JP5412890B2 - MOBILE BODY, MOBILE BODY CONTROL METHOD, AND MOBILE BODY SYSTEM - Google Patents

Description

  The present invention relates to a mobile object that can be autonomously moved and used for various purposes in factories, offices, hospitals, commercial facilities and the like.

In production factories and the like, mobile bodies that can autonomously travel to transport products and components are used for labor saving. The mainstream of such moving bodies is a vehicle that autonomously moves by controlling its traveling so that it travels along a guide rail such as a reflective tape or a magnetic tape installed on the floor.
However, with this method, the moving body can be reliably guided along the guide rail, but the work of laying the guide rail on the floor on which the moving body travels is complicated, and a great deal of labor and cost is required for changing the travel route. There is a problem that it takes.
In addition, when the guide rails laid on the floor are damaged or soiled over time, there has been a problem that the guiding accuracy of the moving body is lowered.
For this reason, recently, mobile bodies that can autonomously travel without installing guide rails on the floor or the like have been proposed and put into practical use.

  For example, Patent Document 1 captures the front in the traveling direction with an imaging unit installed in front of a moving body, performs pattern matching between the captured image and a pre-captured reference image, and sequentially calculates the shift amount between the images to move. A control method for controlling the traveling direction of the body is disclosed.

JP 2008-146197 A

By the way, as in Patent Document 1, when a moving body is controlled using image matching between a reference image and a captured image, reference images for performing image matching are acquired at a plurality of positions on the traveling route of the moving body. The so-called teaching work is necessary.
In this teaching work, for example, the operator manually operates the moving body, stops the moving body at each of the plurality of teaching points set on the travel route, and uses a reference image by an imaging unit installed on the moving body. This is done by acquiring (teaching image).

However, in the teaching work method described above, since the operator manually operates the moving body, a large effort is required to move the moving body to the teaching point.
In addition, since the operator manually operates, it is also conceivable that the point where the teaching image is actually acquired is displaced from the ideal teaching point, or the imaging direction angle is shifted.
For this reason, when the accuracy of the teaching image is lowered, it is conceivable that the accuracy when the mobile body travels autonomously is lowered.

  SUMMARY OF THE INVENTION The present invention has been made in view of such problems, and it is possible to reduce the labor required for teaching work and to allow the moving body to travel along the traveling path with high accuracy. It is an object to provide a control method and a mobile system.

In order to solve the above-described problems, the present invention is as follows.
A moving body according to the present invention (Claim 1) includes a vehicle body, a guideline sensor that is provided in the vehicle body and detects a guideline previously disposed along a travel route, and is mounted on the vehicle body to advance the vehicle body. A camera that captures a direction; a drive device that drives the vehicle body in a front-rear direction and a turning direction; and a control device that is mounted on the vehicle body and controls the drive device, the control device including the guideline sensor A teaching travel control unit for executing a teaching traveling for controlling the driving device so that the vehicle body follows the guideline based on the position of the guideline detected by the guideline, and at each of a plurality of teaching points when the teaching traveling is performed. A teaching including an image of the guideline in which the camera is operated to capture an imaging range of the camera directed in a traveling direction of the vehicle body Comparison result between a teaching image acquisition unit that acquires an image, an image storage unit that stores the acquired teaching image, and the acquired image that is captured in real time by the camera and the teaching image stored in the image storage unit And a regeneration travel control unit for performing regeneration travel for controlling the drive device so that the vehicle body follows the travel route, and in a similar region in the teaching image and the acquired image, A mask range is set in advance, and the mask range in the teaching image includes a range where the image of the guideline exists, and the reproduction travel control unit excludes the teaching image and the range in a range excluding the mask range. and it compares the acquired image is characterized that you perform the reproduction running.

