JP2019008359A - Mobile device - Google Patents

Abstract

To provide a mobile device capable of satisfactorily creating map information.SOLUTION: A mobile device 100 includes a distance measuring device 15 outputting distance measurement data on the basis of reception of reflected light reflected from a measurement object by projection light under rotationally driving a light projecting portion for emitting the projection light, a map creation unit that creates map information based on the distance measurement data, and obstacle sensors 16 and 17 for detecting obstacles. The obstacle sensor is arranged in a measurement ineffective region R2 of the distance measuring device in the circular region including a measurement effective region R1 of the distance measuring device.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a mobile device.

  Conventionally, various moving devices including an automatic guided vehicle have been developed. An example of a conventional automatic guided vehicle is disclosed in Patent Document 1.

  The automatic guided vehicle of patent document 1 is provided with a main-body part and two obstruction sensors. The obstacle sensor is configured by an LRF (laser range finder).

  Of the two obstacle sensors, one obstacle sensor is arranged at one corner of the main body, and the other obstacle sensor is arranged at the other corner of the main body located opposite to the corner. Is done. The two obstacle sensors are arranged at the same height. The two obstacle sensors perform a detection operation by irradiating laser light and receiving reflected light in the scan areas that are respectively covered. Thereby, the obstacle located around the automatic guided vehicle is detected.

JP 2015-185130 A (FIG. 14 etc.)

  Here, some automatic guided vehicles have a function of creating map information indicating the shape of an object around the automatic guided vehicle so that the vehicle can autonomously travel without a track. In order to create the map information, an LRF that scans a laser beam in a predetermined scanning range and measures the distance to the measurement object is used.

  However, Patent Document 1 does not disclose that the LRF for creating the map information as described above is arranged in the automatic guided vehicle. If the position where the LRF is disposed is inappropriate, the scanning range of the LRF and the obstacle sensor may interfere with each other. In this case, the effective measurement area of the LRF is limited. In order to create map information satisfactorily, it is desirable to avoid such limitation of the effective measurement area.

  In view of the above situation, an object of the present invention is to provide a mobile device that can satisfactorily create map information.

  An exemplary moving device of the present invention includes a distance measuring device that rotates and drives a light projecting unit that emits projection light, and outputs distance measurement data based on reception of reflected light reflected by the measurement object. A map creation unit that creates map information based on the distance measurement data; and an obstacle sensor that detects an obstacle, wherein the obstacle sensor includes a measurement effective region of the distance measurement device. It is set as the structure arrange | positioned in the measurement invalid area | region of the said distance measuring device in.

  According to the exemplary mobile device of the present invention, map information can be created satisfactorily.

FIG. 1 is a schematic overall perspective view of an automatic guided vehicle according to an embodiment of the present invention. FIG. 2 is a schematic side cross-sectional view of a distance measuring device according to an embodiment of the present invention. FIG. 3 is a block diagram showing an electrical configuration of the distance measuring apparatus according to the embodiment of the present invention. FIG. 4 is a block diagram showing an electrical configuration of the obstacle sensor according to the embodiment of the present invention. FIG. 5 is a block diagram showing an electrical configuration of the automatic guided vehicle according to the embodiment of the present invention. FIG. 6 is a schematic plan view seen from above the automatic guided vehicle according to the embodiment. FIG. 7 is a diagram illustrating a measurement effective area and a measurement invalid area of the distance measuring apparatus. FIG. 8 is a diagram illustrating an example of setting the obstacle detection area of the obstacle sensor. FIG. 9 is a diagram showing a case where the obstacle sensor is arranged at another position. FIG. 10 is a schematic plan view of the automatic guided vehicle according to the modification viewed from above. FIG. 11 is a schematic side view of an automated guided vehicle according to a modification.

  Hereinafter, exemplary embodiments of the present invention will be described with reference to the drawings. Here, as an example of the moving device, an automatic guided vehicle that is used for transporting luggage will be described. The automatic guided vehicle is generally called AGV (Automatic Guided Vehicle).

  Further, in the drawings referred to below, the forward / reverse direction of the automatic guided vehicle is described as the X direction, the transverse movement direction of the automatic guided vehicle orthogonal to the X direction is described as the Y direction, and the X direction and the Y direction. The height direction of the automatic guided vehicle orthogonal to is described as the Z direction.

<1. Overall configuration of automated guided vehicle>
FIG. 1 is a schematic overall perspective view of an automated guided vehicle 100 according to an embodiment of the present invention. The automatic guided vehicle 100 travels autonomously without a track by two-wheel drive, and carries a load.

  The automatic guided vehicle 100 includes a main body portion 1, a bumper portion 2, and a top plate portion 3. The main body 1 has a substantially quadrangular shape having a side extending in the X direction and a side extending in the Y direction when seen from above. The main body 1 includes a frame (not shown) and a first cover part 11A, a second cover part 11B, a third cover part 11C, and a fourth cover part 11D that cover the frame from four directions. The first cover portion 11A to the fourth cover portion 11D are separate members and are made of a resin material. In addition, you may comprise a cover part as one member. A material other than the resin material may be used for the cover portion.

  The first cover portion 11A extending in the Y direction is attached to one end portion of the frame in the X direction. The third cover portion 11C extending in the Y direction is attached to the other end portion in the X direction of the frame. That is, the first cover portion 11A and the third cover portion 11C face each other in the X direction. The second cover portion 11B extending in the X direction is attached to one end portion of the frame in the Y direction. The fourth cover portion 11D extending in the X direction is attached to the other end portion in the Y direction of the frame. That is, the second cover part 11B and the fourth cover part 11D are opposed to each other in the Y direction.

  The drive wheels 12A and 12B, the drive motors 13A and 13B, and the casters 14A and 14B are fixed to the frame in an internal space surrounded by the first cover portion 11A to the fourth cover portion 11D. That is, the main body 1 further includes drive wheels 12A and 12B, drive motors 13A and 13B, and casters 14A and 14B.

