JP2019003540A - Mobile device, drive control method, and drive control program - Google Patents

Abstract

To provide a mobile device which moves along a movement route, and which appropriately moves in accordance with the state of an area in which a structure is located.SOLUTION: A mobile device 1 moves along a movement route R from a first point to a second point. The mobile device 1 comprises: an acquisition part for acquiring map information including movement route information indicating the movement route R and arrangement position information indicating arrangement positions of one or more structures arranged in a prescribed range including at least a part of the movement route R; A detector for detecting a structure arranged along the movement route R; a passage propriety determination part 47 for determining whether or not the mobile device 1 can pass through a first area, in which the structure is arranged along the movement route R, based on the detection result of the detector; and a drive control part 51 for driving the mobile device 1 so as to pass through the first area when it is possible to pass through the first area.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a moving device, a drive control method, and a drive control program.

  Conventionally, as a method of moving a robot, the mobile robot itself travels while detecting an obstacle that obstructs the travel path by using its own sensor based on map information indicating the travel environment and generating an avoidance path that can avoid the obstacle. The method is known.

  In this regard, Patent Document 1 discloses that a topographic map is generated using the topographic data obtained as a result of distance measurement by a laser range finder (or camera) mounted on a mobile robot, and the generated topographic map is obstructed. Generate a potential field where the object area is a ridge and the drivable area is a valley, redefine the area where the potential value is equal to or higher than the predetermined value as the obstacle area, and the area where the potential value is lower than the predetermined value as the drivable area, A technique for generating a route of a mobile robot in a travelable area is described.

JP 7-129238 A

  Here, the obstacle includes, for example, a dynamic obstacle that may be moved, such as a door, a chair, and a desk, and a static obstacle that can hardly be moved or moved such as a wall. include. In the area where the dynamic obstacle is arranged, the mobile robot can pass through the area by moving or removing the dynamic obstacle.

  However, in the technique described in Patent Document 1, when an obstacle is arranged on the movement route of the mobile robot, it is assumed that the mobile robot cannot pass through the area where the obstacle is arranged. It is not envisaged that will be moved or removed. Therefore, even if it is the area | region where the obstruction is arrange | positioned, a movement was not able to be controlled appropriately according to the condition of the said area | region including whether it can pass now.

  The present invention has been made in view of such circumstances, and is a moving device that moves along a moving path and can move appropriately according to the situation of an area where a structure is arranged, An object is to provide a drive control method and a drive control program.

  A moving device according to one aspect of the present invention is a moving device that moves along a moving route from a first point to a second point, and includes moving route information indicating the moving route and at least a part of the moving route. An acquisition unit for acquiring map information including an arrangement position information indicating an arrangement position of one or more structures arranged in a predetermined range, and a detection unit for detecting the structures arranged on the movement path And a passability determination unit that determines whether the moving device can pass through a first area where the structure is arranged on the movement path, based on a detection result of the detection unit, and the first A drive control unit that drives the moving device to pass through the first region when the region can pass through the region.

  The mobile device may further include a distance measurement unit that measures a distance that can pass through the first region based on a detection result of the detection unit and the map information.

  In the mobile device, the detection unit includes an imaging unit that images the periphery of the mobile device so as to include the structure, and the passability determination unit captures the structure by the imaging unit. Based on the obtained first image information, it is determined whether or not the first region can be passed, and the distance measuring unit is configured to determine the first region based on the first image information and the map information. You may measure the distance which can pass.

  In the mobile device, the detection unit includes an irradiation unit that irradiates a predetermined range including the structure with a transmission wave, and the passability determination unit is based on a reflected wave of the transmitted transmission wave. The distance measuring unit may measure the distance that can pass through the first area based on the reflected wave and the map information.

  In the mobile device, a second area may be set in the travel route that allows the mobile device to pass and prohibits the mobile device from stopping.

  In the mobile device, the second area may be set to be adjacent to the first area.

  The moving device further includes a receiving unit that receives an instruction from a user, and the drive control unit stops at a predetermined position on the moving path after the moving device has passed through the first region. And when the said instruction | indication is received, you may restart the movement of the said moving apparatus.

  In the mobile device, the distance measuring unit determines a relative position of the user with respect to a current position of the mobile device determined based on a distance from the mobile device to the user, and the drive control unit The apparatus is stopped at a predetermined position on the moving path after passing through the first region, and the determined relative position of the user with respect to the moving object is determined in advance. The movement of the mobile device may be resumed when it matches.