Moreover, it is preferable that the said guideline is arrange | positioned on the floor surface (Claim 2).
Further, it is preferable that before Symbol guidelines is a magnetic tape (claim 3).
Further, it is preferable that the guidelines which are formed of a light reflective material (claim 4).
Moreover, the guidelines sensor, which is preferably removably mounted on the vehicle body (claim 5).
Preferably, the teaching travel control unit is formed separately from the main body of the control device, and the teaching travel control unit is detachably mounted on the vehicle body (Claim 6 ).
Further, it is preferable that the camera also functions as the guideline sensor (claim 7).

A control method for a moving body according to the present invention (Claim 8 ) is a control method for a mobile body that autonomously moves along a preset travel route, and a guide laying step for laying a guideline along the travel route; A teaching traveling step for autonomously traveling the moving body along the laid guideline, and at the time of executing the teaching traveling step, a camera mounted on the vehicle body at each of a plurality of teaching points was directed in the traveling direction of the vehicle body The vehicle body is based on a teaching image acquisition step of acquiring a teaching image including an image of the guideline obtained by imaging the imaging range of the camera, and a comparison result between the teaching image and an acquired image captured in real time by the camera. A regeneration travel step for controlling a course of the moving body along the travel route, and the regeneration travel step includes: Comparing the teaching image with the acquired image in a range excluding a mask range set in advance in a similar area in the teaching image and in the acquired image, wherein the mask range in the teaching image is , Including a range in which the image of the guideline exists .

Also, after pre-Symbol teachings traveling stepping preferably it has a guideline removal step of removing the laid guidelines (claim 9).
Further, mobile system according to the present invention (0 Claim 1) includes a moving body according to any one of claims 1 to 7 and the floor of the moving body is traveling, the moving body on the floor And a plurality of points forming the ends of the travel route.

According to the present invention (Claims 1, 2, 8 , 1 0 ), at the time of executing the teaching travel, the teaching image is acquired while the traveling body is autonomously traveling according to the guideline. Compared with the case where a teaching image is acquired by operating the, a more accurate teaching image group can be obtained.
Then, by performing reproduction traveling based on a comparison result obtained by comparing the teaching image acquired by the teaching traveling and the image acquired by the camera, the moving body can move with respect to the traveling route without requiring a guideline in the reproducing traveling. It can move autonomously with high accuracy. A person can teach without pressing the moving body, and an accurate teaching image can be taken. In addition, mask ranges are set in advance in the same area in the teaching image and the acquired image, respectively, and the mask area in the teaching image includes the area where the guideline image exists and excludes the mask area. Since the reproduction travel is executed by comparing the image with the acquired image, the moving body can be autonomously moved with high accuracy even if the guide line is dirty or damaged or the guide line is removed at the time of executing the reproduction travel.

According to the present gun invention (claim 3, 4), it is possible to lay guidelines with a simple configuration, it is possible to travel along the travel path accurately mobile during teaching travel.

According to the present invention (Claims 5 and 6 ), that is, the teaching travel control unit and the guideline sensor are required only when performing the teaching traveling and are not necessary during the regeneration traveling. The teaching travel control unit and the guideline sensor can be shared when performing the operation, and the cost can be reduced accordingly.
In addition, since the line tape reading unit only needs to be attached at the time of teaching, a line tape corresponding to the environment can be selected. Further, when teaching a plurality of moving bodies, the line tape reading unit can be reused.
In addition, there is an advantage that the moving body can be reduced in size during the reproduction traveling by the amount of removing the guideline sensor or the teaching traveling control unit.
According to the present invention (Claim 7 ), the camera used for reproduction traveling and the guideline sensor used for teaching traveling can be used together, and the cost can be suppressed.

According to the present invention (Claim 9 ), since the mobile body can be reproduced and traveled accurately even without the guideline, the maintainability of the travel path of the mobile body can be improved by removing the guideline. . In addition, it is possible to prevent the level difference caused by the deterioration of the guideline, the deterioration of the appearance of the floor, and the like.

