JP2009223812A - Autonomous mobile device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently keep on moving without colliding with an obstacle even when the obstacle exists at the side of an autonomous mobile device with a simple configuration. <P>SOLUTION: The autonomous mobile device 1 includes an environment information acquiring means for detecting an ambient obstacle and acquiring obstacle position information, a storing means for storing the obstacle position information, a route generating means for determining a moving route so as to avoid the obstacle on the basis of the obstacle position information, and a moving means for traveling. Upon detecting an obstacle M within a fixed range at the side of the autonomous mobile device 1, the environment information acquiring means stores information that virtually arranges a virtual obstacle X being a virtual obstacle in an obstacle detection area S in front as virtual obstacle information in the storing means. The route generating means determines a moving route on the basis of the obstacle position information and the virtual obstacle information. By moving along the moving route, the autonomous mobile device 1 can efficiently move while avoiding colliding with a front obstacle and a side obstacle M. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an autonomous mobile device that moves while avoiding an obstacle.

  Conventionally, various autonomous mobile devices that move while avoiding obstacles have been proposed. For example, the distance detecting means arranged in the width direction of the front surface of the apparatus measures the distance of the obstacle in the front, and performs the turning with the turning direction and the turning radius determined based on the distance of the obstacle to avoid the obstacle. An apparatus is known (see, for example, Patent Document 1).

In addition, it is a circular device having a center of rotation at the center, and a plurality of detection distances are acquired radially in the advancing direction and left and right horizontal planes by a plurality of directional sensors arranged on the side surface, and a detection distance for each detection azimuth There is known a device that moves a trajectory while avoiding turning of an obstacle using a polynomial approximation of the trajectory of the trajectory and using the direction corresponding to the maximum point of the polynomial approximation formula as a temporary avoidance traveling direction (see, for example, Patent Document 2). .
Japanese Patent Laid-Open No. 6-4132 (Japanese Patent No. 2608509) JP 2005-316759 A

  However, in the device as shown in Patent Document 1 described above, the target obstacle can only deal with the front obstacle, and other moving bodies (persons, autonomous mobile devices) that have moved from the back or side. Etc. cannot be avoided. Moreover, the apparatus as shown in Patent Document 2 is an effective method when a sensor is arranged in a circular apparatus, and a rectangular or elliptical moving body is not considered.

  Further, as described above, various methods have been proposed for detecting obstacles in front and avoiding them when moving forward. For example, when an autonomous mobile device having a non-circular device outer shape turns. In addition, it is not known how to efficiently avoid collision with obstacles existing around the self other than the front.

  The present invention solves the above-described problem, and even when an obstacle exists on the side surface of the autonomous mobile device, it can move efficiently without colliding with the obstacle with a simple configuration. It aims at providing the autonomous mobile device which can be continued.

  In order to achieve the above object, the invention of claim 1 is directed to an environment information acquisition means for detecting position information of an obstacle existing around itself, a storage means for storing the obstacle position information, and the environment information. Based on the obstacle position information detected by the acquisition means, the route generation means for determining the movement route so as to avoid the obstacle, and the own position is moved along the movement route determined by the route generation means. In the autonomous mobile device comprising the moving means, when the environment information acquiring means detects an obstacle within a certain range on its side, the information is stored as virtual obstacle information ahead of itself. And the route generation means determines a movement route based on the obstacle position information and the virtual obstacle information stored in the storage means.

  According to a second aspect of the present invention, in the autonomous mobile device according to the first aspect, the environmental information acquisition means is configured to detect the obstacle when the obstacle detected on the side is located in front of the rotational center of the autonomous mobile device. When a virtual obstacle is present in front of the detected side of the obstacle, and the obstacle is located behind the center of rotation, the virtual obstacle is in front of the side opposite to the detected side of the obstacle. Things are supposed to exist.

  According to a third aspect of the present invention, in the autonomous mobile device according to the first or second aspect, the virtual obstacle information has a variable front position according to a distance from the autonomous mobile device to a side obstacle. It is what has been.

  According to a fourth aspect of the present invention, in the autonomous mobile device according to the third aspect, the virtual obstacle information is variable in a left-right direction position according to a distance from the autonomous mobile device to a side obstacle. It is.