A set of the drive wheel 12A and the drive motor 13A is disposed on one side in the Y direction inside the frame.
The drive motor 13A is configured by an AC servo motor as an example. The drive motor 13A incorporates a reduction gear (not shown). The drive wheel 12A is fixed to a rotating shaft of the drive motor 13A.

The set of the drive wheel 12B and the drive motor 13B is disposed on the other side in the Y direction inside the frame.
The drive motor 13B is configured by an AC servo motor as an example. The drive motor 13B incorporates a reduction gear (not shown). The drive wheel 12B is fixed to a rotating shaft of the drive motor 13B.

  By controlling the speed difference between the drive wheel 12A and the drive wheel 12B, forward / reverse control (X-direction travel) of the automatic guided vehicle 100 is performed. Forward / backward movement includes straight movement and movement while turning. Further, the driving wheel 12A and the driving wheel 12B are controlled by steering, whereby the automatic guided vehicle 100 can traverse (run in the Y direction). In addition, it is also possible to rotate the automatic guided vehicle 100 on the spot by rotating the driving wheel 12A and the driving wheel 12B in reverse.

  The caster 14A is fixed to one side in the X direction of the frame. The caster 14B is fixed to the other side in the X direction of the frame. Each of the casters 14A and 14B has a driven wheel. The driven wheel rotates passively according to the rotation of the drive wheels 12A and 12B.

  In addition, a control unit, a battery, a communication unit (all not shown), and the like are accommodated inside the frame.

  The main body 1 further includes a distance measuring device 15, a first obstacle sensor 16, and a second obstacle sensor 17. The distance measuring device 15 is configured as an LRF (laser range finder), and is used to create map information, as will be described later. The first obstacle sensor 16 and the second obstacle sensor 17 are both configured as an LRF and are used to detect an obstacle located around the automatic guided vehicle 100.

  The distance measuring device 15 is fixed to one corner of the frame. The first obstacle sensor 16 is fixed to a corner of the frame at a position facing the distance measuring device 15 in the X direction. The second obstacle sensor 17 is fixed to the corner of the frame at a position facing the distance measuring device 15 in the Y direction. That is, the first obstacle sensor 16 and the second obstacle sensor 17 are arranged at diagonal positions.

  The distance measuring device 15 is disposed at the corner of the main body 1 where the end of the first cover portion 11A and the end of the second cover portion 11B are combined. The first obstacle sensor 16 is disposed at the corner of the main body 1 where the end of the second cover portion 11B and the end of the third cover portion 11C are combined. The second obstacle sensor 17 is disposed at the corner of the main body 1 where the end of the first cover portion 11A and the end of the fourth cover portion 11D are combined. That is, the first obstacle sensor 16 is disposed at one corner adjacent to the corner where the distance measuring device 15 is disposed, and the second obstacle sensor 17 is disposed at the corner where the distance measuring device 15 is disposed. It arrange | positions at the other adjacent corner | angular part.

  The bumper unit 2 is disposed around the frame at a position below the first cover unit 11A to the fourth cover unit 11D. The bumper unit 2 suppresses an impact when the automatic guided vehicle 100 collides with an object. A plurality of switches (not shown) arranged in the X direction and the Y direction are provided inside the bumper unit 2. When an object contacts the bumper unit 2 and the switch is pressed, the automatic guided vehicle 100 is urgently stopped from traveling.

  Moreover, the top plate part 3 is fixed to the frame, and is disposed above the first cover part 11A to the fourth cover part 11D. The top plate portion 3 has a substantially quadrangular shape and is made of metal when viewed from above. A luggage can be placed on the top surface of the top plate portion 3.

  11 A of 1st cover parts have the plane part S1 extended in a Y direction in the Z direction upper part. The second cover portion 11B has a flat surface portion S2 extending in the X direction at the top in the Z direction. The plane portions S1 and S2 are arranged at the same height position, and the distance measuring device 15 is arranged at a place where the respective end portions are joined together. A wall portion W1 rises upward from the inner end portion of the flat surface portion S1. The wall portion W2 rises upward from the inner end portion of the flat surface portion S2.

  11 C of 3rd cover parts have the plane part S3 extended in a Y direction in the Z direction upper part. The plane portions S2 and S3 are arranged at the same height position, and the first obstacle sensor 16 is arranged at a place where the respective end portions are combined. A wall portion W3 rises upward from the inner end portion of the flat surface portion S3.

  4th cover part 11D has the plane part S4 extended in a X direction in Z direction upper part. The plane portions S1 and S4 are arranged at the same height position, and the second obstacle sensor 17 is arranged at a place where the respective end portions are joined together. A wall portion W4 rises upward from the inner end portion of the flat surface portion S4.

  One concave portion that is recessed inward is constituted by the flat surface portions S1 to S4, the wall portions W1 to W4, and the lower surface of the outer edge portion of the top plate portion 3. The distance measuring device 15, the first obstacle sensor 16, and the second obstacle sensor 17 are disposed in the concave portion.

<2. Configuration of distance measuring device>
FIG. 2 is a schematic side sectional view showing a configuration example of the distance measuring device 15. The distance measuring device 15 configured as LRF measures the distance to the measurement object by scanning the laser beam in a predetermined scanning range. The distance measuring device 15 includes a laser light source 151, a collimating lens 152, a light projecting mirror 153, a light receiving lens 154, a light receiving mirror 155, a wavelength filter 156, a light receiving unit 157, a rotating housing 158, and a motor 159. A housing 160, a substrate 161, and a wiring 162.

  The casing 160 has a substantially columnar shape extending in the vertical direction in appearance and accommodates various configurations including the laser light source 151 in the internal space. The laser light source 151 is mounted on the lower surface of the substrate 161 fixed to the lower surface of the upper end portion of the housing 160. For example, the laser light source 151 emits laser light in the infrared region downward.