  The moving device further includes a notification unit including at least one of a light emitting element and a sound output unit, and the notification unit includes at least light emission and sound output of the light emitting element when the detection unit detects the structure. Notification based on one may be executed.

  A drive control method according to an aspect of the present invention is a drive control method for controlling driving of a moving device that moves along a movement path from a first point to a second point, and movement path information indicating the movement path And obtaining map information including arrangement position information indicating an arrangement position of one or more structures arranged in a predetermined range including at least a part of the movement path, and arranged on the movement path The step of detecting the structure and the step of determining whether or not the moving device can pass through the first region where the structure is arranged on the moving path based on the detection result of the detecting step. And, when it is possible to pass through the first area, driving the moving device to pass through the first area.

  A drive control program according to an aspect of the present invention is a drive control program for controlling driving of a moving device that moves along a movement path from a first point to a second point, and indicates the movement path to a computer. An acquisition unit that acquires map information including movement path information; and arrangement position information indicating an arrangement position of one or more structures arranged in a predetermined range including at least a part of the movement path; and the movement path Based on the detection result of the detection unit and the detection result of the detection unit, whether or not the moving device can pass through the first region where the structure is arranged in the movement path And a drive control unit that drives the moving device so as to pass through the first region when it is possible to pass through the first region.

  In the present invention, “unit” and “apparatus” do not simply mean physical means, but also include the case where the functions of the “part” and “apparatus” are realized by software. Further, even if the functions of one “unit” and “device” are realized by two or more physical means and devices, the functions of two or more “units” and “devices” are one physical means and It may be realized by an apparatus.

  ADVANTAGE OF THE INVENTION According to this invention, it is a moving apparatus which moves along a movement path | route, It can move appropriately according to the condition of the area | region where the structure is arrange | positioned.

It is a block diagram of the moving apparatus in one Embodiment which concerns on this invention. It is a block diagram which shows schematically the hardware constitutions of the moving apparatus in one Embodiment which concerns on this invention. It is a functional block diagram of the moving apparatus in one Embodiment which concerns on this invention. It is a figure which shows an example of the flowchart of the movement control process in 1st Embodiment which concerns on this invention. It is the figure which showed an example when the moving apparatus in 1st Embodiment which concerns on this invention passes the area | region where the door is arrange | positioned. It is the figure which showed an example when the moving apparatus in 1st Embodiment which concerns on this invention passes the area | region where the door is arrange | positioned. It is a figure which shows an example of the flowchart of the movement control process in 2nd Embodiment which concerns on this invention. It is a figure which shows an example. It is the figure which showed an example when the moving apparatus in 2nd Embodiment which concerns on this invention passes the area | region where the door is arrange | positioned. It is the figure which showed an example when the moving apparatus in 2nd Embodiment which concerns on this invention passes the area | region where the door is arrange | positioned.

  Embodiments of the present invention will be described below with reference to the drawings. However, the embodiment described below is merely an example, and there is no intention to exclude various modifications and technical applications that are not explicitly described below. In other words, the present invention can be implemented with various modifications (combining the embodiments, etc.) without departing from the spirit of the present invention. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals.

[Configuration of mobile device]
FIG. 1 is a configuration diagram of a mobile device according to the present invention. As illustrated in FIG. 1, the moving device 1 exemplarily includes a camera 12A (imaging unit) that images an object, and a laser range finder (hereinafter referred to as LRF) 12B that emits a transmission wave including, for example, an infrared laser. (Irradiation unit), a central processing unit 10 that controls movement of the moving device 1 based on information acquired from at least one of the camera 12A and the LRF 12B, and map information to be described later, and a driving unit that executes movement of the moving device 1 20.

  The camera 12A images the periphery of the moving device 1 so as to include a person and structures such as a chair, a desk, a wall, and a door, and outputs image information corresponding to the captured image. The camera 12A is a device that captures the size and shape as information of an object such as a monocular camera, a stereo camera, or an infrared camera.

  The LRF 12B is a device that irradiates a predetermined range including a person and a structure with a transmission wave including an infrared laser, for example, and receives a reflected wave from a reflector including the person and the structure. For example, when the transmission wave is irradiated, the LRF 12B generates point cloud information based on the time from irradiation of each transmission wave to reception of the reflected wave, and outputs the point cloud information to the central processing unit 10.

