method such as Bluetooth (registered trademark) or wireless LAN (Local Area Network), for example, or may be transmitted by another method. And the label | marker detection part 15 has a receiving means to receive a beacon, and when it recognizes that the beacon which is a label | marker is contained in the signal received by the receiving means, it is judged that the label | marker was detected You may When the label is a light emission, the light emission may be a predetermined blinking pattern emitted by a light emitter installed in the mobile environment of the mobile body 1. Then, the sign detection unit 15 has a photographing means, a light receiving element, etc., and recognizes that the change in brightness obtained by the photographing means, the light receiving element etc. includes a blinking pattern of light emission which is a sign. If it does, it may be determined that a sign has been detected. When the sign is a sound, the sound sign is a predetermined sound (for example, a sound of a predetermined frequency, which is periodically output from a predetermined speaker installed in the moving environment of the mobile unit 1) Or a sound changing in a predetermined pattern). Then, the sign detection unit 15 has sound receiving means such as a microphone, and it is determined that the sign is detected when it is recognized that the sound received by the sound receiving means includes a sound that is a sign. You may

  The obstacle detection control unit 16 controls the obstacle detection unit 13 so that detection of an obstacle becomes weak when a predetermined condition is satisfied. To control so as to weaken the detection of an obstacle is to control in a direction in which the obstacle is not detected. For example, to weaken the detection of an obstacle may not be to detect the obstacle. That is, the obstacle detection control unit 16 may stop the detection of the obstacle by the obstacle detection unit 13 when the predetermined condition is satisfied. Also, for example, to weaken the detection of an obstacle may be narrowing the detection range of the obstacle. That is, the obstacle detection control unit 16 may narrow the detection range of the obstacle by the obstacle detection unit 13 when the predetermined condition is satisfied. To narrow the detection range of the obstacle may be to shorten the distance to detect the obstacle or to reduce the area to detect the obstacle. When the stop area and the deceleration area exist in the area for detecting the obstacle, the respective areas may or may not be narrowed when narrowing the detection area of the obstacle. In the latter case, for example, when the detection range of the obstacle after being narrowed is all included in the stop area in the normal detection range of the obstacle, the detection range of the obstacle after being narrowed is all stopped It may be an area.

  FIG. 3 is a view showing an example of the detection range of the obstacle, and a view of the mobile body 1 from above. Referring to FIG. 3, normally, it is assumed that an obstacle is detected in region R <b> 11 around mobile unit 1. That is, the obstacle detection unit 13 determines that an obstacle is present when it is determined by the measurement result of the distance measurement sensor 12 that the object is present in the region R11. On the other hand, when the predetermined condition is satisfied, for example, the region R11 may not exist or may be narrowed to the region R12. The former corresponds to the case where the detection of the obstacle is stopped, and the latter corresponds to the case where the detection range of the obstacle is narrowed. Although not limited to these, for example, a region R11 is a rectangle surrounded by four straight lines, each of which has a straight line along each side of the outer edge of the mobile body 1 moved about 2 to 3 meters outward. From this, it may be a region from which the range of the mobile unit 1 has been removed. In addition, the region R12 removes the range of the moving body 1 from the rectangle surrounded by four straight lines which are moved about 5 to 10 centimeters outward of the straight lines along the outer edge of the moving body 1 respectively. It may be an area where In addition, about the conditions decided beforehand, it mentions later. Further, the regions R11 and R12 shown in FIG. 3 are an example, and for example, the region R11 is set to a range in which the distance from the outer edge of the moving body 1 is equal to or less than a predetermined length. May be set. In that case, each of the regions R11 and R12 has a shape obtained by rounding each vertex of the regions R11 and R12 shown in FIG. When the moving direction of the mobile unit 1 is determined, the regions R11 and R12 may be set so as to extend only in the moving direction. For example, when the mobile unit 1 shown in FIG. 3 moves only in the right direction in the figure, only the regions R11 and R12 on the right side of the straight line extending the right side of the mobile unit 1 in FIG. Or a weakened detection range.

