JP2018092527A - Autonomous travel device, determination device, and control method and determination method for autonomous travel device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous travel device, etc., capable of appropriately judging the state of a track surface based on an image from a camera monitoring the surroundings.SOLUTION: An autonomous travel device which travels by the driving force of a drive part, comprises: a plurality of photographing parts which photograph the surrounding images of the autonomous travel device, and a direction of sunlight acquiring means for acquiring a direction of sunlight. The state of a track surface in images photographed by the photographing parts outside of the acquired direction of sunlight is then judged. A track surface state which is the state of a track surface is then determined from the judged state of a track surface.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an autonomous traveling device that travels by the driving force of a driving unit.

  In a vehicle device controlled by a person, a human senses the road surface state and performs speed control. However, in a self-supporting traveling device, it is necessary to determine the road surface condition by some means and perform speed control.

  Therefore, as a method for determining the road surface condition, for example, there is a technique for limiting the speed by discriminating a wet or frozen road surface condition by mounting a light receiver equipped with an optical filter that transmits light of a specific wavelength. It is known (see, for example, Patent Document 1).

JP-A-10-95245

  However, as in Patent Document 1 described above, it is necessary to provide a dedicated sensor in order to determine the road surface state. The increase in the number of various sensors and the like in the autonomous traveling device has led to problems such as an increase in weight and a decrease in availability due to the breakdown of various sensors and the like.

  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 appropriately determine the road surface state of a traveling road based on an image of a camera that monitors the surroundings.

In order to solve the above-described problems, the autonomous traveling device of the present invention is
In the autonomous traveling device that travels by the driving force of the driving unit,
It has a plurality of photographing units for photographing images in different directions around the autonomous traveling device,
Traveling road surface state determination means for determining a traveling road surface state that is a road surface state of the traveling road from images in different directions photographed by the photographing unit;
It is characterized by providing.

The determination apparatus of the present invention
In the determination device for determining the road surface state of the travel path of the travel device,
Image acquisition means for acquiring a plurality of images in different directions around the traveling device;
Road surface state determining means for determining a road surface state based on the acquired surrounding image;
Of the road surface states determined by the road surface state determination unit, a road surface state determination unit that determines two or more road surface states that coincide with each other as a road surface state that is a road surface state of the road surface;
It is characterized by providing.

The control method in the autonomous traveling device of the present invention,
In the control method in the autonomous traveling device that travels by the driving force of the drive unit,
A photographing step of photographing images in different directions around the autonomous traveling device;
A traveling road surface state determination step for determining a traveling road surface state that is a road surface state of the traveling road from images of different directions captured by the photographing step;
It is characterized by having.

The determination method of the present invention includes:
In the determination method for determining the road surface state of the travel path of the travel device,
An image acquisition step of acquiring a plurality of images in different directions around the traveling device;
A road surface state determination step for determining a road surface state based on the acquired surrounding image;
Of the road surface states determined by the road surface state determination step, a road surface state determination step for determining a road surface state that matches two or more as a road surface state that is a road surface state of the road,
It is characterized by having.

  According to the present invention, in the autonomous traveling device that travels by the driving force of the driving unit, images of different directions around the autonomous traveling device are captured, and the road surface state of the traveling road is determined from the captured images of the different directions. It becomes possible to do. As a result, for example, it is possible to expect an excellent effect that the control of the autonomous traveling device can be changed according to the road surface state of the traveling path, or the time related to the traveling path can be appropriately calculated.

It is a figure for demonstrating the whole autonomous mobile apparatus in 1st Embodiment. It is a figure for demonstrating the whole autonomous mobile apparatus in 1st Embodiment. It is a figure for demonstrating the function structure of the autonomous mobile apparatus in 1st Embodiment. It is a figure for demonstrating cyclic route information. It is a figure for demonstrating the operation | movement outline | summary 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 process in 2nd Embodiment. It is an operation | movement flow for demonstrating the process in 2nd Embodiment. It is an operation | movement flow for demonstrating the process in 3rd Embodiment. It is an operation | movement flow for demonstrating the process in 5th Embodiment. It is a figure for demonstrating the whole autonomous mobile apparatus in 6th 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.

  Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, as an example, an example in which the present invention is applied to an autonomous mobile device to which the wear detection device according to the present invention is applied will be described.

[1. First Embodiment]
[1.1 Overall configuration]
First, the autonomous mobile device 1 in this specification will be described with reference to FIG. FIG. 1 is a diagram schematically illustrating the autonomous traveling device 1.

  In the autonomous traveling device 1, a driving device is provided in the vehicle body 5. The driving device may be a device capable of transmitting driving force to the tire, such as an electric motor or an engine. With the driving device and the tire, the autonomous traveling device 1 can be moved back and forth, left and right, and turned.

