JP2018025856A - Autonomous travel device and autonomous travel system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous travel device that can determine a suitable travel route capable of returning to an arrival point by estimating dissipation power according to factors of battery consumption.SOLUTION: An autonomous travel device stores electric power consumption of each section in an electric power consumption table for each battery consumption increase factor of the autonomous travel device and acquires the battery consumption increase factor of the autonomous travel device from travel environment. Estimated electric power consumption from a present point to an arrival point among travel routes is calculated based on the electric power consumption table. When the estimated electric power consumption exceeds battery residual, the travel route to the arrival point is changed by selecting the section where the estimated electric power consumption does not exceed the battery residual.SELECTED DRAWING: Figure 7

Description

  The present invention relates to an autonomous traveling device that autonomously travels based on a traveling route to a destination.

  Conventionally, an autonomous traveling device capable of autonomous traveling using a battery as a power source is known. These autonomous traveling devices are used for, for example, patroling a predetermined route. For example, it is used in a luggage transport device in a distribution center, a security robot, or the like.

  In these autonomous traveling devices, if the battery runs out during movement, the autonomous traveling device stops in the middle of the traveling route. Therefore, an invention is known in which the travel route is changed in accordance with the remaining battery capacity (see, for example, Patent Document 1).

JP 2002-318620 A

  The above-described invention discloses that, based on the current remaining battery capacity and the remaining travel distance, when the travel route is not travelable, the vehicle returns to the charging stand. However, since the battery consumption varies depending on the environment of the autonomous traveling device, it has not always been known whether or not the remaining traveling distance can be run. Therefore, there has been a problem that it is impossible to return to the arrival point such as a charging stand or a base station.

  In particular, in the case of a device that patrols outdoors, such as a security robot, the battery consumption varies greatly due to external factors such as the weather. Therefore, even if it is determined that there is a sufficient amount of remaining battery before returning to the arrival point, the battery is consumed more than expected, and the problem that it is impossible to return to the arrival point occurs.

  In view of the above-described problems, an object of the present invention is to provide an autonomous traveling device and the like that can determine an appropriate traveling route by estimating power consumption according to a factor that consumes a battery.

In view of the above-described problems, the autonomous traveling device of the present invention is
In the autonomous traveling device that autonomously travels based on the travel route to the arrival point,
The travel range of the autonomous traveling device, the map information represented by points and sections connecting the points,
A power consumption table for storing the power consumption for each section for each battery consumption increase factor of the autonomous traveling device;
Battery consumption increase factor acquisition means for acquiring a battery consumption increase factor of the autonomous traveling device from a traveling environment of the autonomous traveling device;
Battery remaining amount detecting means for detecting the remaining amount of battery;
Estimated power consumption for calculating the estimated power consumption from the current point to the destination in the travel route based on the battery consumption increase factor acquired by the battery consumption increase factor acquisition means and the power consumption table. A quantity calculating means;
When the estimated power consumption exceeds the remaining battery level, the travel route to the arrival point is changed by selecting a section where the estimated power consumption does not exceed the remaining battery level. Travel route changing means;
It is characterized by providing.

The autonomous traveling device of the present invention is
In the autonomous traveling device that autonomously travels based on the travel route to the arrival point,
The travel range of the autonomous traveling device, the map information represented by points and sections connecting the points,
A power consumption table for storing the power consumption for each section;
Battery remaining amount detecting means for detecting the remaining amount of battery;
Change rate calculating means for calculating a change rate of the remaining battery capacity;
An estimated power consumption calculating means for calculating an estimated power consumption from the current point to the destination among the travel routes based on the change rate and a power consumption table;
When the estimated power consumption exceeds the remaining battery level, the travel route to the arrival point is changed by selecting a section where the estimated power consumption does not exceed the remaining battery level. Travel route changing means;
It is characterized by providing.

The autonomous traveling device of the present invention is
In the autonomous traveling device that autonomously travels based on the travel route to the arrival point,
The travel range of the autonomous traveling device, the map information represented by points and sections connecting the points,
A power consumption table for storing the power consumption for each section for each battery consumption increase factor of the autonomous traveling device;
Battery remaining amount detecting means for detecting the remaining amount of battery;
A power consumption calculating means for calculating a power consumption for each section based on the detected remaining battery capacity;
Power consumption table updating means for updating the power consumption table based on the calculated power consumption;
With
Based on the power consumption table updated by the power consumption table updating means, a travel route with the smallest power consumption is determined.

