JP2020113195A - Travel controller - Google Patents

Abstract

To provide a travel controller capable of easily setting an initial position of a mobile object.SOLUTION: A travel controller 4 comprises: a position estimation unit 6 for estimating a position of a mobile object; a drive control unit 18 for controlling the mobile object to travel based on the estimated position of the mobile object obtained by the position estimation unit 6; a storage unit 14 for storing information about the positions of a plurality of travel start locations for starting the travel of the mobile object, and a plurality of pieces of identification information that are respectively associated with the positions of the plurality of travel start locations and that specify a travel start location; a touch panel 7 for inputting specific information; and an initial position setting unit 15 for acquiring the position of the travel start location corresponding to the specific information input from the touch panel 7 from the storage unit 14 and setting the position of the travel start location as the initial position of the mobile object. The position estimation unit 6 estimates the position of the mobile object based on the initial position set by the initial position setting unit 15.SELECTED DRAWING: Figure 2

Description

The present invention relates to a travel control device.

As a conventional traveling control device, for example, a technique described in Patent Document 1 is known. The travel control device described in Patent Document 1 sets a laser distance sensor that emits a laser beam, detects a reflected light thereof to measure a distance to an object, and an address and a travel area of a travel area in which an automated guided vehicle travels. The current position of the automated guided vehicle is estimated by matching the measurement data from the laser distance sensor and the map data with the data memory that stores the correspondence information with the coordinates that are set, and the automated guided vehicle is determined based on the estimation result. And a processing unit for traveling according to the route data.

JP, 2011-253414, A

When performing the position estimation of the moving body as in the above-mentioned conventional technique, it is necessary to set the initial position of the moving body at the start of the position estimation. In this case, the user needs to obtain the position coordinates of the moving body from a CAD drawing, for example, in order to grasp the current position of the moving body. However, since such an operation is extremely complicated, there is a high possibility that the initial position of the moving body is set by mistake.

An object of the present invention is to provide a traveling control device that can easily set an initial position of a moving body.

A travel control device according to an aspect of the present invention includes a position estimation unit that estimates the position of a mobile unit, and a drive unit that drives the mobile unit based on the estimated position of the mobile unit obtained by the position estimation unit. Control unit that controls the unit, information regarding the positions of a plurality of travel start locations that start traveling of the moving body, and a plurality of pieces of identification information that are associated with the locations of the plurality of travel start locations and that identify the travel start location. And a storage unit that stores the specific information, an input unit that inputs the specific information, and the position of the travel start place corresponding to the specific information input by the input unit is acquired from the storage unit, and the position of the travel start place is set to the initial position of the moving body. The position estimation unit estimates the position of the moving body based on the initial position set by the setting unit.

In such a traveling control device, when the position estimation unit starts the position estimation of the moving body, the specific information is input by the input unit. Then, the position of the traveling start place corresponding to the input specific information is acquired from the storage unit, the position of the traveling start place is set as the initial position of the moving body, and the position of the moving body is estimated based on the initial position. To be done. For this reason, the user does not have to perform the work of obtaining the position coordinates of the moving body from the CAD drawing or the like and setting and inputting the position coordinates as the initial position. Thereby, the initial position of the moving body can be easily set.

The traveling control device determines whether or not the specific information input by the input unit is correct based on the initial position set by the setting unit and the estimated position of the moving body obtained by the position estimating unit, and the specific information is A determination unit that outputs an abnormality issue signal when it is determined to be incorrect may be further provided. In such a configuration, when the specific information input by the input unit is incorrect, an abnormality issuance signal is output, so that the estimated moving position of the moving body obtained by the position estimating unit is incorrect. It is possible to prevent running.

The determination unit determines whether the absolute value of the difference between the initial position and the estimated position is less than or equal to a specified value, and when it is determined that the absolute value of the difference between the initial position and the estimated position is greater than the specified value, It may be determined that the specific information is incorrect. With such a configuration, it is possible to determine whether or not the specific information input by the input unit is correct by a simple calculation process.

