JP2009205652A - Mobile body control system and mobile body control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To optimize a moving route of each moving body without using an expensive centralized control device. <P>SOLUTION: The mobile body control system 1 comprises an own position specifying means 2 for specifying an own position of the mobile body, a mobile body detecting means 3 for detecting a presence of other mobile body, an encounter repeated area setting means 4 for setting an encounter repeated area indicating a place where the mobile bodies encounter frequently based on information relating to the own position obtained when the mobile body is driven and information on the presence of the other mobile body, and an action plan generating means 5 for generating an action plan of the mobile body based on the encounter repeated area set by the encounter repeated area setting means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a system and method for controlling a mobile body capable of autonomous movement, and more particularly to optimization of a movement path of each mobile body when a plurality of mobile bodies are driven.

  When a plurality of mobile bodies capable of autonomous movement, such as robots and luggage transport vehicles, are driven simultaneously in a certain work area, the movement paths of the respective mobile bodies usually have to be mixed. There is a risk of collision. The following conventional inventions have been disclosed as techniques for dealing with such problems.

  The system according to the first conventional invention comprises a travel drive unit, obstacle detection means, danger signal transmission means, danger signal reception means, and travel control means, and detects an obstacle in the danger area. When the obstacle is detected again after a certain period of time, if the obstacle is not detected, normal driving is continued. Otherwise, the obstacle avoidance operation is performed, and the danger signal of other autonomous mobile robots is displayed. When it is received, an operation of giving a route to the partner autonomous mobile robot is performed (see Patent Document 1).

  The system according to the second prior art is configured to include an autonomous mobile body and a centralized control device, and the autonomous mobile body includes an action plan generation unit, a centralized control device communication unit, and a travel control unit. It is what is done. Before starting the movement to the destination, this autonomous mobile body generates a planned movement route by the action plan generation means, and transmits this to the central control apparatus. The central control device refers to the received planned travel routes of all autonomous mobile bodies, corrects the planned travel routes so that they do not interfere with each other, and sets the modified planned travel routes as the source of the planned travel routes. It transmits to a mobile body (refer patent document 2).

The system according to the third prior art includes a task management means, a movement plan search means, a movement plan selection means, an encounter possibility determination means, an encounter cost calculation means, a movement plan execution cost calculation means, an optimum Route planning means, and optimizes the moving plans of multiple moving bodies so that the cost of the entire moving body is minimized when at least one of the moving bodies switches the moving plan. To do. Specifically, based on the task of the moving object managed by the task management means, a movement plan candidate is generated by the movement plan search means, and one movement is selected from the generated movement plan candidate by the movement plan selection means. Select a plan. Based on the current distance between the moving bodies, the selected moving plan determines whether or not there is a possibility of meeting with another moving body based on the current distance between the moving bodies. When it is determined that there is a possibility of meeting, the avoidance or temporary stop cost and the movement plan execution cost are calculated by the cost calculation means and the movement plan execution cost calculation means. Costs are calculated for all the moving objects, and a combination of routes having the lowest cost as a whole is selected, and each moving object moves based on this result (see Patent Document 3).
JP-A-8-63229 JP-A-2005-242489 JP 2006-326703 A

  Usually, in the operating area of the moving body as described above, due to obstacles, the shape of the area, the arrangement of the starting point and the destination point of the moving body, etc. There is a narrow area that is not sufficiently wide. In the mobile body control system, it is necessary to devise measures to avoid collisions between mobile bodies in such frequent encounter areas and narrow spaces. However, the system according to the conventional invention has the following problems. .

  In the system according to the first conventional invention, for example, when two moving bodies are arranged in a small area, collisions with each other can be avoided, but in order to resume the subsequent movement, either one of them can be avoided. There is a problem in that the cost of moving the moving body increases because the moving body must return to a place with sufficient space.

  Further, in the system according to the second conventional invention, in order to predict the occurrence of potting in advance and generate a route in which potting does not occur, one moving body turns back in a narrow area as described above. Although measures can be eliminated, a centralized control device is required as a system component. The installation of such a centralized control device has a problem that it takes a great deal of cost for the construction and maintenance of the server system, the construction of the communication equipment with each mobile body and the maintenance of the communication state.

  Further, in the system according to the third conventional invention, as in the system according to the second conventional invention, a centralized control device is necessary and each time the moving path of one moving body is changed, Since it is necessary to regenerate the movement paths of all the moving bodies, there is a problem that the calculation cost of the centralized control device is high, and it is not suitable for a control system for moving bodies that require frequent movement path changes. .

  Therefore, an object of the present invention is to optimize the movement path of each moving body without using an expensive centralized control device in a situation where a plurality of moving bodies capable of autonomous movement are driven simultaneously.

  The present invention for solving the above problems includes a self-position specifying means for specifying a self-position of a moving body, a moving body detecting means for detecting the presence of another moving body, and the self obtained during driving of the moving body. Based on the information on the position and the information on the presence or absence of the other moving body, the setting is performed by the meeting frequent occurrence area setting means for setting a frequent encounter area setting means indicating a place where the mobile objects often meet, and the frequent encounter area setting means. And a behavior plan generating unit configured to generate a behavior plan of the mobile object based on the frequent encounter area.

