JP2023011114A - Travelling body system, travelling body control device and travelling body - Google Patents

Abstract

To simplify a system setting work so as to be able to easily cope with a change in a travelling route.SOLUTION: A travelling body system includes a travelling body 1 performing various travelling operations by a drive unit on a travelling route R, and has a travelling body control device T which is loaded on the travelling body 1 and which controls the drive unit. Respective marker bodies M are placed in a plurality of certain locations (P1 to P6) on the travelling route R and in the vicinity thereof. Each marker body M has a sequence marker Ma displayed so as to correspond to a sequence of placement from a start point Ps of the travelling route R to an end point Pg thereof, and displays a travelling operation marker Mb corresponding to a certain travelling operation that should be performed by the travelling body 1 at each placed certain location (P1 to P6). The sequence marker Ma is composed of a marker which can be visually recognized by a person and which can be read as a sequence. The travelling operation marker Mb is composed of a marker which can be visually recognized by a person and which can be read as the certain travelling operation.SELECTED DRAWING: Figure 2

Description

Applied for application of Article 30, Paragraph 2 of the Patent Law Copy of the cover page, table of contents, and page 4 of "Latest Results 2020 by the Iwate Prefectural Industrial Technology Center" published on July 31, 2020

The present invention relates to an unmanned vehicle such as an automatic guided vehicle used in various factories such as manufacturing and assembly, farms, warehouses, offices, etc., and a vehicle system and a vehicle for running this vehicle along a travel route. It relates to a control device and a running body.

Conventionally, as this type of traveling body system, for example, the technology disclosed in Japanese Patent Laying-Open No. 2015-121928 (Patent Document 1) is known. This system includes a traveling object control device mounted on a traveling object that is caused to travel along a traveling route, and this traveling object control device recognizes images of markers provided at a destination in accordance with a preset traveling route. The moving body is guided and controlled by switching between marker follow-up movement control in which the marker moves by the marker and teaching route follow-up movement control in which the marker moves along the taught route. The teaching route is taught by manipulating the traveling body or moving it directly by hand. Thus, when moving the traveling object, first, the traveling object is moved along the taught route by the taught route follow-up movement control. The traveling object estimates its own position by means of an odometry function or the like, compares it with a previously taught teaching route, and moves the traveling object following the taught route. When the camera searches for and recognizes the marker of the destination, the control is switched to the marker follow-up movement control, and the traveling object is moved with the marker as the target.

JP 2015-121928 A

By the way, in this conventional traveling object system, since the traveling object is moved along the taught route, it is necessary to re-teach the taught route each time the route is changed. There is a problem that the work is complicated due to the high cost, and the cost is increased accordingly.

For this reason, in this conventional control system, since the moving object is also moved with the marker as a target by the camera, it is relatively easy to set the marker. It is conceivable to make the traveling body travel, but if the route becomes complicated and the number of types of markers increases, it becomes difficult to understand the order in which the markers are installed. Simply switching to markers does not solve the problem.

SUMMARY OF THE INVENTION The present invention has been made in view of such problems, and it is an object of the present invention to provide a traveling body system that simplifies the setting work of the system so that it can easily cope with changes in traveling routes. aim. Another object of the present invention is to provide a traveling body control device and a traveling body that can realize this system.

In order to achieve such an object, the traveling body system of the present invention includes a traveling body that performs various traveling operations by a driving section on a traveling route, and a traveling body control device that controls the driving section is mounted on the traveling body. A running body system that
Markers are installed in or near a plurality of specific locations on the travel route, and each marker is placed in an order corresponding to the order in which the markers are installed from the start point to the end point of the travel route. In addition to displaying the marker, a running motion marker corresponding to the specific running motion to be performed by the running body at the specific location where the marker is installed is displayed, and the order marker is a marker that can be visually recognized by a person and interpreted as the order. configured, the running motion marker is composed of a marker that can be visually recognized by a person and interpreted as a specific running motion,
The above running body control device is
imaging means for imaging the labeled body;
Recognizing the order marker displayed on the marker imaged by the imaging means, determining whether or not the recognized order marker is the correct order marker to be specified, and identifying the order marker determined to be correct. means and
a running motion marker recognition and specifying means for recognizing and specifying a running motion marker of a sign on which the order marker imaged by the imaging means and specified by the order marker recognition and specifying means is displayed;
The running body is made to perform a general running motion when the running body runs in the general section, and the order marker recognition and specifying means specifies the order marker, and the running motion marker recognition and specifying means corresponds to the order marker. drive control means for controlling the drive unit to cause the traveling body to perform a specific running motion corresponding to the running motion marker each time the running motion marker is specified.