  Here, the measurement viewing angle in the horizontal direction of the camera 12A is relatively narrow, for example, 60 degrees. However, the image information based on the imaging process of the camera 12A can extract the feature points of the person and the structure included in the image, and is more preferably used for the detection and identification process of the person and the structure. On the other hand, the measurement viewing angle in the horizontal direction of the LRF 12B is, for example, 270 degrees and covers a relatively wide range. Therefore, the point cloud information from the LRF 12B is more suitable for the confirmation process of the situation around the mobile device 1 and the tracking process of the moving object. Used for. As described above, the camera 12A and the LRF 12B are preferably used in different processes. However, as described later, in the present embodiment, the camera 12A and the LRF 12B are obtained from either the camera 12A or the LRF 12B or from both the camera 12A and the LRF 12B. Information (and using map information as necessary), and a process for detecting a person and a structure, and determining whether or not the mobile device 1 can pass through an area where the structure is arranged on the movement route. And a distance measurement process for measuring a distance from the current position of the mobile device 1 to pass through the region. In addition, in order to perform each process more correctly, you may be comprised so that each process may be performed using the information obtained from both the camera 12A and LRF12B (also using map information as needed). . The cameras 12A and LRF 12B are for detecting the positions and shapes of persons and structures around the mobile device 1. Ultrasonic waves, radar, and the like can be used as means other than the cameras 12A and LRF 12B. is there. Ultrasonic waves, radar, and the like can be employed as alternative means for the camera 12A and the LRF 12B, or can be used in combination as supplementary means.

  The drive unit 20 is, for example, a moving wheel instructed by the left and right axles, and can move back and forth by rotating the moving wheel and can turn.

  FIG. 2 is a block diagram schematically showing the hardware configuration of the mobile device according to the embodiment of the present invention. As illustrated in FIG. 2, the moving device 1 illustratively includes a sensor 12 (detection unit) including an imaging unit 12A and an irradiation unit 12B that detects a person and a structure, and a reception unit that receives an instruction from a user. 14, a notification unit 16 including at least one of a light emitting element and an audio output unit, a recording unit 18 that records various information used for the movement control process of the moving device 1, a driving unit 20, and the moving device 1 are operated. A power supply unit 22 for supplying power for the operation, and each component is connected to the central processing unit 10 inside.

  The central processing unit 10 is, for example, a CPU, MPU, or the like, and operates according to a program stored in the recording unit 18. The storage unit 18 is an information recording medium that includes an information recording medium such as a ROM, a RAM, and a hard disk, and holds a program executed by the central processing unit 10. The central processing unit 10 also operates as a work memory for the central processing unit 10. Note that the program may be provided by being downloaded from the outside of the mobile device 1 via a network, for example, or various information recording media that can be read by a computer such as a CD-ROM or a DVD-ROM. May be provided by. In addition to the case where the central processing unit 10 is configured as a single unit, a processing mechanism for each function is arranged in a distributed manner inside and outside the mobile device 1 via a wired or wireless communication network, and is coordinated by a plurality of processing mechanisms. It is also possible to process information.

  The notification unit 16 is configured to execute notification based on at least one of light emission and sound output of a light emitting element including an LED or the like when the sensor 12 detects a door (structure), for example. Specifically, as will be described later, when the sensor 12 detects a door in a closed state, the notification unit 16 issues a notification to request the user to open the door.

  The recording unit 18 is arranged in a predetermined range including, for example, travel route information indicating a travel route from the departure point (first point) to the destination (second point) of the mobile device 1 and at least a part of the travel route. The map information including the arrangement position information indicating the arrangement position of the one or more structures that have been made is recorded. In addition, the recording unit 18 is acquisition information from the LRF 12B that radiates a transmission wave to a predetermined range including a person and a structure, and acquires acquisition information of a range including at least the position of a reflector within the predetermined range. Record.

  The recording unit 18 records image information of a person and a structure in advance. Note that the recording unit 18 may record the image information of the structure in association with the arrangement position of the structure as map information. The person and structure image information recorded in advance by the recording unit 18 is information that is referred to when the object specifying unit 45 shown in FIG. 3 specifies a person or structure, as will be described later. Is information that is referred to when determining whether or not the moving device can pass through the region where the structure is arranged.