  According to a fifth aspect of the present invention, in the autonomous mobile device according to the third aspect, the virtual obstacle information is variable in a forward direction position in accordance with a distance from the autonomous mobile device to a side obstacle. It is.

  According to a sixth aspect of the present invention, in the autonomous mobile device according to any one of the first to fifth aspects, the storage means is configured so that the virtual obstacle is detected even after the side obstacle is no longer detected. It holds information.

  According to a seventh aspect of the present invention, in the autonomous mobile device according to the sixth aspect, the storage means erases the virtual obstacle information after a predetermined time from when the side obstacle is no longer detected. .

  The invention according to claim 8 is the autonomous mobile device according to claim 6, wherein the storage means erases the virtual obstacle information after moving a certain distance after the side obstacle is no longer detected. is there.

  According to the first aspect of the present invention, since the movement path is determined based on the information of the side obstacle of the self as the virtual obstacle information ahead of the self, the movement path for avoiding the obstacle is formed. As the algorithm to perform, an algorithm for avoiding obstacles ahead can be used. Therefore, the control program can be simplified and the control speed can be increased, and the movement can be continued efficiently. Except for the case where the outline structure of the autonomous mobile device is circular and the center of rotation is at the center of the autonomous mobile device, it can be considered that the autonomous mobile device collides with a side obstacle when turning, but according to the present invention, Collisions with other side obstacles can be avoided.

  According to the invention of claim 2, since the virtual obstacle is appropriately arranged in consideration of the positional relationship between the rotation center of the autonomous mobile device and the side obstacle, there is an obstacle on the side of the autonomous mobile device. Even in this case, it is possible to continue moving toward the destination efficiently by going straight so as not to collide with the obstacle, making a turning movement for avoidance, or suppressing a turning action. In addition, as a side obstacle, other moving objects such as a person or a trolley approaching from the side or rear are also targeted.

  According to the invention of claim 3, since the position of the virtual obstacle is changed according to the distance from the autonomous mobile device to the side obstacle, for example, the virtual obstacle is changed to the autonomous mobile device as the side obstacle is closer. By disposing near and distant, it is possible to determine an appropriate movement path reflecting the risk of collision against obstacle avoidance. Further, by making the movement speed when the obstacle is near to be slower than when the obstacle is far away, efficient and safe movement can be executed according to the position of the virtual obstacle.

  According to the fourth aspect of the present invention, the horizontal position in which the virtual obstacle is arranged is changed according to the distance to the side obstacle, so that it is possible to determine a movement route that focuses on collision avoidance during turning.

  According to the invention of claim 5, since the position in the forward direction where the virtual obstacle is arranged is changed according to the distance to the side obstacle, paying attention to the control of the moving speed by the moving means for avoiding the collision Can be determined.

  According to the sixth aspect of the present invention, the side obstacle detected by the environment information acquisition means is, for example, a mobile body, and frequently enters the obstacle detection range of the environment information acquisition means, so that the detection information is frequently obtained in a short time. Even if it changes, the movement of an autonomous mobile device can be continued efficiently under a stable natural operation.

  According to the invention of claim 7, the same effect as described above can be obtained.

  According to the invention of claim 8, the same effect as described above can be obtained.

  Hereinafter, an autonomous mobile device according to an embodiment of the present invention will be described with reference to the drawings. The block configuration of the autonomous mobile device 1 in FIG. 1 is common to all the embodiments, and is referred to as appropriate in each embodiment.

(First embodiment)
FIG. 1 shows a block configuration of the autonomous mobile device according to the first embodiment of the present invention. FIG. 2 shows how a virtual obstacle is arranged when the device detects a side obstacle. a), (b), and (c) show the state of the turning operation when the apparatus detects a side obstacle.

  As shown in FIG. 1, the autonomous mobile device 1 includes environmental information acquisition means 2 that sequentially detects obstacles around itself and acquires obstacle position information 11, and storage means 3 that stores the obstacle position information 11. A route generation unit 4 that determines a movement route so as to avoid an obstacle based on the obstacle position information 11 acquired by the environment information acquisition unit 2, a movement unit 5 for traveling, and a route generation unit 4 And a movement control means 6 for controlling the movement means 5 so as to move the position of itself along the movement path determined by.