  The vehicle body 5 is provided with a camera, a distance measuring device, and the like. In the present embodiment, cameras 10 are provided on the front, rear, left and right sides in order to determine the surrounding situation. As shown in FIG. 1, the camera 10 includes a camera 10A that projects the front, a camera 10B that projects the left, a camera 10C that projects the rear, and a camera 10D that projects the right.

  Further, for example, a temperature sensor 30 is provided as an irradiation device 20 that illuminates the front as needed, and a device (environment information acquisition means) that acquires surrounding environment information. These devices may be provided as necessary. In addition to this, a rain sensor, an illuminance sensor, a chemical sensor, or the like may be provided.

  The irradiation device 20 is a device (irradiation unit) that is used for the autonomous mobile device 1 to irradiate during a warning threat. Although the basics are not used as ordinary lights, they do not prevent the use as ordinary lights. Further, other irradiation means (for example, a simple illumination light) or a warning illumination device (for example, a warning rotating lamp) may be used as the irradiation device 20. In other words, in the present embodiment, it may be anything that can be used as an auxiliary light when the camera takes a picture.

  Moreover, FIG. 2 is the schematic diagram which looked at the autonomous traveling apparatus 1 from the side. As shown in FIG. 2, the autonomous mobile device 1 may be configured by including a lifting device 3 provided with a tip unit 40 in the vehicle body 5 of the first embodiment.

  The lifting device 3 is provided with a tip unit 40 provided with a monitoring camera 50 capable of photographing all directions at the tip. The tip unit 40 may be provided with other devices such as an infrared camera (not shown).

  The tip unit 40 is provided in the elevating device 3, and the elevating device 3 raises / lowers while maintaining a horizontal state. That is, the tip part of the boom part 44 is configured to be undulated.

  The elevating device 3 includes a base 42 and a boom portion 44. The base 42 incorporates a drive device (not shown) such as an actuator, and the boom portion 44 is raised and lowered via an elevating mechanism (not shown) such as a link mechanism. In addition, the boom part 44 may be comprised so that expansion-contraction is possible, and the boom part 44 may be comprised so that rotation is possible by providing the rotation part in the base 42. FIG.

[1.2 Functional configuration]
Next, the functional configuration of the autonomous mobile device 1 will be described with reference to FIG. The autonomous mobile device 1 includes a control unit 100, an image input unit 120, an image processing unit 130, a storage unit 140, a position detection unit 150, an environment information acquisition unit 155, a drive control unit 160, and a communication unit 170. And.

  The control unit 100 is a functional unit for controlling the entire autonomous traveling device 1. The control unit 100 implements various functions by reading and executing various programs stored in the storage unit 140, and is configured by, for example, a CPU (Central Processing Unit).

  The image input unit 120 is a functional unit for inputting an image from outside. Usually, cameras are provided in different directions so that the periphery of the autonomous mobile device 1 can be photographed. For example, the camera is provided in at least two directions among the front direction, the rear direction, the left direction, and the right direction of the autonomous traveling device 1.

  In the present embodiment, as an imaging device, cameras 10 are provided in four directions as shown in FIG. An image photographed by the camera 10 is output as image data. The image data may be stored in the storage unit 140 as captured image data 144.

  The captured image data 144 is subjected to various types of image processing such as sharpening processing and brightness adjustment by the image processing unit 130. Further, by using the captured image data 144, the road surface state can be determined. Here, as the road surface condition to be determined, it is possible to determine whether the road surface is dry or wet.

  There are various methods for determining the road surface state. For example, an image on a clear day is stored in the storage unit 140 as the reference image data 146. Then, the photographed image data 144 and the reference image data 146 are compared by matching to determine the road surface state.

  When comparing by matching, first the pixel level image is aligned, and after performing the alignment, if the color difference is obtained for each pixel and the total difference of the entire determination area exceeds the threshold, the road surface It can be determined that the state has changed. Further, by comparing with the reference image data, it is possible to determine that the road surface state is “dry”, “wet”, or “snow is covered”.

  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), an SSD (Solid State Drive), or the like. Further, the storage unit 140 stores traveling route information 142 that is information on a traveling route on which the autonomous traveling device 1 travels, captured image data 144 captured by the image input unit 120, and reference image data 146. Yes.

  Based on the information stored in the traveling route information 142, the autonomous traveling device 1 autonomously travels. As shown schematically in FIG. 4, the traveling route information 142 stores the route to be visited as map information. This map information may be stored as a distance or may be stored as a latitude / longitude.

  The traveling route information 142 also stores the direction. Thereby, it is also possible to determine the direction (azimuth) in which the autonomous traveling device 1 is traveling.