  The collimating lens 152 is disposed below the laser light source 151. The collimator lens 152 emits laser light emitted from the laser light source 151 downward as parallel light. A projection mirror 153 is disposed below the collimating lens 152.

  The light projection mirror 153 is fixed to the rotary housing 158. The rotary casing 158 is fixed to the shaft 159 </ b> A of the motor 159 and is driven to rotate around the rotation axis J by the motor 159. As the rotary casing 158 rotates, the projection mirror 153 is also driven to rotate about the rotation axis J. The light projection mirror 153 reflects the laser light emitted from the collimator lens 152 and emits the reflected laser light as projection light L1. Since the light projection mirror 153 is rotationally driven as described above, the projection light L1 is emitted while changing the emission direction in the range of 360 degrees around the rotation axis J.

  The housing 160 has a transmission part 1601 in the middle in the vertical direction. The transmission part 1601 is made of a translucent resin or the like.

  The projection light L <b> 1 reflected and emitted by the light projection mirror 153 is transmitted through the transmission part 1601 and emitted outside the automatic guided vehicle 100. In the present embodiment, as will be described later, since the effective measurement area of the distance measuring device 15 is a rotation angle range of 270 degrees, the projection light L1 transmits through the transmission unit 1601 within a range of at least 270 degrees around the rotation axis J. . In the range where the rear transmission portion 1601 is not disposed, the projection light L1 is blocked by the inner wall of the housing 160, the wiring 162, or the like.

  The light receiving mirror 155 is fixed to the rotary casing 158 at a position below the light projecting mirror 153. The light receiving lens 154 is fixed to the circumferential side surface of the rotating housing 158. The wavelength filter 156 is positioned below the light receiving mirror 155 and is fixed to the rotating housing 158. The light receiving unit 157 is positioned below the wavelength filter 156 and is fixed to the rotating housing 158.

  The projection light L1 emitted from the distance measuring device 15 is reflected by the measurement object and becomes diffused light. A part of the diffused light passes through the transmission part 1601 as incident light L2 and enters the light receiving lens 154. The incident light L 2 that has passed through the light receiving lens 164 enters the light receiving mirror 155 and is reflected downward by the light receiving mirror 155. The reflected incident light L 2 passes through the wavelength filter 156 and is received by the light receiving unit 157. The wavelength filter 156 transmits light in the infrared region. The light receiving unit 157 converts the received light into an electric signal by photoelectric conversion.

  When the rotating housing 158 is rotationally driven by the motor 159, the light receiving lens 154, the light receiving mirror 155, the wavelength filter 156, and the light receiving unit 157 are rotationally driven together with the light projecting mirror 153.

  The motor 159 is connected to the substrate 161 by the wiring 162 and is driven to rotate when energized from the substrate 161. The motor 159 rotates the rotary casing 158 at a predetermined rotation speed. For example, the rotary casing 158 is driven to rotate at about 3000 rpm. The wiring 162 is routed along the vertical direction on the rear inner wall of the housing 160.

<3. Electrical configuration of distance measuring device>
Next, the electrical configuration of the distance measuring device 15 will be described. FIG. 3 is a block diagram showing an electrical configuration of the distance measuring device 15.

  As shown in FIG. 3, the distance measuring device 15 includes a laser light emitting unit 15A, a laser light receiving unit 15B, a distance measuring unit 15C, an arithmetic processing unit 15D, a data communication interface 15E, a driving unit 15F, and a motor 159. And having.

  The laser light emitting unit 15A includes a laser light source 151 (FIG. 2), an LD driver (not shown) that drives the laser light source 151, and the like. The LD driver is mounted on the substrate 151. The laser light receiving unit 15B includes a light receiving unit 157 and a comparator (not shown) that receives an electrical signal output from the light receiving unit 157. The comparator compares the level of the electric signal with a predetermined threshold level, and outputs a measurement pulse having a high level or a low level according to the comparison result.

  A measurement pulse output from the laser light receiving unit 15B is input to the distance measuring unit 15C. The laser light emitting unit 15A emits laser light using a laser light emission pulse output from the arithmetic processing unit 15D as a trigger. At this time, the projection light L1 is emitted. When the emitted projection light L1 is reflected by the measurement object OJ, the incident light L2 is received by the laser light receiving unit 15B. A measurement pulse is generated according to the amount of light received by the laser light receiving unit 15B, and the measurement pulse is output to the distance measurement unit 15C.

  Here, the reference pulse output together with the laser emission pulse by the arithmetic processing unit 15D is input to the distance measuring unit 15C. The distance measuring unit 15C can acquire the distance to the measurement object OJ by measuring the elapsed time from the rising timing of the reference pulse to the rising timing of the measurement pulse. That is, the distance measuring unit 15C measures the distance by a so-called TOF (Time Of Flight) method. The distance measurement result is output from the distance measurement unit 15C as measurement data.

  The drive unit 15F controls the rotation of the motor 159. The motor 159 is rotationally driven at a predetermined rotational speed by the drive unit 15F. The arithmetic processing unit 15D outputs a laser emission pulse every time the motor 159 rotates by a predetermined unit angle. For example, the predetermined unit angle is 1 degree. As a result, each time the rotary casing 158 and the light projection mirror 153 rotate by a predetermined unit angle, the laser light emitting unit 15A emits light, and the projection light L1 is emitted.

  The arithmetic processing unit 15D obtains distance measurement data composed of the rotation angle position and the distance data based on the rotation angle position of the motor 159 at the timing when the laser emission pulse is output and the measurement data obtained corresponding to the laser emission pulse. Generate. The distance measurement data indicates position information of the measurement object in a polar coordinate format. Thereby, the distance image of the measurement object OJ can be acquired by scanning with the projection light L1 in the rotation angle range of 270 degrees. Therefore, the effective measurement area of the distance measuring device 15 is a rotation angle range of 270 degrees.