  The environment information acquisition means 2 includes a front distance sensor that detects a distance from the self position to an object or an obstacle in the obstacle detection area S (FIG. 2) in front, and an object surface position acquired by the distance sensor. An arithmetic unit for processing the coordinates and recognizing an obstacle such as a wall surface or a moving object is provided. This forward distance sensor, for example, obtains a three-dimensional distance image by electronic scanning by arraying a plurality of ultrasonic wave receiving elements in a laser radar that scans a horizontal plane ahead of the traveling direction at a predetermined constant angle, or in an array. An ultrasonic array sensor or the like is preferably used. Information acquired by these sensors constitutes obstacle position information 11.

  Further, the autonomous mobile device 1 detects, as the environment information acquisition unit 2, obstacles that exist on the side, obstacles such as people approaching from the side, and moving objects, in addition to the distance sensor for the front described above. A side obstacle sensor is provided. The obstacle sensor for the side can be configured by, for example, a laser radar, an infrared sensor, an ultrasonic sensor, or the like alone or in combination, like the distance sensor for the front. This obstacle sensor does not necessarily have to be provided on the side of the main body of the autonomous mobile device 1, and may detect an obstacle in the lower left and right directions from the upper center of the main body.

  The moving means 5 includes a motor driven by the battery BT and driving wheels 5a and 5b (FIG. 2). The motor is provided with an encoder for measuring the rotation speed and rotation speed. The movement control means 6 of the autonomous mobile device 1 can roughly know the movement distance and movement direction from the output of the encoder, and performs dead reckoning (dead reckoning estimation navigation) based on this.

  In addition, the calculation unit, the storage unit 3, the route generation unit 4, the movement control unit 6 and the like of the environment information acquisition unit 2 constitute a control unit 10 as a whole. Since the control unit 10 is configured, a CPU, a memory, An electronic computer having a general configuration including an external storage device, a display device, an input device, and the like, and a set of processes or functions thereon can be used.

  As shown in FIG. 2, the autonomous mobile device 1 includes drive wheels 5 a and 5 b as moving means 5 on the left and right sides of the vehicle body having a substantially rectangular outer shape, and moves in the forward direction indicated by the traveling direction a. The drive wheels 5a and 5b can be driven independently. The autonomous mobile device 1 drives the drive wheels 5a and 5b in the same direction to move forward or backward, drive in opposite directions with the same driving force, and turn right or left around the rotation center G on the spot. . If the left and right driving forces at the time of turning are different, the autonomous mobile device 1 turns right or left while proceeding forward or backward. A direction orthogonal to the axles of the drive wheels 5a and 5b is defined as a traveling direction a.

  Further, the distance sensor for the front described above detects an object or an obstacle in a semicircular obstacle detection area S having a predetermined radius in front of the autonomous mobile body 1. The autonomous mobile body 1 moves while avoiding the obstacle while generating the movement route based on the detection result in the obstacle detection area S using the route generation means 4 and the movement control means 6.

  The autonomous movement performed while avoiding the collision with the front obstacle based on the information on the front obstacle as described above (obstacle position information 11) is performed by, for example, the method and apparatus disclosed in Japanese Patent No. 3648604. Can be done on the basis.

  In addition to the front obstacle, the autonomous mobile device 1 of the present embodiment further moves autonomously while avoiding a collision with a side obstacle (also referred to as a side obstacle). In order to efficiently execute such movement, the environment information acquisition means 2 of the autonomous mobile device 1 places the obstacle M within a certain range on the side of the autonomous mobile body 1 as shown in FIG. When detected, the virtual obstacle X, which is a virtual obstacle corresponding to the side obstacle M, is virtually arranged in the obstacle detection area S in the front, and information on the virtual obstacle X is displayed as the virtual obstacle. It is generated as information 12 and stored in the storage means 3.

  In the case of the example shown in FIG. 2, the virtual obstacle X is arranged in the forward direction of the point-symmetrical position m of the side obstacle M with respect to the rotation center G, and is autonomously moved in the obstacle detection area S. The position is closest to the device 1. When the autonomous mobile device 1 has a point-symmetric outer shape with respect to the rotation center G, such an arrangement setting of the virtual obstacle X is a standard setting (another example is, for example, the third embodiment reference).

  By the way, when the side obstacle M is detected at the point symmetry position m described above, the position of the virtual obstacle X is still the same as described above. That is, any of the side obstacle M shown in FIG. 2 and the obstacle detected at the point-symmetrical position m has the arrangement of the virtual obstacle X shown in FIG.