  Note that the map information may include passage information indicating the passable level of the position or area where the structure is arranged. For example, a position or area indicating a passage or the like can be passed without any particular problem, and is set to a passable level 1, and a structure such as a door, a chair, and a desk that can be moved by a user or the like through a moving device. The position or area where the is placed is set to a passable level 2, and the position or area where the wall or the like that is difficult for the mobile device to pass is set to a passable level of 3. The passage permission / non-permission determining unit 47 may be configured to further determine whether or not the mobile device can pass through the position or area by further referring to the passage information.

  FIG. 3 is a functional configuration diagram of the central processing unit according to an embodiment of the present invention. As shown in FIG. 3, the central processing unit 10 of the mobile device 1, which is an example of a computer, functionally moves from the departure point (first point) to the destination (second point) of the mobile device 1. An information acquisition unit 41 (acquisition) that acquires map information including movement route information indicating the position of the one or more structures arranged in a predetermined range including at least a part of the movement route. Section), a path determination section 43 that determines a specific path when there are a plurality of movement paths, and image information (first image information) obtained by imaging a person and a structure with the camera 12A shown in FIG. 2 and the image information of the person and the structure recorded in advance in the recording unit 18 to compare the object specifying unit 45 for specifying the person and the structure and the detection result of the sensor 12 shown in FIG. The mobile device 1 is Based on the passage determination unit 47 that determines whether or not the structure in the moving path can be passed through the first region, the detection result of the sensor 12, and the map information acquired by the information acquisition unit 41. A distance measuring unit 49 for measuring a distance for passing through the first region, and when passing through the first region, so as to pass through the first region based on the distance measured by the distance measuring unit 49 And a drive control unit 51 that drives the moving device 1. Here, for example, the distance measuring unit 49 specifies the position on the map indicated by the map information, and determines the distance from each structure or person to pass through the first region. taking measurement. The above-described units of the central processing unit 10 can be realized by using, for example, the recording unit 18 including a memory, a hard disk, or the like, or by executing a program stored in the recording unit 18.

[Move control processing]
<First Embodiment>
In the first embodiment, in a mobile device that autonomously travels on a moving route, when a door in a closed state is arranged on the moving route and the moving device confirms that the door has been opened. A movement control process of the moving device that resumes autonomous traveling through the door will be described.

  FIG. 4 is a diagram showing an example of a flowchart of the movement control process in the first embodiment according to the present invention. FIG. 5 shows that when the moving device detects a door in a closed state arranged in the movement path, the user is notified to open the door, and when the opening of the door is confirmed, the door is opened. It is a figure explaining the movement control process of the moving apparatus which passes and restarts autonomous driving | running | working. Note that steps S1 and S3 in FIG. 4 correspond to time T1 in FIG. 5, step S5 in FIG. 4 corresponds to times T1 to T2 in FIG. 5, and step S7 in FIG. 4 corresponds to time T2 in FIG. 4 corresponds to times T2 to T3 in FIG. 5, step S11 in FIG. 4 corresponds to times T3 to T4 in FIG. 5, and step S13 in FIG. Corresponding to time T5, step S15 in FIG. 4 corresponds to times T5 to T7 in FIG.

(Step S1 in FIG. 4 / Time T1 in FIG. 5)
As shown in FIG. 5, the information acquisition unit 41 illustrated in FIG. 3 includes travel route information indicating a travel route R from the departure point A (first point) to the destination B (second point) of the mobile device 1 and movement. Map information including arrangement position information indicating arrangement positions of one or more doors D arranged in a predetermined range including at least a part of the route R is acquired.

(Step S3 in FIG. 4 / Time T1 in FIG. 5)
The route determination unit 43 illustrated in FIG. 3 determines a specific travel route R from the departure point A to the destination B. For example, when there are a plurality of travel routes from the departure point A to the destination B, the shortest travel route is determined as the optimum travel route. Further, when there are a plurality of travel routes from the departure point A to the destination B, the route with the smallest number of passes through the door may be determined as the optimum travel route. Here, when the recording unit 18 has not previously recorded the movement route information, the route determination unit 43 generates the movement route R based on the position information of the departure point A and the destination B, and then performs the optimum movement. The route R may be determined.