  The present invention also includes a step of identifying a self-position of a mobile body, a step of detecting the presence of another mobile body, information on the self-position of the mobile body obtained during driving of the mobile body, and the other Based on the information on the presence / absence of a moving object, setting a frequent occurrence area indicating a place where the mobile objects often meet, and based on the frequent occurrence area set by the frequent occurrence area setting means, And a step of generating an action plan for the moving body.

  According to the above configuration, in a situation where a plurality of mobile bodies capable of autonomous movement are driven at the same time, the movement path of each mobile body can be optimized without using an expensive centralized control device.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. Note that, in different embodiments, the same or similar parts are denoted by the same reference numerals and description thereof is omitted. FIG. 1 shows a basic configuration of a mobile control system 1 according to the present invention. The mobile body control system 1 includes a self-position specifying means 2, a mobile body detection means 3, an encounter frequent occurrence area setting means 4, and an action plan generation means 5. The self-position specifying means 2 has a function of specifying the self-position of the moving body. The moving body detection means 3 has a function of detecting the presence of another moving body. The encounter frequent occurrence area setting means 4 indicates the location where the mobile objects often meet based on the information on the self-position obtained during driving of the movable object and the information on the presence / absence of the other movable objects. It has a function to set an area. The action plan generation means 5 has a function of generating an action plan for the mobile body based on the frequent occurrence area set by the frequent occurrence area setting means. Below, the specific structure of the mobile body control system 1 of this invention is shown.

1st Embodiment In FIG. 2, the structure of the mobile body control system 1 which concerns on this Embodiment is shown. The mobile body control system 1 is a system for controlling a plurality of mobile bodies capable of autonomous movement, such as robots and luggage transport vehicles, and includes an obstacle detection means 10, a mobile body detection means 3, The self-location specifying means 2, the frequent encounter area setting means 4, the obstacle map recording means 14, the action plan generating means 5, the frequent encounter area passing detection means 16, and the moving means 17 are configured. ing.

  The obstacle detection means 10 is a means for detecting obstacles existing around the moving body, and is an imaging device such as a camera that captures a landscape and converts it into an electronic signal, a central processing unit (CPU), and a storage device. (ROM, RAM, HDD, etc.) and a predetermined program stored in the storage device can be used in cooperation. In addition, the imaging unit, the central control device, the storage device, the program, and the like may be mounted in each moving body (stored in the program). In this configuration, for example, an obstacle can be recognized by matching the inside of the camera image with a specific pattern in an exploratory manner, or an area that meets a specific condition can be recognized as an obstacle by edge or texture analysis of the camera image. . In addition, a plurality of cameras can be installed in addition to the moving body, and a region that satisfies a specific condition can be recognized as an obstacle using a parallax image obtained by stereo viewing. Furthermore, the three-dimensional shape of the captured object may be restored using images obtained from the respective cameras, and an object having a certain size or more may be recognized as an obstacle. Furthermore, an LRF (Laser Range Finder) that is a device that measures the distance to an object by irradiating the surrounding with laser light and detecting light reflected on the object may be used. An area where distance information to an object obtained by this LRF satisfies a specific condition may be recognized as an obstacle. An obstacle can also be recognized based on the detection result using an ultrasonic sensor or an infrared sensor.

  The moving body detecting means 3 is a means for detecting whether or not the obstacle detected by the obstacle detecting means 10 is another moving body, and is an imaging device mounted or stored in the moving body main body, It can be configured by cooperation of a central processing unit, a storage device, a predetermined program, and the like. In this configuration, for example, after an image including another moving body is captured, it is possible to recognize that the obstacle is another moving body by detecting a specific pattern attached to the other moving body. . In addition, the recognition can be performed by imaging light emitted from the moving body. Furthermore, the same recognition can be performed by detecting a specific sound emitted by another moving body or by using communication between individuals such as infrared communication. Furthermore, a moving body of a different vendor as another moving body may be the detection target, and not only a mechanical structure but also a living body such as a human or an animal may be the detection target.

  The self-position specifying means 2 is means for recognizing the position of the moving body, and is configured by cooperation of an imaging device, a central processing unit, a storage device, a predetermined program, etc. mounted or stored in the moving body. be able to. In this configuration, for example, based on the image captured by the camera, the position of the landmark installed in the operating range of the moving body is recognized, and the distance from the landmark to the moving body is calculated, etc. The current position of the body can be calculated. Moreover, LRF, GPS (Global Positioning System), a gyro sensor, an odometry etc. are provided, and self-position information may be calculated | required based on these information.

  Based on the information from the obstacle detection means 10, the mobile object detection means 3, and the self-position specifying means 2, the frequent encounter area setting means 4 is a place where the mobile object often matches other mobile objects. It is a means for setting, and can be configured by cooperation of a central processing unit, a storage device, a predetermined program, etc. mounted or stored in the mobile body. In addition, the contact / occurrence frequent occurrence area setting means 4 includes an encounter / occurrence frequent occurrence count unit 20, an encounter / occurrence frequent occurrence area determination unit 21, and an encounter / occurrence frequent occurrence area recording unit 22.

