JP2010152833A - Unmanned mobile body system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To move autonomously in movement at high moving speed and to allow remote control in movement at low moving speed. <P>SOLUTION: An unmanned mobile body system includes an imaging part, a range-finding part, an unmanned mobile body carrying a drive mechanism, a display part, and a remote control device sending control information including a movement direction and a movement speed at least for remote-controlling the unmanned mobile body based on an image displayed in the display part. The system also includes: an area extraction means 10a extracting a movable area in a movement region based on image data acquired by the imaging part and range-finding data acquired by the range-finding part; a movement plan creating means 10b creating a movement plan for autonomous movement based on the control information sent from the remote control device; a first determination means 10c determining possibility/impossibility of movement in the movable area based on the control information; and an autonomous movement means 10d moving the unmanned mobile body according to the movement plan when it is determined that the movement is possible. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an unmanned moving body system including an unmanned moving body such as an unmanned vehicle and a remote control device for remotely manipulating the unmanned moving body.

Conventionally, as this type of prior art, there is one disclosed in Patent Document 1 under the name of “method that allows a user to remotely control a robot”.
The method described in Patent Document 1 includes a step of supplying image information representing an area around the robot, a step of supplying a user perceptual image representing an area around the robot using the image information, and a user In the image, there are provided a stage in which one or more targets can be specified for the robot to be moved and a stage in which the robot can be moved toward the target.
Special table 2003-532218 gazette

  Although the above configuration is intended to intuitively remotely control the robot, the step in which the robot can specify the target in the image is based on point-and-click selection. Therefore, there is a problem that the remote operation cannot be performed intuitively at a high moving speed because of a delay time caused by communication or image compression during remote operation.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an unmanned mobile system that can move autonomously at a high moving speed and can be remotely operated at a low moving speed.

  In order to achieve the above object, an unmanned moving body system according to the present invention includes an unmanned moving body equipped with a distance measuring unit for acquiring distance measurement data in a moving region and a driving mechanism for movement, and its measurement. A display unit for displaying an image based on distance measurement data acquired by the distance unit, and steering information including at least a moving direction and a moving speed for remotely maneuvering the unmanned moving body based on the image displayed on the display unit. A remote control device for sending out, area extraction means for extracting a movable area in the moving area based on distance measurement data acquired by the distance measuring unit, and control sent out from the remote control device Based on the movement direction and movement speed included in the information, a movement plan creation means for creating a movement plan for autonomous movement, and a moveable error based on the movement direction and movement speed included in the operation information. Provided with a first determination means for determining whether or not movement within the door is possible, and an autonomous movement means for moving the unmanned moving body by the drive mechanism according to the created movement plan when it is determined that the movement is possible. It is characterized by.

  According to the present invention, it is possible to move autonomously when the moving speed is high, and to perform remote operation when the moving speed is low.

  The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing an overall configuration of an unmanned mobile system according to an embodiment of the present invention, and FIG. 2 is a block diagram of a control circuit provided in the unmanned mobile body. FIG. 3 is a block diagram of a control circuit provided in the unmanned mobile body.

As shown in FIG. 1, the unmanned mobile system A according to an embodiment of the present invention includes an unmanned vehicle B that is an example of an unmanned mobile body and a remote control device C.
The unmanned vehicle B has a configuration in which various actuators are added so that the steering wheel / accelerator / brake of a general passenger vehicle can be controlled by the following moving body control and autonomous movement computers 10 and 30. Is as follows.

That is, the unmanned vehicle B is controlled by a mobile object control computer 10 including a CPU (Central Processing Unit), an interface circuit (none of which are shown), and the autonomous movement computer 30 (see FIG. 2 and 3).
In the following, the moving body control computer 10 is referred to as a vehicle control computer 10 according to the present embodiment.
The vehicle control computer 10 and the autonomous movement computer 30 are connected to each other via the Ethernet (registered trademark) 11.

The autonomous movement computer 30 is composed of a CPU (Central Processing Unit), an interface circuit (none of which are shown), and the like, and a distance measurement for obtaining distance measurement data in the movement area is provided at an input port thereof. The unit 33 is connected.
The distance measuring unit 33 includes autonomous movement cameras 14 and 31 and a laser light sensor (hereinafter referred to as “LRF”) 32.

