JP2019192099A - Autonomous moving apparatus - Google Patents

Abstract

To improve accuracy of a stop position at a target position without causing a floor to have a special shape.SOLUTION: A travel module 2 comprises: a travel unit 10; a target position setting unit 52a that sets a target position; a marker detecting unit 53 that identifies a marker provided at the target position and detects a position of the marker; a front position setting unit 52b that sets a front position, which is a position near to a target position to such a degree that the marker can be identified by the marker detection unit 53 when the target position is set and a position where a space for movement of the travel module 2 is present and an obstacle of travel by the travel unit 10 is not preset in a passage to the target position; and a movement control unit 57. The movement control unit 57 controls operation of the travel unit 10 such that the travel unit moves up to a front position when the target position is set. The movement control unit controls the operation of the travel unit 10 such that when reaching the front position, the travel unit moves to the target position from the front position on the basis of the position of the marker detected by the marker detection unit 53.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an autonomous mobile device that autonomously moves from a current position to a target position.

  Conventionally, as an autonomous mobile device that travels autonomously, an automatic guided vehicle, that is, an automatic guided vehicle, an automatic guided cart, that is, an automatic guided cart, and the like are known (for example, refer to Patent Documents 1 and 2). In the following, the automatic transport cart is referred to as AGC. In recent years, not only a tracked AGC traveling on a magnetic tape provided on a floor surface or the like, but also a trackless AGC that recognizes an obstacle by laser detection and autonomously avoids it.

Japanese Patent Laid-Open No. 5-108156 JP 2013-2322078 A

  When the trackless AGC as described above is used for, for example, a purpose of transporting a parts box in a factory, the following problem may occur. That is, in this case, since it is necessary to perform not only conveyance but also automatic loading / discharging for automatically loading the component box into the shelf or discharging the component box from the shelf, the accuracy of the stop position at the target position is, for example, ± 20 mm High accuracy such as a degree is required.

  In the conventional trackless AGC, the accuracy of the stop position is, for example, about ± 100 mm due to limitations of laser radar, that is, LIDAR (Light Detection and Ranging) resolution, motor accuracy, etc. It was difficult to ensure high accuracy. Therefore, conventionally, the floor near the target position has a special shape, and the accuracy of the stop position is improved by recognizing the shape. In addition, as a method of giving a floor a special shape, for example, a magnetic tape is provided on the floor, or a plate having unevenness is attached to the floor.

  In a factory, the parts management location where the parts box is placed is not always fixed at the same position, and the place of placement may be moved. When the position of the component box is changed in this way, it is necessary to move the magnetic tape, the plate, and the like provided on the floor in order to increase the stopping accuracy at the target position, which is troublesome.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an autonomous mobile device capable of improving the accuracy of the stop position at the target position without giving the floor a special shape. It is in.

  The autonomous mobile device according to claim 1 is configured to autonomously move from a current position to a target position, and sets a traveling unit (10) capable of traveling along a path including the current position and the target position, and a target position. A target position setting unit (52a), a marker detection unit (53) for identifying a marker provided at the target position and detecting the position of the marker, a front position setting unit (52b), and controlling the operation of the traveling unit A movement control unit (57).

  When the target position is set by the target position setting unit, the near position setting unit is close to the target position so that the marker can be identified by the marker detection unit, and there is a space in which the autonomous mobile device can move. At the same time, a near position is set in a path from the position to the target position where there is no obstacle that obstructs traveling by the traveling unit.

  When the target position is set by the target position setting unit, the movement control unit controls the operation of the traveling unit so as to move to the front position. When the movement control unit reaches the near position, the movement control unit controls the operation of the traveling unit so as to move from the near position to the target position where the marker is provided based on the position of the marker detected by the marker detection unit. .

  When moving to the target position, the autonomous mobile device configured as described above does not move from the beginning toward the target position, but first moves toward the near position. Here, since the near position is not the final target position, the accuracy of the stop position at the near position may be relatively low. Therefore, the autonomous mobile device having the above configuration can move from the current position to the near position at a relatively high speed. After reaching the near position, the autonomous mobile device moves toward the target position with relatively high accuracy by recognizing the marker.