The autonomous traveling system of the present invention is
In an autonomous traveling system that includes a management server and an autonomous traveling device that is connected to the management server and performs autonomous traveling based on the traveling route to the arrival point,
The management server
The travel range of the autonomous traveling device, the map information represented by points and sections connecting the points,
A power consumption table for storing the power consumption for each section for each battery consumption increase factor of the autonomous traveling device;
With
The autonomous traveling device is:
Battery consumption increase factor acquisition means for acquiring a battery consumption increase factor of the autonomous traveling device from a traveling environment of the autonomous traveling device;
Battery remaining amount detecting means for detecting the remaining amount of battery;
Transmitting means for transmitting the current location of the autonomous mobile device, the battery consumption increase factor, and the remaining battery level to the management server;
With
The management server
Receiving means for receiving the battery consumption increase factor and the remaining battery capacity;
Estimated power consumption that is calculated based on the battery consumption increase factor acquired by the battery consumption increase factor acquisition means and the power consumption table in the travel route from the current point to the destination. A calculation means;
When the estimated power consumption exceeds the remaining battery level, the travel route to the arrival point is selected by selecting a section where the estimated power consumption does not exceed the remaining battery level. Traveling route changing means to be changed;
A travel route transmitting means for transmitting the travel route changed by the travel route changing means to the autonomous traveling device;
It is characterized by comprising.

  According to the autonomous traveling device of the present invention, the power consumption for each section is stored for each battery consumption increasing factor of the autonomous traveling device, and based on the battery consumption increasing factor of the autonomous traveling device acquired from the traveling environment. Thus, the estimated power consumption can be calculated for the rest of the travel route. Thereby, when the estimated power consumption exceeds the remaining battery level, a section where the estimated power consumption does not exceed the remaining battery level is selected and a travel route to the arrival point is selected. Can be changed.

It is a figure for demonstrating the outline | summary of the autonomous running apparatus in 1st Embodiment. It is a figure for demonstrating the outline | summary of the autonomous running apparatus in 1st Embodiment. It is a figure for demonstrating the function structure of the autonomous running apparatus in 1st Embodiment. It is the figure which demonstrated typically the map information in 1st Embodiment. It is a figure explaining the driving | running route information in 1st Embodiment. It is a figure explaining the power consumption table in 1st Embodiment. It is an operation | movement flow for demonstrating the process in 1st Embodiment. It is an operation | movement flow for demonstrating the travel route change process in 1st Embodiment. It is a figure explaining the operation example in 1st Embodiment. It is an operation | movement flow for demonstrating the process in 3rd Embodiment. It is a figure explaining the operation example in 3rd Embodiment. It is an operation | movement flow for demonstrating the travel route change process in 5th Embodiment. It is a figure explaining the operation example in 5th Embodiment. It is an operation | movement flow for demonstrating the process in 7th Embodiment. It is an operation | movement flow for demonstrating the process in 8th Embodiment. It is a figure explaining the operation example in 8th Embodiment.

  Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, a case where the autonomous traveling device according to the present invention is applied to a patrol robot for security will be described as an example.

[1. First Embodiment]
[1.1 Overall configuration]
First, the autonomous traveling device 1 in this specification will be described with reference to FIGS. 1 and 2. FIG. 1 is a diagram schematically illustrating the autonomous traveling device 1 from the side surface, and FIG. 2 is a diagram schematically illustrating the autonomous traveling device 1 from the upper surface.

  The autonomous traveling device 1 has a clamshell structure in which a vehicle body 10 and an arm portion 20 are connected by a hinge portion. A position detection unit / fault detection unit 30 is provided at the tip of the arm unit 20. For example, by providing a visual sensor (such as a camera) that can photograph the front of the vehicle body, the image of the front of the vehicle body is analyzed to detect a position or a failure is detected.

  The vehicle body 10 is provided with four wheels 12. The wheels 12 are connected to the right side and the left side by endless belts 14 so that the wheels are driven. The endless belt 14 is driven by the driving force of the driving motor 16 and is connected via a gear 18.

  The drive motor 16 is driven by electric power supplied from the battery 40. The left and right drive motors 16 can be operated, and the right wheel 12 and the left wheel 12 can be driven separately.

  Here, the autonomous traveling device 1 of the present embodiment has wheels (four wheels), and can perform a stationary turn (super turning) as a turning operation. The drive motor 16 is provided with an encoder, and can be controlled by detecting the rotation speed of the drive motor 16.

[1.2 Functional configuration]
It continues and demonstrates the function structure of the autonomous traveling apparatus 1 in this embodiment using FIG. As shown in FIG. 3, the control unit 110, the image input unit 120, the image processing unit 125, the sensor unit 130, the storage unit 140, the position information detection unit 150, the environment determination unit 160, and the drive control unit. 170, a remaining battery level detection unit 180, and a communication unit 190 are included.