(Step S5 in FIG. 4 / Times T1 to T2 in FIG. 5)
The moving apparatus 1 shown in FIG. 5 moves along the determined moving route R.

(Step S7 in FIG. 4 / Time T2 in FIG. 5)
The sensor 12 shown in FIG. 2 determines whether a structure is detected. When the sensor 12 does not detect a structure on the moving route R (in the case of No), the process proceeds to step S20 and continues autonomous traveling. On the other hand, when the sensor 12 detects the door D as a structure arranged on the movement route R (in the case of Yes), the process proceeds to step S11. Specifically, the object specifying unit 45 shown in FIG. 3 records image information (first image information) obtained by imaging a person and a structure with the camera 12A shown in FIG. The person and the structure are specified by comparing the image information of the person and the structure that has been displayed.

(Step S9 in FIG. 4 / Times T2 to T3 in FIG. 5)
As shown at time T2 in FIG. 5, when the sensor 12 detects the door D and the door D is in the closed state, the notification unit 16 shown in FIG. Send a notification to request. For example, the notification unit 16 may perform notification to the user U by causing the light emitting element to emit light, or may perform notification by outputting “Please open the door D”. Then, as shown at time T <b> 3 in FIG. 5, the user U proceeds to the front of the door D to open the door D based on the notification from the moving device 1.

(Step S11 in FIG. 4 / Times T3 to T4 in FIG. 5)
As shown at times T3 to T4 in FIG. 5, the user U opens the door D. The moving device 1 stands by on the spot until the door D is opened and can pass through the region R1 where the door D is disposed.

(Step S13 in FIG. 4 / Time T5 in FIG. 5)
3 determines whether or not the door D is opened and the moving device 1 can pass through the region R1 where the door D is disposed based on the detection result of the sensor 12. For example, the passage permission determination unit 47 determines whether or not the region R1 can be passed based on image information (first image information) obtained by imaging the door D with the camera 12A illustrated in FIG. . More specifically, the pass / fail judgment unit 47 sets the door D by the camera 12A and the image information of the door D closed state and the door D image information recorded in advance by the recording unit 18 shown in FIG. By comparing the image information (first image information) obtained by taking an image, it is determined whether or not the door D is currently open and can pass through the region R1.

  Further, whether or not the passage possibility determination unit 47 can pass through the region R1 in which the door D is disposed based on the reflected wave of the transmission wave irradiated to the predetermined range including the door D from the LRF 12B illustrated in FIG. Judge whether or not. Specifically, the passability determination unit 47 is acquired information from the LRF 12B that irradiates a predetermined range including a person and a structure, which is recorded in advance by the recording unit 18 illustrated in FIG. The mobile device by comparing the acquired information of the range including at least the position of the reflector within the predetermined range with the information based on the reflected wave of the transmitted wave emitted from the LRF 12B to the predetermined range including the door D It is determined whether 1 can pass through the region R1. More specifically, the passability determination unit 47 estimates that the door D is arranged at a certain position based on the acquired information, but if the reflected wave from this estimated position cannot be received, the door D Is open and is determined to be able to pass through the region R1.

  When the pass / fail determination unit 47 determines that the mobile device 1 cannot pass through the region R1 (in the case of No), the process returns to step S11. On the other hand, if the pass / fail determination unit 47 determines that the mobile device 1 can pass through the region R1 (Yes), the process proceeds to step S15.

(Step S15 in FIG. 4 / Times T5 to T7 in FIG. 5)
The drive control unit 51 illustrated in FIG. 3 drives the moving device 1 so that the moving device 1 passes through the region R1. As will be described later, the drive control unit 51 may drive the moving device 1 based on the distance that the moving device 1 can pass through the region R1 as measured by the distance measuring unit 49. For example, the distance measurement unit 49 determines the distance from the moving device 1 to the door D, that is, the movement, based on the image information (first image information) obtained by imaging the door D by the camera 12A and the map information. The minimum distance for the device 1 to pass through the region R1 is measured. More specifically, the distance measurement unit 49 records in advance in the recording unit 18 as map information for the first feature point information of the door D based on the image information obtained when the camera 12A images the door D. The distance from the moving device 1 to the door D is measured by referring to the relationship between the second feature point information of the door D being used and the imaging distance when the second feature point information is acquired. The distance measuring unit 49 may measure a distance from the moving device 1 to a predetermined position (behind the door D) that passes through the door D, not the distance from the moving device 1 to the door D.