The LRF 32 performs distance measurement by a time-of-flight method for measuring the time from projecting to receiving light of a laser beam. In the present embodiment, the one shown in this embodiment uses one laser light source and the optical axis is optical or It is of a scan type that acquires a three-dimensional shape of an object by mechanically sweeping.
The autonomous movement cameras 14 and 31 are for acquiring image data necessary for autonomous traveling (autonomous movement), and are arranged symmetrically in the vehicle width direction and in the vehicle width direction. .
That is, the autonomous movement cameras 14 and 31 are so-called stereo cameras.

The vehicle control computer 10 includes a CPU (Central Processing Unit), an interface circuit, a memory (all not shown), and the like.
A wireless LAN 13 is connected to the input port of the vehicle control computer 10 via the Ethernet (registered trademark) 12, and a GPS (Global Positioning System) 15, a vertical gyroscope 16, a vehicle speed pulse 17, and an odometry 18 are respectively connected to the serial line. Connected through. Reference numeral 20 denotes an antenna connected to the wireless LAN 13.

Further, a steering actuator 22 and a brake / accelerator actuator 23 are connected to the output port via a motor driver 21, respectively.
9 are traveling wheels, and together with these traveling wheels 9, a motor driver 21, a steering actuator 22, and a brake / accelerator actuator 23 constitute a drive mechanism D.

  The vertical gyro 16 obtains the inclination posture in the vertical plane of the unmanned vehicle B, and therefore the optical axis posture (orientation) information of the autonomous traveling cameras 14 and 31 described later, the yaw angular velocity, and the X, Y, and Z3. The axis acceleration is output.

The odometry 18 is a sensor for acquiring own position information based on each rotation amount of the traveling wheels 9 of the unmanned vehicle B.
The GPS 15 is for acquiring position information of the unmanned vehicle B.
The vehicle speed pulse 17 outputs the moving speed of the unmanned vehicle B as pulse information, and is, for example, a hall element.
In the present embodiment, the vehicle speed pulse 17 is a speed measuring device for measuring the moving speed of the unmanned vehicle B.

The vehicle control computer 10 has a function of transmitting various information acquired by the GPS 15 and the vertical gyro 16 to the remote control device C, which will be described later, through the Ethernet (registered trademark) 11, the wireless LAN 13, and the antenna 20. Based on the steering information transmitted from the remote control device C, the steering actuator 22 and the brake / accelerator actuator 23 are driven and controlled via the motor driver 21.
That is, it has a function of driving the steering actuator 22 and the brake / accelerator actuator 23 in accordance with a travel route (movement route) transmitted from the remote control device C and control information described later.

  The vehicle control computer 10 exhibits the following functions by executing required programs stored in a memory (not shown). FIG. 4 is a block diagram illustrating functions of the vehicle control computer, and FIG. 5 is an explanatory diagram illustrating a principle of acquiring image data by two autonomous traveling cameras.

(1) A function of extracting a movable area in the movement area based on distance measurement data acquired by the distance measurement unit 33. This function is referred to as “area extraction means 10a”.
In the present embodiment, a movable area in the moving area is extracted based on both the laser beam data acquired by the LRF 32 and the image data acquired by the autonomous traveling cameras 14 and 31.
The movable area in the moving area may be extracted based only on the image data acquired by the autonomous traveling cameras 14 and 31 and based only on the laser beam data acquired by the LRF 32.

(2) A function for creating a movement plan for autonomous movement based on the movement direction and movement speed included in the operation information sent from the remote control device C. This is referred to as “movement plan creation means 10b”.
The “movement plan” is a movement route of the unmanned vehicle B within the movable area, and is based on a so-called potential method.
In the present embodiment, when an obstacle H that hinders autonomous movement in the movable area G shown in FIG. 8A described later is detected by the obstacle detecting means 10g described later, the obstacle H is avoided. A travel plan for the vehicle, and therefore also a travel route R.

(3) A function of determining whether or not movement is possible in the movable area based on the movement direction and the movement speed included in the operation information. This is referred to as “first determination means 10c”.
“Moveability within the movable area based on the movement direction and the movement speed included in the operation information” depends on whether or not the created movement route R is within the movable area G.