  The control unit 110 is a functional unit for controlling the entire autonomous traveling device 1. The control unit 110 implements various functions by reading and executing various programs stored in the storage unit 140, and includes, for example, a CPU (Central Processing Unit).

  The image input unit 120 is a functional unit for inputting an image, and the input image is output to the image processing unit 125 as image data. It can also be taken as a monitoring image or transmitted to another device (for example, a monitoring server).

  The image processing unit 125 is a functional unit that performs various types of image processing based on the image data input from the image input unit 120. For example, obstacle detection or road surface condition detection can be performed.

  The sensor unit 130 is a functional unit that detects an obstacle around the autonomous mobile device 1. For example, an infrared sensor or LIDAR (Light Detection and Ranging) is used.

  The storage unit 140 is a functional unit that stores various programs and various data necessary for the operation of the autonomous mobile device 1. The storage unit 140 includes, for example, a semiconductor memory, an HDD (Hard Disk Drive), or the like. Each information may be stored on the cloud server. In this case, various data and programs may be stored in the cloud server via the communication unit 190 and read out each time.

  The storage unit 140 stores map information 142, travel route information 144, and a power consumption table 146.

  The map information 142 stores map information on which the autonomous traveling device 1 travels. Here, FIG. 4 schematically shows the map information. For example, for each point (a, b, c, d), a section connecting each point is shown. Each section is shown as RT102 between ab, RT104 between bc, RT106 between cd, RT108 between ad, RT110 between ac, and RT112 between bd.

  The traveling route information 144 stores a traveling route that the autonomous traveling device 1 in the present embodiment circulates. For example, as shown in FIG. 5, moving points are stored in order as a travel route. In the case of FIG. 5, each section travels in the order of “a → b → c → d → a”. Here, when returning to the arrival point “a”, it may move again to “b → c →”, or may stop once at the arrival point “a”.

  The power consumption table 146 is a table that stores battery power consumption in association with each section. In this embodiment, the battery consumption which shows how much the battery 40 is consumed when the autonomous traveling apparatus 1 drive | works the said area is memorize | stored.

  Here, the power consumption table 146 stores the battery consumption along with the factor (the driving environment in the present embodiment) that the power consumption changes. For example, in the case of RT102, the battery consumption is stored as “10%” when the weather is clear, “15%” when it is raining, and “20%” when it is snowing.

  The actual power consumption may be stored as the power consumption table. As for the change of the factor, a numerical value is stored for each factor. However, for example, a parameter may be determined for each factor and calculated by a mathematical formula.

  The position information detection unit 150 is a functional unit for detecting the position of the autonomous traveling device 1, for example, receives a signal from a GPS (Global Positioning System) satellite, and detects the position information of the autonomous traveling device 1. In addition to the GPS, the position information may be detected by using another position information detection system such as GLONASS, Galileo, and Michibiki, using a beacon indicating the position information, a wireless LAN, or the like.

  The environment determination unit 160 is a functional unit for determining the traveling environment of the autonomous traveling device 1. For example, the weather is determined or the road surface condition is determined based on information input from the image input unit 120. Further, by using the temperature detection sensor, it is possible to detect the outside temperature of the autonomous mobile device 1 or the temperature of the device itself.

  The drive control unit 170 is a functional unit for controlling the driving of the autonomous mobile device 1 (for example, the drive motor 16 in FIG. 2). By controlling the drive motor 16, operations such as forward movement, backward movement, and turning are possible.

  The battery remaining amount detection unit 180 is a functional unit for detecting the current remaining amount of the battery 40. As information to be detected, for example, various types of information such as a remaining battery level, a consumption rate from full charge, a remaining rate, and a usage time can be detected in real time or at predetermined intervals. Moreover, a predetermined parameter is output at an arbitrary timing by a control command from the control unit 110.

  The communication unit 190 is a functional unit for the autonomous mobile device 1 to communicate with other devices. For example, it can communicate with other autonomous mobile devices or communicate with a management server. The communication unit 190 can use an existing communication line / communication method such as a wireless LAN (IEEE802.11a / b / g / n) or LTE (Long Term Evolution).

[1.3 Process flow]
The processing flow in this embodiment will be described with reference to FIG. First, the autonomous mobile device 1 travels in a predetermined section based on the travel route (step S102). Here, in the case of the present embodiment, a process of determining a battery consumption increase factor (battery consumption increase factor determination process) that is a factor that increases battery consumption when each point determined from the map information 142 is reached. Execute (Step S104).

  In this embodiment, weather is used as a factor that increases battery consumption. The weather may be determined by the environment determination unit 160 from the surrounding environment of the autonomous mobile device 1, or weather information may be acquired via the communication unit 190. Moreover, it is good also as acquiring the present weather and you may acquire forecast information.