  Based on the obstacle information by the obstacle detection means 10, the moving body detection information by the mobile body detection means 3, and the self-position information by the self-position specifying means 2, the number-of-contacts counting section 20 Identify your body position and count the number of encounters at each location. For example, as shown in FIGS. 3A, 3B, and 3C, a grid-like two-dimensional coordinate system P showing a moving plane of a moving body is prepared, and each grid (i, j) An assignment number map P is defined by assigning a value P (i, j) indicating the number of times the moving objects meet at a place corresponding to the grid. When the moving body detection information is input, the encounter number map is updated (counting the number of times). When the contact number map before the update is P and the contact number map after the update is P ′, the position (X0, Y0) of another moving body obtained by the obstacle detecting means 10 and the moving body detecting means 3 The number of encounters P ′ (Xs, Ys) and P ′ (X0, Y0) after updating the self-position (Xs, Ys) by the self-position specifying means 2 is according to the following equations (1) and (2). The number of encounters is counted by this calculation.

  Note that the encounter number map does not necessarily have to be divided into grids, and may be divided into regions of any size or shape, for example. That is, as long as the number of times that the moving bodies are put together can be recorded for each location, the mode can be changed as appropriate.

  The encounter frequent occurrence area determination unit 21 (see FIG. 2) is based on the encounter count information calculated by the encounter count counting unit 20, and when the number of encounters at the location is equal to or greater than a certain number, The area is determined. As a method for determining this frequent encounter area, for example, a position (i, j) satisfying the following expression (3) in the frequent encounter map P as shown in FIG. The area is determined. FIG. 4 shows an example when m = 2.

  The coming / outgoing frequent occurrence area recording unit 22 (see FIG. 2) records information of the coming out / outgoing frequent occurrence area determination unit 21. For example, as shown in FIG. 5, a grid-like two-dimensional coordinate system Q indicating a moving plane of a moving body is prepared, and a location corresponding to the grid in each grid (i, j) is a frequent occurrence area. A value Q (i, j) indicating whether or not is defined as an outgoing and outgoing frequent occurrence area map Q. In this example, when Q (i, j) is 0, it is not a frequent encounter area, and when it is 1, it is a frequent encounter area. FIG. 5 shows an example in which m = 2 in equation (3).

  Note that the information on the frequent occurrence area may be set in advance at the time of system design, or may be recorded in a storage device outside the mobile body and transmitted from the recording device to the mobile body. The mode can be changed as appropriate.

  The obstacle map recording means 14 (see FIG. 2) is means for recording the position of the obstacle based on the obstacle information by the obstacle detection means 10 and the self-position information of the moving body by the self-position specifying means 2. And can be configured by cooperation of a central processing unit, a storage device, a predetermined program, etc. mounted or stored in the mobile body. In this configuration, for example, based on the position information of the obstacle detected by the obstacle detection means 10, although not shown, 1 is the place where the obstacle exists in the grid represented by the two-dimensional coordinate system, otherwise. By assigning 0 to the place, the position information of the obstacle can be recorded. The recording method can be changed as appropriate.

  The action plan generation means 5 is based on the self-position information of the moving body by the self-position specifying means 2 and the obstacle information by the obstacle map recording means 14, and the moving body avoids the obstacle and reaches the target point. It is a means for generating a route for reaching, and can be configured by cooperation of a central processing unit, a storage device, a predetermined program, etc. mounted or stored in the mobile body. Moreover, this action plan production | generation means 5 has the target point setting part 30, the route production | generation part 31, and the potting avoidance action production | generation part 32 as the functional division.

  The target point setting unit 30 sets a target point of the moving body. For example, by providing a microphone and a voice recognition unit, information instructed by voice from the user can be input and a target point can be recognized by a predetermined voice recognition process. Alternatively, a target list may be set by giving a task list to be performed to the moving object, selecting one task from the task list, and searching for a position to move to complete the task. . Furthermore, the moving body may be provided with a touch panel, a map may be displayed on the touch panel, and the user may set the target point by specifying the target point of the moving body on the touch panel. Various other modes can be applied to the method for setting the target point.

  Based on the self-location information of the moving body by the self-position specifying means 2 and the obstacle information by the obstacle map recording means 14, the route generation unit 31 moves the moving body to the target point while avoiding the obstacle. Generate a route to reach. As a method for generating this route, various well-known techniques can be used. For example, known documents (Hart, P, E ,; Nilsson, NJ; Raphael, B. (1968). "A Formal Basic for the The A * algorithm disclosed in “Heuristic Determination of Minimum Cost Paths”, IEEE Transactions on Systems Science and Cybernetics SSC 4 (2): pp. 100-107) can be applied.

  The potting avoidance behavior generating unit 32, based on the route generated by the route generating unit 31, when it is determined that the route is passing the frequent encounter area, by the encounter frequent occurrence area passage detection unit 16 described later. , Plan the operation to avoid the potting of moving objects. Examples of the operation for avoiding the potting include a detour operation, a retreat operation, and a destination change operation.