(4) When it is determined by the first determination unit 10c that the movement within the movable area based on the movement direction and the movement speed included in the operation information is possible, the first determination unit 10c passes the drive mechanism D according to the created movement plan. A function to move an unmanned vehicle. This is referred to as “autonomous moving means 10d”.
In this embodiment, when it is determined that movement in the movement direction included in the operation information is impossible, the moving speed of the unmanned vehicle (unmanned moving body) B is reduced by the drive mechanism D.

  Moreover, the moving speed of the unmanned vehicle B to be lowered is such that the unmanned vehicle B can be satisfactorily steered by the remote control device C.

(5) When the first determination means 10c determines that movement in the movable area is impossible based on the moving direction and moving speed included in the maneuvering information, the first determining means 10c moves to the moving direction included in the maneuvering information. A function that determines whether or not movement is possible. This is referred to as “second determination means 10e”.

(6) A function of detecting an obstacle that hinders autonomous movement in the movable area based on the distance measurement data acquired by the distance measurement unit. This is referred to as “obstacle detection means 10 g”.
In the present embodiment, an obstacle that hinders autonomous movement in the movable area is detected based on the image data acquired by the autonomous movement cameras 14 and 31 and the laser light data acquired by the LRF 32.

Acquisition of distance measurement data by the autonomous movement cameras 14 and 31 is as follows.
That is, as shown in FIG. 5, the left image coordinate system [xl, yl], the right image coordinate system [xr, yr], the world coordinate system [X, Y, Z], the base line b in the autonomous movement cameras 14 and 31. When the focal length is f,
The coordinates X, Y, and Z of the obstacle P in the world coordinate system can be obtained by the following equations.
X = b (xl + xr) / 2d
Y = b (yl + yr) / 2d
Z = b · f / d
Note that d is parallax, and d = xl−xr.

  In addition, a method of matching the imaging point pr in the right image and the imaging point pl in the left image is a pattern matching method in which the image is divided into small areas and a position corresponding to the entire surface of the other image is scanned with respect to the area. There is.

  That is, the LRF 32 is used when acquiring distance measurement data in an area relatively close to several tens of meters because the reach of the laser light is a measurement area. Although the image data is inferior to the laser light data in accuracy, This is used when acquiring image data of the distance measurement area.

  In the present embodiment, the obstacle that hinders autonomous movement in the movable area is detected by the LRF 32 and the autonomous traveling cameras 14 and 31, but based on the profile data in the height direction of the laser scanning of the LRF 32. Thus, an area that exceeds (exceeds) a certain height may be recognized as an obstacle.

In this case, when it is determined that there is discrete distance measurement data and discrete distance measurement data determination means for determining whether or not there is discrete distance measurement data in the acquired distance measurement data, the discrete distance measurement data is Discrete data removing means for removing may be provided. The discrete data removing means can be rephrased as filtering means for filtering discrete distance measurement data as noise.
Further, not only one scan line data but also a three-dimensional image in the depth direction may be obtained from a plurality of scan line data in the traveling direction, and obstacles may be recognized by pattern matching.

(7) A function for determining whether or not the moving speed for determining whether or not the moving speed of the unmanned moving body measured by the speed measuring instrument has become equal to or less than a predetermined value. This is referred to as “movement speed determination means 10h”.

(8) A function of switching from the autonomous movement mode to the remote control mode when it is determined that the moving speed is lower than the predetermined value. This is referred to as “mode switching means 10i”.
The “predetermined value” is a moving speed at which the operator can safely move within the movable area.
“Remote control mode” refers to a state in which remote control based on control information sent from the remote control device C is enabled.
The “autonomous movement mode” refers to a state in which the unmanned vehicle B is moved by the drive mechanism D in accordance with the created movement plan.

Next, the remote control device will be described with reference to FIGS. FIG. 6 is an explanatory diagram showing a configuration of the remote control device, FIG. 7 is a block diagram of a control circuit provided in the remote control device, and FIGS. 8A and 8B are diagrams according to the moving speed of the unmanned vehicle. It is explanatory drawing which shows the example of a display of the control reference mark displayed on a display. FIG. 9A is an explanatory diagram illustrating a movement route during autonomous movement, and FIG. 9B is an explanatory diagram illustrating a display example in which the display position is corrected.
The remote control device C shown in the present embodiment is configured to include a display unit 40, an input device 50, and a control device 60, and is configured to be used by the operator Q.