  By doing in this way, the autonomous mobile apparatus of the said structure can reach | attain a target position quickly and correctly compared with the past. In addition, in this case, it is not necessary to provide a magnetic tape, a plate, or the like on the floor in order to increase the stopping accuracy at the target position. Therefore, according to the said structure, the outstanding effect that the precision of the stop position in a target position can be improved, without giving a floor a special shape is acquired.

The figure which shows typically the structure of AGC which concerns on 1st Embodiment. The perspective view which shows typically the external appearance structure of the traveling module which concerns on 1st Embodiment. The block diagram which shows typically the structure of the traveling module which concerns on 1st Embodiment. The figure for demonstrating arrangement | positioning and sensing range of two LIDAR which concern on 1st Embodiment The figure which shows typically the structure of the components shelf provided with the marker which concerns on 1st Embodiment. The figure which shows typically the control flow when the target position which concerns on 1st Embodiment is set. The figure for demonstrating the specific operation example 1 of AGC which concerns on 1st Embodiment. The figure for demonstrating the specific operation example 2 of AGC which concerns on 1st Embodiment. The figure which shows the example of another arrangement of two LIDAR typically The figure for demonstrating the specific operation example of AGC which concerns on 2nd Embodiment. The figure which shows typically the structure of the traveling module which concerns on 3rd Embodiment.

Hereinafter, a plurality of embodiments will be described with reference to the drawings. In each embodiment, substantially the same components are denoted by the same reference numerals and description thereof is omitted.
(First embodiment)
Hereinafter, a first embodiment will be described with reference to FIGS.

  An AGC 1 of the present embodiment shown in FIG. 1 is used in a facility such as a factory, for example, and includes a travel module 2 corresponding to an autonomous mobile device and a work module 3. The traveling module 2 autonomously moves from the current position to the target position by using a technique of SLAM (Simultaneous Localization and Mapping) that simultaneously performs self-position estimation and environmental map creation. In the AGC 1, the travel module 2 is a module responsible for conveyance, movement, etc., and can function alone.

  SLAM is suitable for an environment where an object having a fixed position is arranged. In this case, the factory where the AGC 1 is used is provided with walls, columns, fixed facilities, etc., whose positions are fixed. Therefore, the factory where the AGC 1 is used is an environment suitable for SLAM, and the traveling module 2 can perform self-position estimation and environmental map creation with high accuracy.

  In the AGC 1, the work module 3 is a module responsible for transferring, changing the package appearance, and the like, and there are various types such as a lifting type, a robot type, a conveyor type, a towing type, and a cart type. The work module 3 is configured to be easily detachable from the travel module 2. Therefore, the user can use the AGC 1 for various purposes by appropriately selecting the type of the work module 3 combined with the travel module 2.

  As shown in FIGS. 2 and 3, the travel module 2 includes a travel unit 10, an environment recognition unit 20, a display unit 30, an operation unit 40, and a control unit 50. The traveling unit 10 has a configuration in which the plurality of types of work modules 3 described above, that is, a plurality of types of loads can be selectively mounted.

  The traveling unit 10 includes four wheels 11 and a drive source (not shown) for driving the wheels 11 and can travel on a passage in a factory that is a facility where the AGC 1 is used. The passage includes the current position and the target position of the travel module 2. The wheel 11 is a mecanum wheel and includes four or more cylinders 12. The cylinder 12 has a barrel shape and is provided on the circumference of the wheel 11. The cylinder 12 is provided so that its axis is inclined 45 degrees with respect to the axis of the wheel 11. Furthermore, the cylinder 12 is freely rotatable with respect to the wheel 11.

  The driving source is, for example, a motor, and the driving force of the motor is transmitted to each wheel 11. Thereby, each wheel 11 can rotate, respectively. By the combination of the rotation directions of the wheels 11, the traveling unit 10 can travel freely in all directions, that is, 360 degrees. The motor is provided with an encoder or the like, and thereby the rotational speed e of the wheel 11 is detected.

  The environment recognition unit 20 includes LIDARs 21 and 22 and ultrasonic sonar. The LIDARs 21 and 22 are two-dimensional LIDARs and perform horizontal sensing. The range in which LIDAR 21 and 22 can be sensed is 270 degrees. In this case, the LIDARs 21 and 22 are arranged at two opposite corners among the four corners of the traveling unit 10. That is, the LIDARs 21 and 22 are provided on the diagonal of the traveling unit 10.