  Hereinafter, an example of the save operation will be described. As shown in FIG. 6, the position of the moving body and the frequent occurrence area are represented by a grid-like two-dimensional coordinate system, a set of coordinates constituting the path of the moving body is defined as a path C, and the number of coordinates constituting the path C Is n, and the constituting coordinates are (xi, yi) (1≤i≤n). Here, (x1, y1) represents the movement start point of the moving body, (xn, yn) represents the target point, and i increases in the order in which the moving body passes. First, i is sequentially increased from 1 to n, and it is confirmed whether or not the coordinates (xi, yi) are a frequent occurrence area. If it is determined that the coordinate is an encounter frequent occurrence area at coordinates (xk, yk) (1 ≦ k ≦ n) where i is k, go back to k−1, k−2,. The coordinates that constitute the route C that is not a frequent occurrence area are searched. When the coordinates that constitute the route C that is not the frequent occurrence area are obtained, the moving object at the coordinates is based on the information from the obstacle detecting means 10 and the moving object detecting means 3, and the other is present in the route direction. After confirming the existence of the moving object, wait until it disappears and set a plan to resume the movement.

  In addition, the process by the potting avoidance action production | generation part 32 is not restricted above, According to the form of input information and the content of the operation | movement which avoids potting, it can change suitably.

  The incoming / outgoing frequent area passing detection means 16 (see FIG. 2) is configured so that the route meets the incoming / outgoing frequent occurrence area recording unit 22 based on the incoming / outgoing frequent occurrence area recording unit 22 and the route information generated by the route generating unit 31. It is means for determining whether or not the vehicle has passed the frequent occurrence area, and can be configured by cooperation of a central processing unit, a storage device, a predetermined program, etc. mounted or stored in the mobile body. FIG. 7 shows an example of determination by the encounter frequent occurrence area passage detection means 16. In a frequent occurrence area map Q expressed in a grid-like two-dimensional coordinate system, if a set of coordinates constituting a route of a moving object is defined as a route C, the generated route is a frequent occurrence when the following equation (4) is satisfied. It is determined that the area is included.

  In addition, the process by the said encounter frequent occurrence area passage detection means 16 is not restricted above, According to the form of input information and the content of the operation | movement which avoids a potting, it can change suitably.

  The moving means 17 (see FIG. 2) is a means for allowing a moving body such as a robot to move. For example, the moving means 17 is provided on an electric wheel section, a walking leg section, or a moving body main body provided on the lower surface of the moving body. It can be configured by cooperation of a central processing unit, a storage device, a predetermined program or the like that is mounted or stored.

  Next, in FIG. 8 and FIG. 9, an operation procedure of the mobile control system 1 having the above configuration will be described. When the moving body needs to move from the current position, this control routine starts (S100). First, the target point setting unit 30 determines the target position of the moving body (S101), and the self-position specifying means 2 Self-position information of the moving object is acquired (S102), the route generating unit 31 generates a moving route of the moving object to the target position (S103), and the encounter frequent occurrence area passage detection means 16 is included in the frequent encounter area. Is included (S104).

  Then, when it is determined in the determination whether or not the frequent occurrence area is included in the moving route (N), as shown in FIG. 9, the moving body starts to move (S110). When it determines with including (Y), the said potting avoidance action production | generation part 32 adds the plan for avoiding potting with another moving body (S105), and transfers to said S110.

  In S110, while the moving object is being moved, the obstacle detection unit 10 determines whether there is an obstacle around the moving object, and determines that there is an obstacle. If (Y), then the moving body detection means 3 detects the presence of another moving body (S111), and if it is determined that there is no obstacle (N), then the matching avoidance action When the generation unit 32 determines whether or not the start position of the potting avoidance action planned has been reached, and when it is determined that the mobile body has reached the start position of the potting avoidance action (Y), the planned potting adjustment is performed. The avoidance action is executed (S117), and the process returns immediately after the execution of S110. On the other hand, when it is determined that the moving body has not reached the start position of the potting avoidance action (N), it is then determined whether or not the moving body has reached the target position, and it is determined that the target position has been reached. If it is determined (Y), this control routine is terminated, and if it is determined that the target position has not been reached (N), the process returns immediately after the execution of S110.

  When the moving object is detected in S111, when the moving object is detected (Y), the number of encounters counting unit 20 counts the number of encounters (S112), and the encounter frequent occurrence area determination unit 21 meets After setting the frequent occurrence area, the frequent occurrence area recording unit 22 records the frequent occurrence area (S113), and corrects the target position to a position where the moving body can avoid the obstacle (S114), then the S102 ( Return to FIG.

  Further, when the moving object is not detected in the detection process of the moving object in S111 (N), the obstacle map recorded in the obstacle map recording unit 14 is updated based on the detected obstacle information. After the target position is corrected to a position where the moving body can avoid the obstacle (S116), the process returns to S102 (see FIG. 8). Although the above-described S115 improves the performance of the moving object to avoid the obstacle, the S115 itself may be omitted when reliable information is sufficiently stored in the obstacle map information.