  The movement control unit 17 controls the movement of the movable body 1 by controlling the movement mechanism 11. The control of movement may be control of the direction of movement of the mobile body 1 or start / stop of movement. For example, when the movement path is set, the movement control unit 17 may control the movement mechanism 11 so that the moving body 1 moves along the movement path. More specifically, the movement control unit 17 may control the movement mechanism 11 so that the current position acquired by the current position acquisition unit 14 is along the movement path. In addition, the movement control unit 17 may control movement using a map. In that case, the mobile unit 1 may include a storage unit in which a map is stored.

  In addition, the movement control unit 17 controls the movement mechanism 11 so as to prevent the collision with the obstacle detected by the obstacle detection unit 13. As described above, when the obstacle existing in the stop area is detected, the movement control unit 17 controls the movement mechanism 11 so that the moving body 1 is stopped, and the obstacle is detected in the stop area. Although not, if the obstacle present in the deceleration area is detected, the moving mechanism 11 may be controlled so that the moving body 1 is decelerated more than the speed at that time. When the moving body 1 is decelerated, the speed after decelerating may or may not be fixed. In the latter case, for example, deceleration may be performed so as to be a speed determined relative to the current speed (e.g., 50% speed, etc.). In addition, when an obstacle is detected, the movement control unit 17 may prevent the collision with the obstacle by moving the mobile body 1 so as to bypass the obstacle. In the case of bypassing an obstacle, the movement control unit 17 may receive the detected position of the obstacle from the obstacle detection unit 13. The position may be a position in the local coordinate system of the mobile unit 1.

  In addition, control of the above movement is well-known, The detailed description is abbreviate | omitted. In addition, when the moving body 1 moves along the movement path, the movement path may be acquired by the movement control unit 17. The acquisition of the movement path may be performed, for example, by generation of the movement path, or may be performed by receiving the movement path from an external server or the like.

  Next, when the condition determined in advance is (1) that the current position has come to a predetermined place, (2) when the marker is detected by the marker detection unit 15, (3) Each case in which the mobile unit 1 has entered the elevator car will be described.

(1) When a Predetermined Condition is a Condition Relating to the Current Position In this case, the obstacle detection control unit 16 determines that the current position acquired by the current position acquisition unit 14 is a predetermined place. Control the obstacle detection unit 13 to weaken the detection of obstacles and detect obstacles as usual when the current position is not a predetermined place. The unit 13 may be controlled. Normal obstacle detection is detection of an unweakened obstacle. In this case, for example, near a wall, a narrow passage, a narrow T-junction or the like may be set at a predetermined place. The predetermined place may be, for example, a zero-dimensional point-like place, a one-dimensional linear place, or a two-dimensional spread area place. In the present embodiment, a case will be mainly described in which the predetermined place is an area having a two-dimensional spread. Note that information indicating the predetermined place, for example, information indicating the coordinates and outline of the predetermined place is held in the moving body 1, and the obstacle detection control unit 16 uses the information to It may be determined whether the current position is a predetermined place.

  FIG. 4A is a diagram showing an example of a region R21 which is a predetermined place. Referring to FIG. 4A, a passage between obstacles B1 to B3 is set in region R21 which is a predetermined place. Moreover, when the mobile body 1 exists in the channel | path, at least one of obstructions B1-B3 shall exist in area | region R11. On the other hand, when the obstacle detection area is narrowed to the area R12, it is assumed that the obstacles B1 to B3 do not exist in the area R12 even if the mobile object 1 exists in the passage. The mobile unit 1 is assumed to move upward in the figure starting from the position of the mobile unit 1-0 in FIG. 4A. When control of obstacle detection according to the present embodiment is not performed, the obstacle detection unit 13 detects obstacles B1 and B3 at the position of the moving body 1-1, and the movement control unit 17 It will stop one. On the other hand, when control of obstacle detection according to the present embodiment is performed, an area in which the current position of the mobile unit 1 is determined in advance by the obstacle detection control unit 16 at the position of the mobile unit 1-1. It is determined that R21 has been reached, and detection of an obstacle by the obstacle detection unit 13 is weakened. As a result, the mobile unit 1 can move to the positions of the mobile units 1-2, 1-3, and 1-4. For example, the mobile unit 1 can move by a shortcut or work in the path between the obstacles B1 to B3 ( For example, it becomes possible to carry out unloading and the like of the object to be transported.