  According to the above configuration, as shown in FIG. 4, the environment recognition unit 20 can detect other objects such as AGC, obstacles such as pillars and walls over a range of 360 degrees. In FIG. 4, a detection range A21 in which an object can be detected by the LIDAR 21 is indicated by a one-dot chain line, and a detection range A22 in which an object can be detected by the LIDAR 22 is indicated by a two-dot chain line.

  The environment recognition unit 20 includes a gyro sensor, an acceleration sensor, an encoder, a torque sensor, a temperature sensor, an atmospheric pressure sensor, a gas sensor, and the like. Thereby, the environment recognition part 20 can recognize the surrounding condition of the driving | running | working module 2 as environmental information Ie. The display unit 30 and the operation unit 40 are integrally configured as an operation display terminal having a touch panel, for example. The display unit 30 and the operation unit 40 may be separate.

  The display unit 30 can display the state of the travel module 2, the state of the work module 3 that is a load, and the like. Specifically, the display unit 30 can display an operation state of the traveling unit 10, an image representing an environment recognized by the environment recognition unit 20, a type of the work module 3, an abnormality related to the AGC 1, a warning, and the like. The operation unit 40 can be operated by the user, and the control content of the control unit 50 can be changed according to the operation.

  The control unit 50 is configured mainly with a microcomputer having, for example, a CPU, a ROM, a RAM, and the like. The control unit 50 includes a map management unit 51, a moving object purpose setting unit 52, a marker detection unit 53, a route planning unit 54, a state management unit 55, a self-position estimation unit 56, a movement control unit 57, an approach region setting unit 58, and a detection. An area setting unit 59 is provided. These units are realized by the CPU of the control unit 50 executing a program stored in a ROM or the like, that is, realized by software. Note that these units may be realized by hardware.

  The map management unit 51 can set a map M indicating a range in which the travel module 2 can move, that is, a map M in a range in which the travel unit 10 moves. In the map M, passages, facilities, people, other AGC, and the like are set in detail, and various information thereof is updated as needed. The mobile object purpose setting unit 52 can set a target position Gm on the map M. The target position Gm can be set arbitrarily and is set according to the purpose. The target position Gm can be set based on a command given from an external management device that manages the operations of the plurality of AGCs 1. Further, the target position Gm can be set so that AGC1 continuously moves along a preset route.

  The approach area setting unit 58 can set the accessible area Aa on the map M. The accessible area Aa is an area in a range from an obstacle, which is an object that can prevent the traveling unit 10 from moving on the map M and is obstructed by the traveling unit 10, to a predetermined distance. The approach area setting unit 58 sets the accessible area Aa as follows. That is, a predetermined distance from an obstacle present on the map M is set as an approach distance La. The approach distance La is set based on the size of the obstacle, the size of the traveling unit 10, and the like. In the map M, the approach area setting unit 58 sets a range from the obstacle to the approach distance La as the approachable area Aa where the traveling unit 10 is movable.

  The moving object purpose setting unit 52 includes a target position setting unit 52a and a front position setting unit 52b for setting the above-described target position Gm. The near position setting unit 52b sets the near position Nm when the target position Gm is set by the target position setting unit 52a. The near position Nm is a position close to the target position Gm, and there is a space in which the travel module 2 can be moved, and there is no obstacle that obstructs travel in the path from the position to the target position Gm. is there. More specifically, the near position Nm is a position within the marker detection area Ad described later and outside the accessible area Aa, and is a position where there is no obstacle in the path from the position to the target position Gm. .

  The marker detection unit 53 identifies a marker provided at the target position Gm and detects the position of the marker. The marker detection unit 53 outputs the marker position Mp, which is the detected marker position, to the movement control unit 57. The marker detection unit 53 is configured to detect a marker by sensing with the LIDARs 21 and 22 of the environment recognition unit 20. Therefore, the marker is configured to have a feature that can be identified by the LIDARs 21 and 22. For example, when the AGC 1 is used for a purpose of transporting a component box, the target position Gm is set to a component shelf provided in the component management location. Therefore, the marker is provided on such a component shelf.

