JP2019109155A - Autonomous movement method and autonomous movement device - Google Patents

Abstract

To provide an autonomous movement method and autonomous movement device of a robot capable of increasing the accuracy of the recognition of a position and capable of efficiently performing work.SOLUTION: In an autonomous movement method and autonomous movement device, a robot 10 is autonomously moved. This autonomous movement method includes the steps of: radiating laser beams L from a plurality of laser beam irradiation devices 20 and displaying an intersection C of the laser beams L; making a camera 16 take the intersection C to make the robot 10 recognize the position and direction of itself; and making the robot 10 move on the basis of the recognized position and direction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an autonomous movement method and an autonomous movement device for autonomously moving a robot.

  JP 2012-37288 A describes a marking system for moving a positioning object toward a target position. The burn-out system includes an autonomous traveling-type burn-out device, a laser range finder, a total station, and a personal computer that controls the burn-out device. The marking device includes a traveling mechanism having a multidirectional moving wheel, a stamp mechanism for imprinting a mark indicating the placement position of a pile core on the ground, a position adjustment mechanism for adjustably supporting the stamp mechanism, a stamp mechanism and And a pair of measurement prisms provided above the position adjustment mechanism. The stamp mechanism includes a stamp unit that performs sealing and an elevating mechanism that raises and lowers the stamp unit with respect to the ground. Further, the pair of measurement prisms reflect the light for ranging and angle measurement projected from the total station.

  In the inking system, while the position of the inking device is measured by the laser range finder, the inching device travels toward the target position based on the measured position. Thereafter, the total station measures the position of the measurement prism by measuring the position of the measurement prism, and the position adjustment mechanism corrects the error between the measured position and the target position. Then, the stamp mechanism seals the mark on the ground to perform marking on the site.

JP 2012-37288 A

  The above-described inking system integrally includes a stamp mechanism and a pair of measurement prisms, and the pair of measurement prisms is provided above the stamp mechanism. Therefore, mechanical errors occur between the pair of measurement prisms and the stamp mechanism, so there is room for improvement in the accuracy of position recognition. In addition, the traveling mechanism moves on the ground by the multi-directional moving wheel, and the stamping mechanism lowers the stamp portion on the ground by the lifting mechanism to perform a seal. Therefore, when a level difference or an obstacle is present and the ground is not flat, the movement by the traveling mechanism and the sealing by the stamp mechanism can not be performed efficiently, so there is room for improvement in workability such as sealing.

  An object of the present invention is to provide a method and an apparatus for autonomously moving a robot, which can enhance the accuracy of position recognition and can perform work efficiently.

  The autonomous movement method according to the present invention is an autonomous movement method for autonomously moving a robot, comprising the steps of: irradiating a laser beam from each of a plurality of laser beam irradiation devices and displaying an intersection of the laser beams; The method includes the steps of: the camera recognizing the position and orientation of the robot by photographing the intersection; and the robot moving toward the intersection based on the recognized position and orientation.

  In this autonomous movement method, laser light is emitted from each of the plurality of laser light irradiation devices, and the intersections of the laser light formed by crossing the plurality of laser lights are displayed. The robot includes a camera that captures an intersection point displayed by the plurality of laser beam irradiation devices, and recognizes its own position and orientation from the intersection point captured by the camera. In this way, the robot recognizes its position and orientation from the intersection of laser light, and moves toward the intersection based on the recognized position and orientation. Therefore, the accuracy of recognition of the position and orientation of the robot can be enhanced by utilizing the intersection of the laser beams. That is, since the robot is separated from the laser beam irradiation apparatus and no mechanical error occurs between the robot and the laser beam irradiation apparatus, the accuracy of position and direction recognition can be enhanced. In addition, the intersection points of the laser light can be displayed not only on the ground but also on walls, ceilings and steps, and the robot can be moved close to the wall, ceiling or steps to cause the robot to perform work. Can be done efficiently.