  The distance measuring unit 49 measures the distance from the moving device 1 to the door D based on the reflected wave of the transmission wave irradiated from the LRF 12B and the map information. More specifically, the distance measuring unit 49 generates point cloud information based on the time from the irradiation of each transmission wave from the LRF 12B to the reception of the reflected wave, and moves based on the point cloud information and the map information. The distance from the device 1 to the door D, that is, the minimum distance for the moving device 1 to pass through the region R1 is measured. The distance measuring unit 49 receives the reflected wave of each transmission wave and measures the distance based on the information generated based on the intensity of the reflected wave and the map information. The distance measuring unit 49 may measure a distance from the moving device 1 to a predetermined position (behind the door D) that passes through the door D, not the distance from the moving device 1 to the door D.

  Here, as shown in FIG. 5, a region R2 is set on the movement route R so as to be adjacent to the region R1. The region R2 is a region that allows the moving device 1 to pass and prohibits the moving device 1 from stopping. This region R2 is a region necessary for opening and closing the door D, and is a region provided to prevent the door D from being unable to be closed when the moving device 1 stops in this region. . When this region R2 is set, the drive control unit 51 drives the moving device 1 so that the moving device 1 passes through the regions R1 and R2. Note that the region such as the region R2 does not have to be a single region, and may include a plurality of regions.

  When the moving device 1 passes through the region R1 where the door D is disposed and the stop prohibition region R2, the process returns to step S5 and resumes autonomous movement along the movement route R. As shown at time T7 in FIG. 5, when the user U confirms that the mobile device 1 has passed through the regions R1 and R2, the user D closes the door D.

(Step S20 in FIG. 4)
When the mobile device 1 arrives at the destination B (in the case of Yes), the movement control process is terminated. On the other hand, when the mobile device does not arrive at the destination (in the case of No), the process returns to step S5 and continues autonomous movement along the movement route R.

  FIG. 6 shows that when the moving device detects a door in a closed state arranged in the movement path, the user is notified to the user on the other side of the wall and opens the door, and confirms the opening of the door. It is a figure explaining the movement control process of a moving apparatus which passes the said door when it does and restarts autonomous driving | running | working. In FIG. 6, differences from FIG. 5 will be particularly described.

  As shown at time T2 in FIG. 6, when the sensor 12 detects the door D and the door D is in the closed state, the notification unit 16 in FIG. A notification is issued to make a request to the user U on the other side. For example, the notification unit 16 performs a notification by outputting a voice “Please open the door D” at a volume that can be heard by the user U behind the door D. Then, as shown at times T <b> 3 to T <b> 4 in FIG. 6, the user U proceeds to the front of the door D to open the door D based on the notification from the moving device 1, and then opens the door D.

  Then, as shown at times T5 to T6 in FIG. 6, when the drive control unit 51 shown in FIG. 3 determines that the passability determination unit 47 can pass through the region R1 where the door D is disposed, Based on the distance from the moving device 1 to the door D measured by the distance measuring unit 49, the moving device 1 is driven so that the moving device 1 passes through the region R1.

Second Embodiment
In the second embodiment, in a moving device that travels on the moving route while leading the user or following the user, the moving device has a closed door on the moving route. The movement control process of the moving device that passes through the door when it is confirmed that the door has been opened and resumes movement will be described. The second embodiment will be described in terms of differences from the first embodiment. In particular, regarding the description of FIG. 7, differences from FIG. 4 will be mainly described.

  FIG. 7 is a diagram showing an example of a flowchart of the movement control process in the second embodiment according to the present invention. FIG. 8 shows when the moving device that leads the user detects the door in the closed state arranged in the moving path, notifies the user to open the door, and confirms the opening of the door. It is a figure explaining the movement control process of a moving apparatus which passes the said door and restarts a user's guidance driving | running | working.

(Step S9 in FIG. 7 / Times T2 to T3 in FIG. 8)
As shown at time T2 in FIG. 8, the notification unit 16 shown in FIG. 2 opens the door D when the sensor 12 shown in FIG. 2 detects the door D and the door D is in the closed state. A notification is issued to request the user U, who is the lead object, for the door. Then, as shown at time T <b> 3 in FIG. 8, the user U proceeds to the front of the door D to open the door D based on the notification from the moving device 1.