  Specifically, as shown in FIG. 5, the marker 60 is attached at a position below the parts shelf 70 and at a height that can be sensed by the LIDARs 21 and 22 provided in the travel module 2. . The marker 60 is formed of a rectangular plate whose horizontal dimension is larger than the vertical dimension. Moreover, the color of the surface of the marker 60 is white with high reflectance of the laser beam. In this case, the parts shelf 70 has wheels 71 and is configured to be movable.

  The detection area setting unit 59 can set an area in the map M that can be detected by the marker detection unit 53 with respect to the marker as the marker detection area Ad and set it on the map M. The marker detection area Ad may be set automatically according to the type of marker, or may be arbitrarily set by the user for each marker.

  The route planning unit 54 can set a route Rm for the traveling unit 10 to move from the current position to the near position Nm based on the current position and the near position Nm of the travel module 2 on the map M. In the present embodiment, the route planning unit 54 sets the route Rm using, for example, an A * search algorithm.

  The state management unit 55 can detect the angular velocity ω and acceleration a of the traveling unit 10, the rotational speed e of the wheels 11, and the like via the environment recognition unit 20. The state management unit 55 outputs the detected angular velocity ω, acceleration a, rotation speed e, and the like to the self-position estimation unit 56 and the movement control unit 57. The self-position estimation unit 56 estimates the position and orientation (posture) of the travel module 2 on the map M based on the environment information Ie, the map M, the route Rm, the angular velocity ω, the acceleration a, and the rotation speed e. The self-position estimating unit 56 outputs the estimated position Ep that is the estimated position and the estimated direction Ed that is the estimated direction to the movement control unit 57.

  The movement control unit 57 controls the operation of the traveling unit 10, and controls the movement of the traveling module 2 by controlling the wheels 11 and a motor that is a drive source. The movement control unit 57 is a traveling unit based on the environment information Ie, the map M, the target position Gm, the near position Nm, the route Rm, the estimated position Ep, the estimated direction Ed, the marker position Mp, the angular velocity ω, the acceleration a, and the rotation speed e. 10 operations are controlled. Thereby, the traveling module 2 can move autonomously.

  Specifically, when the target position Gm is set by the target position setting unit 52a, the movement control unit 57 controls the operation of the traveling unit 10 so as to move to the near position Nm. When the movement control unit 57 reaches the near position Nm, the movement control unit 57 controls the operation of the traveling unit 10 to move from the near position Nm to the target position Gm based on the marker position detected by the marker detection unit 53. To do. Further, when the position of a plurality of markers is detected by the marker detection unit 53 at the near position Nm, the movement control unit 57 moves to the target position Gm where the marker closest to the near position Nm is provided. The operation of the traveling unit 10 is controlled.

Next, the operation of the above configuration will be described.
[1] Control flow when the target position is set When the target position Gm is set, the control unit 50 of the travel module 2 performs control of contents as shown in FIG. First, in step S100, movement to the target position Gm is started.

  In step S200, the direction of the travel module 2 is changed to face the traveling direction, that is, the travel module 2 is rotated. In step S300, based on the route Rm set using the A * search algorithm, the operation of the traveling unit 10 is controlled so as to move from the current position to the front position Nm.

  In step S400, marker detection by the marker detection unit 53 is performed. In step S500, the operation of the traveling unit 10 is controlled so that the traveling module 2 moves from the near position Nm to the target position Gm. At this time, in the marker coordinate system obtained from the detected marker position, the desired position of the travel module 2 is controlled while the orientation of the travel module 2 is controlled to be the target orientation, that is, the target orientation. The operation of the traveling unit 10 is controlled so as to move finely to (target position Gm).

  Thereafter, when the AGC 1 finishes executing the predetermined work at the target position Gm, the process proceeds to step S600. In step S600, the operation of the traveling unit 10 is controlled so that the traveling module 2 returns from the target position Gm to the near position Nm. After execution of step S600, the control flow ends. Thereafter, when the next target position Gm is set, the control of the content shown in FIG. 6 is executed again.