  Subsequently, the estimated power consumption is calculated (step S106). The battery consumption stored in the power consumption table 146 is determined based on the weather determined in step S104, and the estimated power consumption (battery consumption) in the remaining travel route is calculated (step S106). That is, the battery consumption included in the remaining travel route is added to calculate the estimated battery consumption of the remaining travel route.

  Subsequently, the calculated estimated battery consumption is compared with the remaining battery level of the battery 40 (step S108). The remaining battery capacity is the current remaining capacity of the battery 40 and may be estimated from the power value, or the remaining battery capacity may be detected and acquired directly.

  Here, when the battery remaining amount is larger than the estimated power consumption (estimated battery consumption), the traveling is continued according to the traveling route on the assumption that the traveling route can be safely performed. And it is determined whether it reached | attained the arrival point (last point) of the travel route memorize | stored in the travel route information 144, and driving | running | working is continued until it arrives at an arrival point (step S112; No-> step S102). Further, when the vehicle reaches the arrival point, it is executed whether to stop traveling or continue traveling again according to the traveling route (becomes a patrol operation).

  On the other hand, if the remaining battery amount is less than the estimated battery consumption in step S108, a travel route change process is executed (step S110).

  Here, the travel route changing process will be described with reference to FIG. First, a route different from the current travel route is selected (step S152). Various methods can be considered for selecting different routes. For example, a route shorter than the current travel route may be searched again, or the shortest route may be selected. In addition, a travel route that clearly excludes a route with large power consumption may be selected. A plurality of routes from the current point to the reaching point may be stored in advance.

  Then, different paths are selected until the remaining battery capacity becomes larger than the estimated battery consumption. When the remaining battery route is determined to be sufficient, the travel route is determined (step S158).

  In the case of this embodiment, since the travel route is changed in advance at the point, the battery remaining amount does not become a destination point, but the battery consumption increases due to a failure in the middle section, No matter what travel route is set, it may be possible that the destination point cannot be reached. In this case, for example, a route that can reach different destinations (for example, points that can be safely reached) may be set.

[1.4 Operation example]
Next, an operation example in the present embodiment will be described with reference to FIG. For example, the case where the arrival point is the point a and the current point c will be described. At this time, the remaining amount of the battery 40 of the autonomous mobile device 1 is “30%”.

  If the normal weather is “clear”, the vehicle travels on the set travel route “RT106 → RT108”. For example, taking the table of FIG. 6 as an example, in “RT106 → RT108”, the estimated battery consumption is “26%”, and it is possible to travel to the arrival point a.

  However, if the current weather is “rain”, the estimated battery consumption is “35%” when traveling on the set travel route “RT106 → RT108”, and the destination point a cannot be reached. It becomes.

  Therefore, the route RT110 is changed to a travel route for selection. Since the estimated battery consumption of the route RT110 is “8%”, the autonomous mobile device 1 can reach the arrival point.

  Thus, according to this embodiment, the estimated power consumption of the remaining travel route is calculated based on the weather using the weather as the battery consumption increase factor for the autonomous mobile device 1. Then, by comparing the remaining battery level and the estimated power consumption, it is possible to select an appropriate travel route according to the travel environment.

[2. Second Embodiment]
Next, the second embodiment will be described. Although 2nd Embodiment demonstrated the weather as an example as a factor which increases battery consumption as a factor which increases battery consumption, other factors are demonstrated.

(1) Road surface state For example, a road surface state is acquired as environment information from an image photographed by the image input unit 120. This is because if the route becomes muddy due to rain or the like, a large motor torque is required for traveling, and power consumption increases.

  As the road surface state, it may be determined whether the road surface is an unpaved road or an uneven road from information such as whether the road surface is wet or snowy.

  Each of these road surface conditions is stored in the power consumption table 146. Then, the road surface state is determined by the battery consumption increase factor determination process in step S104 of FIG. 7, and in step S106, the estimated power consumption of the remaining travel route is calculated based on the determined road surface state. Then, the remaining battery level is compared with the estimated battery consumption, and if the remaining battery level is not sufficient, the travel route changing process is executed (step S108; No → step S110).

(2) Ambient temperature For example, the environment determination unit 160 acquires the ambient temperature as environment information. This is because the output characteristics of the battery 40 change depending on the temperature. The battery consumption based on the ambient temperature is stored in the power consumption table 146.

  The control information for the cooling / warm-up operation may be stored in association with the ambient temperature. For example, when the ambient temperature is high, a cooling operation is necessary as necessary. The power consumption table 146 is updated in consideration of the battery consumption at this time.

(3) Wind For example, the environment determination unit 160 acquires the wind direction and the wind power as environment information. This is because power consumption is estimated to increase when the headwind is strong. The battery consumption based on the wind direction and wind power is stored in the power consumption table 146.