  The position detection unit 150 is a functional unit for detecting the position of the autonomous mobile device 1. There are various methods for detecting the position. For example, a satellite positioning system such as GPS (Global Positioning System), Quasi-Zenith Satellite System (QZSS), or GLONASS (Global Navigation Satellite System) is used. Alternatively, position information may be acquired by combining position information acquisition using a beacon or the like, a gyro sensor in which an orientation is detected, speed information, or the like. The position detection unit 150 in the present embodiment can detect at least the position of the autonomous mobile device 1 and the azimuth that is currently traveling.

  The environment information acquisition unit 155 is a functional unit that can acquire environment information of the autonomous mobile device 1. As environmental information, it is possible to acquire environmental information such as temperature by using a temperature sensor and humidity by using a temperature and humidity sensor, and brightness by using an illuminance sensor. As an example, a temperature sensor 30 is provided in the schematic diagram of FIG.

  The drive control unit 160 is a functional unit for performing control related to traveling of the autonomous traveling device 1. Mainly controlling the traveling speed, traveling direction, direction changing operation, turning operation, etc. of the autonomous traveling device 1 by controlling a driving device (for example, a driving motor, an engine, etc.) provided in the vehicle body 5. Is possible.

  Further, the drive control unit 160 can control traveling according to the traveling mode. For example, it is possible to perform control such that the vehicle travels at 7 km / h in the normal mode (normal travel mode), but travels at 5 km / h in the rainy mode (travel mode during rainy weather). Further, in the snow accumulation mode, control such as gradual acceleration is possible.

  The communication unit 170 is a functional unit for communicating with an external device or an external server. For example, captured image data can be transmitted in real time by communicating with the monitoring server. Further, by communicating with the management server, it is possible to receive the tour route information 142 and receive a new operation instruction.

  Moreover, it becomes possible by connecting with a user's portable terminal device to transmit picked-up image data and the state of the autonomous mobile device 1 to a user's portable terminal device. In addition, by using a camera function or a position detection function provided in the portable terminal device, it is possible to realize a part of the functional units with another device.

  It is also possible to acquire environmental information by connecting to an external server. For example, you may acquire the information regarding weather, such as external temperature and a sunlight condition, from an external server. Moreover, you may acquire the solar radiation direction with respect to the present autonomous traveling apparatus 1 by acquiring the sunrise / sunset time.

[1.3 Outline of operation]
Here, the outline of the operation in the present embodiment will be described with reference to FIG. FIG. 5 is a diagram schematically showing the traveling operation by the autonomous mobile device 1 based on the traveling route R indicated by a broken line. At this time, the autonomous traveling device 1 determines road surface information from the captured image data captured by the camera 10, and determines the road surface state of the traveling road based on the determined road surface state. And it switches to the driving mode according to the road surface state of the determined driving path, and it drive | works. The autonomous traveling device 1 has a plurality of the following traveling modes.

(1) Normal mode (2) Rainy weather mode (speed is controlled more than normal mode)
(3) Freezing mode (speed is suppressed compared to rain mode)
(4) Snow cover mode (performs speed control so that sudden braking does not occur when starting or stopping)
By switching between these traveling modes, the speed and torque of the autonomous traveling device are controlled. As a result, it is possible to perform control such as preventing slipping or moving at a speed at which it can be safely stopped even when the braking distance is increased.

  In the present embodiment, the difference in the driving mode is described as the difference in the traveling speed of the autonomous traveling device 1, but other than that, it may be a change in torque or a change in acceleration.

  Further, the traveling road refers to a road surface in the direction in which the autonomous traveling device 1 travels, and the road surface state of the traveling road is, for example, a front road surface state when the autonomous traveling device 1 moves forward, When retreating, the road surface is behind. Note that a place that is simply set as route information, that is, a place where the autonomous mobile device 1 is scheduled to travel may be used as the travel path.

  In FIG. 5, the solar radiation direction is S. That is, when the camera is in the direction of S, the light from the sun is reflected on the camera. Therefore, the autonomous traveling device 1 determines the state of the road surface state by deleting or ignoring the captured image data of the camera in which the light from the sun is reflected.

  For example, when the autonomous mobile device 1 is at the position P1, sunlight is reflected in the camera 10D. Therefore, the photographed image data photographed by the camera 10D is excluded by being deleted (or ignored), and the road surface state is determined using the photographed image data photographed by the cameras 10A, 10B, and 10C.

  Similarly, in the case of the position P2, the sunlight is reflected in the camera 10C. Therefore, the photographed image data of the camera 10C is excluded, and the road surface state is determined using the photographed image data photographed by the cameras 10A, 10B, and 10D.

  In addition, the sun is reflected in the cameras 10A and 10B at twice the position P3. Therefore, the photographed image data photographed by the cameras 10A and 10B is excluded, and the road surface state is determined using the photographed image data photographed by the cameras 10C and 10D. Then, according to the determined road surface condition, the traveling mode of the autonomous traveling device 1 is switched to perform traveling.