  The route generation unit 4 determines a movement route based on the obstacle position information 11 and the virtual obstacle information 12 in the front stored in the storage unit 3.

  The autonomous mobile device 1 can efficiently move autonomously while avoiding a collision with a side obstacle in addition to a front obstacle by moving along the movement path determined as described above. it can. This state will be described with reference to FIGS.

  FIG. 3A shows a state in which the autonomous mobile device 1 moves to the destination T located in the right front of the traveling direction a. An obstacle M is detected on the left rear side of the autonomous mobile device 1. If the vehicle immediately turns right in this state, the rear portion of the autonomous mobile device 1 collides with the obstacle M (FIG. 4). (See (a) and (b)).

  Then, the environment information acquisition means 2 produces | generates the virtual obstacle information 12 reflecting the state which has arrange | positioned the virtual obstacles X1, X2, and X3 which move with the movement of the autonomous mobile apparatus 1 to the right front one after another, Information is stored in the storage means 3. Since the autonomous mobile device 1 autonomously moves while avoiding a collision with a forward obstacle based on the forward obstacle information (obstacle position information 11), the virtual obstacle information 12 and the obstacle position information 11 are used. As long as the virtual obstacle information 12 can be handled in the same manner and stored in the storage means 3, turning to the right is suppressed. Therefore, the collision between the rear part of the autonomous mobile device 1 and the side obstacle M, which is predicted to occur when the autonomous mobile device 1 turns right, is avoided.

  As shown in FIG. 3B, the autonomous mobile device 1 moves forward from the side obstacle M, so that the problem of the rear collision with the side obstacle M is solved. Then, the environment information acquisition unit 2 stops generating the virtual obstacle information 12 formed by arranging the virtual obstacle X. Thereby, the virtual obstacle information 12 in the storage means 3 is deleted.

  The route generation unit 4 moves the shortest travel route b to the destination T located right ahead because the virtual obstacle information 12 disappears from the storage unit 3 (assuming that there is no obstacle ahead). To decide. As shown in FIG. 3C, the autonomous mobile device 1 turns right along the movement path b toward the destination T in a state where a collision with the side obstacle M is avoided.

  According to the autonomous mobile device 1 of the present embodiment, the moving path b is determined based on the obstacle position information 11 in the front and the virtual obstacle information 12 corresponding to the side obstacle M, so that the obstacle in the front is avoided. The collision with the side obstacle M can be avoided by the conventional algorithm or method for forming the movement path b for the purpose. Thereby, the simplification of the control program and the speeding up of the control can be realized, and the autonomous movement can be continued efficiently without colliding with a side obstacle as in the case of the front obstacle.

(Second Embodiment)
FIGS. 5A, 5B, 5C, and 6 show examples of autonomous mobile devices according to the second embodiment. In the present embodiment, an example will be described in which a virtual obstacle is arranged depending on the structure of the autonomous mobile device 1, in particular, the outer shape and the rotational structure.

  The autonomous mobile device 1 shown in FIG. 5 (a) is a left and right two-wheel drive type having a rotation center G in the center, and the autonomous mobile device 1 shown in FIG. The autonomous mobile device 1 shown in FIG. 5C is an omnidirectional four-wheel drive type having a center of rotation, and the autonomous mobile device 1 shown in FIG. The outer shape having the center of rotation G is a circular two-wheel drive. In the drawing, the wheel 5c is an auxiliary wheel, and the wheel 5d is an omnidirectional drive wheel.

  As shown in FIGS. 5A, 5 </ b> B, and 5 </ b> C, the environmental information acquisition means 2 in the autonomous mobile device 1 having a longitudinal outer shape in front and rear is such that the side obstacle M <b> 1 is from the rotation center G of the autonomous mobile device 1. In the case where the vehicle is located in front, the virtual obstacle X is arranged in front of the side where the side obstacle M1 is detected with respect to the left and right sides in the moving direction, and the side obstacle M2 is located behind the rotation center G. The virtual obstacle X is arranged in front of the side opposite to the side where the side obstacle M2 is detected. All virtual obstacles are arranged in the front obstacle detection area. The same applies to other embodiments.