(Step S15 in FIG. 7 / Times T5 to T6 in FIG. 8)
The door D is opened by the user U who is the lead object, and the moving device 1 passes through the region R1 where the door D is disposed and the stop prohibition region R2.

(Step S17 in FIG. 7 / Time T6 in FIG. 8)
The drive control unit 51 illustrated in FIG. 3 performs control so that the moving device 1 stands by at a position that does not interfere with the closing of the door D. As described above, the mobile device 1 stops the leading travel for leading the user U at time T2 in FIG. 8, and the user U opens the door D as described later without leading the user U. Then, the moving device 1 passes through the region R1 where the door D is disposed and the stop prohibition region R2, and quickly moves to a position where it does not interfere with the closing of the door D.

(Step S19 in FIG. 7 / Times T7 to T9 in FIG. 8)
First, as shown at times T7 to T8 in FIG. 8, when the user U confirms that the moving device 1 has passed through the regions R1 and R2, the door U is closed and a predetermined distance from the waiting moving device 1 is reached. It moves to a predetermined position (leading travel position) away. Then, as shown at time T9 in FIG. 8, the moving device 1 resumes the leading movement when the user U reaches a predetermined leading traveling position. Specifically, the distance measurement unit 49 of the mobile device 1 determines the relative position of the user U with respect to the current position of the mobile device 1 determined based on the distance from the mobile device 1 to the user U, and the drive control unit 51 When the relative position of the user U for which the moving device 1 is determined matches the preset relative position of the user U with respect to the moving object 1 recorded in the recording unit 18, for example, the moving device 1 is moved. Resume.

  In addition, the mobile device 1 resumes the leading movement when receiving an instruction to resume the movement from the user. Specifically, as illustrated in FIG. 2, the moving device 1 further includes a receiving unit 14 that receives an instruction from the user U, and the drive control unit 51 moves when the moving device 1 receives an instruction from the user U. The movement of the device 1 is resumed.

  FIG. 9 shows when the moving device that follows the user detects the door in the closed state arranged in the moving path, notifies the user to open the door, and confirms the opening of the door. It is a figure explaining the movement control process of a moving apparatus which passes the said door and restarts a user's following driving | running | working.

(Times T2 to T3 in FIG. 9)
As shown at time T2 in FIG. 9, the notification unit 16 shown in FIG. 2 opens the door D when the sensor 12 shown in FIG. 2 detects the door D and the door D is in the closed state. A notification is issued to request the user U who is the object of tracking the door. Then, as shown at time T <b> 3 in FIG. 9, the user U proceeds to the front of the door D to open the door D based on the notification from the moving device 1.

(Times T5 to T6 in FIG. 9)
The door U is opened by the user U who is the follow target, and the moving device 1 passes through the region R1 where the door D is disposed and the stop prohibition region R2.

(Time T6 in FIG. 9)
The drive control unit 51 illustrated in FIG. 3 performs control so that the moving device 1 stands by at a position that does not interfere with the closing of the door D. As described above, the moving device 1 stops the follow-up traveling for following the user U at time T2 in FIG. 9, and the user U opens the door D as described later without following the user U. Then, the moving device 1 passes through the region R1 where the door D is disposed and the stop prohibition region R2, and quickly moves to a position where it does not interfere with the closing of the door D.

(Times T7 to T9 in FIG. 9)
First, as shown at times T7 to T8 in FIG. 9, when the user U confirms that the moving device 1 has passed through the regions R1 and R2, the door U is closed and a predetermined distance from the waiting moving device 1 is reached. It moves to a predetermined position (following travel position) away. Then, as shown at time T9 in FIG. 9, the moving device 1 resumes the follow-up movement when the user U reaches a predetermined follow-up travel position. Moreover, the movement apparatus 1 may resume tracking movement, when the instruction | indication of movement resumption from a user is received.

(effect)
As described above, according to the embodiment of the present invention, the distance from the moving device 1 to the door D (structure) is measured, and the moving device 1 is arranged with the door D in the moving route R based on the detection result of the sensor 12. The mobile device 1 is driven so as to pass through the region based on the measured distance when it is possible to pass through the region. Therefore, it is the moving apparatus 1 which moves along the movement path | route R, and can move appropriately according to the condition of the area | region where the structure is arrange | positioned.

