JP2018147158A - Control method of unmanned mobile body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control method of an unmanned mobile body which can bend the unmanned mobile body at a junction and consequently, is capable of realizing facilitation of remote control in spite of propriety/impropriety of timing of operation in a remote control device in a case of bending the unmanned mobile body traveling autonomously at the junction by the remote control device.SOLUTION: The method is configured to autonomously travel a semi-autonomous travel vehicle 1 along a travel route which it is easy to continue to travel a route traveled till now when, especially, being not indicated from an operator and to move a guide G in a required direction on an image picture 40a of a display 40 by operation of a cursor stick 51 of a remote control device 2 in the neighborhood of the junction C when bending at the junction C. The method is configured so that a position of the guide G on the image picture 40a in the remote control device 2 is converted from an image coordinate system into a world coordinate system in the semi-autonomous travel vehicle 1 and thereby, it is configured to move toward a target T reflected on a local map M.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a method for controlling an unmanned moving body when controlling an unmanned moving body capable of autonomous movement with a remote control device.

  Conventionally, as a method for controlling an unmanned mobile body capable of autonomous movement as described above, for example, there is a method described in Patent Document 1.

  An unmanned moving body equipped with a traveling mechanism includes a remote control camera, an external measurement unit such as a laser sensor or a stereo camera that acquires terrain data in the moving region, and a GPS or attitude control that acquires its own position and orientation. A self-location data acquisition unit such as a vertical gyro, a vehicle control computer, and an autonomous movement computer are mounted.

  A self-position data acquisition unit is connected to the vehicle control computer and has a function of transmitting various information acquired by the self-position data acquisition unit to the remote control device. Based on the steering command to operate and stop the travel mechanism.

  On the other hand, an external measurement unit is connected to the autonomous mobile computer, and has a function of transmitting distance measurement data acquired by the external measurement unit to the remote control device.

  In this case, the remote control device includes a display that displays an image obtained by the remote control camera, a remote control unit, a control unit that exchanges data with the vehicle control computer and the autonomous movement computer.

  The vehicle control computer mounted on the unmanned moving body creates a local map including a travelable area, a non-travelable area, and an unmeasured area based on the self-location data and the terrain data in the moving area. Based on the map, a continuous travelable area is extracted from the self-position of the unmanned mobile body to generate a travel route.

  That is, in the case where a new steering command is not issued from the operator via the remote control unit of the remote control device, the unmanned moving body is controlled by the vehicle control computer and the autonomous movement computer, and is generated by the vehicle control computer. It will move autonomously on the travel route.

  On the other hand, for example, when the unmanned mobile body is bent at a branch point such as an intersection, the operator operates the remote control unit of the remote control device while viewing the image of the branch point displayed on the display.

  On the unmanned mobile body side, when the new steering command is obtained, the vehicle control computer generates an arc-shaped predicted path of the unmanned mobile body corresponding to the steering command. After creating a plurality of clothoid routes on the left and right, the optimum route is selected from the predicted route and the plurality of clothoid routes, so that the unmanned moving object is controlled by the vehicle control computer and the autonomous movement computer for vehicle control. It will move autonomously on the optimal route generated by the computer. The clothoid path is a path along a clothoid curve (a locus drawn when the curvature is changed at a constant rate).

Patent 5666327

  However, according to the control method of the unmanned mobile body described above, when the unmanned mobile body is bent at a branch point such as an intersection by the remote control device, the operation timing performed while viewing the image of the branch point shown on the display For example, if the timing of the operation is too early, even if the optimal route is generated, it will come into contact with the untravelable area in front of the optimal route, and as a result, the unmanned mobile object will be There is a problem that it cannot be bent, and it has been a conventional problem to solve these problems.

  The present invention has been made paying attention to the above-described conventional problems, and when an unmanned mobile object traveling autonomously is bent at a branch point such as an intersection by a remote control device, the operation timing in the remote control device The purpose of the present invention is to provide a control method for an unmanned mobile body that can be bent at a branch point regardless of whether it is suitable or not, and as a result, it is possible to facilitate remote control. Yes.