  Thus, by applying this embodiment, it is possible to appropriately determine the road surface state using the mounted camera. In particular, it is possible to appropriately determine the road surface state based on the photographed image data by excluding the photographed image data in the solar radiation direction (the photographed image in the direction in which the sunlight is reflected in the camera) data.

[1.4 Explanation of processing]
Processing in this embodiment will be described with reference to FIG. First, the solar radiation direction is specified (step S102). Here, as a method for specifying the solar radiation direction, any method is used.

  (1) The solar radiation direction is specified from the sunrise / sunset time and the south / central time information. The autonomous mobile device 1 can obtain the current position of the sun from the time.

  (2) Obtained from the tour route information. That is, the solar radiation direction is stored in advance in the traveling route information. The autonomous mobile device 1 identifies the solar radiation direction by reading out the traveling route information.

  (3) Obtained from an image taken by the monitoring camera 50. When the monitoring camera 50 is a camera capable of photographing in all directions, the position of the sun is specified by using luminance information. Thereby, the solar radiation direction is specified.

  (4) Receive from the management server. The current solar radiation direction is received from the management server that performs communication via the communication unit 170.

  Subsequently, all road surface images are acquired (step S104). That is, captured image data obtained by capturing a road surface is acquired from the camera 10A, the camera 10B, the camera 10C, and the camera 10D.

  Subsequently, the captured image data of the camera in the solar radiation direction is excluded from the acquired captured image data of the road surface (step S106). Here, excluding the photographed image data may delete the photographed image data or ignore it without using it for determining the road surface condition.

  Further, as the direction of the autonomous traveling device 1, the direction may be detected by the direction sensor or the acceleration sensor of the position detection unit 150, or the direction may be detected from the current traveling position based on the traveling route information. good.

  Based on the captured image data not excluded in step S106, the road surface state of the traveling road of the autonomous mobile device 1 is determined (step S108).

  Specifically, the road surface state of the captured image data other than the captured image data excluded in step S106 is determined. Then, when there are two or more determined road surface states that are determined to be wet, it is determined that the road surface state of the traveling road is wet.

  Various methods for determining the final road surface state (travel road surface state) of the road are conceivable. For example, the following method can be considered.

  (1) If there is a matching road surface state among a plurality of directions, the road surface state is determined as the traveling road surface state. As described above, for example, when there are two or more determined to be “wet”, the traveling road surface condition is determined to be “wet”. Further, when there are a plurality, they may be determined by majority vote.

  (2) When a preferential direction is determined and the determined road surface state is divided according to the direction, the road surface state may be determined based on the captured image data in the preferential direction. For example, when the autonomous mobile device 1 is traveling forward, the captured image data obtained by capturing the front is used preferentially.

  (3) A preferential direction may be determined in cooperation with an external device, and the road surface state may be determined based on photographed image data in the preferential direction. For example, when an irradiation unit such as a light (irradiation device 20) is provided as described later, the direction in which the road surface is irradiated is preferentially used.

  Thus, the road surface state of the traveling road is determined from a plurality of road surface states based on any method. In the present embodiment, the road surface state in each direction is determined for convenience of explanation, and the road surface state of the traveling road is determined by comparing the determined road surface state. However, for example, the road surface state of the traveling road may be determined directly by using the captured image directly.

  When it is determined that the road surface state of the traveling road is wet (step S108; Yes), the rainy mode is selected as the traveling mode (step S110). That is, when the current travel mode is traveling in the normal mode, control for switching the travel mode to the rainy mode is executed. If the vehicle is already traveling in the rainy mode, the vehicle continues to travel in the rainy mode.

  In other cases, it is determined that the road surface state of the travel road is dry, and control for switching the travel mode is performed so that the travel mode is traveled in the normal mode (step S108; No → step S112).

  As described above, according to the present embodiment, the road surface state of the traveling road can be appropriately determined by excluding the captured image data captured by the camera in the solar radiation direction. This is because a camera in the solar radiation direction may not be able to acquire captured image data correctly because halation occurs due to sunlight reflected in the camera.

  By excluding these captured image data that could not be acquired correctly, it becomes possible to determine the road surface state of the traveling road more appropriately. And based on the road surface state of the determined traveling road, it becomes possible to switch the traveling state of the autonomous traveling apparatus 1 appropriately.

[2. Second Embodiment]
A second embodiment will be described. The first embodiment is a process before sunset (for example, during the daytime) in which there is sunlight (a state in which sunlight can be reflected in the camera). This embodiment demonstrates the process after sunset, ie, when there is no sunlight (for example, at night).

  FIG. 7 shows the main processing of this embodiment. First, it is determined whether or not the present day is daytime (step S202). Daytime refers to the time zone in which the sunlight is present, that is, the time zone after sunrise and before sunset.