It is a schematic diagram which shows the structure of the moving body concerning 1st Example of this invention. 1 is a schematic diagram showing an overall configuration of a mobile system according to a first embodiment of the present invention. It is a flowchart which shows the aspect at the time of teaching driving | running | working concerning 1st Example of this invention. (A)-(c) shows the example of the captured image in a present Example concerning 1st Example of this invention. It is a figure which shows an example of the mask range of the image matching in 1st Example of this invention. It is a schematic diagram which shows the structure of the moving body concerning 2nd Example of this invention.

A first embodiment of the present invention will be described below with reference to the drawings.
As shown in FIG. 2, the unmanned conveyance system (mobile system) 100 includes a plurality of mobile bodies 1A and 1B, an image server 102 capable of information communication with each of the mobile bodies 1A and 1B, and a plurality of work cells 103. The entire route R along which the moving bodies 1A and 1B travel is set on a floor 101 such as a factory.
The entire route R is composed of four linear travel routes R1 to R4. The travel route R1 is a route that starts from the point P1 and reaches the point P4, the travel route R2 is a route that starts from the point P4 and reaches the point P3, and the travel route R3 starts from the point P3 and reaches the point P2 The travel route R4 is a route that starts from the point P2 and reaches the point P1. That is, each of the points P1 to P4 becomes a start point when it becomes a starting point, and becomes a goal point when it becomes a reaching point.

In FIG. 2, the entire route R is expressed in a simplified manner for ease of explanation, but the entire route R can be set to be a more complicated route.
A guideline 104 is provided on the floor 101 in each of the travel routes R1 to R4.
The guideline 104 is formed of a reflective tape formed of a reflective material that reflects light, and is arranged linearly between the points P1 to P4.
The guideline 104 does not need to be fixed to the floor 101, and it is sufficient that the guideline 104 has durability enough to execute a teaching travel described later.

As shown in FIG. 1, the moving bodies 1 </ b> A and 1 </ b> B include a vehicle body 2, a driving device 3, a camera (also serving as a guideline sensor) 4 and a control device (controller) 5.
The mobile bodies 1A and 1B are each provided with a loading platform (not shown). The mobile bodies 1A and 1B can load the cargo loaded on the loading platform from the work cell 103 in the vicinity of the start point from the start point to the transport destination of the load. It is transported to a certain goal point. Although the moving body 1A is a moving body different from the moving body 1B, both are configured similarly. Hereinafter, the moving bodies 1A and 1B are collectively referred to as a moving body 1.

  The driving device 3 is configured to be able to travel and steer the moving body 1. Here, the drive device 3 includes two drive wheels 30 arranged in parallel on the left and right (only one is shown in FIG. 1), and driven wheels arranged in parallel so as to be steerable in all directions (only one is shown in FIG. 1). (Illustrated) 31 and an actuator 32 (for example, a servo motor) that individually drives each driving wheel 30, and moves forward and backward by driving the driving wheel 30. Due to the difference, the moving body 1 can be steered (steered, changed direction).

In FIG. 1, a configuration in which there are two drive wheels and two follower wheels is taken as an example. However, in a drive mode in which the traveling speed, position, and posture of the moving body 1 can be controlled, such as three-wheel drive using an omni wheel. If there is, it is not limited to the form of FIG.
The actuator 32 is provided with an encoder (travel distance detector) 33 for detecting the drive amount of the actuator, and the detection result of the encoder 33 is input to the controller 5.

The camera 4 is constituted by a CCD camera or a CMOS camera, and is oriented in the traveling direction of the moving body 1. The camera 4 captures the traveling direction of the moving body 1 every preset imaging cycle Ts (for example, 10 ms (milliseconds)), and transmits the captured image data to the controller 5.
Note that a Web camera may be used as the camera 4. In this case, the captured image data is taken into the control device 5 via communication.

The controller 5 is constituted by a computer having a storage device and an electronic computing unit, and as its functions, a teaching image acquisition unit 6, a reproduction traveling control unit 7, a teaching traveling control unit 8, and a storage device (image storage unit) 9 are provided. Have.
The storage device 9 stores a teaching image, which is image data acquired by a procedure described later, and a detection value of the encoder 33 corresponding to the teaching image.