  An autonomous moving device according to the present invention includes: a plurality of laser beam irradiation devices; and a robot having a camera for photographing an intersection of laser beams emitted from each of the plurality of laser beam irradiation devices The position and orientation of the user are recognized from the captured intersection, and the robot moves toward the intersection based on the recognized position and orientation.

  The autonomous moving device includes a plurality of laser beam irradiation devices for emitting laser beams and a robot, and the plurality of laser beam irradiation devices display intersections of laser beams at which the respective laser beams intersect. The robot is equipped with a camera that captures an intersection of laser light, and recognizes its position and orientation from the captured intersection. Therefore, since the robot moves toward the intersection based on the position and the orientation recognized from the intersection of the laser beams, the accuracy of recognition of the position and the orientation of the robot can be enhanced. That is, as described above, since the robot is separated from the laser beam irradiation apparatus and no mechanical error occurs between the robot and the laser beam irradiation apparatus, the accuracy of the position and the direction can be enhanced. In addition, since the robot can be moved near the wall, ceiling, or step to allow the robot to work near the wall, ceiling, or step, the robot can perform work efficiently.

  The robot may also include an arm that holds the camera movably. In this case, the robot can efficiently move the camera to any position by freely moving the arm. Therefore, the workability of the robot can be further enhanced.

  According to the present invention, the accuracy of position recognition can be enhanced, and the work can be performed efficiently.

FIG. 1 is a view schematically showing an autonomous mobile device according to the embodiment. FIG. 2 is a cross-sectional view showing an enlarged tip of an arm provided on a robot of the autonomous mobile device of FIG. FIG. 3 is a flowchart showing an autonomous movement method according to the embodiment. FIG. 4 is a view showing an example of coordinate axes of a construction site where work is performed by the autonomous movement method of FIG. 3. FIG. 5A shows an example in which the robot recognizes the position of the reference point. FIG. 5B is a diagram showing an example in which the center point of the camera of the robot is set to the reference point. FIG. 6A shows an example of adjusting the orientation of the camera with respect to the reference point. FIG. 6B is a diagram showing an example in which the orientation of the camera is rotated to be in line with the X axis and the Y axis.

  Hereinafter, embodiments of an autonomous mobile method and an autonomous mobile device according to the present invention will be described in detail with reference to the drawings. The same or corresponding elements in the drawings are denoted by the same reference numerals, and redundant description will be omitted as appropriate. In addition, the drawings are drawn in a simplified or exaggerated manner for ease of understanding, and dimensional ratios and the like are not limited to those described in the drawings.

  First, the autonomous mobile device 1 according to the embodiment will be described. As shown in FIG. 1, the autonomous mobile device 1 is used in the work of a construction site A. For example, by autonomously moving the robot 10, the autonomous mobile device 1 automatically performs marking which describes a point or a line serving as a construction reference on the floor, wall or ceiling of the construction site A. The autonomous mobile device 1 includes a robot 10 that is a self-propelled ink out robot that performs ink out, a plurality of laser light irradiation devices 20 that irradiate laser light L, and a coordinate specifying device 30.

  For example, the robot 10 extends from the main body 11, a plurality of wheels 12 provided below the main body 11 to move the main body 11 at the construction site A, a periphery detection camera 13 for photographing the construction site A, and the main body 11 And an arm 15 movable in a three-dimensional direction with respect to the main body 11. The arm 15 includes a camera 16 that recognizes the laser light L, and a drawing unit 17 that performs marking. The main body 11 includes, for example, an interface for wireless communication such as a wireless LAN or Bluetooth (registered trademark), and can transmit and receive data wirelessly with the coordinate specifying device 30.

  For example, the surrounding area detection camera 13 is an omnidirectional camera, and performs imaging in the direction of 360 degrees. The periphery detection camera 13 is a camera provided in advance for the camera 16 attached to the arm 15. For example, the periphery detection camera 13 shoots a portion which can not be photographed by the camera 16. Thus, by providing the periphery detection camera 13 with the robot 10, it is possible to continue shooting even if the camera 16 can not be used.