  Here, when there is daytime sunlight, the process of FIG. 6 in the first embodiment is executed as the first process (step S202; Yes → step S204). On the other hand, if it is not before noon, after sunset or before sunrise, the second processing example of the present embodiment shown in FIG. 8 is executed (step S202; No → step S206).

  A second processing example will be described with reference to FIG. In the second process of FIG. 8, the same processes as those of the first process shown in FIG.

  After acquiring road surface data in all directions, if it is determined that the road surface state of the road is already wet from two or more of the captured image data, run in rainy mode Thus, the travel mode is switched (step S108; Yes → step S110).

  Here, when there are not two or more photographed image data determined that the road surface condition is wet (step S108; No), the front (irradiation device 20) is irradiated to re-acquire the road surface image. A picture is taken (step S252).

  That is, re-photographing is performed with the front camera 10 </ b> A in a state where the road surface is brightly illuminated by the irradiation device 20. If it is determined from the photographed image data at this stage that the road surface state is not wet, the vehicle travels as it is in the normal mode (Step S254; No → Step S112). However, when it is determined that the road surface condition is wet at this time, the traveling mode is switched to the rainy mode from the viewpoint of fail-safe (step S254; Yes → step S110).

  As described above, according to the present embodiment, the road surface state can be determined by dividing the road surface state before sunset (sunrise after sunrise) and after sunset (after sunset before sunrise), which is a time zone with sunlight. It becomes possible. In particular, by acquiring a road image in front of where the autonomous traveling device 1 travels, a more appropriate road surface state can be determined, and an appropriate travel mode can be selected.

  In the embodiment described above, it is determined whether or not it is before sunset in step S202, but may be determined based on whether or not there is sunlight. For example, when the weather is cloudy or rainy, the road image may be re-photographed by illuminating the front with a light.

  Moreover, in the irradiation apparatus 20, what is not always lighting has the effect of suppressing power consumption by reducing the frequency | count of use. Thereby, it becomes possible to suppress the power consumption of the storage battery of the autonomous mobile device 1 and lengthen the operation time of the autonomous mobile device 1 (time to travel around the route).

  In addition, the embodiment has been described as not always lighting, but an embodiment in which lighting is always performed is also conceivable. In this case, although the operation time of the autonomous mobile device 1 is reduced, the camera can take more accurate images and can determine the correct road surface state.

  In this case, the always-on light may be always turned on regardless of daytime or nighttime, or may be turned on according to the weather. In the case of a road surface state (for example, a non-paved surface), a usage method of turning on a light may be used.

  Further, the light and the camera may be provided in the same direction or in different directions. Moreover, it is good also as a structure which changes a brightness according to the surrounding brightness of the autonomous running apparatus 1. FIG.

[3. Third Embodiment]
Next, a third embodiment will be described. In the third embodiment, in addition to the processing of the first embodiment, the road surface state is determined with reference to the environment information of the autonomous mobile device 1.

  The third embodiment has the same functional configuration as that of the first embodiment, and is an embodiment in which the processing flow of FIG. 6 of the first embodiment and the processing flow of FIG. 9 are replaced. In addition, the same code | symbol is attached | subjected to the same process and detailed description is abbreviate | omitted.

  After specifying the solar radiation direction and acquiring all the photographed image data, the photographed image data in the solar radiation direction is excluded (steps S102 to S106). Here, the ambient temperature T is acquired from the environment information acquisition unit 155 as the environment information (for example, the ambient temperature T is acquired from the temperature sensor 30). Then, it is determined whether or not the outside air temperature T is not more than the outside air temperature determination threshold “0” ° C. (step S302).

  Here, when the outside air temperature T is 0 ° C. or less (step S302; Yes), the road surface state of the traveling road is determined from two or more photographed image data among the photographed image data (step S304). Here, when “snow” is detected from the road surface, the travel mode is switched to “snow accumulation mode” (step S304; snow → step S306).

  If the road surface state of the traveling road is dry from two or more photographed image data, the traveling mode is switched to the “normal mode” (step S304; drying → S310). In other cases, it is determined that the road surface is frozen, and the traveling mode is switched to the “freezing mode” (step S304; freezing → S308).

  In step S302, when the outside air temperature is higher than 0 ° C. (step S302; No), it is determined whether or not the road surface state of the traveling road is wet from two or more pieces of photographed image data among the photographed image data (step S302). S312). If it is wet, the travel mode is switched to “rainy mode” (step S312; Yes → step S314). On the other hand, when it is dry, the operation mode is switched to the “normal mode” (step S312; No → step S310).

  Thus, according to the present embodiment, it is possible to determine that there is a possibility that the road surface is frozen as well as when the road surface is wet by using, for example, temperature as environmental information. .