The display unit 40 includes a casing 42 and a transmission / reception unit (none of which is shown) that transmits and receives image data to and from the display 41, the display controller, and the control device 60. It is attached to a belt 43 for attaching to the belt.
The display 41 displays images and the like acquired by the above-described autonomous movement cameras 14 and 31 that are imaging units.

The input device 50 is provided with a transmission / reception unit (none of which is shown) in the casing 53 for transmitting / receiving steering information to / from the joystick 51, the accelerator / brake lever 52, and the control device 60 for inputting steering information. The operation information according to the operation of the joystick 51 and the accelerator / brake lever 52 is output.
“Maneuvering information” includes at least a command movement direction, a command movement speed, and acceleration / deceleration data of the unmanned vehicle B.

The joystick 51 is for turning the unmanned vehicle B left and right by tilting the joystick 51.
The accelerator / brake lever 52 is for increasing or decreasing the moving speed of the unmanned vehicle B (hereinafter referred to as “traveling speed”).

  The control device 60 is configured integrally with a device main body 65 including a CPU (Central Processing Unit), an interface circuit (none of which is shown), and the input / output ports thereof, and a wireless LAN 61, a display 62, and a keyboard 63. Is. In addition, what is shown with the code | symbol 64 is an antenna.

The apparatus main body 65 exhibits the following functions by executing a required program.
(9) A function of superimposing and displaying an operation reference mark M serving as a reference for operation in accordance with the moving speed detected by the vehicle speed pulse (speed measuring device) 17 on an image displayed on the display 41. This is referred to as “superimposition display means 65a”.

In the present embodiment, as shown in FIG. 7A, when the unmanned vehicle B is moving at, for example, 40 km / h, the control reference mark M is displayed at the upper position indicated by (A) or (A). Further, as shown in FIG. 5B, for example, when moving at 5 km / h, the control reference mark M is displayed at the lower position indicated by (C) or (D).
In addition, what is shown by 41a is the state information of the unmanned vehicle B, for example, the front / rear / left / right inclination state of the unmanned vehicle B, the traveling speed, and the like.

FIG. 10 is an explanatory diagram when the display position of the control reference mark M is determined.
The time when the image was acquired is Timg, the communication delay time is Ta (sec), the reaction time for the operator to instruct (set for each pilot) is Tp (sec), and the traveling speed at Timg is Vimg (km / h) Assuming that the distance (radius) rc (m) from (xd, yd) to display and move the control reference mark M for direction indication, rc can be expressed by the following equation 1.
rc = Vimg × 1000 / Tp × 3600 (Formula 1)
That is, the control reference mark M is displayed at the coordinate position of the unmanned vehicle after the specified time Tp when traveling at the current speed.

  In the present embodiment, the size of the control reference mark M is displayed differently according to the vertical display position. Specifically, the image is displayed larger as it is displayed at the lower position, and is displayed smaller as it is displayed at the upper position. Thereby, a sense of perspective can be easily given on the display 41.

Furthermore, in the present embodiment, identification information for identifying the movable area G is superimposed on the image.
Specific examples of the “identification information” include giving the movable area G a color different from that of the other areas Ha, Hb, and Hc.

  Furthermore, when the obstacle detection means 10g described above detects an obstacle H in the movable area G, an identification mark I for easily identifying the obstacle H is displayed in a superimposed manner. Thereby, it is possible to prevent the obstacle H from being overlooked.

(10) A function of calculating a communication delay time between the unmanned vehicle B and the remote control device C. This is referred to as “delay time calculation means 65b”.
In the present embodiment, the round trip time of data is estimated between the unmanned vehicle B and the remote control device C in the manner of ping.
In addition, GPS is installed in both the unmanned vehicle B and the remote control device C, the time synchronization with high accuracy is performed by both computers using the GPS, and the delay time is estimated based on the time stamp of the received data. You may do it.

(11) A function of correcting the display position of the control reference mark M based on the delay time calculated by the delay time calculating means 65b. This is referred to as “display position correcting means 65c”.
That is, the control reference mark M indicated by (e) in FIG. 8B is not corrected based on the delay time, and the control reference mark M indicated by (f) is corrected based on the delay time. It is what you did. By performing the correction in this way, it is possible to reduce steering errors due to the delay time.