The input unit may be an input device with which the user manually inputs the specific information. With such a configuration, since it is not necessary to provide the specific information on the floor surface of the travel start place, the initial position of the moving body can be set at low cost.

According to the present invention, it is possible to easily set the initial position of the moving body.

FIG. 1 is a schematic configuration diagram showing a travel control system including a travel control device according to an embodiment of the present invention. It is a block diagram which shows the structure of the traveling control apparatus shown by FIG. 3 is a flowchart showing details of a calculation processing procedure executed by the SLAM controller shown in FIG. 2. It is a conceptual diagram which shows an example of the traveling start place which starts the automatic traveling of a mobile body. 6 is a table showing an example of a file including information regarding the position of a travel start location and specific information. 3 is a flowchart showing details of a setting processing procedure executed by an initial position setting unit shown in FIG. 2. 3 is a flowchart showing details of a determination processing procedure executed by an initial position determination unit shown in FIG. 2. 3 is a flowchart showing details of a control processing procedure executed by the drive control unit shown in FIG. 2. It is a conceptual diagram which shows a mode that the initial position of a mobile body is set.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram showing a travel control system including a travel control device according to an embodiment of the present invention. In FIG. 1, the traveling control system 1 is a system that causes a moving body 2 such as a forklift to travel unmanned from a start point 3A to a destination point 3B. The traveling control system 1 includes a traveling control device 4 for automatically traveling the moving body 2 along the virtual guide line 3 from the start point 3A to the destination point 3B, and traveling instruction data for the moving body 2 to travel. And associated magnetic mark 5.

The virtual guide line 3 is a travel route virtually set on the data. Although the virtual guide line 3 is a straight line route in FIG. 1, it may be a curved route. The position of the virtual guide line 3 including the start point 3A and the destination point 3B is represented by two-dimensional coordinates (X, Y). Here, the two-dimensional coordinates of the start point 3A are (0,0). The two-dimensional coordinates of the destination point 3B are (100,0).

The magnetic mark 5 is installed on the floor. The magnetic mark 5 is embedded at a position corresponding to the side of the virtual guide line 3 on the floor surface.

FIG. 2 is a block diagram showing the configuration of the traveling control device 4. In FIG. 2, the traveling control device 4 of the present embodiment is mounted on the moving body 2. The travel control device 4 includes a position estimation unit 6, a touch panel 7, a magnetic mark sensor 8, and an automatic travel control unit 9.

The position estimation unit 6 is a position estimation unit that estimates the position of the moving body 2. The position estimation unit 6 estimates the position of the moving body 2 based on the initial position (described later) set by the automatic travel control unit 9. The position estimation unit 6 estimates the self-position of the moving body 2 by using, for example, a SLAM (simultaneous localization and mapping) method. SLAM is a self-position estimation technique that estimates self-position using sensor data and map data. SLAM uses a laser range scanner or the like to simultaneously perform self-position estimation and environmental map creation.

The position estimation unit 6 has a laser sensor 10 and a SLAM controller 11. The laser sensor 10 detects a distance to an object around the moving body 2 by irradiating the laser around the moving body 2 and receiving reflected light of the laser. A laser range finder, for example, is used as the laser sensor 10.

The SLAM controller 11 is composed of a CPU, a RAM, a ROM, an input/output interface and the like. The SLAM controller 11 performs an estimation calculation of the position of the moving body 2 based on the detection value of the laser sensor 10. The position of the moving body 2 is represented by two-dimensional coordinates (X, Y) and the direction θ.

FIG. 3 is a flowchart showing details of the arithmetic processing procedure executed by the SLAM controller 11. This process is executed when the power of the mobile unit 2 is turned on.

Here, when the power source of the moving body 2 is turned off, the position of the moving body 2 at that time is stored in the backup RAM (not shown) of the automatic traveling control unit 9. After that, when the power supply of the mobile unit 2 is turned on, the position stored in the backup RAM is sent to the SLAM controller 11 as the initial position of the mobile unit 2, and the SLAM controller 11 performs the estimation calculation of the position of the mobile unit 2. However, for example, the value of the backup RAM may be incorrect after the vehicle 2 travels by manual operation in a place where the position cannot be estimated (a place where there is no map data). In this case, the user needs to set the initial position of the moving body 2. The process shown in FIG. 3 is a process executed in a situation in which the user needs to set the initial position of the moving body 2.