  Of course, the embodiments described in the present specification may be combined with each other within a consistent range. For example, although this embodiment has been described based on the first embodiment, it is needless to say that it may be combined with the second embodiment.

  In the above-described embodiment, when the outside air temperature T is greater than the determination threshold 0 ° C. in step S302, the case where the traveling mode is switched between the rainy mode and the normal mode has been described. That is, instead of step S312, the same processing as step S304 may be executed to switch the travel mode.

  In addition, the determination threshold value based on the outside air temperature T is set to 0 ° C., and may be a different value. In general, compared with the rainy weather mode, the freezing mode has a slower moving speed of the autonomous traveling device and higher safety. Therefore, in consideration of safety, for example, the determination threshold value of the outside air temperature T may be a value such as 2 ° C. or 4 ° C.

  In the present embodiment, the ambient temperature is described as an example of the environment information, but other environment information and parameters may be combined. For example, when it is easier to freeze at night than during the day, the freezing mode and the rainy mode may be switched depending on the time. Specifically, the determination threshold value of the outside temperature T may be set to 5 ° C. after sunset and before sunrise, and the determination threshold value may be set to 0 ° C. after sunset and before sunset.

[4. Fourth Embodiment]
Next, a fourth embodiment will be described. In the fourth embodiment, in addition to the processing of the third embodiment, before switching to the normal mode, the front is once illuminated with a light and the road image in front of the autonomous mobile device 1 is acquired.

  For example, when it is determined in step S304 of FIG. 9 that the road surface state of the traveling road is “dry” or when it is determined in step S312 that the road surface state of the traveling road is not wet, the step of FIG. As executed in S252 and S254, the front is illuminated with the light, and the captured image data of the road surface in front is acquired and re-photographed.

  Thereby, the road surface state of the traveling road is redetermined. After step S304, “snow”, “freezing”, and “drying” are determined again. In addition, after step S312, it is determined again whether or not it is wet.

  Thus, according to this embodiment, even if it is determined that the vehicle is in a dry state (the road surface is not wet), the front road surface state that is the traveling direction of the autonomous mobile device 1 is determined again, and the road surface state of the travel road Will be determined. Thereby, it is possible to switch to a travel mode more suitable for travel.

[5. Fifth Embodiment]
Subsequently, a fifth embodiment will be described. In the third embodiment, the temperature that is the environment information is acquired from the environment information acquisition unit 155, but in the present embodiment, the environment information is acquired via the communication unit 170.

  The processing of the fifth embodiment is obtained by replacing the processing flow in FIG. 9 with the processing flow shown in FIG. In this embodiment, weather information is acquired from an external server in step S502.

  Here, the external server includes weather information (sunny, rain, etc.) at a point where the autonomous mobile device 1 is located, temperature, and the like. Further, it is assumed that the current solar radiation direction is also included in the weather information.

  That is, according to this embodiment, the autonomous mobile device 1 can predict the current road surface state to some extent based on the weather information received from the external server. Moreover, since the solar radiation direction can also be acquired, it is possible to exclude the captured image data based on the weather information.

  The weather information may include not only the current value but also a predicted value. Even if it is not raining now and the road surface is not wet, it is possible to switch to the rainy weather mode in advance if a rainy forecast is included.

  For convenience of explanation, in the present embodiment, it is described that the weather information includes everything, but it is sufficient that information is included as necessary. For example, if only temperature information is included in the weather information, the solar radiation direction may be determined by the same method as in the first embodiment and the third embodiment.

[6. Sixth Embodiment]
A sixth embodiment will be described. In the embodiment described above, the cameras are provided in four directions. However, the number of cameras may be less or more.

  For example, FIG. 11 is a diagram schematically showing the arrangement state of cameras in the present embodiment. For example, FIG. 11A is a diagram in which cameras are provided in three directions, and FIG. 11B is a diagram in which cameras are provided in six directions.

  In FIG. 11A, the road surface state of the traveling road may be determined based on the majority of the cameras 10A, 10B, and 10C. Moreover, what is necessary is just to determine the road surface state of a running path based on camera 10A, 10B, 10C, 10D, 10E, 10F in FIG.11 (b).

  In this case, when determining the road surface state of the traveling road, a weight for using the road surface state may be given depending on the position of the camera. For example, since there are two rear cameras and they rarely move backward, the evaluation may be lighter than other cameras. Moreover, although there are two front cameras, since it is the direction in which the autonomous mobile device 1 moves, it may be a heavy evaluation.

  Thus, according to this embodiment, a road surface state is determined by installing a plurality of cameras regardless of the number of cameras. Then, the road surface state of the traveling road is determined from the determined road surface state, and an appropriate traveling mode can be selected.

  Moreover, you may provide a light according to the direction of a camera. In this case, a light may be provided for each direction regardless of the number of cameras. For example, when there are two cameras in the front direction, two lights may be provided, or only one light may be provided in the front direction.