(2) When the condition determined in advance is the condition related to the detection of the marker In this case, when the marker detection unit 15 detects the marker, the obstacle detection control unit 16 weakly detects the obstacle. The obstacle detection unit 13 may be controlled so that the obstacle detection unit 13 performs normal obstacle detection when no marker is detected by the marker detection unit 15. In this case, for example, the sign may be installed near a wall, a narrow passage, a narrow T-junction, or the like.

  FIG. 4B is a diagram showing a situation where a transmitting station that outputs a beacon is installed at position P1. The transmission station may be installed, for example, on a ceiling or the like so as not to hinder the movement of the mobile body 1. Referring to FIG. 4B, it is assumed that the radio wave transmitted from the transmitting station reaches up to a place indicated by a dashed circle. Therefore, at the position of the mobile unit 1-1, the beacon is detected by the marker detection unit 15, and the obstacle detection control unit 16 weakens the detection of the obstacle by the obstacle detection unit 13. As a result, the mobile unit 1 can move to the positions of the mobile units 1-2, 1-3 and 1-4. For example, the mobile unit 1 can move by a shortcut or work in the path between the obstacles B1 to B3. You will be able to go and go.

  In addition, when setting the position where detection of an obstacle becomes weak by the sign, without performing the setting etc. (for example, the setting regarding a predetermined place etc.) regarding the moving body 1, in the place where the sign exists, Obstacle detection can be weakened. Therefore, for example, in FIG. 4B, at night when a person does not pass between obstacles B1 to B3, a beacon can be output from a transmitting station installed at position P1, and a person can pass between obstacles B1 to B3. During the daytime, whether or not the mobile unit 1 can enter the predetermined area is changed on the mobile environment side of the mobile unit 1 without setting the mobile unit 1 as in the case where the beacon is not output. You will be able to

(3) In the case where the predetermined condition is a condition related to the elevator car In this case, when the mobile object 1 enters the elevator car, the obstacle detection control unit 16 weakly detects the obstacle. Thus, the obstacle detection unit 13 may be controlled to control the obstacle detection unit 13 so as to perform the usual obstacle detection when not in the elevator car. Entry into the elevator car may be detected, for example, by the current position, by a sign, or by other methods. If it is detected that the elevator car has entered the elevator car by the current position, the obstacle detection control unit 16 determines that the current position acquired by the current position acquisition unit 14 becomes the elevator car area. The obstacle detection unit 13 may be controlled to weaken the detection of the obstacle, and otherwise the obstacle detection unit 13 may be controlled to perform the usual obstacle detection. In addition, when it is detected by the sign that the elevator car has been entered, the obstacle detection control unit 16 detects the obstacle when the sign detection unit 15 detects the sign installed in the elevator car. The obstacle detection unit 13 may be controlled so as to weaken the detection of the obstacle, and when not so, the obstacle detection unit 13 may be controlled so as to perform the usual obstacle detection.