Next, a control flowchart will be described with reference to FIGS. FIG. 11 is a control flowchart of the vehicle control device, FIG. 12 is a flowchart showing details of step 4 shown in FIG. 11, and FIG. 13 is a flowchart of remote control by the remote control device.
<Control flow chart of vehicle control device>
Step 1 (abbreviated as “S1” in the figure. The same applies hereinafter): Initialization processing of each part is performed, and the process proceeds to Step 2.

Step 2: The control information and command including the commanded moving speed and moving direction by the operator Q transmitted from the remote control device C are received, and the process proceeds to Step 3.
Step 3: It is determined whether or not an end command has been received. If an end command is received, the process proceeds to step 14; otherwise, the process proceeds to step 4.

Step 4: The moving area is recognized by the cameras 14 and 31 and the LRF 32, the movable area is extracted, and the process proceeds to Steps 4a and 4b shown in FIG.
Specifically, when laser light data and image data are input in steps 4a and 4b, the process proceeds to steps 4c and 4d, respectively.

In steps 4c and 4d, an obstacle recognition process is performed, and the process proceeds to step 5e.
Step 4e: Create an environment map (map) based on the recognition result of the obstacle, and proceed to Step 5f.
In this embodiment, it has the function to produce the map containing the obstacle data corresponding to the movement obstacle which concerns on determination, ie, a map creation means.

Step 4f: Create a movement plan and return to Step 5 of the main flow.
At this time, if an obstacle exists in the movable area, a movement plan including a route for avoiding the obstacle is created.

  Step 5: Determine whether or not the vehicle can travel based on the travel plan created based on the command travel speed and the command travel direction. If it is determined that travel is not possible, proceed to Step 6, otherwise proceed to Step 11. . This step 5 corresponds to the first determination means.

  Step 6: It is determined whether or not movement in the command movement direction is possible. If impossible, the process proceeds to Step 8, and if possible, the process proceeds to Step 7. This step 6 corresponds to a second determination means.

Step 7: Reduce the moving speed. As the moving speed decreases, the display position of the control reference mark M displayed on the display 41 is lowered from the upper side of the display 41 toward the lower side, and the process proceeds to Step 12.
Step 8: Decrease the moving speed and proceed to Step 9.

Step 9: It is determined whether or not the moving speed is equal to or lower than a predetermined value. If it is determined that the moving speed is equal to or lower than the predetermined value, the process proceeds to Step 10;
Step 10: Switch from the autonomous movement mode to the remote control mode and proceed to Step 12.
Step 11: The accelerator / brake and the steering are driven by the actuator so as to autonomously travel in the command movement speed and the command movement direction, and the process proceeds to Step 12.
Step 12: The vehicle information such as the moving speed (vehicle speed) and the recognition result of the movable area are transmitted to the remote control device C, and the process proceeds to Step 13 to complete the end process.

<Remote control flowchart>
Step 1 (abbreviated as “Sa1” in the figure. The same applies hereinafter): Initialization processing of each part is performed and the process proceeds to Step 2.
Step 2: The control information and command including the command speed, command direction and the like transmitted from the remote control device C by the operator P are received, and the process proceeds to Step 3.
Step 3: It is determined whether or not an end command has been received. If an end command is received, the process proceeds to Step 10, and if not, the process proceeds to Step 4.
Step 4: The vehicle information transmitted from the unmanned vehicle B is received, and the process proceeds to Step 5.
Step 5: Calculate the communication delay time and proceed to Step 6.

  Step 6: After correcting the movement amount of the unmanned vehicle B due to the calculated communication delay time on the image captured by the camera, the control reference mark M is superimposed on the perspective position and the command direction position according to the received traveling speed. indicate.

Step 7: The received recognition result of the movable area is superimposed on the image captured by the camera.
Step 8: The received vehicle information (speed, etc.) is displayed in a superimposed manner, and the process proceeds to Step 9.
Step 9: Send control information and commands including the moving speed, moving direction, etc., and go to Step 10.
Step 10: Perform termination processing.

With reference to FIG. 14, an example of switching between the above-described remote control and autonomous traveling will be described. 14A, 14B, and 14C are conceptual diagrams illustrating an example of switching between remote control and autonomous traveling.
As shown in FIG. 5A, the control reference mark M is designated as a position (ki) in the movement area Hc of the movable area G during traveling.
After the designation, the vehicle is decelerated so that the unmanned vehicle B does not move outside the movable area G in the autonomous traveling mode.