[7. Seventh Embodiment]
A seventh embodiment will be described. The seventh embodiment is an embodiment in the case where the road surface state of the traveling road cannot be determined because the road surface state cannot be determined from the captured image data captured by the camera 10. The functional configuration is the same as that of the first embodiment, and the operation flow in FIG. 6 is replaced with the operation flow in FIG. Here, the same processes as those in FIG. 6 are denoted by the same reference numerals and description thereof is omitted.

  After excluding the captured image data of the camera in the solar radiation direction, the road surface state is determined from the captured image. Here, when the road surface state of the traveling road cannot be determined from the determined road surface state (step S702; No), the captured image data of the monitoring camera 50 is acquired (step S704), and the captured image data is also obtained. Use together.

  This is because, for example, when shooting image data in the solar radiation direction is excluded and the road surface condition is the same as “wet” or “dry”, or any shooting error or the road surface is not reflected, etc. For this reason, the road surface state of the traveling road cannot be determined only by the captured image data of the camera 10.

  In such a case, it is possible to appropriately determine the road surface state of the traveling road by using the captured image data of the monitoring camera 50 which is a separate imaging unit from the camera 10.

[8. Eighth Embodiment]
An eighth embodiment will be described. The eighth embodiment is an embodiment in which the solar radiation direction is determined from captured image data. The functional configuration is the same as that of the first embodiment, and the operation flow in FIG. 6 is replaced with the operation flow in FIG. Here, the same processes as those in FIG. 6 are denoted by the same reference numerals and description thereof is omitted.

  After acquiring the captured image data of all the road surfaces, the captured image data in the solar radiation direction is specified from the captured image data (step S802). As a method for specifying the direction of solar radiation from captured image data, for example, when the brightness is higher than that of other captured image data, or when a certain range has been blown out, it matches a predetermined pattern. In this case, it is determined that the sunlight has been reflected, and the photographed image data is specified as the photographed image data in the solar radiation direction and excluded (step S106).

  As described above, according to the present embodiment, even when the autonomous traveling device 1 does not have the solar radiation direction data, the solar radiation direction is specified from the captured image data, and the captured road image data is excluded from the captured image data. The state can be determined appropriately.

  In addition, by executing the processing of step S802 in another embodiment, it is possible to more reliably exclude the captured image data of the camera that is in the solar radiation direction from the captured image data.

[9. Ninth Embodiment]
Next, a ninth embodiment will be described. The ninth embodiment is an embodiment in which the autonomous traveling device 1 feeds back a traveling history after traveling around based on the traveling route information.

(1) Feedback to the management server The autonomous mobile device 1 is connected to the management server, and the management server may manage the patrol operation. In this case, the management server manages the traveling time and the like based on the traveling route information.

  Here, when the autonomous traveling device 1 circulates based on the traveling route information, the road surface state of the traveling route in the traveling route is grasped. The road surface state of the traveling road grasped by the autonomous traveling device 1 is transmitted to the management server as history information after the patrol is completed.

  The management server can grasp the road surface state of the traveling road in the route information from the traveling history of the autonomous traveling device 1. Therefore, it becomes possible to predict the time required for the autonomous mobile device 1 to monitor based on the patrol route.

(2) Feedback of Reference Image Data When the autonomous traveling device 1 makes a tour based on the tour route information, the camera 10 acquires a plurality of captured image data. Here, the appropriate photographed image data is updated as new reference image data.

  For example, when a new obstacle is installed or the road surface condition changes (for example, when a paved road becomes an unpaved road due to construction), it can be updated to new reference image data.

  Accordingly, more appropriate reference image data 146 is stored, and the autonomous mobile device 1 can appropriately determine the road surface state.

  Of course, when a plurality of autonomous traveling devices are connected to the management server, these feedbacks can be reflected on each autonomous traveling device.

  Thus, according to the present embodiment, the road surface state (traveling road surface state) is stored in correspondence with the traveling route information. Therefore, when the autonomous mobile device 1 makes a tour of the same route again, it can travel using the road surface state.

[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.

  Here, in the above-described embodiment, the case has been described in which the captured image data is excluded, and the camera 10 deletes the captured image data or ignores the captured image data after capturing the image once. However, for the solar radiation direction, it may be possible to perform processing such as not performing shooting from the beginning.