In FIG. 3, the SLAM controller 11 first determines whether or not the initial position data is input from the automatic cruise control unit 9 (step S101). When the SLAM controller 11 determines that the initial position data has been input, the SLAM controller 11 acquires the detection value of the laser sensor 10 (step S102).

Then, the SLAM controller 11 performs an estimation calculation of the position of the moving body 2 (step S103). Specifically, the SLAM controller 11 matches the distance to the object around the moving body 2 detected by the laser sensor 10 with the map of the surrounding environment of the moving body 2 to estimate the position of the moving body 2. I do. As a result, the estimated position of the moving body 2 is obtained. Then, the SLAM controller 11 outputs the estimated position of the moving body 2 to the automatic travel control unit 9 (step S104), and executes step S102 again.

Returning to FIG. 2, the touch panel 7 is an input device for a user to perform an input operation. The touch panel 7 is attached to a location on the moving body 2 that is easily operated by the user. The touch panel 7 constitutes an input unit through which a user manually inputs specific information (described later).

The magnetic mark sensor 8 is a sensor that detects the magnetic mark 5. The magnetic mark sensor 8 is attached to the lower part of the moving body 2.

The automatic traveling control unit 9 performs a predetermined process based on the estimated position of the moving body 2 obtained by the position estimating unit 6 to automatically move the moving body 2 from the start point 3A to the destination point 3B. The traveling motor 12 and the steering motor 13 are controlled.

The traveling motor 12 is a motor that rotates traveling wheels (not shown). The steering motor 13 is a motor that steers steered wheels (not shown). The traveling motor 12 and the steering motor 13 form a drive unit of the moving body 2.

The automatic traveling control unit 9 is composed of a CPU, a RAM, a ROM, an input/output interface and the like. The automatic travel control unit 9 includes a storage unit 14, an initial position setting unit 15 (setting unit), an initial position determination unit 16 (determination unit), a deviation amount calculation unit 17, and a drive control unit 18. There is.

The storage unit 14 stores information about traveling of the mobile body 2, such as the positions of the virtual guide lines 3 and the magnetic marks 5, traveling instruction data, and the like. The positions of the virtual guide line 3 and the magnetic mark 5 are stored as two-dimensional coordinates. The traveling instruction data is associated with each magnetic mark 5 as described above. Examples of the travel instruction data include an acceleration instruction, a stop instruction, a right turn instruction, a left turn instruction, and the like.

In addition, the storage unit 14 is associated with the information on the positions of the plurality of travel start locations P that start the automatic travel of the moving body 2 and the positions of the plurality of travel start locations P, and identifies the travel start location P. A plurality of pieces of specific information are stored.

The traveling start place P is predetermined so as to overlap the virtual guide line 3, as shown in FIG. The traveling start place P is drawn in a rectangular shape on the floor surface by, for example, paint. Here, the traveling start place P1 is the first (No. 1) traveling start place P, and the traveling start place P2 is the second (No. 2) traveling start place P.

The information on the position of the traveling start place P and the specific information are stored in the storage unit 14 as a file F, as shown in FIG. The position of the traveling start place P is represented by two-dimensional coordinates (X, Y) and the direction θ. The position of the traveling start place P is a position with the traveling start place P1 as an origin (reference). The specific information is a number associated with the position of the travel start location P. As the information on the position of the traveling start place P, not only the two-dimensional coordinates (X, Y) and the direction θ of the traveling start place P, but also other necessary information may be registered.

The initial position setting unit 15 acquires the position of the traveling start place P corresponding to the number that is the specific information input from the touch panel 7 from the storage unit 14, and sets the position of the traveling start place P as the initial position of the moving body 2. Set.

FIG. 6 is a flowchart showing details of the setting processing procedure executed by the initial position setting unit 15. Similar to the SLAM controller 11, this process is also executed when the power of the mobile unit 2 is turned on.