  FIG. 5 is a schematic view showing a state in which the moving body 1 enters the cage 3 of the elevator. When the mobile unit 1 is located in the mobile unit 1-5, for example, when it is in an elevator hall, obstacle detection as usual is performed. On the other hand, when it is located in the mobile unit 1-6, that is, when it enters the elevator car 3, that is detected by some method as described above, and the obstacle detection control unit 16 detects the obstacle detection unit The detection of the obstacle by 13 will be weakened. As a result, the mobile unit 1 can move near the wall or the like inside the elevator car 3. Usually, the elevator car 3 is not very large, so if normal obstacle detection is performed, the elevator car 3 will be able to enter the elevator car 3 even if the leading end of the mobile unit 1 can enter the elevator car 3 By detecting the back wall of 3 as an obstacle, there is also a possibility that it can not move anymore. On the other hand, as in the obstacle detection according to the present embodiment, in the elevator car 3, the mobile object 1 can move to the vicinity of the back wall of the elevator car 3 by weakening the obstacle detection. As a result, the elevator car 3 can be properly entered.

Next, the operation of the mobile unit 1 will be described using the flowchart of FIG.
(Step S101) The movement control unit 17 controls the movement of the movable body 1. The control of the movement may be, for example, control of the movement toward the destination. The mobile unit 1 may reach the destination from the departure place by repeatedly performing the control of the movement in step S101.

  (Step S102) The obstacle detection control unit 16 determines whether the current position acquired by the current position acquisition unit 14 is a predetermined place. If the current position is a predetermined place, the process proceeds to step S105. If not, the process proceeds to step S103.

  (Step S103) The obstacle detection control unit 16 determines whether the sign detection unit 15 has detected a sign. And when a label | marker is detected, it progresses to step S105, and when that is not right, it progresses to step S104.

  (Step S104) The obstacle detection control unit 16 determines whether the moving body 1 has entered the elevator car. When the elevator car is entered, the process proceeds to step S105, and otherwise the process proceeds to step S106.

  (Step S105) The obstacle detection control unit 16 controls the obstacle detection unit 13 to weaken the detection of the obstacle. In addition, when it is controlled so that detection of an obstacle becomes weak at that time, the control will be continued.

  (Step S106) The obstacle detection control unit 16 controls the detection of the obstacle by the obstacle detection unit 13 to be normal. In addition, when control is performed so that detection of an obstacle is normal at that time, the control will be continued.

  (Step S107) The obstacle detection unit 13 determines whether an obstacle has been detected. And when an obstruction is detected, it progresses to step S108, and when that is not right, it returns to step S101. In addition, detection of an obstacle is performed in the range according to control by step S105, S106. For example, when the process proceeds from step S105 to step S107, detection of an obstacle may be performed within the range indicated by the region R12 in FIG. 3, or detection of an obstacle may not be performed. When the process proceeds from step S105 to step S107 and the obstacle is not detected when the predetermined condition is satisfied, the process returns to step S101 noting that the obstacle is not detected. It is also good. On the other hand, for example, when the process proceeds from step S106 to step S107, detection of an obstacle may be performed in the range of the area R11 of FIG. 3.

  (Step S108) The movement control unit 17 performs movement control according to the detection of the obstacle. The movement control may be, for example, deceleration or stop of the moving body 1 or moving the moving body 1 so as to bypass an obstacle. When the moving object 1 is stopped in response to the detection of an obstacle, the movement control unit 17 continues the stop until the obstacle is not detected, and after the obstacle is not detected, the process returns to step S101. You may resume the move. When the moving object 1 is decelerated in response to the detection of an obstacle, the movement control unit 17 restricts the upper limit of the movement speed to one after deceleration, and then returns to step S101 to continue movement. May be In that case, when the obstacle is no longer detected (when it is determined NO in step S107), the upper limit of the moving speed may be released. In addition, when moving the moving body 1 so as to bypass the obstacle in response to the detection of the obstacle, the movement control unit 17 uses the position of the obstacle received from the obstacle detection unit 13 to determine the position of the obstacle. After an obstacle is not detected by acquiring a route detouring around and performing movement according to the detouring route, the process may return to step S101 to continue moving to the destination.