(Other variations)
Each of the above embodiments is for facilitating the understanding of the present invention, and is not intended to limit the present invention. The present invention can be changed / improved (for example, by combining the embodiments, omitting a part of the configuration of each embodiment) without departing from the spirit thereof, and the present invention includes equivalents thereof. It is. For example, the departure place A and the destination B may be arranged in different areas and facilities, or may be arranged in different floors and rooms in the same facility. That is, the movement route R may be set across different regions and facilities, or may be set across different floors and rooms in the same facility.

1: Mobile device 10: Central processing unit 12: Sensor 12A: Camera 12B: LRF
14: Reception unit 16: Notification unit 18: Recording unit 20: Recording unit 22: Power supply unit 41: Information acquisition unit 43: Route determination unit 45: Object identification unit 47: Passability determination unit 49: Distance measurement unit 51: Drive control Part

Claims (11)

A moving device that moves along a moving path from a first point to a second point,
An acquisition unit that acquires map information including movement route information indicating the movement route and arrangement position information indicating an arrangement position of one or more structures arranged in a predetermined range including at least a part of the movement route. When,
A detection unit for detecting the structure arranged in the movement path;
Based on the detection result of the detection unit, the passage determination unit that determines whether the moving device can pass through the first region where the structure in the movement path is disposed;
A drive control unit that drives the moving device to pass through the first region when the first region can be passed through,
Mobile equipment. A distance measuring unit that measures a distance that can pass through the first region based on the detection result of the detecting unit and the map information;
The moving device according to claim 1. The detection unit includes an imaging unit that images the periphery of the moving device so as to include the structure,
The passability determination unit determines whether the first region can be passed based on first image information obtained by imaging the structure by the imaging unit,
The distance measuring unit measures a distance that can pass through the first region based on the first image information and the map information.
The moving device according to claim 2. The detection unit includes an irradiation unit that irradiates a predetermined range including the structure with a transmission wave,
The passability determination unit determines whether the first region can pass based on the reflected wave of the transmitted transmission wave,
The distance measuring unit measures a distance that can pass through the first region based on the reflected wave and the map information.
The moving device according to claim 2 or 3. A second area is set in the movement path that allows the moving device to pass and prohibits the moving device from stopping.
The movement apparatus as described in any one of Claims 1-4. The second area is set to be adjacent to the first area.
The moving device according to claim 5. A reception unit for receiving instructions from the user;
The drive control unit resumes the movement of the moving device when receiving the instruction when the moving device has stopped at a predetermined position on the moving path after passing the first region. ,
The movement apparatus as described in any one of Claims 1-6. The distance measuring unit determines a relative position of the user with respect to a current position of the mobile device determined based on a distance from the mobile device to the user;
The drive control unit is a case where the moving device stops at a predetermined position on the moving path after passing through the first region, and the determined relative position of the user is set in advance. Resuming movement of the mobile device when it matches the relative position of the user with respect to a moving object;
The movement apparatus as described in any one of Claims 1-7. A notification unit including at least one of a light emitting element and an audio output unit;
The notification unit performs notification based on at least one of light emission and sound output of the light emitting element when the detection unit detects the structure,
The movement apparatus as described in any one of Claims 1-8. A drive control method for controlling the drive of a moving device that moves along a movement path from a first point to a second point,
Obtaining map information including movement route information indicating the movement route and arrangement position information indicating an arrangement position of one or more structures arranged in a predetermined range including at least a part of the movement route; ,
Detecting the structure arranged in the movement path;
Determining whether the moving device can pass through the first region where the structure is arranged in the moving path based on the detection result of the detecting step;
Driving the moving device to pass through the first region if it can pass through the first region;
A drive control method. A drive control program for controlling the driving of a moving device that moves along a movement path from a first point to a second point,
On the computer,
An acquisition unit that acquires map information including movement route information indicating the movement route and arrangement position information indicating an arrangement position of one or more structures arranged in a predetermined range including at least a part of the movement route. When,
A detection unit for detecting the structure arranged in the movement path;
Based on the detection result of the detection unit, the passage determination unit that determines whether the moving device can pass through the first region where the structure in the movement path is disposed;
A drive control unit that drives the moving device to pass through the first region when the first region can be passed;
Drive control program for realizing.

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