  The invention according to claim 1 of the present invention is a control method for an unmanned moving body in which the movement of an autonomously movable unmanned moving body equipped with a remote control camera for imaging a moving region is controlled by a remote control device, The remote control device includes a display unit that displays an image within a moving region obtained by the operation unit and the remote control camera, and an image of the display unit of the remote control device includes a steering command from the operation unit. The unmanned moving body acquires the self-position data of the unmanned moving body and the terrain data in the moving area, and the unmanned moving body acquires the self-position data and the terrain data in the moving area. A function of creating a local map of the world coordinate system of the moving area including a travelable area, a non-travelable area, and an unmeasured area based on the topographic data, and an image that moves on the image of the display unit of the remote control device A function of converting the position of the guide of the standard system into a world coordinate system and reflecting it as a target on the local map, and continuing from the self-position of the unmanned mobile object toward the target reflected on the local map A function for creating a road route, a function for creating a plurality of optimal route candidates on the left and right sides toward the traveling direction of the road route created on the local map, and a route road route created based on the road route A function of selecting an optimum route from the plurality of optimum route candidates, and moving the guide in a desired direction on an image of the display unit by operating the operation unit of the remote control device; The unmanned moving body is configured to move on the continuous optimum route toward the target reflected on the local map.

  Moreover, the control method of the unmanned mobile body according to claim 2 of the present invention is a function for creating a plurality of optimum route candidates on the left and right direction sides in the traveling direction of the road route created on the local map. When there is an obstacle on the left and right side in the traveling direction of the road, the optimum route candidate is created avoiding the obstacle.

  Furthermore, the control method of the unmanned mobile object according to claim 3 of the present invention is a function of creating a continuous road route toward the target reflected on the local map from the self-position of the unmanned mobile object. When the target reflected on the local map is not in the travelable area, the road route is created up to the vicinity of the target in the travelable area.

  The control method of the unmanned mobile object according to the present invention is used in an environment where there is a road, and in any environment where there are any roads such as paved roads, unpaved roads, and roads where road shoulders are not sufficiently developed. Is also applicable.

In the control method for an unmanned mobile object according to the present invention, the external measurement unit that acquires information on the unevenness of the topography in the traveling direction of the unmanned mobile object includes, for example, at least one set of a horizontal line scan type single-axis laser range finder. In order to compensate for the disadvantage that only cross-sectional gradient data can be obtained, a stereo camera is used, or a laser range finder that detects standing obstacles above the minimum ground height (about 20 cm) of unmanned moving objects is used. It is desirable to do.
And, as means for obtaining the self-position and direction that change every moment necessary for creating a travel route, for example, GPS (Global Positioning System), IMU (Inertial Measurement Unit), dead reckoning (Dead Reckoning) ) Can be used.

  In the control method for an unmanned moving body according to claim 1 of the present invention, an image in a moving area obtained by a remote control camera of the unmanned moving body is displayed on the display unit of the remote control device. In the image on the display unit, a guide that moves on the image based on a steering command from the operation unit is displayed.

  In the control method of the unmanned mobile body according to claim 1 of the present invention, when there is no specific instruction from the operator, the travel route that is easy to continue to the travel route that has traveled so far is based on the information on the unevenness of the topography in the traveling direction. Therefore, the unmanned mobile body travels autonomously because it is extracted on the local map.

  On the other hand, when the unmanned moving body that autonomously travels is bent at a branch point such as an intersection, the guide is moved in a desired direction on the image on the display unit by the operation of the operation unit of the remote control device by the operator. Instructing the unmanned moving body in the direction of travel.

  On the unmanned mobile body side, the position of the guide in the image coordinate system that moves on the image of the display unit of the remote control device is converted into the world coordinate system, and thereby moves toward the target reflected on the local map.

  That is, it is possible to appropriately indicate the moving direction of the unmanned mobile body by a simple operation by the operator of the operation unit performed via the display unit of the remote control device, and as a result, for example, there are many right and left turns such as in urban areas. Even for an unmanned moving body moving in a place, the moving direction can be appropriately instructed.

  In the control method of the unmanned mobile body according to claim 1 of the present invention, for example, when the unmanned mobile body that is moving autonomously is bent at a branch point such as an intersection by the remote control device, the operation timing in the remote control device Regardless of whether it is appropriate or not, it is possible to bend an unmanned moving body at a branch point, and as a result, it is possible to realize a very excellent effect of facilitating remote control.