  The arm 15 is, for example, a robot arm, and a base 15a fixed to the main body 11, a first arm 15b rotatably supported in the horizontal direction with respect to the base 15a, and an upper and lower with respect to the first arm 15b And a second arm portion 15c swingably connected to the second arm portion 15c. The arm 15 rotates the first arm 15b with respect to the base 15a, and the second arm 15c swings up and down with respect to the first arm 15b to make the camera 16 and the drawing unit 17 three-dimensional. Move in the direction.

  FIG. 2 is an enlarged cross-sectional view of the tip of the second arm 15 c of the arm 15. As shown in FIG. 2, the camera 16 is attached to, for example, the side surface 15e of the second arm 15c so as to extend from the tip 15d of the second arm 15c in the extending direction of the second arm 15c. The camera 16 captures an intersection C of the laser light L located further ahead than the tip 15 d of the second arm 15 c. The drawing unit 17 is, for example, fitted in the recess 15f of the second arm 15c, and extends from the tip 15d in the extending direction of the second arm 15c. The depiction unit 17 marks the position of the intersection C in accordance with the movement of the arm 15 in the three-dimensional direction. For example, the depiction unit 17 may depict a character or a picture as well as a mark such as a cross for marking.

  As shown in FIG. 1, for example, two laser beam irradiation devices 20 are provided at the construction site A. Each of the two laser beam irradiation devices 20 irradiates the construction site A with the laser beam L to form an intersection point C where the plurality of laser beams L intersect with the construction site A. The laser beam irradiation device 20 displays an intersection point C for marking on the floor surface, wall surface or ceiling surface of the construction site A. As an example, the laser beam L may be red visible light, and the wavelength of the laser beam L may be 635 nm or more and 642 nm or less. The laser beam irradiation device 20 may be installed on, for example, a tripod.

  The coordinate specifying device 30 is a device for specifying the coordinates of the position at which the blackout is to be performed. The coordinate specification device 30 can communicate with each of the robot 10 and the laser beam irradiation device 20 by wireless communication, for example. When coordinates are designated by the coordinate designation device 30, the designated coordinates are output to the robot 10 and the laser beam irradiation device 20. The coordinate specification device 30 may be a controller that controls the robot 10 and the laser beam irradiation device 20. Moreover, the coordinate designation device 30 may be a terminal device such as a tablet or a portable terminal.

  The laser beam irradiation device 20 displays the intersection point C at the coordinates designated by the coordinate designation device 30, and the robot 10 moves to the designated coordinates (the position of the intersection point C) of the construction site A to perform marking. The robot 10 moves in the vicinity of the intersection point C and recognizes the position of the intersection point C by the camera 16 of the arm 15, and draws the line or point by applying the depiction portion 17 attached to the arm 15 to the intersection point C. The robot 10 may draw position coordinates or information required for construction at the intersection C.

  Next, a specific example of the autonomous movement method according to the embodiment will be described with reference to FIGS. 3 and 4. FIG. 3 is a flowchart showing an example of each step of the autonomous movement method. FIG. 4 is a diagram showing an example of the coordinates of the construction site A. As shown in FIG. In FIG. 4, the illustration of the robot 10, the camera 16 and the laser beam irradiation apparatus 20 is simplified. In the following, an example will be described in which the construction site A is inked using the autonomous mobile device 1. First, as an initial stage, the robot 10 and the laser beam irradiation apparatus 20 are installed at the construction site A (step S1). Further, for example, while making the reference points P1 and P2 known points, the robot 10 is disposed in the vicinity of the reference point P1 and the respective laser beam irradiation devices 20 are arranged at the points P3 and P4, respectively.

  Next, the coordinate specification device 30 transmits a target point (positional coordinate) (step S2). At this time, the coordinates of the target points P5, P6, P7, and P8 to be subjected to blackout are transmitted from the coordinate specifying device 30 to the robot 10 and the laser beam irradiation device 20. When receiving the coordinates of the target points P5, P6, P7 and P8, each laser beam irradiation device 20 rotates to determine the irradiation direction of the laser beam L, and displays the intersection point C at the position of the reference point P1 (step S3) , The process of displaying the intersection point).