[2] Specific operation example 1 of AGC1
Hereinafter, with reference to FIG. 7, an operation example 1 representing a specific operation of the AGC 1 when moving to a position where the component box 101 provided in the component management location 100 can be automatically ejected from the component shelf 101 will be described. To do. In FIG. 7, the accessible area Aa and the marker detection area Ad are both indicated by a dashed line. In this case, the component management location 100 is provided with only one component shelf 101, and the component shelf 101 is provided with a marker M1. In addition, there are fixed facilities 200 and 300 such as assembly facilities and processing facilities in addition to the parts management location 100 in the vicinity of the AGC 1. The current position Pp of AGC 1 is a position near the fixed facility 200.

  In this case, when the position at which the component box can be automatically ejected from the component shelf 101 is set as the target position Gm1, the position in front of the component management location 100 is set as the near position Nm1. Normally, a relatively large space is secured at a position just in front of the parts management location, such as the near position Nm1, because the parts box is loaded and unloaded.

  Therefore, the near position Nm1 is a position where there is a space in which AGC1 can move and there is no obstacle in the path from the position to the target position Gm1. Further, the near position Nm1 is a position where the marker M1 provided on the parts shelf 101 can be identified by the marker detection unit 53. That is, the near position Nm1 is located within the marker detection area Ad and outside the accessible area Aa.

  When the near position Nm1 is set, the AGC 1 once moves to the near position Nm1. When the AGC 1 reaches the near position Nm1, the AGC 1 identifies the marker M1 and detects the position of the marker M1. Thereafter, AGC1 moves from the near position Nm1 to the target position Gm1 so as to be guided by the marker M1 based on the detected position of the marker M1. In this way, the AGC 1 can move with high accuracy from the current position Pp to the target position Gm1 where the component box can be automatically ejected and ejected from the component shelf 101.

[3] Specific operation example 2 of AGC1
Hereinafter, with reference to FIG. 8, an operation example 2 representing a specific operation of the AGC 1 when moving to a position where the component box 102 can be automatically ejected from the component shelf 102 provided in the component management location 100 will be described. To do. In this case, the component management location 100 is provided with three component shelves 101 to 103, and the component shelves 101 to 103 are provided with markers M1 to M3, respectively.

  In this case, when the position at which the component box can be automatically ejected and ejected from the component shelf 102 is set as the target position Gm2, the position in front of the component management location 100 is set as the near position Nm2. Similar to the near position Nm1 described in the operation example 1, the near position Nm2 is a position where there is a space in which the AGC 1 can move and no obstacle exists in the path from the position to the target position Gm2. This is a position where the marker M2 provided in 102 can be identified.

  When the near position Nm2 is set, the AGC 1 once moves to the near position Nm2. When the AGC 1 reaches the near position Nm2, the AGC 1 identifies the marker M2 and detects the position of the marker M2. In this case, however, the AGC 1 detects not only the position of the marker M 2 but also the positions of the markers M 1 and M 3 provided on the component shelves 101 and 103 when reaching the near position Nm 2.

  In this way, when the positions of the plurality of markers M1 to M3 are detected at the near position Nm2, the AGC1 is the marker closest to the near position Nm1 among the detected markers M1 to M3, that is, the marker M2 is the marker M2. It moves to the target position Gm2 corresponding to the provided component shelf 102. In this way, the AGC 1 can move with high accuracy from the current position Pp to the target position Gm2 where the component box can be automatically ejected and ejected from the component shelf 102.

According to this embodiment described above, the following effects can be obtained.
In the travel module 2 configured as described above, the front position setting unit 52b is close to the target position to the extent that the marker can be identified by the marker detection unit 53 when the target position is set by the target position setting unit 52a. A position where there is a space in which the travel module 2 can be moved and there is no obstacle obstructing travel by the travel unit 10 in the path from the position to the target position, that is, within the marker detection area Ad and an accessible area A near side position outside Aa is set.

  Further, when the target position is set by the target position setting unit 52a, the movement control unit 57 controls the operation of the traveling unit 10 so as to move to the near position. When the travel module 2 reaches the near position, the movement control unit 57 travels from the near position to the target position where the marker is provided based on the marker position detected by the marker detection unit 53. The operation of the unit 10 is controlled.