  According to the arrangement of the virtual obstacle X as described above, since the positional relationship between the rotation center G and the side obstacles M1 and M2 at the time of turning as indicated by the arrow R is appropriately considered, the autonomous mobile device Even when the obstacles M1 and M2 exist on one side, the movement can be continued safely and efficiently without colliding with the obstacles M1 and M2.

  In addition, as shown in FIG. 6, the environment information acquisition unit 2 in the autonomous mobile device 1 having a circular outer shape is in the case where the side obstacle M is located on the front shoulder in the traveling direction of the autonomous mobile device 1. The virtual obstacle X is arranged in front of the side where the side obstacle M is detected (traveling direction a side) and closer to the front of the autonomous mobile device 1. According to such an arrangement of the virtual obstacle X, the route generation means 4 of the autonomous mobile device 1 moves in such a manner that the route generation means 4 changes its direction of travel without moving against the obstacle M and moves in a moving direction. b can be determined.

(Third embodiment)
FIG. 7 shows a state in which a virtual obstacle is arranged when the autonomous mobile device according to the third embodiment detects a side obstacle. In the present embodiment, it will be described that the environment information acquisition unit 2 sets the location of the virtual obstacle according to the distance from the autonomous mobile device 1 to the side obstacle.

  The obstacle M is detected at a position of distance x from the side surface of the autonomous mobile device 1 and distance y backward from the front and rear center lines. That is, the side obstacle M is detected behind the rotation center G. Note that the autonomous mobile device 1 has a substantially rectangular outer shape, and the front and rear length is 2D.

  With respect to the side obstacle M described above, the virtual obstacle X is located at a distance w from the left-right center line of the autonomous mobile device 1 and is a semicircular obstacle detection area S that detects an obstacle ahead. It is placed on the forefront. The distance w is set to w = α (D−x) + βy + γ where α, β, and γ are predetermined constants. When an obstacle M is detected at a point-symmetric position with respect to the rotation center G, the same distance w can be used.

  The contribution of the distance x in the above formula of the distance w is that the autonomous mobile device 1 performs the turning motion when the obstacle M is detected near the rotation center G, that is, when the distance x is closer to zero. Even so, the positional relationship with the obstacle M does not change so much, which reflects the low risk of collision. When the distance x is greater than the length D, the obstacle M is located behind the autonomous mobile device 1 and is therefore not set as the virtual obstacle X.

  In addition, the contribution of the distance y in the formula of the distance w reflects that the obstacle M is detected closer to the autonomous mobile device 1 as the distance y is smaller, and the risk of collision increases. The distance y is proportional.

  According to the autonomous mobile device 1 of the present embodiment, the distance from the autonomous mobile device 1 to the side obstacle M, that is, the distance x from the side surface of the autonomous mobile device 1 and the distance in the front-rear direction from the front and rear center lines. Since the position of the virtual obstacle X is changed according to y, reflecting the risk of collision with the obstacle M, an appropriate movement path can be determined. Accordingly, efficient and safe movement can be executed based on the position of the virtual obstacle.

(Fourth embodiment)
8 and 9 show a state in which a virtual obstacle is arranged when the autonomous mobile device according to the fourth embodiment detects a side obstacle. In the present embodiment, the environment information acquisition unit 2 makes the lateral position of the virtual obstacle variable according to the distance in the lateral direction (distance in the lateral direction) from the autonomous mobile device 1 to the lateral obstacle. explain.

  As shown in FIG. 8, the environment information acquisition unit 2 of the autonomous mobile device 1 is configured such that the side obstacle M1 detected at the rear left side of the autonomous mobile device 1 has a lateral distance L1 from the autonomous mobile device 1. In some cases, the virtual obstacle X1 is set to the position of the distance w1 on the front right side. In this case, the distance w1 is increased as the distance L1 is increased. Accordingly, the virtual obstacle X2 is set at the distance w2 with respect to the side obstacle M2 detected at the distance L2. Here, L1 <L2, w1 <w2. The position of the virtual obstacle X in the front-rear direction is set to the forefront of the semicircular obstacle detection area S for detecting a front obstacle.

  The example illustrated in FIG. 9 illustrates a case where the side obstacles M1 and M2 are detected ahead of the rotation center G. The distance relationship in this case is L1 <L2 and w1 <w2 as in the case of FIG. Similarly, the position of the virtual obstacle X in the front-rear direction is also set at the forefront of the semicircular obstacle detection area S for detecting a front obstacle.