  Note that the arithmetic processing unit 15D does not generate distance measurement data for scanning with the projection light L1 in a rotation angle range of 90 degrees other than the rotation angle range of 270 degrees. That is, the 90-degree rotation angle range is a measurement invalid area of the distance measuring device 15.

  The distance measurement data output from the arithmetic processing unit 15D is transmitted to the automatic guided vehicle 100 side shown in FIG. 5 to be described later via the data communication interface 15E. The distance measurement data is used for creating map information described later.

<4. Configuration of obstacle sensor>
Next, the configuration of the first obstacle sensor 16 and the second obstacle sensor 17 will be described. Since the first obstacle sensor 16 and the second obstacle sensor 17 have the same configuration, the configuration of the first obstacle sensor 16 will be representatively described here.

  Since the hardware configuration of the first obstacle sensor 16 configured as an LRF is the same as the configuration of the distance measuring device 15 illustrated in FIG. 2, detailed description thereof is omitted here. Since the effective angle range in which the first obstacle sensor 16 can detect an obstacle is 270 degrees, the projection light L1 is a transmissive part (corresponding to the transmissive part 1601) within a range of 270 degrees around the rotation axis J. Transparent.

  FIG. 4 is a block diagram showing an electrical configuration of the first obstacle sensor 16. As shown in FIG. 4, the first obstacle sensor 16 includes a laser light emitting unit 16A, a laser light receiving unit 16B, a distance measuring unit 16C, an arithmetic processing unit 16D, a data communication interface 16E, a driving unit 16F, A motor 169.

  The projection light L1 is emitted from the laser emission unit 16A while the projection mirror (corresponding to the projection mirror 153) is rotated by the motor 169, the reflected light from the measurement object OJ is received by the laser reception unit 16B, and the distance measurement is performed. It is the same as the distance measuring device 15 that the unit 16C measures the distance based on the measurement pulse.

  The arithmetic processing unit 16D grasps the position of the measurement object OJ in the polar coordinate format based on the rotation angle position of the motor 169 and the measurement data from the distance measurement unit 16C. Here, a predetermined obstacle detection area is set in the arithmetic processing unit 16D. The arithmetic processing unit 16D determines whether the grasped position of the measurement object OJ is located in the obstacle detection area, and outputs obstacle detection data indicating that an obstacle exists if the position is found. .

  The obstacle detection area can be set from the outside of the first obstacle sensor 16, and the range of the area can be changed. The obstacle detection area can be set so that the obstacle can be detected by the projection light L1 scanned in a rotation angle range of 270 degrees. The setting of the obstacle detection region is limited so that the obstacle cannot be detected by the projection light L1 scanned in a rotation angle range of 90 degrees other than 270 degrees. Thereby, the effective angle range of the first obstacle sensor 16 is set to 270 degrees. A specific setting example of the obstacle detection area will be described later.

  The obstacle detection data output from the arithmetic processing unit 16D is transmitted to the automatic guided vehicle 100 side shown in FIG. 5 described later via the data communication interface 16E.

<5. Electrical configuration of automated guided vehicle>
Here, the electrical configuration on the automatic guided vehicle 100 side will be described with reference to FIG. FIG. 5 is a block diagram showing an electrical configuration of the automatic guided vehicle 100.

  As shown in FIG. 5, the automatic guided vehicle 100 includes a distance measuring device 15, a first obstacle sensor 16, a second obstacle sensor 17, a control unit 100A, a communication unit 100B, a power button 100C, Drive unit 100D.

  The control unit 100A controls each unit of the automatic guided vehicle 100. The drive unit 100D includes a motor driver (not shown), drive motors 13A and 13B, and the like. The control unit 100A instructs and controls the drive unit 100D. The drive unit 100D drives and controls the rotation speed and rotation direction of the drive wheels 12A and 12B.

  The control unit 100A communicates with a tablet terminal (not shown) via the communication unit 100B. For example, the control unit 100A can receive an operation signal corresponding to the content operated on the tablet terminal via the communication unit 100B.

  The power button 100 </ b> C is an operation button for turning on and starting the automatic guided vehicle 100.

  The control unit 100A includes a map creation unit M1. The map creation unit M1 can create map information based on the distance measurement data acquired from the distance measurement device 15. The map information is information that is generated to perform self-location identification that specifies the position of the automatic guided vehicle 100, and is generated as position information of a stationary object at a place where the automatic guided vehicle 100 travels. For example, when the place where the automated guided vehicle 100 travels is a warehouse, the stationary object is a wall of the warehouse, a shelf arranged in the warehouse, or the like.

  The map information is generated when a manual operation of the automatic guided vehicle 100 is performed by a tablet terminal, for example. In this case, an operation signal corresponding to an operation of, for example, a joystick on the tablet terminal is transmitted to the control unit 100A via the communication unit 100B, so that the control unit 100A instructs the drive unit 100D according to the operation signal, and the unmanned The conveyance vehicle 100 is travel-controlled. At this time, based on the distance measurement data input from the distance measuring device 15 and the position of the automatic guided vehicle 100, the control unit 100A specifies the position of the measurement object at the place where the automatic guided vehicle 100 travels as map information. . The position of the automatic guided vehicle 100 is specified based on driving information of the driving unit 100D, for example.

  The map information generated as described above is stored in the storage unit M2 of the control unit 100A. The control unit 100A compares the distance measurement data input from the distance measurement device 15 with the map information stored in advance in the storage unit M2, thereby performing self-position identification that specifies the self-location of the automatic guided vehicle 100. Do. By performing self-position identification, the control unit 100A can perform autonomous traveling control of the automatic guided vehicle 100 along a predetermined route.

  Further, as will be described later, the control unit 100A can also control the traveling of the automatic guided vehicle 100 based on the obstacle detection data acquired from the first obstacle sensor 16 and the second obstacle sensor 17.