  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 mobile device 110 Control part 120 Image input part 130 Image processing part 140 Storage part 142 Traveling route information 144 Shooting image data 150 Position detection part 155 Environmental information acquisition part 160 Drive control part 170 Communication part

Claims (18)

In the autonomous traveling device that travels by the driving force of the driving unit,
It has a plurality of photographing units for photographing images in different directions around the autonomous traveling device,
Traveling road surface state determination means for determining a traveling road surface state that is a road surface state of the traveling road from images in different directions photographed by the photographing unit;
An autonomous traveling device comprising: Based on an image photographed by the photographing unit, further comprising a road surface condition judging means for judging a road surface condition in the photographed direction;
The traveling road surface state determining unit determines the traveling road surface state based on a road surface state in which road surface states in different directions determined by the road surface state determining unit match.
The autonomous traveling device according to claim 1. Based on an image photographed by the photographing unit, further comprising a road surface condition judging means for judging a road surface condition in the photographed direction;
The traveling road surface state determining unit determines a road surface state in a preferentially set direction as the traveling road surface state when road surface states in different directions determined by the road surface state determining unit do not match.
The autonomous traveling device according to claim 1.   4. The autonomous traveling according to claim 1, wherein the photographing unit is arranged in at least two directions among a front direction, a rear direction, a left direction, and a right direction of the autonomous traveling device. apparatus. It further has solar radiation direction acquisition means for acquiring the solar radiation direction,
5. The road surface condition determining unit determines the road condition on the road surface based on a road surface state in a direction other than the solar radiation direction acquired by the solar radiation direction acquiring unit. The determination apparatus according to one item. A communication means for communicating with an external server;
6. The autonomous traveling device according to claim 5, wherein the solar radiation direction acquisition unit acquires the solar radiation direction from the external server. Further comprising an irradiation unit for irradiating the front of the autonomous mobile device,
When it is determined that the traveling road surface condition is not wet after sunset, the photographing unit irradiates the front of the autonomous traveling device with the irradiation unit, re-photographs the front of the traveling device,
The traveling road surface state determining means determines the traveling road surface state based on the re-captured image.
The autonomous traveling device according to any one of claims 1 to 6, wherein Further comprising an irradiation unit for irradiating the periphery of the autonomous mobile device,
The autonomous traveling device according to any one of claims 1 to 6, wherein when the photographing unit takes a picture, the photographing direction is irradiated regardless of daytime or nighttime.   The autonomous traveling device according to claim 8, wherein when the photographing unit captures an image, the brightness to be irradiated is changed according to the brightness around the autonomous traveling device. Further comprising an irradiation unit for irradiating the periphery of the autonomous mobile device,
2. The road surface condition determining unit, when determining the road surface condition, determines a road surface condition by preferentially using an image in a direction irradiated by an irradiation unit. The autonomous traveling apparatus as described in any one of 1-6. Further storing route information traveled by the autonomous traveling device;
The autonomous traveling device according to any one of claims 1 to 10, wherein the traveling road surface state is further stored in association with the route information. A first traveling mode that travels at a normal speed and a second traveling mode that travels at a speed slower than the first traveling mode;
Travel mode selection means for selecting the first travel mode and the second travel mode based on the travel road surface condition;
The autonomous traveling device according to claim 1, further comprising: The road surface state determining means determines whether the traveling road surface state is wet,
The autonomous traveling device according to claim 12, wherein the traveling mode selection means selects the second traveling mode when it is determined that the road surface state of the traveling road is wet. It has a normal travel mode that travels at a normal speed and a plurality of travel modes that travel at a speed different from the normal travel mode,
The traveling road surface condition determining means determines whether the traveling road surface condition is dry, wet, or snowy,
When the traveling road surface condition is dry, a normal traveling mode; otherwise, a traveling mode selection means for selecting a traveling mode according to the traveling road surface condition;
The autonomous traveling device according to claim 1, further comprising: An environmental information acquisition means for acquiring environmental information including temperature;
The road surface condition determining unit determines whether the road surface condition is dry, frozen, or snowy when the temperature acquired by the environment information acquiring unit is a predetermined threshold value or less. The autonomous traveling device according to claim 14, wherein: In the determination device for determining the road surface state of the travel path of the travel device,
Image acquisition means for acquiring a plurality of images in different directions around the traveling device;
Road surface state determining means for determining a road surface state based on the acquired surrounding image;
Of the road surface states determined by the road surface state determination unit, a road surface state determination unit that determines two or more road surface states that coincide with each other as a road surface state that is a road surface state of the road surface;
A determination apparatus comprising: In the control method in the autonomous traveling device that travels by the driving force of the drive unit,
A photographing step of photographing images in different directions around the autonomous traveling device;
A traveling road surface state determination step for determining a traveling road surface state that is a road surface state of the traveling road from images of different directions captured by the photographing step;
A control method for an autonomous mobile device, comprising: In the determination method for determining the road surface state of the travel path of the travel device,
An image acquisition step of acquiring a plurality of images in different directions around the traveling device;
A road surface state determination step for determining a road surface state based on the acquired surrounding image;
Of the road surface states determined by the road surface state determination step, a road surface state determination step for determining a road surface state that matches two or more as a road surface state that is a road surface state of the road,
The determination method characterized by having.