  The manual travel operation device 35 is configured as a manual controller such as a joystick, and operates the drive device 3 based on an operation signal from the manual travel operation device 35 to manually travel the moving body 1. . When the mobile body 1 is manually driven, the mobile body 1 may be driven manually by pushing (or pulling) the mobile body 1, or a travel command may be given from the touch panel 34. In that case, the manual travel operation device 35 is unnecessary.

[Teaching driving (teaching driving)]
Next, the control procedure of the moving body during teaching traveling will be described.
As shown in FIG. 3, first, as a step S10, the guideline 104 is laid on the floor 101 along the travel route R1 (guide laying step).
In step S20, the moving body 1 is moved to the teaching travel start position (start point) using the manual travel operation device 35. Here, the start point will be described as a point P1, and the point P4 will be described as a teaching travel end position (goal point).
At this time, the moving body 1 is arranged so that the guideline 104 is captured at the center of the lower end of the image captured by the camera 4.

When an instruction to start teaching travel is input from the touch panel 34, teaching traveling is started as step S30 (teaching traveling step).
When the teaching travel is started, the teaching traveling control unit 8 controls the driving device 3 so as to travel at a moving speed obtained in advance by an experiment or the like as a speed suitable for capturing the teaching image.

4A to 4C are examples of captured images captured in real time by the camera 4 during teaching travel.
In the teaching travel control unit 8, as shown in FIGS. 4A to 4C, a point having a large change in luminance is extracted as a feature point T indicating the guideline 104 from the luminance distribution in the image data P captured by the camera 4. (In other words, the position of the guideline 104 with respect to the moving body 1 is detected), and the driving device 3 is controlled so that the extracted feature point T is located at the center of the image data. Accordingly, the vehicle travels from the point P1 to the point P4 on the laid guideline 104.

Then, as step S40, the teaching image acquisition unit 6 acquires image data acquired and acquired by the camera 4 every time the detection value of the encoder 33 reaches a predetermined change amount Δl (threshold) set in advance. Is stored in the storage device 9 (teaching image acquisition step). Here, a teaching image is acquired for each point where the change amount of the encoder 33 reaches Δl from the starting point (that is, the teaching point).
In step S50, when the teaching travel control unit 8 extracts the end of the guideline (that is, the goal point) from the captured image of the camera 4, the driving device 3 is controlled so that the moving body 1 stops on the goal point. . Thereafter, the teaching image acquisition unit 6 acquires the teaching image at the goal point and stores it in the storage device 9 (step S60).
The above teaching travel is similarly executed for the travel routes R2 to R4, and the teaching work for all the travel routes R1 to R4 is completed. After completing the teaching work, the guideline 104 on the floor 101 is removed (guideline removal step).

[Playback running (playback running)]
Next, regeneration travel (reproduction travel step) will be described. Here, the point which autonomously travels on the driving | running route R1 from the point P1 to the point P4 based on the teaching image acquired by the teaching driving | running already performed is demonstrated.
First, similarly to the case of step S20 at the time of the teaching travel described above, the mobile body is set and arranged at the start point, and the mobile body 1 starts autonomous travel by a signal input from the touch panel 34.

As the moving body 1 starts traveling, image data obtained by the camera 4 performing imaging in real time is input to the controller 5.
Then, the regeneration travel control unit 7 controls the drive device 3 so that the moving body 1 travels at a preset speed. The control relating to this speed is executed based on the detection result of the encoder 33.

The reproduction travel control unit 7 has the highest degree of coincidence between the acquired image input from the camera 4 and the current acquired image (current image) among the plurality of teaching images stored in the storage device 9 by the teaching travel. Is selected, the selected teaching image and the acquired image are matched, and the driving device 3 is controlled to steer the moving body 1 so that the degree of coincidence of the pixel arrangement between the teaching image and the acquired image is increased. .
When the degree of coincidence between the selected teaching image and the acquired image is equal to or greater than a predetermined threshold value, the next teaching image is selected, and the degree of coincidence is increased by comparing the teaching image and the acquired image. The drive device 3 is controlled. The controller 5 causes the mobile body 1 to travel along the travel route R <b> 1 by performing these computations continuously every computation cycle.
Then, when the degree of coincidence between the teaching image acquired at the point P4 acquired during the teaching traveling and the current acquired image is equal to or higher than the threshold value, the traveling of the moving body 1 is stopped.