  In addition, since the optimum route is selected and moved from among a plurality of route candidates created based on the road route created on the local map, it is possible to move the unmanned moving body smoothly. A very good effect is possible.

  In addition, in the control method for an unmanned mobile object according to claim 2 of the present invention, an optimum route selected from a plurality of optimum route candidates can be created avoiding obstacles as a matter of course. In the control method of the unmanned mobile object according to Item 3, since a route is created to the vicinity of the target, it is possible to move the unmanned mobile body to the vicinity of the target without stopping, and the remote control during this time The burden on the operator who operates the apparatus can be reduced.

It is system configuration explanatory drawing which shows the outline | summary of the control method of the unmanned mobile body by one Example of this invention. It is schematic structure explanatory drawing of the semi-autonomous traveling vehicle as an unmanned mobile body in FIG. It is a connection block diagram of the control apparatus of the unmanned mobile body in FIG. It is explanatory drawing which shows the concept of the coordinate transformation employ | adopted as the control method of the unmanned mobile body in FIG. It is an operation | movement flowchart of the control method of the unmanned mobile body in FIG. It is an intersection recognition image explanatory drawing currently displayed on the display part of the remote control apparatus which controls the unmanned mobile body in FIG. It is processing point explanatory drawing corresponding to after the local map creation step in the operation | movement flowchart of FIG.

Embodiments of the present invention will be described below with reference to the drawings.
1 to 7 show a control method of an unmanned mobile body according to an embodiment of the present invention. The control method of the unmanned mobile body is a portable remote control device 2 as shown in FIG. It is used to control the movement of the unmanned mobile body 1.

  In this embodiment, the unmanned moving body 1 is a semi-autonomous traveling vehicle 1 that can travel autonomously. As shown in FIGS. 2 and 3, the vehicle control computer 10 and the vehicle control computer 10 and the LAN 11 are connected to each other. It is controlled by the computer 30 for autonomous movement connected via this.

  A wireless LAN 13 connected to the antenna 12 and a remote control camera 14 are connected to the input side of the vehicle control computer 10 via an input / output circuit 15, a GPS 16 serving as a self-position data acquisition unit, and attitude control. A vertical gyro 17 for the vehicle and a vehicle speed pulse 18 for measuring the moving speed are connected via a serial line.

  Further, a steering actuator 22 and a brake / accelerator actuator 23 are connected to the output side of the vehicle control computer 10 via a motor driver 21, and the vehicle is driven by the motor driver 21, actuators 22, 23 and wheels 24. The mechanism 20 is configured.

  The vehicle control computer 10 has a function of transmitting various information acquired by the GPS 16 and the vertical gyro 17 to the portable remote control device 2 via the LAN 11, the wireless LAN 13, and the antenna 12, and the remote control device 2. The steering actuator 22 and the brake / accelerator actuator 23 are activated and stopped via the motor driver 21 based on the steering command transmitted from the vehicle.

  On the other hand, on the input side of the computer 30 for autonomous movement, a laser sensor 31 for autonomous movement that constitutes an external measurement unit suitable for acquiring near-field information on unevenness of topography in the traveling direction, and for acquiring wide-angle information at a long distance A suitable stereo camera 32 for autonomous movement and an obstacle laser sensor 33 for detecting an obstacle standing above the minimum ground height (about 20 cm) are connected. This autonomous movement computer 30 includes a laser sensor. 31, a stereo camera 32 for autonomous movement, and a laser sensor 33 for obstacles have a function of calculating and transmitting external measurement data necessary for autonomous movement to the remote control device 2 via the LAN 11. .

  In this embodiment, image data acquired from the remote control camera 14 is input to the vehicle control computer 10 via the input / output circuit 15 and subjected to data compression processing, and then remotely controlled via the wireless LAN 13 and the antenna 12. Although the image data is transmitted to the device 2, the image data may be directly transmitted from the remote control camera 14 without using the vehicle control computer 10.