  According to the mobile body control system 1 according to the present embodiment, information related to the frequent occurrence area is collected based on the experience that is adjusted when the mobile body moves to the target position. For this reason, even if it does not give the information regarding an encounter frequent occurrence area from the outside of a mobile body, the mobile body can automatically move considering the frequent encounter area and reduce the possibility of matching with another mobile body.

  Further, the obstacle detection means 10, the moving body detection means 3, the self-position specifying means 2, the frequent occurrence area setting means 4, the obstacle map recording means 14, and the action plan generation means 5 which are the components of the present embodiment described above. In addition, it is possible to incorporate all the frequent encounter area passage detecting means 16 and the moving means 17 in the mobile body, and in this case, a centralized control device composed of an expensive server system or communication device is completely unnecessary. . Needless to say, some of these components 10, 3, 2, 4, 14, 5, 16, and 17 can be installed outside the moving body.

Second Embodiment FIG. 10 shows a configuration of a mobile control system 41 according to the present embodiment. The moving body control system 41 includes an obstacle detection means 10, a moving body detection means 3, a self-position specifying means 2, an obstacle map recording means 14, an action plan generation means 5, and a frequent encounter area passing detection means. 16, a moving means 17, and an encounter frequent occurrence area setting means 43.

  The moving body control system 41 according to the present embodiment differs from the moving body control system 1 according to the first embodiment in the configuration of the frequent occurrence area setting means 43.

  The encounter frequent occurrence area setting unit 43 according to the present embodiment includes the obstacle detection unit 10, the moving body detection unit 3, the self-position specifying unit 2, the obstacle map recording unit 14, and the action plan. Based on the information from the generating means 5, it is a means for setting a place where the moving body often matches with another moving body as a frequent occurrence area, and a central operation mounted or stored in the moving body It can be configured by cooperation of a processing device, a storage device, a predetermined program, and the like. In addition, this frequent occurrence area setting means 43 includes a frequent occurrence count unit 20, an elapsed time acquisition unit 45, a narrow land determination unit 46, a traffic frequency recording unit 47, a frequent occurrence risk score calculation unit 48, and a frequent occurrence area. The determination unit 21 and the frequent encounter area recording unit 22 are configured.

  The number-of-contacts counting unit 20 has the same effect as the number-of-contacts counting unit 20 according to the first embodiment, and includes obstacle information by the obstacle detection unit 10 and the moving body detection unit 3. Based on the mobile object detection information by the self-position specifying means 2 and the self-position information by the self-position specifying means 2, the positions of the mobile bodies are specified, and the number of encounters at each place is counted (see the first embodiment). ).

  The elapsed time acquisition unit 45 records the set time for each place where the number of encounters is counted by the encounter count counting unit 20, and acquires elapsed time information from the current time. The acquired elapsed time information is transmitted to the encounter risk score calculation unit 48 described later. For example, as shown in FIG. 11, a grid-like two-dimensional coordinate system R indicating the moving plane of the moving object is prepared, and each moving object is placed at the end corresponding to the grid in each grid (i, j). A value of R (i, j), which is a value indicating the time of meeting, is defined as a final meeting time map R. In addition, when the potting between the moving bodies is detected and the potting position (i, j) is obtained by the number-of-contacts counting unit 20, the time R (i, j) stored in the potting position is potted. May be replaced. Furthermore, when transmitting the information to the encounter risk score calculation unit 48, the last encounter time map R immediately before the transmission is used to calculate the elapsed time information from the last adjusted time for each location to the current time. Also good.

  The narrow land determination unit 46 (see FIG. 10) determines a narrow ground on the map based on the obstacle position information by the obstacle map recording means 14 (see the first embodiment). Information on the narrow land on this map is transmitted to the encounter risk score calculation unit 48 described later. For example, as shown in FIG. 12, an obstacle map is prepared as a grid-like two-dimensional coordinate system showing a moving plane of a moving object, and 1 exists when an obstacle exists in each grid. If not, 0 is assigned. When determining whether or not a certain place is a narrow area, the number of grids g where an obstacle is present is obtained in a grid range in the vicinity of 8 centered on this place, and the number of grids g is A position (i, j) that satisfies the following expression (5) is determined to be a narrow ground.

  In the above equation (5), t is a threshold value for determining whether the land is narrow, and may be given in advance at the time of system design. FIG. 12 shows an example when t = 3. Then, for example, as shown in FIG. 13, information on whether or not the land is narrow can be recorded in each grid as a narrow land map N assigned 1 if the land is narrow and 0 if it is not narrow. it can.

  The traffic frequency recording unit 47 (see FIG. 10) records the frequency that the moving body passes for each place based on the moving path of the moving body created by the route generation unit 31 (see the first embodiment). To do. This recorded information is transmitted to the encounter risk calculation unit 48 described later. For example, as shown in FIG. 14, a grid-like two-dimensional coordinate system F indicating a moving plane of a moving body is prepared, and each grid (i, j) has a location corresponding to the grid as an element coordinate of the moving path. A traffic frequency map F is defined by assigning a value F (i, j) indicating the selected number of times. When the route C is generated by the route generation unit 31, the value F (xi,) of the traffic frequency map F is obtained at all positions of the constituent coordinates (xi, xi) (1 ≦ i ≦ n) of the route C. Increase yi) by one.