(4) Device state For example, the control unit 110 detects an abnormality (error) of the autonomous mobile device 1 and uses the error as a factor. Specifically, determination by an error code, detection of tilt by a camera or tilt sensor, battery output current value, and the like are used. This is because when an axle distortion, tire puncture, or the like occurs, abnormal torque is required for normal driving, and power consumption increases.

  Further, when a load half or short occurs, the amount of current increases as compared with the normal time, and accordingly, power consumption increases. Therefore, it is determined that there is an abnormality by detecting an increase in the amount of current.

  The estimated battery consumption is stored in the power consumption table 146 for each of these abnormal patterns. As a result, it becomes possible to return to the arrival point using a more appropriate travel route in the event of an abnormality.

(5) Obstacle For example, when an obstacle is detected, the obstacle is used as a factor for increasing battery consumption. Specifically, avoidance action is required according to the size of the obstacle. By performing the avoidance action, battery consumption increases.

  Therefore, the battery consumption for each obstacle size is stored. Thereby, when an obstacle is detected, the estimated battery consumption can be appropriately calculated by adding the battery consumption corresponding to the obstacle.

  Thus, according to the second embodiment, in addition to the weather used in the first embodiment, various factors that increase the battery consumption are detected, and an appropriate power consumption is estimated for each factor. Is possible.

[3. Third Embodiment]
Subsequently, the third embodiment will be described. The third embodiment is a process of calculating an estimated power consumption from the currently consumed power and selecting an appropriate travel route.

  The third embodiment is a process in which the process of FIG. 7 of the first embodiment is replaced with FIG. 10, and the same processes are denoted by the same reference numerals. That is, this is processing in which step S104 in FIG. 7 is replaced with step S302.

  Specifically, when traveling on the travel route, a battery change rate calculation process is executed in step S302. This is a process of estimating the rate of battery decrease in the future by calculating the current rate of change of the battery 40 consumption.

  FIG. 11 is a graph showing the remaining amount of the battery 40. The vertical axis represents the remaining battery level (%), and the horizontal axis represents time (seconds). The battery change rate calculation process is a process of calculating, as a change rate, how the battery after t1 decreases when the current time is t1 in FIG. Here, various methods can be considered to calculate the change. For example, the following methods can be considered.

  (1) The inclination at the time point t1, which is the current time point, is calculated, and the inclination is calculated as future battery consumption. For example, if it is calculated that it decreases by 1% every second at the time of t1, the estimated power consumption is calculated in step S304 as it will decrease at the same rate in the future.

  (2) For the past battery consumption from the current t1, the inclination is calculated every predetermined time. For example, the rate of change is calculated by calculating the slope every 5 seconds 10 times and calculating the average of them. Based on the calculated rate of change, the estimated power consumption is calculated in step S304.

  (3) The rate of change is calculated by dissociation from the original battery consumption. For example, when 15% is consumed in a section where the remaining battery capacity is originally 10%, the ratio of consumption 1.5 times increases. This value is calculated as the rate of change.

  After the battery change rate is calculated, the estimated power consumption is calculated in step S304. That is, the estimated power consumption in the remaining travel route is calculated from the distance (time) of the remaining travel route and the power consumption per section calculated from the battery change rate calculated in step S302.

  In the present embodiment, the estimated power consumption may be calculated in real time. In the present embodiment, since the estimated battery consumption in the remaining travel route is calculated from the current battery consumption, the power consumption table 146 need not be stored.

  As described above, according to the present embodiment, it is possible to select the route according to the traveling state more by recalculating the estimated power consumption of the remaining traveling route from the battery consumption until now. .

[4. Fourth Embodiment]
A fourth embodiment will be described. The fourth embodiment is a combination of the first embodiment (second embodiment) and the third embodiment. That is, in the third embodiment, the power consumption table 146 is stored and the power consumption for each section is used.

  That is, in the battery consumption increase factor determination process in step S104 in FIG. 7, a factor that increases battery consumption is determined. In step S106 (step S304), the estimated power consumption is calculated. At this time, the battery change rate calculated in step S302 is used.

  For example, as shown in FIG. 6, in RT108, in the case of rain, the battery consumption is 20%. However, when the battery change rate is 1.5 times, the battery consumption at RT 108 is estimated to be 30%.

  Thereby, for example, even when the factor is not stored in the power consumption table 146 (for example, wind is strong in addition to rain), the estimated power consumption can be calculated more appropriately. Become.

[5. Fifth Embodiment]
A fifth embodiment will be described. In the fifth embodiment, when a travel route is changed, the travel route is selected so that important sections and points pass.