In FIG. 6, the initial position setting unit 15 first determines whether or not the number of the traveling start place P is input through the touch panel 7 (step S111). When determining that the number of the travel start place P has been input, the initial position setting unit 15 acquires the position of the travel start place P corresponding to the input number from the storage unit 14 (step S112). Then, the initial position setting unit 15 sets the acquired position of the travel start place P as the initial position of the moving body 2 (step S113). Then, the initial position setting unit 15 outputs the initial position data to the SLAM controller 11 (step S114).

The initial position determination unit 16 receives the specific information input by the touch panel 7 based on the initial position of the moving body 2 set by the initial position setting unit 15 and the estimated position of the moving body 2 obtained by the position estimating unit 6. Is determined to be correct, and if it is determined that the number is not correct, an abnormality issue signal is output to the warning indicator 19.

As the warning indicator 19, for example, a display lamp that lights up or blinks when an abnormality issue signal is input is used. The warning indicator 19 may emit a warning sound at the same time as the warning is displayed when the abnormality issuing signal is input.

FIG. 7 is a flowchart showing details of the determination processing procedure executed by the initial position determination unit 16. Similar to the SLAM controller 11, this process is also executed when the power of the mobile unit 2 is turned on.

In FIG. 7, the initial position determination unit 16 first acquires the initial position of the moving body 2 set by the initial position setting unit 15 and the estimated position of the moving body 2 obtained by the position estimation unit 6 (step S121). ). Then, the initial position determination unit 16 determines whether the absolute value of the difference between the initial position and the estimated position is less than or equal to the specified value (step S122).

At this time, the initial position determination unit 16 determines that both the absolute value of the difference between the coordinates of the initial position and the coordinates of the estimated position and the absolute value of the difference between the orientation of the initial position and the orientation of the estimated position are equal to or less than the specified values. It may be determined whether there is any, or whether only the absolute value of the difference between the coordinates of the initial position and the coordinates of the estimated position is less than or equal to the specified value.

When the initial position determination unit 16 determines that the absolute value of the difference between the initial position and the estimated position is less than or equal to the specified value, the initial position determination unit 16 determines that the number input on the touch panel 7 is correct, and ends this processing.

When the initial position determination unit 16 determines that the absolute value of the difference between the initial position and the estimated position is not less than or equal to the specified value, that is, the absolute value of the difference between the initial position and the estimated position is greater than the specified value, the touch panel 7 It is determined that the entered number is incorrect, and the abnormality issue signal is output to the warning indicator 19 (step S123). As a result, the warning display 19 displays a warning, and the user can recognize that the entered number is incorrect.

Further, the initial position determination unit 16 outputs a control signal (stop control signal) for stopping the moving body 2 to the travel motor 12 (step S124). As a result, the moving body 2 remains stopped without starting traveling.

The shift amount calculating unit 17 calculates the virtual guide line 3 and the moving body 2 based on the position of the virtual guide line 3 stored in the storage unit 14 and the estimated position of the moving body 2 obtained by the position estimating unit 6. The shift amount is calculated. At this time, the shift amount calculation unit 17 calculates the shift amount between the coordinates of the virtual guide line 3 and the coordinates of the moving body 2 and the shift amount between the direction of the virtual guide line 3 and the moving body 2.

The drive control unit 18 moves the moving body 2 along the virtual guide line 3 based on the amount of shift between the virtual guide line 3 and the moving body 2 calculated by the shift amount calculating unit 17, and the traveling motor 12 and The steering motor 13 is controlled. When the magnetic mark 5 is detected by the magnetic mark sensor 8, the drive control unit 18 causes the traveling motor 12 and the steering motor 13 to drive the moving body 2 according to the traveling instruction data associated with the magnetic mark 5. To control.

The displacement amount calculation unit 17 and the drive control unit 18 cause the traveling motor 12 to travel the moving body 2 along the virtual guide line 3 based on the estimated position of the moving body 2 obtained by the position estimation unit 6. And a control unit that controls the steering motor 13.

FIG. 8 is a flowchart showing details of the control processing procedure executed by the drive control unit 18. This processing is also executed when the power of the mobile unit 2 is turned on, similarly to the calculation processing by the SLAM controller 11.