  With such a configuration, when the travel module 2 and thus the AGC 1 of the present embodiment moves to the target position, it does not move from the beginning toward the target position, but first moves toward the front position. Become. Here, since the near position is not the final target position, the accuracy of the stop position at the near position may be relatively low. Therefore, the AGC 1 can move from the current position to the near position at a relatively high speed. And AGC1 will move toward a target position with comparatively high precision by recognizing a marker, after reaching a near position.

  By doing in this way, AGC1 of this embodiment can reach | attain a target position quickly and correctly compared with the conventional AGC. In addition, in this case, it is not necessary to provide a magnetic tape, a plate, or the like on the floor in order to increase the stopping accuracy at the target position. Therefore, according to this embodiment, the outstanding effect that the precision of the stop position in a target position can be improved, without giving a floor a special shape is acquired.

  In the above configuration, the traveling unit 10 of the traveling module 2 is configured to be able to selectively mount a plurality of types of work modules 3. According to such a configuration, the user can use the AGC 1 for various purposes by appropriately selecting the type of the work module 3 combined with the travel module 2.

  Further, when the position of a plurality of markers is detected by the marker detection unit 53 at the front position, the movement control unit 57 moves to the target position where the marker closest to the front position is provided. It is designed to control the operation. In this way, even when a plurality of target positions (for example, parts shelves for loading and unloading the parts box) are adjacent to each other, as shown in FIG. If set as the near position, the AGC 1 can be reliably moved to a desired target position among the plurality of target positions.

  The target position setting unit 52a can set the target position based on a command given from an external management device. In this way, for example, in a system in which the operations of a plurality of AGCs including AGC 1 used in a factory are collectively managed by the management device (management PC), it is possible to realize the allocation of each AGC by the management device. . Further, the target position setting unit 52a can set the target position so as to continuously move on a preset route. In this way, the AGC 1 is optimal for applications that continuously travel on a fixed route.

  As shown in FIG. 5, the parts shelf 70 provided at the parts management location has wheels 71 and is configured to be movable. This is to make it possible to easily cope with a layout change of each facility in the factory. The parts shelf 70 having such a movable structure is difficult to accurately stop at a predetermined position, and the position may vary from the predetermined position.

  Therefore, when the position where the component box can be automatically loaded and ejected with respect to the component shelf 70 having the above configuration is set as the target position for the movement of the AGC 1, even if the AGC 1 can be moved to the target position with high accuracy, the part shelf for the reason described above. If the 70 itself moves so as to deviate from the predetermined position, there is a possibility that the AGC 1 cannot be accurately stopped at a position where the parts box can be automatically ejected and ejected.

  However, according to the present embodiment, the AGC 1 recognizes the marker 60 provided on the component shelf 70 and performs positioning so as to move toward the marker 60, so that the component shelf 70 itself deviates from a predetermined position. Even when the AGC 1 moves to the position, the AGC 1 can be accurately stopped at a position where the component box can be automatically ejected and ejected. That is, according to the present embodiment, it is possible to improve the stopping accuracy at the target position, particularly in the application of conveying the component box.

  In the above configuration, as shown in FIG. 4, the LIDARs 21 and 22 for detecting the markers are provided on the diagonal of the traveling unit 10. According to such a configuration, the AGC 1 can detect an object including a marker over a range of 360 degrees. Moreover, according to such a structure, the following effects are also acquired.

  That is, as shown in FIG. 9, even with a configuration in which LIDARs 21 and 22 are provided at the centers of two opposing sides of the four sides of the traveling unit 10, the AGC 1 can detect an object over a range of 360 degrees. However, with such a configuration, it is not possible to place a load (upper) in the hatched range in FIG. Therefore, in such a configuration, there is a restriction on the shape of the work module 3 mounted on the traveling unit 10.

  On the other hand, in the configuration of the present embodiment, the load can be arranged in the entire range of the traveling unit 10. Therefore, according to the present embodiment, the AGC 1 can detect an object including a marker over a range of 360 degrees without any restriction on the shape of the work module 3 mounted on the traveling unit 10.

(Second Embodiment)
Hereinafter, a second embodiment will be described with reference to FIG.
In the second embodiment, the content of control by the control unit 50 is different from the first embodiment. The configuration is the same as that of the first embodiment.