  Here, the fifth embodiment is an embodiment in which the travel route changing process of FIG. 8 in the first embodiment is replaced with FIG. Also, the same processes as those in the flow of FIG.

  First, it is determined whether an important section is set (step S202). Here, when an important section is set, a different route including the important section is selected (step S202; Yes → step S206). On the other hand, when there is no important section setting, a different route is simply selected (step S202; No → step S204).

  An operation example in the present embodiment will be described with reference to FIG. For example, it is assumed that “a → b → c → d → i → h → g → f → a” is set as the travel route.

  At this time, it is assumed that the remaining battery capacity is not sufficient on the remaining travel route “i → h → g → f → a” at point i. In this case, for example, it is conceivable to select the travel route as “i → e → a”.

  Here, in the present embodiment, it is assumed that the point h is set as an important section (important point). Therefore, in “i → e → a”, the important section cannot be passed. Therefore, “i → h → e → a” including the point h is set as the remaining travel route.

  As described above, according to the present embodiment, a travel route including points and sections as required is set. For example, in the case of guard patrol, patrol can be performed on an appropriate travel route by setting important points and points to be warned.

[6. Sixth Embodiment]
Subsequently, a sixth embodiment will be described. In the above-described embodiment, it has been described that the travel route is changed when the remaining battery level is not sufficient compared to the estimated power consumption. However, the operation function of the autonomous traveling device 1 is changed without changing the travel route. It is also good to do.

  Specifically, the autonomous traveling device 1 can execute various operations and functions such as traveling speed, camera photographing, sensor operation such as LIDAR, and operation of the arm unit 20. By executing these operations and functions, the battery is consumed.

  Therefore, by restricting or simplifying the operation of each function, the battery consumption is suppressed.

  For example, when the difference between the remaining battery level and the estimated power consumption is small, the autonomous traveling device 1 is allowed to travel without changing the travel route by providing a restriction that the arm unit 20 is not operated. .

  Thus, according to the present embodiment, the purpose is to travel on a preset travel route as much as possible, and the travel is performed only when the travel route cannot be traveled even if the operation / function of the autonomous travel device 1 is limited. It is possible to change the route.

[7. Seventh Embodiment]
Subsequently, a seventh embodiment will be described. The seventh embodiment is an embodiment in which the power consumption table 146 is updated using a travel route that has been visited once.

  Here, the seventh embodiment is an embodiment in which the processing of FIG. 7 in the first embodiment is replaced with FIG. Also, the same processes as those in the flow of FIG.

  Here, in the seventh embodiment, the actual power consumption is stored. The timing for storing the power consumption may be every predetermined time or every predetermined distance. In the present embodiment, the remaining battery level is stored at the timing when the estimated power consumption in step S106 is calculated. Then, the actual power consumption is calculated from the stored battery remaining amount.

  Subsequently, if there is a divergence between the actual power consumption calculated in this way and the power consumption stored in the power consumption table 146 (step S402; Yes), the actual power consumption is reduced. Based on this, the power consumption table 146 is updated (step S404).

  For example, in FIG. 4, the power consumption of the route RT104 is calculated to be 12% based on the remaining battery capacity at the point b and the point c that traveled when the weather is clear. In this case, the power consumption of the route “RT104” and the travel environment “clear” is updated from “8%” to “12%”.

  In this way, the actual power consumption is calculated by using the actual battery remaining amount. Then, the power consumption table 146 can be updated based on the actual power consumption.

  Such update processing may be performed every time or may be performed at a predetermined timing. For example, it may be updated once a day or only when the factor changes.

  Further, the deviation rate between the actual power consumption and the power consumption stored in the power consumption table 146 may be set separately or may be determined in advance. For example, it may be updated each time when they are different, or may be updated when there is a difference of 10% or more. Further, if the first update is not performed, the update may be performed when there is a divergence two or more times.

  Moreover, although this embodiment demonstrated the case where it applied to 1st Embodiment, of course, it is realizable even if it combines with other embodiment.

[8. Eighth Embodiment]
Next, an eighth embodiment will be described. The eighth embodiment is an embodiment that executes processing for separately updating the power consumption table 146 and the travel route.

  That is, when traveling on the travel route, the travel condition is changed each time the travel is performed, and the power consumption for each travel condition is stored. And the process updated to the driving | running route with little power consumption as needed is demonstrated.

  An eighth embodiment will be described with reference to FIG. First, the vehicle travels along a travel route (step S502). As a method of traveling along the travel route, the vehicle may travel normally from the start point to the arrival point, or the process of the first embodiment may be executed.

  Here, when arriving at the arrival point (step S504; Yes), the power consumption table 146 is updated as necessary (step S506). Here, it may be updated based on the power consumption as a result of traveling, or may be updated when there is a divergence as in the seventh embodiment. That is, the processing of steps S502 to S506 has been described in another embodiment, and thus will not be described in the description of this drawing.