  The portable remote control device 2 includes a display (display unit) 40 that displays an image obtained by the remote control camera 14 of the semi-autonomous vehicle 1, an operation unit 50, a vehicle control computer 10, and an autonomous movement computer 30. And a control unit 60 for exchanging data via the LAN 11.

The display 40 is disposed integrally with the control unit 60 together with a CPU, a keyboard 61, and an antenna 62 (not shown). The control unit 60 can be mounted on the waist of the operator P.
On the other hand, the operation unit 50 includes a cursor stick 51, a speed instruction lever 52, and a transmission unit (not shown) that transmits various types of information to the control unit 60.
In this case, as shown in an enlarged view in FIG. 1, a guide G that moves on the image 40 a by an operation (steering command) for tilting the cursor stick 51 of the operation unit 50 is set in the image 40 a of the display 40.

  The guide G on the image 40a of the display 40 assists the operation of the cursor stick 51 when remotely operating the semi-autonomous vehicle 1 while viewing the image 40a. Specifically, the guide G is displayed on the display 40. The cursor stick 51 is operated so that the guide G moves to a position (near the tip of the arrow in FIG. 1) where the semi-autonomous vehicle 1 on the image 40a is desired to face.

  When the display 40 is a touch panel, it is possible to use a drawing operation input on an image with a pen or a finger instead of the operation input for tilting the cursor stick 51 described above.

  In this case, the vehicle control computer 10 mounted on the semi-autonomous vehicle 1 is autonomously acquired by the laser sensor 31 that is an external measurement unit, the stereo camera 32 for autonomous movement, or the laser sensor 33 for obstacles. External measurement data calculated by the moving computer 30 is input.

  The vehicle control computer 10 includes a data analysis unit 10A that performs a determination process of a travelable area, a travel impossible area, and an unmeasured area based on the external measurement data calculated by the autonomous movement computer 30, and this data. Based on the local map created by the local map creating unit 10B and the local map creating unit 10B that creates a local map including a travelable area, a travel impossible area, and an unmeasured area based on the determination result in the analysis unit 10A, A travelable area map generation unit 10C that extracts a continuous travelable area from the self-location acquired by the self-position data acquisition unit such as the GPS 16 and creates a travelable area map, and the travelable area map generation unit 10C A travel route generation unit 10D that creates a travel route based on the created travelable area map is provided, and the travel route and travel in the created travelable area map are provided. According to the speed, so as to operate the steering actuator 22 and the brake / accelerator actuator 23 through the motor driver 21 is a driving mechanism 20.

  Further, the vehicle control computer 10 includes a coordinate conversion unit 10E, and a steering command transmitted from the portable remote control device 2, that is, an image moving on the image 40a of the display 40 of the remote control device 2. The position of the guide G in the coordinate system is calculated by converting it to the world coordinate system, and is reflected as a target on a local map in the world coordinate system.

  As shown in FIG. 4, a point (X, Y, Z) in a coordinate system (X: traveling direction, Y: left, Z: up) about the direction of the semi-autonomous vehicle 1 or a bird's-eye view map ( Which pixel (x, y) on the image 40a of the display 40 corresponds to the data observed on X, Y, 0) can be obtained by the following corresponding pixel calculation formula.

  At this time, the variable name A is a camera parameter, and is represented as follows by the optical axis centers Cx, Cy and focal lengths fx, fy on the image.

  R is a determinant that converts the traveling axis coordinate system of the semi-autonomous vehicle 1 and the image plane coordinate system (right: x, bottom: y, front: z) of the remote control camera 14, and parameters Rx, From Ry and Rz, it is obtained as follows.

  The parameter Rx is based on the roll direction deviation angle between the semi-autonomous vehicle 1 and the remote control camera 14, the parameter Ry is based on the elevation angle of the remote control camera 14 from the semi-autonomous vehicle 1, and the parameter Rz is The rotation of the remote control camera 14 from the semi-autonomous vehicle 1 due to the yaw direction shift results in the following.

  Further, t is the installation position of the remote control camera 14 viewed from the center of the semi-autonomous vehicle 1 and the offset positions tx, ty, tz at the installation position of the remote control camera 14 from the center of the semi-autonomous vehicle 1. Thus, it is obtained as follows.