In FIG. 8, the drive control unit 18 first determines whether or not the magnetic mark 5 is detected by the magnetic mark sensor 8 (step S131). When the drive control unit 18 determines that the magnetic mark 5 is detected, the drive control unit 18 acquires the travel instruction data corresponding to the number of the magnetic mark 5 from the storage unit 14 (step S132).

At this time, when the magnetic mark sensor 8 detects the first (first) magnetic mark 5 from the start point 3A, the travel instruction data associated with the first magnetic mark 5 is acquired. When the magnetic mark sensor 8 detects the second (second) magnetic mark 5 from the start point 3A, the travel instruction data associated with the second magnetic mark 5 is acquired.

Then, the drive control unit 18 outputs a control signal according to the acquired travel instruction data to the travel motor 12 and the steering motor 13 (step S133). For example, when the acquired travel instruction data is an acceleration instruction, the drive control unit 18 outputs to the travel motor 12 a control signal for increasing the rotation speed of the travel motor 12. As a result, the speed of the moving body 2 is increased.

After executing step S133 or when determining that the magnetic mark 5 is not detected in step S131, the drive control unit 18 determines that the virtual guide line 3 and the moving body 2 calculated by the deviation amount calculating unit 17 The deviation amount of is acquired (step S134). Then, the drive control unit 18 outputs a control signal to the travel motor 12 and the steering motor 13 such that the amount of deviation between the virtual guide line 3 and the moving body 2 becomes 0 (step S135). As a result, the coordinates and direction of the moving body 2 come closer to the virtual guide line 3.

Subsequently, the drive control unit 18 determines whether or not the moving body 2 has reached the destination point 3B (step S136). When the drive control unit 18 determines that the moving body 2 has not reached the destination point 3B, the drive control unit 18 executes step S131 again. When the drive control unit 18 determines that the moving body 2 has reached the destination point 3B, the drive control unit 18 ends this processing.

In the traveling control system 1 configured as described above, when the moving body 2 is not on the virtual guide line 3, for example, first, as shown in FIG. Is moved to a designated traveling start place P (here, the first traveling start place P1).

Then, as shown in FIG. 9B, the user A manually inputs the number (here, number 1) of the traveling start place P1 on the touch panel 7. Then, in the automatic traveling control unit 9, the position of the traveling start place P1 corresponding to the input number is set as the initial position of the moving body 2, and the initial position data is sent to the position estimation unit 6.

When the position estimation unit 6 receives the initial position data from the automatic travel control unit 9, the position estimation of the mobile body 2 is started, and the estimated position of the mobile body 2 is sent to the automatic travel control unit 9. Then, the automatic traveling control unit 9 compares the initial position of the moving body 2 with the estimated position of the moving body 2, and when the result of the comparison determines that the initial position of the moving body 2 is incorrect, a warning indicator is displayed. A warning display by 19 is performed. In this case, the user A will input the number of the traveling start place P again on the touch panel 7.

When it is determined that the initial position of the moving body 2 is correct, the position estimation unit 6 continues to estimate the position of the moving body 2 so that the moving body 2 moves from the start point 3A (initial position) to the destination point 3B. The vehicle is controlled so as to travel along the virtual guide line 3.

As described above, in the present embodiment, when the position estimation unit 6 starts the position estimation of the moving body 2, the touch panel 7 inputs the number which is the specific information. Then, the traveling start place P corresponding to the input number is acquired from the storage unit 14, the position of the traveling start place P is set as the initial position of the moving body 2, and the position of the moving body 2 is set based on the initial position. Is estimated. Therefore, the user does not need to obtain the position coordinates of the moving body 2 from the CAD drawing or the like and set and input the position coordinates as the initial position. Thereby, the initial position of the moving body 2 can be easily set.

Further, in the present embodiment, it is determined whether or not the number input by the touch panel 7 is correct based on the initial position of the moving body 2 and the estimated position of the moving body 2, and when it is determined that the number is not correct, , The abnormality issue signal is output. In this way, when the number input by the touch panel 7 is incorrect, an abnormal issue signal is output, so that the moving body 2 travels with the estimated position of the moving body 2 obtained by the position estimation unit 6 being incorrect. Can be prevented.