  Subsequently, it is determined whether or not to end the processing of the present embodiment (step S508). In order to measure the power consumption in the other travel route, the travel condition is changed (step S508; No-> step S510), and the travel route is traveled again after changing the travel condition (step S502).

Here, the traveling condition changing process in step S510 will be described. The following conditions can be considered as travel conditions to be changed.
(1) If the first run is in the forward direction, the second run is in the reverse direction. (2) The same route (section), but the position that will be the passage location such as the center, right end, and left end. (3) If the route includes a curve, change the direction of rotation, such as turning around or turning around (4) If you are on a slope (uphill), go straight or climb diagonally (5) Travel by switching the driving speed between low speed, medium speed, and high speed (6) Travel by changing equipment such as equipment equipped with autonomous traveling devices and tires (7) Autonomous traveling Travel by switching the function of the device (for example, ON / OFF of camera shooting, ON / OFF of light irradiation)

  Such travel conditions are selected and the power consumption is measured by combining the travel conditions and stored in the power consumption table 146. Furthermore, the power consumption table 146 may be stored in combination with the driving environment such as sunny, rainy, temperature, humidity, and time.

  As an example, the above-described (2) “same route, but travels with different positions such as the center, right end, and left end” will be described with reference to FIG.

  For example, when moving from point a to point b, the route rt3 is normally used. Here, when the processing of the present embodiment is executed, the vehicle travels on the route rt1 and the route rt5, and the power consumption of each route is calculated.

  This is because even on the same route, the road condition may change and the power consumption may change. For example, if rt1 is asphalt, rt3 is a gravel road, and rt5 is grass, the power consumption changes.

  If there is an instruction to update the travel route (step S512; Yes), the travel route information 144 is updated (step S514). In the present embodiment, the travel route information 144 is described as being updated. However, for example, an appropriate travel route may be generated at the timing when the autonomous traveling device 1 starts traveling.

  For example, in step S102 in FIG. 7, at the timing when the user wants to travel on the travel route, the travel with the smallest power consumption is referred to the travel environment and the power consumption table 146 based on the existing travel route. It is also possible to select a route.

  As described above, by applying the eighth embodiment to each embodiment, the autonomous mobile device 1 can appropriately select or generate a travel route each time the vehicle travels. For example, in the case of the autonomous traveling device 1 used for security, an appropriate power consumption table 146 is generated or appropriate traveling route information 144 is generated in order to circulate the same route. It will be.

[9. Ninth Embodiment]
7th Embodiment demonstrates the case where the autonomous traveling apparatus 1 is connected to a traveling management server, and is operate | moving by the control command from a traveling management server.

  That is, in the processing in the above-described embodiment, the autonomous mobile device 1 transmits the position information and the remaining battery level to the travel management server. The travel management server selects the remaining travel route based on the received position information and the remaining battery level.

  Moreover, when a plurality of autonomous traveling devices are connected to the travel management server, information for each device may be fed back. For example, the actual battery consumption actually consumed for each section may be transmitted to the travel management server, and the power consumption table may be updated.

  That is, for example, by combining with the seventh embodiment and the eighth embodiment, it is possible to update the power consumption table as needed based on the state in which another autonomous traveling device has traveled. As a result, when a plurality of autonomous traveling devices 1 are traveling, it is possible to operate such that the information actually traveled is used.

[10. Modified example]
The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and the design and the like within the scope of the present invention are also within the scope of the claims. include.

  In the above-described embodiment, the case where the autonomous traveling device is applied to a patrol robot for security has been described as an example, but it is needless to say that the embodiment can be applied to other autonomous traveling devices. For example, you may apply to apparatuses, such as an automatic conveyance apparatus, an unmanned patrol vehicle, an unmanned delivery robot, and an unmanned driving farm machine.

  In addition, the program that operates in each device in the embodiment is a program (a program that causes a computer to function) that controls the CPU and the like so as to realize the functions of the above-described embodiments. Information handled by these devices is temporarily stored in a temporary storage device (for example, RAM) at the time of processing, then stored in various ROM or HDD storage devices, and read and corrected by the CPU as necessary. • Writing is performed.