Since the moving body according to the first embodiment of the present invention is configured in this way, a range for excluding matching is preset when the teaching image and the landscape image are pattern-matched during playback as shown in FIG. Keep it. Then, since the matching process between the teaching image and the landscape image is performed in the range excluding the mask range M in FIG. 5, even if the guideline 104 is removed (or not removed) after the completion of the teaching traveling, The moving body 1 can be accurately guided along the travel routes R1 to R4 without being affected by a change in the image of the guideline portion (change due to the presence or absence of the guideline or deterioration with time).
That is, the maintenance of the reflective tape used during the teaching traveling is not required. Further, inconveniences such as unevenness on the road surface of the floor 101 due to deterioration or peeling of the reflective tape can be avoided.

  As described above, during the teaching travel, the moving body 1 performs the teaching traveling accurately along the guideline 104 and automatically acquires the teaching image, so that the operator performs the teaching traveling without manually operating the moving body. Therefore, it is possible to reduce blurring or the like that occurs when the moving body 1 is manually operated, and a more ideal teaching image group can be acquired. Furthermore, during playback traveling, it is possible to travel accurately along the traveling routes R1 to R4 without using the guideline 104 by pattern matching between the teaching image and the acquired image.

  If the line tape reading unit 8 is a light induction type sensor and the line tape is a reflective tape, accurate teaching traveling is possible in an environment where the line tape on the floor surface is difficult to discriminate by pattern matching with images.

Next, a second embodiment of the present invention will be described. In the present embodiment, the description of the same configuration as in the first embodiment will be omitted, and the description will be made using the same reference numerals.
This embodiment is different from the first embodiment in that the guideline 104 is formed of a magnetic tape.
As shown in FIG. 6, a magnetic sensor unit (guideline sensor, teaching travel control unit) 37 is attached to the vehicle body 2 via a mooring unit 36 formed by a detachable mechanism such as a latch mechanism. And is detachably attached.

The magnetic sensor unit 37 is disposed toward the floor 101. The magnetic sensor 37A detects the position of the guideline 104 by detecting the magnetism of the magnetic tape, and the guideline 104 detected by the magnetic sensor 37A includes the magnetic sensor unit 37. It is comprised from the controller part 37B which transmits a signal to the controller 5 side so that it may be located in the center.
That is, in this embodiment, the reproduction travel control unit 7 and the teaching travel control unit (controller unit 37B) of the mobile body 1 are formed separately.

  Since the mobile system according to the second embodiment of the present invention is configured as described above, the floor 101 and the guideline 104 are difficult to discriminate by pattern matching using images, and the floor 101 easily reflects external light. Even in an environment where it is difficult for the camera 4 to detect the position of the guide tape on the floor 101, accurate teaching traveling is possible.

Further, since the magnetic sensor unit 37 is detachable, for example, when the camera 4 can accurately detect the position of the guideline such as the reflective tape, the magnetic tape is not used for the guideline. Line) can be used for teaching travel, and an appropriate guideline 104 can be selected according to the traveling environment of the mobile body 1.
Further, when teaching a plurality of moving bodies (moving bodies 1A and 1B in this embodiment), one magnetic sensor unit 37 can be shared by a plurality of moving bodies 1 and reused. Further, the guideline 104 may be removed after the teaching run, so that maintenance becomes easy.