  When the intersection point C is displayed at the reference point P1, the camera 16 captures the intersection point C displayed at the reference point P1 (step S4). The robot 10 recognizes the current position and orientation of the intersection point C with respect to the center point P9 of the robot 10 by the captured image of the camera 16 and sets its own position and orientation (step S5, recognizing its own position and orientation) ). Specifically, as shown in the captured image B of the camera 16 in FIGS. 5A and 5B, the robot 10 recognizes the position of the reference point P1 displayed in the captured image B, and captures an image. The center point P10 of the image B is aligned with the reference point P1.

  Then, as shown in FIGS. 6A and 6B, the tilt of the camera 16 is adjusted so that the direction of the camera 16 is the intersection angle θ1 of the two laser beams L, and the direction of the camera 16 is Rotates the camera 16 so that it matches both the X axis and the Y axis. Then, the camera 16 is moved such that the angle θ3 formed by the center line of the camera 16 with respect to the reference point P1 and the X axis is 90 °, and the position of the robot 10 and the directional angle θ2 are determined.

  Subsequently, the laser beam irradiation device 20 is rotated to display the intersection point C at the position of the target point P5 (step S6). Then, the robot 10 moves toward the intersection point C displayed at the target point P5, which is the position of blackout, based on its own position and direction (step S7, moving step). After moving toward the target point P5, the robot 10 recognizes the position of the intersection point C displayed at the target point P5 and the intersection angle θ1 by photographing with the camera 16, corrects its own position and direction, and the target point P5. To mark out (step S8).

  After blacking out to the target point P5, it is determined whether blacking out for all target points (positional coordinates) is completed (step S9). For example, when the target points are the target points P5, P6, P7, and P8 and blacking out is performed only on the target point P5, since blacking out on all target points is not completed, the process returns to step S6 and step S6. Execute S8 again. The robot 10 calculates an error of the position with respect to the target point P6 from the captured image of the intersection C by the camera 16, and calculates the direction and the next movement amount from the calculated error. Thus, the display of the intersection point C to the target points P6, P7, P8, the movement of the robot 10 to the intersection point C, and the marking out to the target points P6, P7, P8 are executed for each target point. Then, after the completion of marking for all target points, a series of steps are completed.

  Next, an autonomous moving method and an operation effect obtained from the autonomous moving device 1 according to the present embodiment will be described. The autonomous moving method and the autonomous moving device 1 according to the present embodiment irradiate the laser light L from each of the plurality of laser light irradiation devices 20, and the intersection C of the laser light L formed by crossing the plurality of laser light L Display The robot 10 includes a camera 16 that captures an intersection point C displayed by a plurality of laser beam irradiation devices 20, and recognizes its own position and orientation from the intersection point C captured by the camera 16. As described above, the robot 10 recognizes its own position and orientation from the intersection C of the laser light L, and moves based on the recognized position and orientation. The accuracy of position and orientation recognition can be enhanced.

  That is, since the robot 10 is separated from the laser beam irradiation apparatus 20 and no mechanical error occurs between the robot 10 and the laser beam irradiation apparatus 20, the accuracy of position and direction recognition can be enhanced. it can. In addition, the intersection C of the laser light L can be displayed not only on the ground but also on a wall, a ceiling and a step, and the robot 10 can be moved near the wall, ceiling or step to cause the robot 10 to work The work by the robot 10 can be performed efficiently.

  Further, as shown in FIG. 1, the robot 10 includes an arm 15 which holds the camera 16 movably. Accordingly, the robot 10 can efficiently move the camera 16 to any position by freely moving the arm 15. As a result, the workability of the robot 10 can be further enhanced.

  Further, in the autonomous movement method according to the present embodiment, by arranging the robot 10 and the plurality of laser beam irradiation devices 20 and operating the coordinate specifying device 30, it is possible to automatically perform an operation such as blacking out. Therefore, even an unskilled worker can easily proceed with the operation by the simple operation of the coordinate specifying device 30. And since work by unmanned operation can be performed by robot 10 and a plurality of laser beam irradiation devices 20, productivity of work such as blacking out can be improved. Furthermore, by automatically performing the work, the occurrence of human error can be prevented.