  In addition, when distributing to the market, the program can be stored and distributed in a portable recording medium, or transferred to a server computer connected via a network such as the Internet. In this case, of course, the storage device of the server computer is also included in the present invention.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling apparatus 110 Control part 120 Image input part 125 Image processing part 130 Sensor part 140 Storage part 142 Map information 144 Traveling route information 146 Electricity consumption table 150 Position information detection part 160 Environment determination part 170 Drive control part 180 Battery remaining amount Detection unit 190 Communication unit

Claims (11)

In the autonomous traveling device that autonomously travels based on the travel route to the arrival point,
The travel range of the autonomous traveling device, the map information represented by points and sections connecting the points,
A power consumption table for storing the power consumption for each section for each battery consumption increase factor of the autonomous traveling device;
Battery consumption increase factor acquisition means for acquiring a battery consumption increase factor of the autonomous traveling device from a traveling environment of the autonomous traveling device;
Battery remaining amount detecting means for detecting the remaining amount of battery;
Estimated power consumption for calculating the estimated power consumption from the current point to the destination in the travel route based on the battery consumption increase factor acquired by the battery consumption increase factor acquisition means and the power consumption table. A quantity calculating means;
When the estimated power consumption exceeds the remaining battery level, the travel route to the arrival point is changed by selecting a section where the estimated power consumption does not exceed the remaining battery level. Travel route changing means;
An autonomous traveling device comprising:   The autonomous traveling device according to claim 1, wherein the traveling route changing unit is executed when the autonomous traveling device reaches any point.   The autonomous traveling device according to claim 1, wherein the battery consumption increasing factor is at least one of weather, temperature, and road surface condition. It further has an important section setting means for setting an important section,
The said travel route change means selects the area containing the said important area, when selecting the area where the said estimated electric power consumption does not exceed the said battery remaining charge. The autonomous traveling device according to any one of the above. A power consumption calculating means for calculating a power consumption for each section based on the detected remaining battery capacity;
Power consumption table updating means for updating the power consumption table based on the calculated power consumption;
The autonomous traveling device according to any one of claims 1 to 4, further comprising:   The autonomous traveling device according to claim 5, wherein the power consumption is calculated for each traveling condition of the autonomous traveling device.   The autonomous traveling device according to claim 6, wherein the traveling condition is a direction in which the autonomous traveling device travels or a position in a section.   The autonomous route according to any one of claims 5 to 7, wherein a travel route with the smallest power consumption is determined based on the power consumption table updated by the power consumption table updating means. Traveling device. In the autonomous traveling device that autonomously travels based on the travel route to the arrival point,
The travel range of the autonomous traveling device, the map information represented by points and sections connecting the points,
A power consumption table for storing the power consumption for each section;
Battery remaining amount detecting means for detecting the remaining amount of battery;
Change rate calculating means for calculating a change rate of the remaining battery capacity;
An estimated power consumption calculating means for calculating an estimated power consumption from the current point to the destination among the travel routes based on the change rate and a power consumption table;
When the estimated power consumption exceeds the remaining battery level, the travel route to the arrival point is changed by selecting a section where the estimated power consumption does not exceed the remaining battery level. Travel route changing means;
An autonomous traveling device comprising: In the autonomous traveling device that autonomously travels based on the travel route to the arrival point,
The travel range of the autonomous traveling device, the map information represented by points and sections connecting the points,
A power consumption table for storing the power consumption for each section for each battery consumption increase factor of the autonomous traveling device;
Battery remaining amount detecting means for detecting the remaining amount of battery;
A power consumption calculating means for calculating a power consumption for each section based on the detected remaining battery capacity;
Power consumption table updating means for updating the power consumption table based on the calculated power consumption;
With
An autonomous traveling apparatus, wherein a traveling route with the smallest power consumption is determined based on the power consumption table updated by the power consumption table updating means. In an autonomous traveling system that includes a management server and an autonomous traveling device that is connected to the management server and performs autonomous traveling based on the traveling route to the arrival point,
The management server
The travel range of the autonomous traveling device, the map information represented by points and sections connecting the points,
A power consumption table for storing the power consumption for each section for each battery consumption increase factor of the autonomous traveling device;
With
The autonomous traveling device is:
Battery consumption increase factor acquisition means for acquiring a battery consumption increase factor of the autonomous traveling device from a traveling environment of the autonomous traveling device;
Battery remaining amount detecting means for detecting the remaining amount of battery;
Transmitting means for transmitting the current location of the autonomous mobile device, the battery consumption increase factor, and the remaining battery level to the management server;
With
The management server
Receiving means for receiving the battery consumption increase factor and the remaining battery capacity;
Estimated power consumption that is calculated based on the battery consumption increase factor acquired by the battery consumption increase factor acquisition means and the power consumption table in the travel route from the current point to the destination. A calculation means;
When the estimated power consumption exceeds the remaining battery level, the travel route to the arrival point is selected by selecting a section where the estimated power consumption does not exceed the remaining battery level. Traveling route changing means to be changed;
A travel route transmitting means for transmitting the travel route changed by the travel route changing means to the autonomous traveling device;
An autonomous traveling system comprising:

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