When the unmanned vehicle B decelerates, the control reference mark M displayed on the display 41 gradually moves toward the lower side of the display 41 as shown in FIG.
And as shown in (C), when it becomes below a predetermined speed, it switches to the remote control mode, and it becomes possible to move also in the movement areas Ha to Hc other than the movable area G. In the case of this low speed traveling, there is no problem in remote control even if there is a communication delay time.

According to the unmanned mobile body according to the embodiment described above, the following effects can be obtained.
・ For moving autonomously based on the moving direction and moving speed included in the maneuvering information sent from the remote control device while extracting the movable area in the moving region based on the image data and the laser beam data In addition, when it is determined that the movement is possible in the movable area based on the moving direction and the moving speed included in the operation information, and when it is determined that the movement is possible, Since the unmanned moving body is moved via the drive mechanism, it can move autonomously at a high moving speed, and can be operated remotely at a low moving speed.

When it is determined that movement in the movable area is impossible based on the moving direction and moving speed included in the maneuvering information, it is determined whether or not movement in the moving direction included in the maneuvering information is possible. When it is determined that the movement of the unmanned moving body is impossible, the autonomous moving means reduces the moving speed of the unmanned moving body by the driving mechanism, while the moving speed of the unmanned moving body measured by the speed measuring device falls below the predetermined value. When it is determined that the moving speed of the unmanned mobile body has become lower than the predetermined value, remote control is facilitated by enabling remote control based on the control information sent from the remote control device. It can be carried out.

-When it is determined that movement in the movement direction included in the operation information is possible, it is determined whether or not movement is possible at the movement speed included in the operation information, and it is impossible to move at the movement speed included in the operation information. When the determination is made, autonomous driving can be reliably performed by reducing the moving speed of the unmanned moving body by the driving mechanism and moving the unmanned moving body in the moving direction.

-The control reference mark used as a reference for remote control is displayed in a superimposed manner on the image displayed on the display unit in correspondence with the moving speed detected by the speed measuring device, and the perspective according to the moving speed is displayed. A feeling can be obtained.

・ Easy remote control by calculating the communication delay time between the unmanned mobile unit and the remote control device and correcting the display position of the control reference mark based on the calculated delay time delay time Can do.

・ Detects obstacles that hinder autonomous movement within the movable area based on the distance measurement data acquired by the distance measurement unit, and avoids the obstacles based on the obstacle data corresponding to the detected obstacles. By creating a movement plan to be performed, autonomous traveling can be smoothly performed even when an obstacle is present.

-By displaying the identification information for identifying the movable area superimposed on the image, it is easy to identify the movable area during remote maneuvering and maneuver easily.
・ Determines whether or not the moving speed detected by the speed measuring device has fallen below a specified value. When it is determined that the moving speed has dropped below the specified value, the autonomous moving mode is switched from the autonomous moving mode to the remote control mode. Can be switched remotely to remote control mode.

The present invention is not limited to the above-described embodiments, and the following modifications can be made.
-In this embodiment, although an unmanned vehicle was demonstrated as an example of an unmanned mobile body, it can apply mutatis mutandis to an unmanned reconnaissance machine etc.

It is explanatory drawing which shows the whole structure of the unmanned mobile body system which concerns on one Embodiment of this invention. It is a block diagram of the control circuit provided in the unmanned mobile body. It is a block diagram of the control circuit provided in the unmanned mobile body. It is explanatory drawing which shows the structure of a remote control apparatus. It is explanatory drawing which shows the principle which acquires image data with two cameras for autonomous running. It is a block diagram of the control circuit provided in the remote control device. It is a control flowchart of a vehicle control apparatus. It is a flowchart of remote control by a remote control device. (A) is explanatory drawing which shows the movement route at the time of autonomous movement, (B) is explanatory drawing which shows the example of a display which correct | amended the display position. It is explanatory drawing when determining the display position of the control reference mark. It is a control flowchart of a vehicle control apparatus. It is a flowchart which shows the detail of step 4 shown in FIG. It is a flowchart of remote control by a remote control device. (A), (B), (C) is a conceptual diagram showing an example of switching between remote control and autonomous running.