<6. Regarding the positional relationship between the distance measuring device and the obstacle sensor>
FIG. 6 is a schematic plan view seen from above the automatic guided vehicle 100 according to the present embodiment. However, in FIG. 6, illustration of various components such as the top plate portion 3, the frame, and parts inside the frame is omitted for convenience.

  11 A of 1st cover parts have a part extended between the distance measuring device 15 and the 2nd obstacle sensor 17, and wall part W1 stands up from the inner side edge part of the said part. The second cover portion 11B has a portion extending between the distance measuring device 15 and the first obstacle sensor 16, and the wall portion W2 rises upward from the inner end portion of the portion.

  Here, as shown in the schematic plan view of FIG. 7, a line extending in parallel with the wall W2 by the reachable distance of the projection light L1 from the rotation axis J of the distance measuring device 15 toward the first obstacle sensor 16 side. The radial outer edge E1 is defined as a line segment extending by the reachable distance of the projection light L1 from the rotation axis J of the distance measuring device 15 toward the second obstacle sensor 17 in parallel with the wall W1. Then, an arcuate region defined by an outer edge E1, E2 in the radial direction and an angle of 270 degrees formed by E1, E2 on the outer side of the main body 1 becomes the measurement effective region R1. Distance measurement data is generated based on the projection light L1 scanned within the measurement effective region R1. In addition, the reachable distance of the projection light L1 by the distance measuring device 15 is, for example, 30 m. In this case, the length of the radial outer edges E1 and E2 is 30 m.

  On the other hand, the arcuate region defined by the radial outer edges E1 and E2 and the 90 degree angle formed by E1 and E2 on the inside of the main body 1 is the measurement invalid region R2. That is, the area other than the measurement effective area R1 in the circular area including the measurement effective area R1 is the measurement invalid area R2. The distance measurement data is not generated based on the projection light L1 scanned within the measurement invalid region R2.

  Here, the height position of the optical axis of each projection light L1 projected from each of the distance measuring device 15, the first obstacle sensor 16, and the second obstacle sensor 17 coincides. Therefore, depending on the position of each obstacle sensor, the first obstacle sensor 16 and the second obstacle sensor 17 are irradiated with the projection light L1 projected from the distance measuring device 15 within the measurement effective region R1, and each obstacle is May interfere with the sensor. Even if the height positions of the optical axes do not coincide with each other, the distance measurement device 15 and the obstacle sensors 16 and 17 depend on the arrangement positions of the distance measurement device 15 and the obstacle sensors 16 and 17 in the height direction. There is also a possibility that the projected light of each other interferes with the other party.

  Therefore, in the present embodiment, as shown in FIG. 7, the first obstacle sensor 16 and the second obstacle sensor 17 are arranged in the measurement invalid region R <b> 2 of the distance measuring device 15. At that time, the first obstacle sensor 16 contacts the radial outer edge E1, and the second obstacle sensor 17 contacts the radial outer edge E2.

  By doing in this way, the projection light L1 projected from the distance measuring device 15 interferes with the first obstacle sensor 16 and the second obstacle sensor 17 in the measurement effective region R1, and the measurement effective region R1 is limited. You can avoid that. Therefore, the measurement effective region R1 can be validated in all regions, and the map creation unit M1 can create map information satisfactorily.

  FIG. 8 is a plan view showing an example of an obstacle detection area set in the first obstacle sensor 16 and the second obstacle sensor 17.

  As for the first obstacle sensor 16, a line segment extending in the Y direction from the rotation axis J of the first obstacle sensor 16 toward the second obstacle sensor 17 by the reachable distance of the projection light L1 is radially outer edge E31. If the line segment extending in the X direction from the rotation axis J of the first obstacle sensor 16 toward the distance measuring device 15 by the reachable distance of the projection light L1 is defined as the radial outer edge E32, the radial outer edge E31, The arcuate region R3 is defined by E32 and an angle of 270 degrees formed by E31 and E32 on the outside of the main body 1. In addition, the reachable distance of the projection light L1 by the first obstacle sensor 16 is shorter than the distance measuring device 15, for example, 5 m. In this case, the lengths of the radial outer edges E31 and E32 are 5 m.

  The first obstacle sensor 16 can set an obstacle detection area within the arcuate area R3, and can detect an object located in the set obstacle detection area as an obstacle. In the example of FIG. 8, stop areas A1 and A2 and deceleration areas B1 and B2 are set as the obstacle detection areas set in the first obstacle sensor 16.

  The stop region A1 is set in a rectangular shape along the outer edge portion of the bumper portion 2 extending in the Y direction in the vicinity of the first obstacle sensor 16. The deceleration area B1 is set in a rectangular shape adjacent to the stop area A1 on the outer side in the X direction. The stop region A2 is set in a rectangular shape along the outer edge portion of the bumper portion 2 extending in the X direction in the vicinity of the first obstacle sensor 16. The deceleration area B2 is set in a rectangular shape adjacent to the stop area A2 on the outer side in the Y direction.

  When the first obstacle sensor 16 detects an obstacle located in the stop region A1 or A2, the first obstacle sensor 16 outputs obstacle detection data to that effect to the control unit 100A (FIG. 5). The automatic guided vehicle 100 is stopped from traveling. When the first obstacle sensor 16 detects an obstacle located in the deceleration region B1 or B2, the first obstacle sensor 16 outputs obstacle detection data to that effect to the control unit 100A, and the control unit 100A controls the drive unit 100D. Thus, the traveling speed of the automatic guided vehicle 100 is reduced. Thereby, it can control that automatic guided vehicle 100 collides with an obstacle.