  In this embodiment, when setting the near position, the near position setting unit 52b also sets a marker relative position that represents the relative position of the marker provided at the target position based on the near position. Then, when the position of the plurality of markers is detected by the marker detection unit 53 at the front position, the movement control unit 57 moves the detected position to a target position corresponding to the marker closest to the marker relative position. The operation of the traveling unit 10 is controlled.

  Hereinafter, with reference to FIG. 10, a specific operation of the AGC 1 when moving to a position where the component box can be automatically ejected from the component shelves 101 to 103 provided in the component management location 100 will be described. In this case, a wall protrudes at a position just in front of the component shelves 101 and 102, and the near positions Nm1 and Nm2 as in the first embodiment cannot be set.

  Therefore, in this case, when the position where the component box can be automatically loaded and ejected with respect to the component shelf 101 is set as the target position Gm1, the position where the component box can be automatically loaded and ejected with respect to the component shelf 102 is set as the target position Gm2. If the target position Gm3 is set as the target position Gm3, the position in front of the parts shelf 103 is set as the near position Nm3. .

  However, in this case, when the target position Gm1 is set, the relative position of the marker M1 with respect to the near position Nm3 is set as the marker relative position Pr1, and when the target position Gm2 is set, the near position Nm3 is set. When the relative position of the marker M2 as a reference is set as the marker relative position Pr2, and the target position Gm3 is set, the relative position of the marker M3 with the near position Nm3 as a reference is set as the marker relative position Pr3.

  Here, when the position where the component box can be automatically ejected and ejected from the component shelf 101 is set as the target position Gm1, the AGC 1 temporarily moves to the near position Nm3. When the AGC 1 reaches the near position Nm3, the AGC 1 identifies the markers M1 to M3 and detects the positions of the markers M1 to M3. In this case, the AGC 1 is a target position corresponding to the marker closest to the marker relative position Pr 1 at which the detected position is set among the plurality of detected markers M 1 to M 3, that is, the component shelf 101 provided with the marker M 1. Move to Gm1.

  In addition, when the position where the component box can be automatically ejected and ejected with respect to the component shelf 102 is set as the target position Gm2, the AGC 1 temporarily moves to the near position Nm3. When the AGC 1 reaches the near position Nm3, the AGC 1 identifies the markers M1 to M3 and detects the positions of the markers M1 to M3. In this case, the AGC 1 is the target position corresponding to the marker shelf 102 provided with the marker M2, which is the marker closest to the marker relative position Pr2 where the detected position is set among the plurality of detected markers M1 to M3. Move to Gm2.

  Also, when the position where the component box can be automatically ejected and ejected with respect to the component shelf 103 is set as the target position Gm3, the AGC 1 temporarily moves to the near position Nm3. When the AGC 1 reaches the near position Nm3, the AGC 1 identifies the markers M1 to M3 and detects the positions of the markers M1 to M3. In this case, the AGC 1 is a target position corresponding to the marker closest to the marker relative position Pr 3 where the detected position is set, that is, the component shelf 103 provided with the marker M 3 among the detected markers M 1 to M 3. Move to Gm2.

  According to the present embodiment described above, an optimal near position corresponding to at least one target position is set in a case where a plurality of target positions (for example, parts shelves into and out of the parts box) are adjacent to each other. Even in a situation where it is impossible, the AGC 1 can be reliably moved to a desired target position among the plurality of target positions.

(Third embodiment)
The third embodiment will be described below with reference to FIG.
As shown in FIG. 11, the traveling module 32 of the present embodiment includes a reading unit 80 in addition to the configuration included in the traveling module 2. The reading unit 80 is for reading target position information representing a target position provided on a transported object that is an object transported by the AGC 1. The target position information can be provided by, for example, a two-dimensional code (for example, a bar code) attached to a parts box that is a conveyed product. When the target position information is based on a two-dimensional code, the reading unit 80 is configured by a two-dimensional code reader or the like.

  In this case, the target position setting unit 52a can set the target position based on the target position information read by the reading unit 80. In this way, when the AGC 1 receives the parts box at the predetermined target position, the next target position is set by reading the two-dimensional code attached to the parts box, and the set next target is set. Moving to a position, that is, route (route) selection by ID or the like can be performed.