  In the present embodiment, the position in the front-rear direction of the side obstacles M1, M2 is considered only on the rear side or the front side of the rotation center. Therefore, the determination process is simple, and the burden on the environment information acquisition unit 2 can be reduced. Further, when the position of the side obstacle is directly beside the center of rotation, it may be set to either FIG. 8 or FIG. 9 (the same applies to other embodiments).

  According to the autonomous mobile device 1 of the present embodiment, the position in the lateral direction in which the virtual obstacle is arranged is changed according to the distance in the lateral direction to the side obstacle, so pay attention to collision avoidance during turning The determined movement route can be determined and moved.

(Fifth embodiment)
10 and 11 show a state in which a virtual obstacle is arranged when the autonomous mobile device according to the fifth embodiment detects a side obstacle. In the present embodiment, the environment information acquisition unit 2 makes the front / rear direction position of the virtual obstacle variable according to the distance in the side direction (distance in the left / right direction) from the autonomous mobile device 1 to the side obstacle. explain.

  As shown in FIG. 10, the environment information acquisition unit 2 of the autonomous mobile device 1 is configured such that the side obstacle M1 detected at the left rear side of the autonomous mobile device 1 is at a distance L1 in the lateral direction from the autonomous mobile device 1. In some cases, the virtual obstacle X1 is located at a distance δw from the side of the autonomous mobile device 1 and at a distance d1 from the front of the semicircular obstacle detection area S for detecting an obstacle in front. Set. In this case, the distance d1 is increased as the distance L1 is increased. Accordingly, the virtual obstacle X2 is set at the distance d2 with respect to the side obstacle M2 detected at the distance L2. Here, L1 <L2, d1 <d2.

  The example shown in FIG. 11 shows a case where the side obstacles M1 and M2 are detected ahead of the rotation center G. The distance relationship in this case is L1 <L2 and d1 <d2 as in the case of FIG.

  According to the autonomous mobile device 1 of this embodiment, the position in the front direction (position in the front-rear direction) where the virtual obstacle is arranged is changed according to the distance in the lateral direction from the autonomous mobile device 1 to the side obstacle. Therefore, it is possible to determine the movement path for avoiding the collision by paying attention to the control of the moving speed by the moving means.

  For example, a virtual obstacle is arranged closer to the autonomous mobile device 1 as a side obstacle is closer, and a farther away person is arranged so as to reflect the risk of collision against obstacle avoidance and determine an appropriate movement route. can do. For example, when the distance to the side obstacle is farther, by placing the virtual obstacle farther, the degree of freedom for selecting and generating the movement route is increased, and an appropriate movement route toward the destination is set. If the distance can be determined and the distance is shorter, it is possible to move safely by determining a moving path that avoids an obstacle under more severe restrictions. In addition, by configuring the moving means 5 so that the moving speed when the obstacle is close is slower than the moving speed when the obstacle is far away, efficient and safe movement can be performed according to the position of the virtual obstacle. Can be executed.

(Sixth embodiment)
FIG. 12 shows a state in which a virtual obstacle is arranged when the autonomous mobile device according to the sixth embodiment detects a side obstacle. In the present embodiment, the arrangement of the virtual obstacles X1 and X2 when the outer shape of the autonomous mobile device 1 is circular and the center of rotation G is present will be described. In this case, the collision with the side obstacles M1 and M2 does not occur due to the turning of the circular autonomous mobile device 1, but when the autonomous mobile device 1 moves forward in the traveling direction a, the shoulder side of the autonomous mobile device 1 There is a possibility of collision.

  Therefore, the environment information acquisition means 2 of the autonomous mobile device 1 is located in front of the semicircular obstacle detection area S which is a position in the forward direction of the side obstacles M1 and M2 and detects obstacles ahead. Virtual obstacles X1 and X2 are arranged. Then, the route generation means 4 rotates the autonomous mobile device 1 on the spot (right rotation in this example), and generates a movement route that moves while changing the direction of the traveling direction a. According to the autonomous mobile device 1 of the present embodiment, such a collision with a side obstacle can be easily avoided and the movement can be continued efficiently.