  The contact risk score calculation unit 48 (see FIG. 10) is based on information from the number of times of contact counting unit 20, the elapsed time acquisition unit 45, the narrow land determination unit 46, and the traffic frequency recording unit 47. An encounter risk score is calculated for each location on the map, and an encounter risk score map is generated. The generated encounter risk score map is transmitted to the encounter frequent occurrence area generation unit 21 described later. For example, as shown in FIG. 15, a grid-like two-dimensional coordinate system S indicating a moving plane of a moving body is prepared, and an encounter risk score at a location corresponding to the grid is assigned to each grid (i, j). The thing is defined as an encounter risk score map S. An encounter risk score S (i, j) in a certain grid (i, j) includes an encounter count map P by the encounter count counting section 20, a narrow area map N by the narrow area determination section 46, and the traffic frequency acquisition section. On the basis of the traffic frequency map F by 47 and the map of the elapsed time ΔR from the last meeting time to the current time, it is calculated by the following equation (6).

  In the above equation (6), w represents a weighting factor in a narrow area, and may be set as a fixed value during system design. ΔR represents the elapsed time from each time recorded in the last encounter time map R by the elapsed time acquisition unit 45 to the current time. The encounter risk score S (i, j) according to the equation (6) is so high as to meet the conditions that the number of encounters is large, the traffic frequency is high, the area is narrow, and the elapsed time since the last adjustment is short. Indicates. The calculation of the encounter risk score is not limited to the above formula (6), and can be performed using at least one of the number of encounters, the traffic frequency, whether the land is narrow, and the elapsed time, for example. In FIG. 15, the example which calculated the encounter risk score in one grid S (3, 3) on the encounter risk score map S is shown.

  In the present embodiment, the frequent encounter area determination unit 21 (see FIG. 10) refers to the encounter risk score map S obtained by the encounter risk score calculation unit 48, and the encounter risk score recorded for each place is When a certain condition is satisfied, it is determined that the place is a frequent encounter area. This determined information is transmitted to the frequent encounter area recording unit 22. As a method for determining the frequent encounter area, for example, by replacing the number of encounters in the first embodiment with the encounter risk score in the present embodiment, it can be performed in the same manner as in the first embodiment. .

  The encounter multiple occurrence area recording unit 22 has the same effect as the encounter multiple occurrence area recording unit 22 according to the first embodiment, and information on the encounter frequent occurrence area determination unit 21 is determined. Is recorded (see the first embodiment).

  Next, in FIG. 16 and FIG. 17, the operation procedure of the mobile control system 41 having the above-described configuration will be described. When the mobile body needs to move from the current position, this control routine is started (S200). First, in S201, the target point setting unit 30 determines the target position of the mobile body, and in S202, the self-position identification is performed. Means 2 acquires the self-position information of the moving body, and in S203, the path generating unit 31 generates a moving path of the moving body to the target position, and in S204, the time when the elapsed time acquiring unit 45 has adjusted in the past The elapsed time from the current time to the current time is acquired for each place, and in S205, the narrow land determination unit 46 determines whether each place on the map is a narrow ground, and in S206, the traffic frequency recording unit 47 Records the traffic frequency of the moving body, and in S207, the above-mentioned S204 to S206 and the aforementioned encounter risk score calculation unit 48 in S213 described later. Based on the result of the process, an encounter risk score is calculated. In S208, the same process as S113 (see FIG. 9) according to the first embodiment is performed, and in S209 to S210, the first implementation is performed. The same processing as S104 to S105 (see FIG. 8) according to the embodiment is performed.

  Next, as shown in FIG. 17, in S211 to S213, the same processing as S110 to S112 in the first embodiment is performed, and in S214, the same processing as S114 according to the first embodiment is performed. In S215 to S216, the same processing as S115 to S116 according to the first embodiment is performed.

  According to the mobile body control system 41 according to the above-described embodiment, when the mobile body generates a movement route to the target position, not only the number of past adjustments but also the elapsed time since the past adjustments, The risk score to be adjusted is calculated for each location in consideration of the information on whether or not the land is narrow and the traffic frequency of the moving body, and the frequent occurrence area is set. Thereby, since an encounter frequent occurrence area will change at any time, the possibility of matching with another mobile body can be reduced more, and the freedom degree of the course which a mobile body generates can be made larger.

  Further, the obstacle detection means 10, the moving body detection means 3, the self-position specifying means 2, the frequent encounter area setting means 43, the obstacle map recording means 14, and the action plan generation means 5 which are the constituent elements of the present embodiment described above. In addition, it is possible to incorporate all the frequent encounter area passage detecting means 16 and the moving means 17 in the mobile body, and in this case, a centralized control device composed of an expensive server system or communication device is completely unnecessary. . Of course, a part of these components 10, 3, 2, 43, 14, 5, 16, and 17 can be installed outside the moving body.