Further, in the present embodiment, when it is determined that the absolute value of the difference between the initial position of the moving body 2 and the estimated position of the moving body 2 is larger than the specified value, it is determined that the number is incorrect. Therefore, it is possible to determine whether the number input on the touch panel 7 is correct by a simple calculation process.

Further, in the present embodiment, since the user does not have to provide the number on the floor surface of the traveling start place P by manually inputting the number on the touch panel 7, the initial position of the moving body 2 can be set at low cost. You can

The present invention is not limited to the above embodiment. For example, in the above-described embodiment, the number is used as the specific information associated with the position of the traveling start place P, but the specific information is not limited to the number and may be an alphabet (A, B...) Or the like. Good.

Further, in the above-described embodiment, the user manually inputs the specific information using the touch panel 7, but the present invention is not limited to this mode. For example, an RFID in which the specific information is registered is embedded in the floor of the travel start place P. An RFID reader for reading the RFID may be attached to the lower part of the moving body 2. In this case, when the moving body 2 moves to the traveling start place P, the RFID is read by the RFID reader, so that the specific information registered in the RFID is input.

Further, in the above-described embodiment, the automatic traveling control unit 9 is provided with the storage unit 14 that stores the information regarding the position of the traveling start place P and the specific information, the initial position setting unit 15, and the initial position determination unit 16. Such a function may be provided in the position estimation unit 6 instead of the automatic travel control unit 9.

Further, in the above-described embodiment, the position estimation unit 6 estimates the position of the moving body 2 by using the SLAM method using a laser as the self-position estimation technique. The present invention is not limited to this, and a SLAM method using a captured image of a camera or a GNSS (global navigation satellite system) positioning method using a satellite may be used.

Further, in the above embodiment, the moving body 2 is made to travel along the virtual guide line 3 virtually set on the data, but the present invention is not particularly limited to that form and, for example, a physical surface on the floor is used. The present invention can also be applied to a system in which the moving body 2 travels along a magnetic guide line that is installed so that it can be detected.

Further, the traveling control device of the above-described embodiment is a device that causes a forklift to travel as the moving body 2, but the present invention is applicable to any moving body that estimates a position and travels, such as a carriage. is there.

2... Moving body, 4... Travel control device, 6... Position estimation unit (position estimation unit), 7... Touch panel (input unit), 12... Traveling motor (driving unit), 13... Steering motor (driving unit), 14... Storage unit, 15... Initial position setting unit, 16... Initial position determination unit, 17... Deviation amount calculation unit (control unit), 18... Drive control unit (control unit), P... Travel starting place.

Claims (4)

A position estimation unit that estimates the position of the moving body,
A control unit that controls a drive unit of the moving body so as to drive the moving body based on the estimated position of the moving body obtained by the position estimating unit;
Storage for storing information regarding positions of a plurality of traveling start places for starting traveling of the moving body and a plurality of pieces of specific information associated with the positions of the plurality of traveling start places for specifying the traveling start places Department,
An input unit for inputting the specific information,
A setting unit that acquires the position of the traveling start place corresponding to the specific information input by the input unit from the storage unit and sets the position of the traveling start place as the initial position of the moving body;
The position estimation unit estimates the position of the moving body based on the initial position set by the setting unit. Based on the initial position set by the setting unit and the estimated position of the moving body obtained by the position estimation unit, it is determined whether or not the specific information input by the input unit is correct, and the identification is performed. The traveling control device according to claim 1, further comprising a determination unit that outputs an abnormality issuance signal when it is determined that the information is not correct. The determination unit determines whether the absolute value of the difference between the initial position and the estimated position is less than or equal to a specified value, and the absolute value of the difference between the initial position and the estimated position is greater than the specified value. The traveling control device according to claim 2, wherein when it is determined that the specific information is incorrect. The travel control device according to claim 1, wherein the input unit is an input device through which a user manually inputs the specific information.

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