  In the vehicle control computer 10, for example, when there is no specific instruction from the operator P during the traveling of the semi-autonomous traveling vehicle 1, along the travel route created by the travel route generation unit 10 </ b> D based on the local map. And control to make it run.

  Here, the vehicle control computer 10 includes a road route generation unit 10F that creates a road route based on the local map and target points created by the local map creation unit 10B. When an instruction to turn left is issued from the operator P, control is performed so that an optimum route based on the road route generated by the road route generation unit 10F on the local map is caused to travel.

  Therefore, a control procedure for bending the semi-autonomous vehicle 1 that is controlled by the vehicle control computer 10 and travels along the travel route at an intersection will be specifically described.

  First, as shown in FIG. 5, in the traveling semi-autonomous vehicle 1, in step S 1, the terrain data is measured by an external measurement unit such as the laser sensor 31, the autonomous moving stereo camera 32, or the obstacle laser sensor 33. (Ranging data) is acquired, and these terrain data are calculated and processed by the autonomous moving computer 30. In step S2, self-position data is acquired by a self-position data acquisition unit such as GPS 16, and in step S3, Based on these topographic data and self-location data, a local map including a travelable area, a travel impossible area, and an unmeasured area is created (updated) as needed.

  Here, as shown in FIG. 6, when the semi-autonomous traveling vehicle 1 that goes straight is turned left at, for example, an intersection C, a semi-autonomous vehicle 1 is displayed on the image 40 a of the local map M displayed on the display 40 of the remote control device 2. The cursor stick 51 is operated so that the guide G moves to a position (indicated by a virtual line) where the autonomous traveling vehicle 1 is desired to be directed. It should be noted that the image 40a of the local map M and the image obtained by the remote control camera 14 are displayed on the display 40 of the remote control device 2 in a semi-transparent state, but in FIG. Only the image 40a is shown.

  In step S4, when a steering command by the operation of the cursor stick 51 is acquired by the vehicle control computer 10, the position of the guide G on the image 40a on the display 40 of the remote control device 2 (image coordinates) in step S5. System) is converted into the world coordinate system by the coordinate conversion unit 10E and calculated, and reflected as a target T on the local map M of the world coordinate system as shown in FIG.

  Next, in step S6, following the creation of a continuous road route R1 from the self-position of the semi-autonomous vehicle 1 toward the target T reflected on the local map M by the road route generation unit 10F, In step S7, there are a plurality of clothoid routes R2 as optimum route candidates in a range that does not become an inappropriate route NGR that overlaps the untravelable area on the left and right sides in the traveling direction of the road route R1 created on the local map M. Created.

  At this time, when there is an obstacle on the left and right side in the traveling direction of the road route R1, the road path generation unit 10F of the vehicle control computer 10 avoids this obstacle and a plurality of clothoid paths R2 Create

  Thereafter, in step S8, among the plurality of clothoid routes R2 created based on the road route R1, factors such as the straightness of the route (the degree of bending without reducing the speed) and the distance from the roadside that is the obstacle , The optimal route RB is selected by the road route generation unit 10F, and the semi-autonomous vehicle 1 moves toward the target T on the local map M through the optimal route RB. .

  In addition, on the image 40a of the local map M displayed on the display 40 of the remote control device 2, the guide G is moved to a place outside the travelable area, and the target T is located outside the travelable area of the local map M. Is set, the road route generation unit 10F creates the road route R1 up to the vicinity of the target T in the travelable area.

  In the above-described embodiment, when there is no specific instruction from the operator P, a travel route that is easy to continue to the travel route that has been traveled so far is extracted on the local map based on the distance measurement data. 1 will autonomously travel smoothly along the travel route.

  When the semi-autonomous vehicle 1 traveling autonomously is bent at the intersection C, the guide G is desired on the image 40a of the display 40 by operating the cursor stick 51 of the remote control device 2 in the vicinity of the intersection C. In this semi-autonomous traveling vehicle 1, the position of the guide G (image coordinate system) on the image 40a on the display 40 of the remote control device 2 is converted into the world coordinate system by the coordinate conversion unit 10E. Is calculated and reflected as a target T on the local map M.