  For the second obstacle sensor 17, a line segment extending in the Y direction from the rotation axis J of the second obstacle sensor 17 toward the distance measuring device 15 by the reachable distance of the projection light L1 is defined as a radial outer edge E41. If a line segment extending in the X direction from the rotation axis J of the second obstacle sensor 17 toward the first obstacle sensor 16 by the reachable distance of the projection light L1 is defined as a radial outer edge E42, the radial outer edge E41, The arc-shaped region R4 is defined by E42 and an angle of 270 degrees formed by E41 and E42 on the outside of the main body 1. In addition, the reachable distance of the projection light L1 by the second obstacle sensor 16 is shorter than the distance measuring device 15, for example, 5 m. In this case, the length of the radial outer edges E41 and E42 is 5 m.

  The second obstacle sensor 17 can set an obstacle detection region within the arc-shaped region R4, and can detect an object located in the set obstacle detection region as an obstacle. In the example of FIG. 8, stop areas A3 and A4 and deceleration areas B3 and B4 are set as the obstacle detection areas set in the second obstacle sensor 17.

  The stop region A3 is set in a rectangular shape along the outer edge portion of the bumper portion 2 extending in the Y direction in the vicinity of the second obstacle sensor 17. The deceleration region B3 is set in a rectangular shape adjacent to the stop region A3 and outside in the X direction. The stop region A4 is set in a rectangular shape along the outer edge portion of the bumper portion 2 extending in the X direction in the vicinity of the second obstacle sensor 17. The deceleration area B4 is set in a rectangular shape adjacent to the stop area A4 and outside in the Y direction.

  When the second obstacle sensor 17 detects an obstacle located in the stop area A3 or A4, it outputs obstacle detection data to that effect to the control unit 100A, and the control unit 100A controls the drive unit 100D, The traveling of the automatic guided vehicle 100 is stopped. Further, when the second obstacle sensor 17 detects an obstacle located in the deceleration region B3 or B4, the obstacle detection data to that effect is output to the control unit 100A, and the control unit 100A controls the drive unit 100D. Thus, the traveling speed of the automatic guided vehicle 100 is reduced. Thereby, it can control that automatic guided vehicle 100 collides with an obstacle.

  As described above, the first obstacle sensor 16 and the second obstacle sensor 17 can detect obstacles on the entire circumference of the automatic guided vehicle 100.

  Here, the distance measuring device 15 is arranged within an effective angle range of 270 degrees where the obstacle of the first obstacle sensor 16 can be detected by the arrangement position of the first obstacle sensor 16 with respect to the distance measuring device 15 described above. . Thereby, the projection light L1 projected from the first obstacle sensor 16 in the range of the angle θ1 shown in FIG. 8 interferes with the distance measuring device 15, and the obstacle detection in the range of the angle θ1 becomes impossible. Accordingly, the first obstacle sensor 16 cannot detect an obstacle in a region H1 indicated by hatching in the range of the angle θ1. However, the area H1 is not a problem because the obstacle can be detected by the second obstacle sensor 17 in which the stop area A3 and the deceleration area B3 are set.

  Similarly, the distance measuring device 15 is arranged within an effective angle range of 270 degrees where the obstacle of the second obstacle sensor 17 can be detected by the arrangement position of the second obstacle sensor 17 with respect to the distance measuring device 15 described above. . Thereby, the projection light L1 projected from the second obstacle sensor 17 in the range of the angle θ2 shown in FIG. 8 interferes with the distance measuring device 15, and the obstacle detection in the range of the angle θ2 becomes impossible. Accordingly, the second obstacle sensor 17 cannot detect an obstacle in a region H2 indicated by hatching in the range of the angle θ2. However, the area H2 is not a problem because the obstacle can be detected by the first obstacle sensor 16 in which the stop area A2 and the deceleration area B2 are set.

  In addition, if the bumper portion 2 is not provided around the main body portion 1, depending on the thickness of the second cover portion 11B, an area where the obstacle within the angle θ1 cannot be detected is outside the outer edge of the automatic guided vehicle 100. There is also a possibility of reaching. In this case, an area where no obstacle can be detected around the automatic guided vehicle 100 is generated. However, in the present embodiment, since the bumper portion 2 is provided, it is possible to avoid the region where the obstacle cannot be detected reaching outside the outer edge of the automatic guided vehicle 100 due to the thickness of the bumper portion 2 (the thickness in the Y direction). . The same applies to the range of the angle θ2.

  Further, as described above, when the first obstacle sensor 16 and the second obstacle sensor 17 are arranged in the measurement invalid region R2 of the distance measuring device 15, the first obstacle sensor 16 contacts the radial outer edge E1. The second obstacle sensor 17 is disposed at a position in contact with the radially outer edge E2 (FIG. 7).

  Here, FIG. 9 shows a case where the first obstacle sensor 16 is arranged in a position largely displaced inward from the radial outer edge E1 in the invalid measurement region R2. A position P shown in FIG. 9 is a provisional position where the first obstacle sensor 16 is disposed.

  When the first obstacle sensor 16 is arranged at the position P, the obstacle detection is impossible in the range of the angle θ3 at which the projection light L1 projected from the first obstacle sensor 16 interferes with the distance measuring device 15. The range of the angle θ3 overlaps with the stop area A2 in the area H3 indicated by hatching. Therefore, in the area H3 in the stop area A2, the obstacle detection by the first obstacle sensor 16 becomes impossible. Therefore, the area H3 needs to be set as an obstacle detection area of the second obstacle sensor 17, and the setting becomes complicated. Further, when the obstacle sensor is arranged on the inner side of the main body 1 as in the position P, it is necessary to ensure a large space through which the projection light L1 can pass in the main body 1 in order to ensure scanning of the projection light L1. The design of the main body 1 becomes difficult.

  Therefore, as in the present embodiment, the first obstacle sensor 16 is disposed at a position in contact with the radial outer edge E1, so that the above-described problem can be avoided. The same applies to the second obstacle sensor 17.