Third Embodiment FIG. 18 shows the configuration of a mobile control system 61 according to the present embodiment. The moving body control system 61 includes an obstacle detecting means 10, a moving body detecting means 3, a self-position specifying means 2, an encounter frequent occurrence area setting means 4, an obstacle map recording means 14, and an action plan generating means 5. And an encounter multiple occurrence area passage detection means 16, a moving means 17, an encounter multiple occurrence area information receiving means 65, and an encounter multiple occurrence area information transmitting means 66.

  The mobile body control system 61 according to the present embodiment further includes an outgoing multiple area information receiving unit 65 and an outgoing frequent area transmission means 66, as compared to the mobile body control system 1 according to the first embodiment. Is different. The following description will focus on this difference.

  The frequent encounter area determination unit 21 of the frequent encounter area setting unit 4 according to the present embodiment has a certain number of encounters at a location based on the encounter number information transmitted from the encounter number counting unit 20, In addition, when it is determined that the location is an encounter multiple occurrence area based on the information of the encounter frequent occurrence area obtained from the encounter frequent occurrence area receiving means 65, the location is determined to be an encounter frequent occurrence area. The determined information is transmitted to the frequent encounter area recording unit 22.

  In addition, the frequent occurrence area recording unit 22 according to the present embodiment records the frequent occurrence area information determined by the frequent occurrence area determination unit 21 and transmits the information to the frequent occurrence area transmission unit 66. The recorded information is sent to the frequent occurrence area passage detection means 16 when confirming whether the route of the moving body generated by the action plan generation means 5 passes through the frequent encounter area. Sent.

  The meeting / departure frequent receiving area receiving means 65 is a means for receiving information on a meeting / departure frequent occurrence area transmitted from another mobile unit, such as a communication system using a wireless local area network (LAN), an infrared communication system, etc. It can be configured by cooperation of a central processing unit, a storage device, a predetermined program, etc. mounted or stored in the body body. The received information on the frequent occurrence area is transmitted to the frequent occurrence area determination unit 21.

  The outgoing / incoming frequent occurrence area transmission means 66 is means for sending information on outgoing / occurrence frequent occurrence areas transmitted from the outgoing / incoming frequent occurrence area recording unit 22 to other mobile units, and is a communication system using a wireless local area network (LAN). , An infrared communication system, and the like, or a central processing unit mounted on or stored in the mobile body, a storage device, a predetermined program, and the like.

  The operation procedure in the mobile control system 61 having the above configuration includes the step of transmitting / receiving information on the frequent occurrence area in the operation procedure of the mobile control system 1 according to the first embodiment. Should be appropriately determined according to the usage situation. In addition, it is also possible to realize a form in which the above-mentioned multiple encounter area receiving means 65 and the aforementioned frequent encounter area transmission means 66 are added to the second embodiment.

  According to the mobile body control system 61 according to the present embodiment, information on the frequent occurrence area generated by each mobile body can be shared with other mobile bodies. Thereby, each mobile body can collect the information regarding a frequent occurrence area with little movement experience.

  Further, the obstacle detection means 10, the moving body detection means 3, the self-position specifying means 2, the frequent occurrence area setting means 4, the obstacle map recording means 14, and the action plan generation means 5 which are the components of the present embodiment described above. It is possible to incorporate all of the outgoing and outgoing frequent area passing detection means 16, the moving means 17, the outgoing and incoming frequent occurrence area information receiving means 65, and the outgoing and incoming frequent occurrence area information transmitting means 66 in the mobile body. In this case, an expensive server A centralized control device including a system and a communication device is completely unnecessary. It goes without saying that a part of these components 10, 3, 2, 4, 14, 5, 16, 17, 65, 66 can be installed outside the moving body.

  According to the present invention, the present invention can be applied as a control system for operating a plurality of robots in a general home environment or office environment where there are many narrow spaces due to obstacles. Moreover, it is applicable also to uses, such as an automatic driving system in the automatic conveyance machine which does not restrain a path | route. The moving body in the present invention is not limited to a robot that autonomously moves to a target point, but can be applied to movement control of an arbitrary robot controlled by remote control or the like. The present invention can also be applied to vehicles (cars, trains) equipped with an image recognition function and intelligence such as automatic traveling, transport vehicles (carriers) traveling in facilities such as factories, flying objects, ships, submarines, and the like.