  Then, the linearity (speed) of the route is selected from among the plurality of clothoid routes R2 created based on the road route R1 continuous from the own position of the semi-autonomous vehicle 1 toward the target T reflected on the local map M. Since the optimum route RB is selected by comprehensively determining factors such as the distance from the roadside that is the obstacle), the semi-autonomous vehicle 1 is directed toward the target T. It can be moved smoothly.

  That is, the semi-autonomous vehicle 1 can be moved toward the target T regardless of whether the operation timing of the cursor stick 51 performed via the display 40 of the remote control device 2 is appropriate. Therefore, the burden on the operator P who operates the semi-autonomous vehicle 1 can be reduced.

  Further, in the above-described embodiment, when there is an obstacle on the left and right side in the traveling direction of the road route R1, the obstacle is avoided by the road route generation unit 10F of the vehicle control computer 10. Since a plurality of clothoid routes R2 are created, the optimum route RB selected from the plurality of clothoid routes R2 is naturally created avoiding obstacles.

  Furthermore, in the above-described embodiment, when the target T is set at a location that is out of the travelable area of the local map M, the road route generation unit 10 </ b> F leads to the vicinity of the target T in the travelable area. Since the road route R1 is created, the semi-autonomous vehicle 1 can travel to the vicinity of the target T without slowing down or stopping. As a result, the operator who operates the remote control device 2 even in this situation Will be reduced.

  In the above-described embodiment, the vehicle control computer 10 includes the data analysis unit 10A, the local map creation unit 10B, the travelable area map generation unit 10C, the travel route generation unit 10D, the coordinate conversion unit 10E, and the road. Although the route generation unit 10F is provided and the autonomous movement computer 30 performs calculation processing of external measurement data, the present invention is not limited to this. For example, the vehicle control computer 10 stores the external measurement data. An arithmetic process may be performed, or the autonomous moving computer 30 may create a local map or a route.

  Moreover, although the case where the unmanned moving body is the semi-autonomous traveling vehicle 1 was shown in the above-described embodiment, the present invention is not limited to this, and the unmanned moving body may be a robot that autonomously walks.

1 Semi-autonomous vehicle (unmanned vehicle)
2 Remote control device 14 Remote control camera 40 Display (display unit)
40a Image 51 Cursor stick (operation unit)
C Intersection (branch point)
G Guide M Local map R1 Roadside route R2 Clothoid route (optimum route candidate)
RB Optimal route T Target

Claims (3)

A method for controlling an unmanned moving body that controls movement of an autonomously movable unmanned moving body equipped with a remote control camera that captures an image of a moving area using a remote control device,
The remote control device has an operation unit and a display unit that displays an image in a moving region obtained by the remote control camera,
In the image of the display unit of the remote control device, a guide moving on the image based on a steering command from the operation unit is displayed,
The unmanned mobile body acquires the self-position data of the unmanned mobile body and the terrain data in the moving area, and based on the self-position data and the terrain data in the moving area, The function of creating a local map of the world coordinate system of the moving area including the unmeasured area, and the position of the guide of the image coordinate system moving on the image of the display unit of the remote control device is converted into the world coordinate system. A function to reflect as a target on the local map, a function to create a continuous path along the local map from the self-position of the unmanned mobile object to the target, and a function on the local map. A function for creating a plurality of optimum route candidates on the left and right sides toward the traveling direction of the created road route, and selecting an optimum route from the plurality of optimum route candidates created based on the road route Have that function,
By moving the guide in a desired direction on the image of the display unit by operating the operation unit of the remote control device, the optimal route that is continuous toward the target reflected on the local map is displayed. A method for controlling an unmanned moving body that is moved by the unmanned moving body.   In the function of creating a plurality of optimal route candidates on the left and right side toward the traveling direction of the road route created on the local map, there is an obstacle on the left and right side toward the traveling direction of the road route The method for controlling an unmanned mobile body according to claim 1, wherein the optimal route candidate is created avoiding the obstacle.   In the function of creating a continuous road route toward the target reflected on the local map from the self-position of the unmanned mobile object, the target reflected on the local map is not in the travelable area The method for controlling an unmanned mobile body according to claim 1 or 2, wherein the road route is created up to the vicinity of the target in the travelable area.

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