Explanation of symbols

10a area extraction means 10b movement plan creation means 10c first determination means 10d autonomous movement means 10e second determination means 10g obstacle detection means 10h movement speed determination means 10i mode switching means 17 speed measuring device (vehicle speed pulse)
33 Ranging unit (autonomous moving cameras 14 and 31, laser sensor 32)
41 Display 65a Superimposition display means 65b Delay time calculation means 65c Display position correction means B Unmanned moving body (unmanned vehicle)
C Remote control device D Drive mechanism G Movable area

Claims (12)

A ranging unit for acquiring ranging data in the moving region, an unmanned moving body equipped with a driving mechanism for movement, and a display unit for displaying an image based on the ranging data acquired by the ranging unit; And an unmanned mobile system for remotely maneuvering the unmanned mobile body based on an image displayed on the display unit, and a remote control device for sending operation information including at least a moving direction and a moving speed,
An area extracting means for extracting a movable area in the moving area based on the distance measurement data acquired by the distance measuring unit;
A movement plan creation means for creating a movement plan for autonomous movement in the movable area based on the movement direction and movement speed included in the operation information sent from the remote control device;
First determination means for determining whether or not to move within a movable area based on a moving direction and a moving speed included in the operation information;
An unmanned moving body system comprising: an autonomous moving means for moving the unmanned moving body by a drive mechanism according to the created movement plan when it is determined that the movement is possible. The distance measuring unit is a laser light sensor that acquires laser light data of a moving area,
2. The unmanned moving body system according to claim 1, wherein the area extracting means extracts a movable area in the moving area based on the laser light data acquired by the laser light sensor. The distance measuring unit is a camera that acquires image data of a moving area,
2. The unmanned mobile system according to claim 1, wherein the area extracting means extracts a movable area in the moving area based on the image data acquired by the camera.   The unmanned moving body system according to claim 1, wherein the distance measuring unit includes a laser light sensor that acquires laser light data of a moving area and a camera that acquires image data of the moving area. . A speed measuring device for measuring the moving speed;
When the first determination means determines that movement in the movable area is impossible based on the moving direction and moving speed included in the maneuvering information, whether or not movement in the moving direction included in the maneuvering information is possible is determined. A second determination means for determining;
When it is determined by the second determination means that movement in the moving direction is impossible,
While reducing the moving speed by autonomous moving means,
The unmanned moving body is provided with a moving speed determining means for determining whether or not the moving speed of the unmanned moving body measured by the speed measuring device is equal to or less than a predetermined value.
5. The remote control based on the control information sent from the remote control device is enabled when the moving speed determining means determines that the moving speed of the unmanned moving body is equal to or lower than a predetermined value. The unmanned mobile system according to any one of the above. When it is determined by the second determination means that the movement in the movement direction included in the operation information is possible,
6. The unmanned moving body system according to claim 5, wherein the autonomous moving means reduces the moving speed of the unmanned moving body by the driving mechanism and moves the unmanned moving body in the moving direction.   A superimposition display unit that superimposes and displays a control reference mark, which is a reference for remote control, on an image displayed on a display unit in correspondence with a moving speed detected by a speed measuring device. The unmanned mobile system according to claim 5 or 6. A delay time calculating means for calculating a communication delay time between the unmanned mobile body and the remote control device;
8. The unmanned mobile system according to claim 7, further comprising display position correcting means for correcting the display position of the control reference mark based on the calculated delay time. Based on the distance measurement data acquired by the distance measurement unit, there is provided an obstacle detection means for detecting an obstacle that hinders autonomous movement in the movable area,
The movement plan creation means creates a movement plan that avoids the obstacle based on the obstacle data corresponding to the detected obstacle. Unmanned mobile system. Based on the distance measurement data in the movement area acquired by the distance measurement unit, provided with obstacle detection means for detecting obstacles that hinder autonomous movement in the movable area,
The movement plan creation means creates a movement plan that avoids the obstacle based on the obstacle data corresponding to the detected obstacle, according to any one of claims 1 to 9. Unmanned mobile system.   The unmanned mobile system according to any one of claims 7 to 10, wherein the superimposed display means superimposes and displays identification information for identifying the movable area on the image. Determining means for determining whether or not the moving speed detected by the speed measuring device has fallen below a specified value;
The unmanned moving body system according to any one of claims 5 to 11, further comprising mode switching means for switching from the autonomous movement mode to the remote control mode when it is determined that the moving speed is lower than a specified value.

Images