As mentioned above, although embodiment of this invention was described, this invention is not limited to each above-mentioned embodiment, Various deformation | transformation can be implemented in the range which does not deviate from the meaning of this invention.
For example, the present invention is not limited to such a form, and can be appropriately applied to a moving body that autonomously moves, such as a service robot.
The guideline is not limited to the reflective tape and the magnetic tape, and any guideline can be used as long as it can guide the moving body to enable the teaching running.

DESCRIPTION OF SYMBOLS 1 Mobile body 2 Car body 3 Drive device 4 Camera (guideline sensor)
5 Controller 6 Teaching Image Acquisition Unit 7 Reproduction Travel Control Unit 8 Teaching Travel Control Unit 9 Storage Device 30 Drive Wheel 31 Driven Wheel 32 Actuator 33 Encoder 34 Touch Panel 35 Manual Traveling Operation Device 37 Magnetic Sensor Unit 37A Magnetic Sensor (Guideline Sensor)
37B Controller unit (Teaching travel control unit)
100 Mobile System 101 Floor 102 Image Server 103 Work Cell 104 Guidelines

Claims (10)

The car body,
A guideline sensor that is provided on the vehicle body and detects a guideline previously disposed along the travel route;
A camera mounted on the vehicle body and imaging the traveling direction of the vehicle body;
A driving device for driving the vehicle body in the front-rear direction and the turning direction;
A control device mounted on the vehicle body and controlling the drive device;
The control device includes:
A teaching travel control unit for performing a teaching traveling for controlling the driving device so that the vehicle body follows the guideline based on the position of the guideline detected by the guideline sensor;
A teaching image for acquiring a teaching image including an image of the guideline obtained by operating the camera at each of a plurality of teaching points and capturing an imaging range of the camera directed in a traveling direction of the vehicle body during execution of the teaching traveling. An acquisition unit;
An image storage unit for storing the acquired teaching image;
Based on a comparison result between the teaching image stored in the image storage unit and an acquired image captured in real time by the camera, a regenerative traveling for controlling the driving device so that the vehicle body follows the traveling route is executed. And a regeneration travel control unit ,
A mask range is set in advance in each of the similar regions in the teaching image and the acquired image,
The mask range in the teaching image includes a range where the image of the guideline exists,
The reproduction travel control unit, in a range except for the mask range, characterized that you perform the reproduction running by comparing the acquired image with the teaching image, the moving body. The moving body according to claim 1, wherein the guide line is disposed on a floor surface. Characterized in that said guidelines are magnetic tape, the moving body according to claim 1 or 2. The guideline is characterized in that it is formed of a light reflecting material, the moving body according to claim 1 or 2. The moving body according to any one of claims 1 to 4 , wherein the guideline sensor is detachably mounted on the vehicle body. The teaching travel control unit, the main body of the control device are formed separately, the teaching travel control unit is characterized in that it is mounted detachably on the vehicle body, claim 1-5 The moving body according to item 1. It said camera characterized in that it functions as the guideline sensor, the moving body according to any one of claims 1-6. A method for controlling a moving body that autonomously moves along a preset travel route,
A guide laying step for laying a guideline along the travel route;
A teaching traveling step for autonomously traveling the moving body along the laid guidelines,
At the time of execution of the teaching travel step, a teaching image including an image of the guideline obtained by capturing an imaging range of the camera directed in a traveling direction of the vehicle body with a camera mounted on the vehicle body at each of a plurality of teaching points is acquired. A teaching image acquisition step;
A reproduction traveling step in which the vehicle body controls the course of the moving body along the traveling route based on a comparison result between the teaching image and an acquired image captured in real time by the camera ;
The reproduction running step includes comparing the teaching image with the acquired image in a range excluding a mask range set in advance in similar regions in the teaching image and the acquired image, respectively.
The method for controlling a mobile object, wherein the mask range in the teaching image includes a range in which an image of the guideline exists . The method according to claim 8 , further comprising a guideline removal step of removing the laid guideline after execution of the teaching travel step. The moving body according to any one of claims 1 to 7 ,
A floor on which the moving body travels;
And a plurality of points forming ends of a travel route of the mobile body on the floor.

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