  In addition, in the autonomous moving method and the autonomous moving device 1 according to the present embodiment, since the operation such as marking out is performed using the robot 10 and the plurality of laser beam irradiation devices 20, no collimation members such as a total station and a prism are required. can do. Therefore, since the configuration can be simplified as compared with the case of using the total station, the prism, etc., the operation such as the ink-out can be easily performed with the simple configuration.

  Further, in the autonomous movement method according to the present embodiment, since there are few processes from the position measurement of the robot 10 to the adjustment of the target points P5, P6, P7 and P8, an error in measurement is hard to occur. Furthermore, since it is possible to draw a point or line or the like at the displayed intersection point C by the drawing unit 17 and perform work, it is possible to perform marking depending on only the irradiation accuracy of the laser light L. Therefore, it is possible to perform the marking easily and with high accuracy. In addition, even if the target points P5, P6, P7 and P8 for marking out are located on the step, wall or ceiling, the laser light L can be emitted, so the various places on the construction site A are automatically It is possible to mark out

  The embodiments of the autonomous moving method and the autonomous moving device according to the present invention have been described above, but the present invention is not limited to the above-described embodiments, and modifications may be made within the scope of the invention described in the claims. Or may be applied to other things. That is, the contents and the order of the steps of the autonomous moving method, and the configurations of the respective units of the autonomous moving device can be variously modified without departing from the scope of each claim.

  For example, in the above-mentioned embodiment, although robot 10 provided with the main body 11, the wheel 12, the periphery detection camera 13, and the arm 15 was demonstrated, the shape, size, and number of robots are possible suitably. For example, the type or number of the wheels 12 may be changed, the configuration of the arm 15 may be changed, or the periphery detection camera 13 may be omitted. Further, the shape, size, number, and type of the laser beam irradiation device and the coordinate specification device can be changed as appropriate.

  Moreover, although the above-mentioned embodiment demonstrated the autonomous movement apparatus 1 which performs marking automatically which draws the point or line used as the reference of construction in the construction site A on a floor, a wall, or a ceiling, it explained an autonomous movement apparatus and an autonomy. In the moving method, an operation other than inking may be performed. For example, instead of the drawing unit 17, a driver may be attached to the arm 15 and the robot 10 may be bolted. Alternatively, the welding gun may be attached to the arm 15 to cause the robot 10 to weld. As described above, the autonomous movement method and the autonomous movement device according to the present invention can be applied to various tasks.

1 ... autonomous movement device, 10 ... robot, 11 ... main body. 12 wheel 13 peripheral detection camera 15 arm 15a base 15b first arm portion 15c second arm portion 15d tip 15e side surface 16 camera 17 17 drawing portion 20 ... Laser light irradiation device, 30 ... Coordinate designation device, A ... Construction site, B ... Photographed image, C ... Intersection, L ... Laser light, P1, P2 ... Reference point, P3, P4 ... Point, P5, P6, P7, P8: Target point, P9, P10: Center point, θ1: Crossing angle, θ2: Direction angle, θ3: Angle.

Claims (3)

An autonomous movement method for autonomously moving a robot, comprising
Irradiating the laser light from each of the plurality of laser light irradiation devices to display the intersection of the laser light;
The robot's camera recognizes its position and orientation by photographing the intersection point;
Moving the robot toward the intersection point based on the recognized position and orientation;
Autonomous movement method comprising A plurality of laser beam irradiation devices,
A robot having a camera for photographing an intersection of laser beams emitted from each of the plurality of laser beam irradiation devices;
Equipped with
The robot recognizes its position and orientation from the intersection captured by the camera, and moves toward the intersection based on the recognized position and orientation.
Autonomous mobile device. The robot comprises an arm for movably holding the camera.
The autonomous mobile device according to claim 2.

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