  The order of the processes in the flowchart of FIG. 2 is an example, and the order of each step may be changed as long as the same result can be obtained. Further, although not included in the flowchart of FIG. 2, acquisition of the current position by the current position acquisition unit 14 and detection of a marker by the marker detection unit 15 are assumed to be repeatedly performed. Further, in the flowchart of FIG. 2, the processing is ended by the arrival of the moving object 1 at the destination, or the interruption of the power-off or the processing end.

  As described above, according to the mobile unit 1 according to the present embodiment, predetermined conditions are set when the mobile unit 1 passes near a wall, passes through a narrow passage, enters an elevator car, etc. By setting so as to be satisfied, even when the moving object 1 passes such a route, it is possible to avoid a situation in which a wall or the like is detected as an obstacle and the original movement is limited. Become. As a result, smooth movement according to the purpose can be realized. In addition, since it becomes possible to pass through a narrow passage or the like, it becomes possible to select a shortcut route, and to improve the movement efficiency.

  In addition, although the case where each of said (1)-(3) becomes a predetermined condition was demonstrated in the mobile body 1 in this Embodiment, it may not be so. Only one of (1) to (3) may be a predetermined condition. In this case, for example, only the fact that the current position has reached a predetermined place may be a predetermined condition. Also, any two of (1) to (3) may be predetermined conditions. In this case, for example, it may be a predetermined condition that the current position is at a predetermined place and that the mark is detected by the mark detection unit. Moreover, conditions other than said (1)-(3) for implement | achieving smooth movement of the mobile body 1 may be used as conditions decided beforehand. In addition, when detection of a label | marker is not used for judgment of whether predetermined conditions are satisfy | filled, the mobile body 1 does not need to be equipped with the label | mark detection part 15. FIG. Also, in the case where the current position is not used to determine whether a predetermined condition is satisfied and the current position is not used for movement control, the mobile body 1 receives the current position acquisition unit 14. It does not have to be provided.

  Further, in the present embodiment, it has been described that detection of an obstacle is stopped or a detection range of an obstacle is narrowed when a predetermined condition is satisfied. It may be changed according to predetermined conditions determined to have been done. That is, according to the conditions decided beforehand, the extent which weakens obstacle detection may be decided. For example, when the current position becomes the first place, the detection of the obstacle may be stopped, and when the current position becomes the second place, the detection range of the obstacle may be narrowed. In addition, when the first mark is detected, detection of the obstacle may be stopped, and when the second mark is detected, the detection range of the obstacle may be narrowed. Note that the first and second locations are different locations, and the first and second labels are different labels. In addition, when a sign is detected, detection of an obstacle may be stopped, and when the current position reaches a predetermined place, the detection range of the obstacle may be narrowed. In addition, when it is detected that the elevator car has been entered, the detection of an obstacle may be stopped, or the detection range of the obstacle may be narrowed.

  Further, in the present embodiment, the case where the obstacle detection is weakened when the mobile object 1 enters the elevator car has been described, for example, when entering the elevator car from the elevator hall, for example, the entrance of the elevator There is also a possibility of detecting a portion as an obstacle. In such a case, for example, by setting the area of the elevator hall to a place where the obstacle detection can be weakened, or by providing the elevator hall with a sign for weakening the obstacle detection When moving from the elevator hall to the elevator car or from the elevator car to the elevator hall, the obstacle detection may be weakened.

  Moreover, although the case where only the obstacle detection using the measurement result by the distance measurement sensor 12 is performed is described in the present embodiment, obstacle detection other than that may be performed. For example, obstacle detection may be performed using a contact sensor. In that case, obstacle detection using a contact sensor may be performed regardless of whether a predetermined condition is satisfied.