(Other embodiments)
In addition, this invention is not limited to each embodiment described above and described in drawing, In the range which does not deviate from the summary, it can change, combine or expand arbitrarily.
The numerical values and the like shown in the above embodiments are examples and are not limited thereto.

The wheel 11 of the traveling unit 10 is not limited to a mecanum wheel, and may be an omni wheel.
The arrangement of the LIDARs 21 and 22 for detecting the markers is not limited to those shown in the above embodiments, and can be changed as appropriate. The shape of the marker, the color of the surface, etc. are not limited to those shown in the above embodiments, and can be changed as appropriate.

The marker detection unit 53 is not limited to detecting a marker by sensing using LIDARs 21 and 22, and may be configured to detect a marker using a two-dimensional camera, a three-dimensional camera, a radar, a switch, a sonar, a bumper, or the like. In this case, the marker may be configured to have a distinguishable feature corresponding to each sensor used in the marker detection unit 53.
In each of the above embodiments, an example in which the present invention is applied to AGC used in a factory or the like has been described. However, the present invention can be applied to all autonomous mobile devices that autonomously move from a current position to a target position. .

  Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments and structures. The present disclosure includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, as well as other combinations and forms including only one element, more or less, are within the scope and spirit of the present disclosure.

  DESCRIPTION OF SYMBOLS 2, 32 ... Traveling module, 10 ... Traveling part, 51 ... Map management part, 52a ... Target position setting part, 52b ... Front position setting part, 53 ... Marker detection part, 57 ... Movement control part, 58 ... Approaching area setting part 59 ... detection area setting unit, 80 ... reading unit.

Claims (7)

An autonomous mobile device that autonomously moves from a current position to a target position,
A traveling unit (10) capable of traveling in a passage including the current position and the target position;
A map management unit (51) capable of setting a map indicating a range in which the autonomous mobile device can move;
An approach area setting section (58) capable of setting an accessible area that is a range from an obstacle that is an object that obstructs travel by the travel section on the map and that is an object that obstructs travel by the travel section; ,
A target position setting unit (52a) for setting the target position in the map;
A marker detector (53) for identifying a marker provided at the target position and detecting the position of the marker;
A detection region setting unit (59) capable of setting a marker detection region that is a region that can be detected by the marker detection unit with respect to the marker in the map;
When the target position is set by the target position setting unit, the obstacle is not present in a path that is within the marker detection area and outside the accessible area and from the position to the target position. A near position setting unit (52b) for setting the near position as a position;
A movement control unit (57) for controlling the operation of the traveling unit;
With
The movement control unit
When the target position is set by the target position setting unit, the operation of the traveling unit is controlled to move to the near position,
When the front position is reached, the operation of the traveling unit is controlled to move from the front position to the target position where the marker is provided based on the position of the marker detected by the marker detection unit. Autonomous mobile device.   The autonomous mobile device according to claim 1, wherein the traveling unit is configured to be capable of selectively mounting a plurality of types of loads.   When the position of the plurality of markers is detected by the marker detection unit at the front position, the movement control unit moves to the target position where the marker closest to the front position is provided. The autonomous mobile device according to claim 1 or 2, which controls the operation of the traveling unit. When the near position setting unit sets the near position, it also sets a marker relative position that represents a relative position of the marker provided at the target position with respect to the near position,
The movement control unit moves to the target position corresponding to the marker closest to the marker relative position when the positions of the plurality of markers are detected by the marker detection unit at the front position. The autonomous mobile device according to claim 1, wherein the operation of the traveling unit is controlled to do so.   The autonomous mobile device according to any one of claims 1 to 4, wherein the target position setting unit sets the target position based on a command given from an external management device.   The autonomous mobile device according to any one of claims 1 to 4, wherein the target position setting unit sets the target position so as to continuously move on a preset route. Furthermore, a reading unit (80) for reading target position information representing the target position provided on a transported object that is an object transported by the autonomous mobile device,
The autonomous mobile device according to any one of claims 1 to 4, wherein the target position setting unit sets the target position based on the target position information read by the reading unit.

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