(Seventh embodiment)
FIG. 13 shows a flowchart of a movement process when the autonomous mobile device according to the seventh embodiment moves while detecting a side obstacle, and FIG. 14 shows a case where the autonomous mobile device moves while detecting a side obstacle. The flowchart of the other example of this movement process is shown. In the present embodiment, the storage and deletion of the virtual obstacle information 12 for the autonomous mobile device 1 to continue moving efficiently under a stable and natural operation will be described. The main point is that the storage of the virtual obstacle information 12 is maintained for a certain time after the side obstacle is no longer detected. In other words, the effect of the smoothing filter in the electric circuit and data processing is introduced to stabilize the movement. It is to become.

  In order to monitor the detection and non-detection of the side obstacle, the obstacle detection area by the environment information acquisition means 2 on the side of the autonomous mobile body 1 is divided into m. Side obstacles are monitored for each divided area a (i), i = 1,. As a method of this division, for example, a lateral region within a predetermined range of the autonomous mobile device 1 is divided into four divisions (m = 4) by dividing it further back and forth with respect to the center of rotation and further left and right. In this case, the left front side and the right rear side, which are diagonal to each other with respect to the rotation center, are combined into one area, and similarly, the left rear side and the right front side are combined into one area, The whole may be divided into two (m = 2). This corresponds to the case where the arrangement of the virtual obstacle is shared in the diagonal area. Further, if the division number m is increased, more natural movement can be realized, but it may be determined within a range in which the control unit 10 is not overloaded.

  When the movement control means 6 of the autonomous mobile device 1 starts moving in a state in which the areas a (i), i = 1,..., M are set in advance as described above, the movement control means 6 for each area a (i). All the set timer variables t (i) are reset to t (i) = 0, i = 1,..., M (S1). Next, the route generation unit 4 determines a movement route based on the obstacle position information 11 and the virtual obstacle information 12 in the storage unit 3 (S2), and the movement unit 5 performs a movement operation (S3). The movement control means 6 determines whether or not the destination has been reached (S4). If the destination has been reached, the process is terminated (Yes in S4). If the destination has not been reached (No in S4), the variable i (i = 1). ,..., M), iterative processing including step S5 is performed (processing loops LP1 and LP2).

  During the above movement, the environment information acquisition means 2 detects the front and side obstacles, and if a side obstacle is detected in the area a (i) (Yes in S5), the virtual obstacle Virtual obstacle information 12 relating to X (i) is generated and stored in the storage means 3 (S9). Then, the process of step S10 is performed.

  If a side obstacle is not detected in the area a (i) in step S5 (No in S5), the timer variable t (i) is added with time, and t (i) = t (i) + Δt (S6), and the timer value is compared with a predetermined upper limit value tm (S7).

  If the timer value does not exceed the upper limit value tm and t (i)> tm is not satisfied (No in S7), the process is repeated for the next variable i incremented from the current variable i.

  If the timer value exceeds the upper limit value tm and t (i)> tm (Yes in S7), the virtual obstacle information 12 regarding the virtual obstacle X (i) in the storage means 3 is deleted (S8), The timer variable t (i) is reset, t (i) = 0 is set (S10), and the process is repeated for the next variable i obtained by incrementing the current variable i.

  When the above processing loops LP1 and LP2 are finished, the control is returned to step S2, and the above processing is repeated under a predetermined control cycle.

  According to the above-described series of processing, the storage means 3 holds the virtual obstacle information 12 formed by arranging the virtual obstacle ahead after the side obstacle is no longer detected, and the side obstacle is detected. The virtual obstacle information 12 is deleted after a lapse of a certain time (upper limit value tm) after being stopped.

  Therefore, according to the autonomous mobile device 1 of the present embodiment, the side obstacle detected by the environment information acquisition unit 2 is, for example, a moving body and enters or exits the obstacle detection range of the environment information acquisition unit 2. Thus, even if it is not frequently detected in a short time, the movement can be continued efficiently under a stable natural operation.

  The process shown by the flowchart of FIG. 14 uses a moving distance variable D (i) instead of using the timer variable t (i) in FIG. Therefore, the processing according to this flowchart is obtained by changing steps S1, S6, S7, and S10 in FIG. 13 to steps # 1, # 6, # 7, and # 10, and the other steps are the processing shown in FIG. It is the same.