  Also, in the above embodiment, each processing or each function may be realized by centralized processing by a single device or a single system, or distributed processing by a plurality of devices or a plurality of systems. It may be realized by

  Further, in the above embodiment, the transfer of information performed between the components is performed by, for example, one of the components if the two components performing the transfer of information are physically different. It may be performed by the output of the information and the reception of the information by the other component, or if the two components that exchange the information are physically the same, one of the components It may be performed by moving from the phase of processing corresponding to to the phase of processing corresponding to the other component.

  Further, in the above embodiment, information related to processing executed by each component, for example, information received, acquired, selected, generated, transmitted, or received by each component Also, information such as threshold values, mathematical expressions, addresses and the like used by each component in processing may be held temporarily or for a long time in a recording medium (not shown), even if not specified in the above description. Further, each component or a storage unit (not shown) may store information in the recording medium (not shown). Each component or a reading unit (not shown) may read information from the recording medium (not shown).

  Further, in the above embodiment, when the information used in each component or the like, for example, information such as a threshold or an address used in processing by each component or various setting values may be changed by the user, Although not explicitly stated in the description, the user may or may not be able to change the information as appropriate. When the user can change such information, the change is realized, for example, by a receiving unit (not shown) that receives a change instruction from the user and a change unit (not shown) that changes the information according to the change instruction. May be The acceptance of the change instruction by the acceptance unit (not shown) may be, for example, acceptance from an input device, reception of information transmitted via a communication line, or acceptance of information read from a predetermined recording medium .

  Further, in the above embodiment, when two or more components included in the mobile unit 1 have a communication device, an input device, etc., the two or more components may have a physically single device. Or may have separate devices.

  Further, in the above embodiment, each component may be configured by dedicated hardware, or a component that can be realized by software may be realized by executing a program. For example, each component can be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. At the time of the execution, the program execution unit may execute the program while accessing the storage unit or the recording medium. The program may be executed by being downloaded from a server or the like, or may be executed by being read out of a program recorded on a predetermined recording medium (for example, an optical disc, a magnetic disc, a semiconductor memory, etc.) Good. Also, this program may be used as a program that constitutes a program product. Also, the computer that executes the program may be singular or plural. That is, centralized processing may be performed, or distributed processing may be performed.

  Further, it is needless to say that the present invention is not limited to the above embodiments, and various modifications are possible, which are also included in the scope of the present invention.

  From the above, according to the moving body according to the present invention, for example, when the moving body passes near a wall or the like, an effect that it can be set not to detect the wall as an obstacle is obtained, and moving autonomously It is useful as a body.

DESCRIPTION OF SYMBOLS 1 mobile body 11 moving mechanism 12 ranging sensor 13 obstacle detection part 14 present position acquisition part 15 label | marker detection part 16 obstacle detection control part 17 movement control part

Claims (6)

It is a mobile that moves autonomously,
A distance measuring sensor that measures the distance to surrounding objects in multiple directions;
An obstacle detection unit that detects an obstacle using the measurement result of the distance measurement sensor;
A moving mechanism for moving the moving body;
A movement control unit that controls the movement mechanism to prevent a collision with an obstacle detected by the obstacle detection unit;
A moving body comprising: an obstacle detection control unit that controls the obstacle detection unit such that detection of an obstacle is weakened when a predetermined condition is satisfied. The mobile unit according to claim 1, wherein the obstacle detection control unit stops the detection of an obstacle by the obstacle detection unit when the predetermined condition is satisfied. The mobile unit according to claim 1, wherein the obstacle detection control unit narrows a detection range of the obstacle by the obstacle detection unit when the predetermined condition is satisfied. It further comprises a current position acquisition unit that acquires the current position of the mobile object,
The mobile body according to any one of claims 1 to 3, wherein the predetermined condition is that a current position has become a predetermined place. It further comprises a sign detection unit that detects signs in a mobile environment,
The mobile body according to any one of claims 1 to 3, wherein the predetermined condition is that a label has been detected by the label detection unit. The mobile unit according to any one of claims 1 to 3, wherein the predetermined condition is that the mobile unit has entered an elevator car.

Images