FIG. 1 is a block diagram showing a basic configuration of a mobile control system of the present invention. FIG. 2 is a block diagram showing the configuration of the mobile control system according to the first embodiment of the present invention. FIGS. 3A, 3B, and 3C are diagrams showing how the number of encounters map is updated. FIG. 4 is a diagram illustrating a state in which a frequent encounter area is installed from the encounter frequency map. FIG. 5 is a diagram showing a frequent encounter area map. FIG. 6 is a diagram illustrating a state in which a position for performing the potting avoidance action is set. FIG. 7 is a diagram illustrating a state in which it is checked whether or not the generated route includes a frequent occurrence area. FIG. 8 is a flowchart showing an operation procedure in the first embodiment. FIG. 9 is a flowchart showing an operation procedure in the first embodiment. FIG. 10 is a block diagram showing the configuration of the mobile control system according to the second embodiment of the present invention. FIG. 11 is a diagram showing a final encounter time map. FIG. 12 is a diagram illustrating a state in which a narrow area is set from the obstacle map. FIG. 13 is a view showing a narrow map. FIGS. 14A, 14B, and 14C are diagrams showing how the traffic frequency map is updated. FIG. 15 is a diagram illustrating a state where the encounter risk score map is created. FIG. 16 is a flowchart illustrating an operation procedure according to the second embodiment. FIG. 17 is a flowchart showing an operation procedure in the second embodiment. FIG. 18 is a block diagram showing a configuration of a mobile control system according to the third embodiment of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,41,61 Mobile body control system 2 Self-localization means 3 Mobile body detection means 4,43 Outgoing frequent occurrence area setting means 5 Action plan generation means 10 Obstacle detection means 14 Obstacle map recording means 16 Outgoing frequent occurrence area passage detection means DESCRIPTION OF SYMBOLS 17 Traveling means 20 Counting part counting part 21 Counting frequent area determination part 22 Counting frequent area recording part 30 Target point setting part 31 Route generation part 32 Potting avoidance action generating part 45 Elapsed time acquisition part 46 Narrow land determination part 47 Traffic frequency recording part 48 Outgoing risk score calculation unit 65 Outgoing frequent area information receiving means 66 Outgoing frequent area information transmitting means

Claims (14)

A self-position specifying means for specifying the self-position of the moving object;
Mobile object detection means for detecting the presence of other mobile objects;
Based on the information on the self-position obtained during driving of the moving body and the information on the presence / absence of the other moving body, an encounter frequent occurrence area setting for setting a frequent occurrence area where the moving bodies often meet each other is set. Means,
An action plan generating means for generating an action plan for the mobile body based on the frequent encounter area setting means set by the frequent encounter area setting means;
A moving body control system configured to include: The encounter frequent occurrence area setting means sets the frequent encounter area based on the number of encounters, which is information associating the location and the number of times the mobile bodies have met.
The moving body control system according to claim 1. The encounter frequent occurrence area setting means sets the frequent encounter area based on the encounter risk score which is information indicating ease of encounter with other mobile objects in each place.
The moving body control system according to claim 1. The encounter risk score is
The number of encounters, which is information associating the location and number of encounters between the mobile objects,
Elapsed time from the time when the mobile bodies meet each other to the current time,
Narrow ground information indicating a location corresponding to a narrow ground within the operating area of the moving body,
Passing frequency information indicating a place where the moving body frequently passes in the operating area of the moving body;
Determined based on the
The moving body control system according to claim 3. An obstacle map recording means for recording obstacle map information indicating where an obstacle exists in the operating area of the moving body;
The action plan generation means generates a moving path of the moving body so as to avoid the obstacle based on the obstacle map information, and the moving path passes through the frequent encounter area. , Generating an avoidance action plan for causing the moving object to avoid matching with other moving objects,
The moving body control system according to any one of claims 1 to 4. The avoidance action plan is at least one selected from a detour operation, a retreat operation, and a destination change operation.
The moving body control system according to claim 5. Information on the frequent occurrence area recorded in the frequent occurrence area setting means, which is capable of transmitting to other mobile objects,
An encounter multiple occurrence area receiving means for enabling reception of information on the encounter frequent occurrence area transmitted from another mobile unit;
Configured with
The moving body control system according to any one of claims 1 to 6. Identifying the position of the mobile object;
Detecting the presence of other moving objects;
A step of setting an encounter frequent occurrence area indicating a place where the mobile objects often meet based on information on the self-position of the mobile object obtained during driving of the mobile object and information on presence / absence of the other mobile object When,
Generating an action plan for the moving body based on the frequent occurrence area set by the frequent occurrence area setting means;
A moving body control method comprising: The encounter frequent occurrence area is set based on the number of encounters, which is information associating the location and the number of times the mobile objects have met,
The moving body control method according to claim 8. The encounter frequent occurrence area is set based on the encounter risk score which is information indicating the ease of encounter with other mobile objects in each place,
The moving body control method according to claim 8. The encounter risk score is
The number of encounters, which is information associating the location and number of encounters between the mobile objects,
Elapsed time from the time when the mobile bodies meet each other to the current time,
Narrow ground information indicating a location corresponding to a narrow ground within the operating area of the moving body,
Passing frequency information indicating a place where the moving body frequently passes in the operating area of the moving body;
Determined based on the
The moving body control method according to claim 10. Generating a moving path of the moving body so as to avoid the obstacle based on obstacle map information indicating where the obstacle exists in the operating area of the moving body;
When the movement route passes through the frequent encounter area, generate an avoidance action plan for avoiding the matching of the moving bodies,
The moving body control method according to any one of claims 8 to 11. The avoidance action plan is at least one selected from a detour operation, a retreat operation, and a destination change operation.
The moving body control method according to claim 12. Transmitting information related to the frequent occurrence area to other mobile units;
Receiving information on the frequent occurrence area transmitted from another mobile unit;
Configured with
The moving body control method according to any one of claims 8 to 13.

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