<7. Effects of this embodiment>
As described above, the mobile device (automated guided vehicle 100) of the present embodiment rotates the light projecting unit (light projecting mirror 153) that emits the projection light L1, and the reflected light reflected by the measurement object OJ. A distance measuring device 15 that outputs distance measurement data based on light reception; a map creation unit M1 that creates map information based on the distance measurement data; an obstacle sensor (16, 17) that detects an obstacle; . The obstacle sensor is disposed in a measurement invalid region R2 of the distance measuring device in a circular region including the measurement effective region R1 of the distance measuring device.

  Thereby, it can avoid that the measurement effective area | region of a distance measuring device is restrict | limited by arrangement | positioning of an obstacle sensor. Accordingly, the map information can be favorably created by the map creation unit.

  Further, the obstacle sensor (16, 17) rotates the light projecting unit that emits the projection light L1, and measures the distance based on the reception of the reflected light reflected by the measurement object OJ. A sensor that detects an obstacle based on a measured distance, and the distance measuring device 15 is disposed within an effective angle range in which the obstacle of the obstacle sensor can be detected.

  By arranging the obstacle sensor (for example, the first obstacle sensor 16) in the measurement invalid region of the distance measuring device, the distance measuring device is arranged within the effective angle range of the obstacle sensor, and the obstacle sensor originally Even if a part of the detectable region becomes undetectable, the part of the region can be detected by another obstacle sensor (for example, the second obstacle sensor 17).

  Further, the obstacle sensors (16, 17) are in contact with the radially outer edges (E1, E2) of the measurement invalid region R2.

  If the obstacle sensor is shifted from the position in contact with the radial outer edge of the measurement invalid area, an area where the obstacle detection is impossible due to interference with the distance measuring device, and an obstacle detection area set around the moving device, In some cases, a part of the obstacle detection area cannot be detected. In that case, it is necessary to set a part of the area by another obstacle sensor, and the setting becomes complicated. Therefore, it is desirable to arrange the obstacle sensor at a position in contact with the outer edge in the radial direction of the measurement invalid area.

  The moving device 100 further includes a main body portion 1 having the distance measuring device 15 and the obstacle sensors (16, 17), and a bumper portion 2 disposed around the main body portion.

  By providing the bumper part, it is possible to avoid the partial area where the obstacle cannot be detected from reaching the outer edge position of the moving device.

  In the moving device 100, the obstacle sensors are a first obstacle sensor 16 and a second obstacle sensor 17, and the distance measuring device 15, the first obstacle sensor 16, and the second obstacle sensor. The main body 1 has a substantially quadrangular shape in plan view when viewed from above, and the distance measuring device 15 is disposed at a corner of the main body 1, The obstacle sensor 16 is disposed at one corner adjacent to the corner, and the second obstacle sensor 17 is disposed at the other corner adjacent to the corner.

  Thereby, it can avoid that the said measurement effective area | region of the angle range of 270 degree | times is restrict | limited by arrangement | positioning of two obstacle sensors.

  Further, the first obstacle sensor 16 and the second obstacle sensor 17 rotate the light projecting unit that emits the projection light L1, and based on the reception of the reflected light reflected by the measurement object OJ. The distance measuring device 15 detects an obstacle based on the measured distance, and the distance measuring device 15 detects an obstacle of the first obstacle sensor 16 and the second obstacle sensor 17. It is arranged within a possible effective angle range.

  As a result, for each of the first obstacle sensor and the second obstacle sensor, even if a partial area where the obstacle can be originally detected becomes undetectable, the mutual obstacle sensor detects the partial area. Can be made possible.

  Moreover, the said main-body part 1 has a cover part (11A-11D), and at least one part of the said cover part is between the said distance measuring device 15 and the said 1st obstacle sensor 16, and the said distance measuring device. 15 and the second obstacle sensor 17. The cover portion includes a plane portion (S2, S1) extending between the distance measuring device and the first obstacle sensor and between the distance measuring device and the second obstacle sensor, and the measurement effective region. A wall portion (W2, W1) which is disposed inside the two radial outer edges (E1, E2) of R1 and rises upward from the plane portion.

  Thereby, while arranging each sensor in the hollow formed by the cover part so that each sensor does not jump out to the outside, at the radial outer edge of the measurement effective region of the distance measuring device, the projection light is applied to the wall part. The measurement effective area of 270 degrees can be secured.

<8. Modified example of automatic guided vehicle>
Next, an embodiment according to a modified example of the automatic guided vehicle will be described. FIG. 10 is a schematic plan view seen from above the automatic guided vehicle 200 according to the modification. FIG. 11 is a schematic side view of the automatic guided vehicle 200 according to the modification.

  The automatic guided vehicle 200 includes a main body portion 18, a top plate portion 19, and a bumper portion 20. The main body portion 18 includes a main body cover portion 18A, a driving wheel 18B, and a driven wheel 18C. The top plate portion 19 is disposed above the main body cover portion 18A and can load a load. The bumper portion 20 is disposed below the main body cover portion 18A and surrounds the entire circumference of the main body cover portion 18A in a top view. When the driving wheel 18B is driven, the driven wheel 18C rotates passively, and the automatic guided vehicle 200 travels.

  The main body cover portion 18A has a protrusion C1 formed by the front portion being swept backward. The main body cover portion 18A has a placement surface 18A1 in front of the protrusion C1. The height position of the mounting surface 18A1 is lower than the position where the protrusion C1 is formed.

  The main body 18 further includes a distance measuring device 181, a first obstacle sensor 182, and a second obstacle sensor 183. The configuration of the distance measuring device 181 configured as an LRF is the same as that of the distance measuring device 15 described above. The automatic guided vehicle 200 includes a map creation unit that creates map information based on the distance measurement data output from the distance measurement device 181.

  The distance measuring device 181 is disposed at a position in front of the protrusion C1 on the placement surface 18A1. The first obstacle sensor 182 and the second obstacle sensor 183 that detect an obstacle located around the automatic guided vehicle 200 are disposed on the placement surface 18A1.