  In this example, the storage means 3 erases the virtual obstacle information 12 after moving a certain distance Dm after the side obstacle is no longer detected. According to the autonomous mobile device 1 of this example, similarly to the above, the movement can be continued efficiently under the stable and natural operation of the autonomous mobile device 1.

  The present invention is not limited to the above-described configuration, and various modifications can be made. For example, the configurations of the above-described embodiments can be combined with each other within a consistent range, and such embodiments that can be combined are naturally included in the present invention even if they are not specified.

The block block diagram of the autonomous mobile apparatus which concerns on the 1st Embodiment of this invention. The top view explaining a mode that a virtual obstacle is arrange | positioned when an apparatus same as the above detects a side obstacle. (A) (b) (c) is a top view explaining the mode of turning operation | movement when an apparatus same as the above detects a side obstacle. (A) is a top view which shows the state which the conventional autonomous mobile apparatus detected the side obstruction, (b) is a top view which shows a mode that the apparatus collides with a side obstruction. The example of the autonomous mobile device which concerns on 2nd Embodiment is shown, (a) is a top view which shows the autonomous mobile device which has a rotation center in the center, (b) is a top view which shows the autonomous mobile device which has a rotation center in the back (C) is a top view which shows the omnidirectional autonomous mobile device which has a rotation center in the center. The top view which shows the circular autonomous moving apparatus which has a rotation center in the center. The top view explaining a mode that a virtual obstacle is arranged when an autonomous mobile device concerning a 3rd embodiment detects a side obstacle. The top view explaining a mode that a virtual obstacle is arranged when an autonomous mobile device concerning a 4th embodiment detects a side obstacle. The top view which shows the other example when a device same as the above detects a side obstacle. The top view explaining a mode that a virtual obstacle is arranged when an autonomous mobile device concerning a 5th embodiment detects a side obstacle. The top view which shows the other example when a device same as the above detects a side obstacle. The top view explaining a mode that a virtual obstacle is arranged when an autonomous mobile device concerning a 6th embodiment detects a side obstacle. The flowchart of the movement process at the time of moving while the autonomous mobile apparatus which concerns on 7th Embodiment detects a side obstacle. The flowchart which shows the other example of the movement process at the time of moving, detecting the side obstruction by an apparatus same as the above.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Autonomous mobile device 2 Environment information acquisition means 3 Memory | storage means 4 Path | route generation means 5 Movement means b Movement path G Rotation center M, M1, M2 Obstacle X, X1, X2 Virtual obstacle

Claims (8)

Environment information acquisition means for detecting position information of obstacles existing around itself, storage means for storing the obstacle position information, and obstacles based on the obstacle position information detected by the environment information acquisition means In an autonomous mobile device comprising: path generation means for determining a movement path so as to avoid an object; and movement means for moving the position of the user along the movement path determined by the path generation means.
When the environmental information acquisition means detects an obstacle within a certain range of its own side, the information is stored in the storage means as virtual obstacle information ahead of itself,
The autonomous mobile device characterized in that the route generation means determines a movement route based on the obstacle position information and the virtual obstacle information stored in the storage means.   When the obstacle detected on the side is located ahead of the center of rotation of the autonomous mobile device, the environment information acquisition means is assumed to have a virtual obstacle ahead of the detected side of the obstacle, 2. The virtual obstacle according to claim 1, wherein when the obstacle is located behind the rotation center, a virtual obstacle exists in front of the side opposite to the detected side of the obstacle. Autonomous mobile device.   The autonomous mobile device according to claim 1 or 2, wherein the virtual obstacle information has a variable front position in accordance with a distance from the autonomous mobile device to a side obstacle.   The autonomous mobile device according to claim 3, wherein the virtual obstacle information is variable in a left-right direction position according to a distance from the autonomous mobile device to a side obstacle.   4. The autonomous mobile device according to claim 3, wherein the virtual obstacle information has a forward position variable according to a distance from the autonomous mobile device to a side obstacle.   The autonomous mobile device according to any one of claims 1 to 5, wherein the storage unit holds the virtual obstacle information even after the side obstacle is no longer detected. .   The autonomous mobile device according to claim 6, wherein the storage unit erases the virtual obstacle information after a predetermined time from when the obstacle on the side is no longer detected.   The autonomous mobile device according to claim 6, wherein the storage unit erases the virtual obstacle information after moving a certain distance after the side obstacle is no longer detected.

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