  Here, a line segment extending from the rotation axis of the distance measurement device 181 toward the rear right diagonally by the reachable distance of the projection light is defined as a radial outer edge E11, and projected from the rotation axis of the distance measurement device 181 diagonally to the rear left. Assuming that the line segment extended by the reachable distance of light is the radial outer edge E12, the measurement effective region R11 that is an arcuate region is formed by the radial outer edges E11 and E12 and an angle of 270 degrees formed by E11 and E12 on the front side. It is prescribed. On the other hand, the measurement invalid region R12 which is an arcuate region is defined by the radial outer edges E11 and E12 and the angle of 90 degrees formed by E11 and E12 on the rear side.

  The first obstacle sensor 182 and the second obstacle sensor 183 are arranged in the measurement invalid region R12 of the distance measuring device 181. That is, the mobile device (automatic guided vehicle 200) of the present embodiment rotates the light projecting unit that emits the projection light, and receives the distance measurement data based on the reception of the reflected light reflected by the measurement object. An output distance measuring device 181; a map creating unit that creates map information based on the distance measurement data; and an obstacle sensor (182, 183) that detects an obstacle. It arrange | positions to the measurement invalid area | region R12 of the said distance measuring device in the circular area | region containing the measurement effective area | region R11 of a distance measuring device.

  Also according to this embodiment, it is possible to avoid that the effective measurement area of the distance measuring device is limited by the arrangement of the obstacle sensors and to create map information satisfactorily.

<9. Other>
As mentioned above, although embodiment of this invention was described, if it is in the range of the meaning of this invention, embodiment can be variously changed.

  For example, in the above-described embodiment, the automatic guided vehicle has been described as an example of the moving device. However, the moving device is not limited thereto, and the moving device may be applied to a device other than the transportation application such as a cleaning robot and a monitoring robot.

  The present invention can be used, for example, in an automated guided vehicle that transports luggage.

  DESCRIPTION OF SYMBOLS 100 ... Automated guided vehicle, 100A ... Control part, 100B ... Communication part, 100C ... Power button, 100D ... Drive part, M1 ... Map preparation part, M2 ... Storage part DESCRIPTION OF SYMBOLS 1 ... Main body part, 11A ... 1st cover part, 11B ... 2nd cover part, 11C ... 3rd cover part, 11D ... 4th cover part, 12A, 12B ... Drive wheel, 13A, 13B ... drive motor, 14A, 14B ... caster, 15 ... distance measuring device, 151 ... laser light source, 152 ... collimating lens, 153 ... projecting mirror, 154... Light receiving lens, 155... Light receiving mirror, 156... Wavelength filter, 157... Light receiving portion, 158. ..Housing, 1601 ... transparent , 161 ... substrate, 162 ... wiring, 15A ... laser light emitting part, 15B ... laser light receiving part, 15C ... distance measuring part, 15D ... arithmetic processing part, 15E ... Data communication interface, 15F: Drive unit, 16 ... First obstacle sensor, 16A ... Laser light emitting unit, 16B ... Laser light receiving unit, 16C ... Distance measuring unit, 16D ... Calculation Processing unit, 16E ... Data communication interface, 16F ... Drive unit, 169 ... Motor, 17 ... Second obstacle sensor, S1-S4 ... Flat part, W1-W4 ... Wall 200, automatic guided vehicle, 18 ... main body, 18A ... main body cover, 18A1 ... mounting surface, 18B ... driving wheel, 18C ... driven wheel, 181 ... -Distance measuring device, 182 ... first obstacle sensor, 83 ... second obstacle sensor

Claims (7)

A distance measuring device that rotates and drives a light projecting unit that emits projection light, and outputs distance measurement data based on reception of reflected light reflected by the measurement object.
A map creation unit for creating map information based on the distance measurement data;
An obstacle sensor for detecting obstacles;
With
The obstacle sensor is disposed in a measurement invalid region of the distance measuring device in a circular region including a measurement effective region of the distance measuring device.
Mobile equipment. The obstacle sensor rotates a light projecting unit that emits projection light, measures the distance based on reception of reflected light that is reflected by the measurement object, and the obstacle based on the measured distance A sensor for detecting
The moving device according to claim 1, wherein the distance measuring device is disposed within an effective angle range in which an obstacle of the obstacle sensor can be detected.   The moving device according to claim 2, wherein the obstacle sensor is in contact with a radially outer edge of the measurement invalid region. A main body having the distance measuring device and the obstacle sensor;
A bumper portion disposed around the main body portion;
The moving apparatus according to claim 2 or 3, further comprising: The obstacle sensors are a first obstacle sensor and a second obstacle sensor,
A main body having the distance measuring device, the first obstacle sensor, and the second obstacle sensor;
The main body has a substantially rectangular shape in plan view as viewed from above,
The distance measuring device is disposed at a corner of the main body,
The first obstacle sensor is disposed at one corner adjacent to the corner,
5. The moving device according to claim 1, wherein the second obstacle sensor is disposed at the other corner adjacent to the corner. 6. The first obstacle sensor and the second obstacle sensor rotate and project a light projecting unit that emits projection light, and measure the distance based on reception of reflected light reflected by the measurement object. A sensor that detects an obstacle based on a measured distance,
The said distance measurement apparatus is a moving apparatus of Claim 5 arrange | positioned in the effective angle range which can detect the obstruction of a said 1st obstruction sensor and a said 2nd obstruction sensor. The main body has a cover,
At least a part of the cover part is disposed between the distance measuring device and the first obstacle sensor, and between the distance measuring device and the second obstacle sensor,
The cover part is
A plane portion extending between the distance measuring device and the first obstacle sensor and between the distance measuring device and the second obstacle sensor;
The moving device according to claim 5, further comprising: a wall portion that is disposed on an inner side of two radial outer edges of the measurement effective region and rises upward from the plane portion.

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