Here, the running motion is selected from, for example, forward, backward, turn right, turn left, reverse, pause, stop, and the like. The general traveling motion in which the traveling object travels in the general portion is generally straight forward or backward. The specific place where the sign is installed may be a corner, a place with an intersection, or a place where the work is temporarily stopped, and is determined as appropriate. The start and end points of the travel route may not be designated as specific locations where markers are provided, but may be designated as specific locations. The specific traveling motion to be performed by the traveling body at the specific location is selected from, for example, forward movement, backward movement, right turn, left turn, reversal, temporary stop, stop, and the like.

The specific portion of the travel route refers to an area having a predetermined area in which the traveling object travels.
The general part of the travel route refers to the route between specific locations where markers are installed when markers are installed at the start and end points, and when the markers are not installed at the start and end points, the starting point and the first It refers to the route between the specific points where the sign is located, the route between the specific points where the sign is installed, and the route between the specific point where the last sign is installed and the end point. When no marker is installed at the starting point, it refers to the route between the starting point and the specific location where the first marker is located, or the route between the specific locations where the marker is installed. When no marker is installed at the end point, it refers to the route between the specific locations where the marker is installed and the route between the specific location where the last marker is installed and the end point. If no marker is installed at the starting point, the running body is started by means other than the marker of the present invention. If no marker is installed at the end point, the running body is stopped by means other than the marker of the present invention.

Here, when the start point and/or the end point of the travel route is set as a specific location and the corresponding sign is installed, the travel operation can be performed by the sign even at the start point and/or the end point, thereby facilitating the operation. be able to. For example, in the case of a system that circulates the travel route in a loop, setting can be made such as setting markers at the start and end points, resetting when the end point is detected, and starting travel from the start point.

Markers that are visually readable by humans are characters such as hiragana, katakana, kanji, numbers, etc. that can be read aloud, or arrow symbols that indicate directions that can be deciphered very easily. Say the sign. Specially defined bar codes, matrix-type two-dimensional codes such as QR codes (registered trademark), figures, etc. are not included. The order markers are set corresponding to an arithmetic progression with a tolerance of 1 for 1, 2, 3, . For example, in the case of characters, the markers that can be visually recognized and read as an order are: "A, I, U, E...", "A, I, U, E..." Japanese syllabary such as ``, wa, ni ...'', ``I, ro, ha, ni ...'', ...", "one, two, three, four ..." kanji and Chinese numerals, "A, B, C, D ...", "a, b, c, d ..." alphabets , ``I, II, III, IV, V, VI . Arabic numerals such as "." can be mentioned. Examples of markers that can be visually recognized by a person and interpreted as running motions include kanji characters such as "forward, backward, turn right, turn left, reverse, pause, stop", and "Forward, Rear, Right, Left, Turn, Pause, Stop". ”, and symbols indicating directions such as “↑, ↓, →, ←”.

In this configuration, when setting up the system, a plurality of markers are installed in or near specific locations on the corresponding travel route. In this case, for example, from the start point to the end point of the travel route, the markers are installed in ascending order. The marking body to be installed can be immediately taken out of the body, so that the installation work can be easily performed.

Then, when the traveling object is caused to travel along the traveling route, when the traveling object is started at the starting point of the traveling route, the drive control means causes the driving part to cause the traveling object to perform a general traveling operation, and the traveling object moves to the specified position of the marked object. It runs and moves from place to place. In this running process, the imaging means images the markers on the running route, and the turn marker recognition and specifying means recognizes the turn markers displayed on the markings imaged by the imaging means, thereby recognizing the running motion markers. The identifying means recognizes the running motion marker displayed on the marker imaged by the imaging means. First, the order marker recognition and specification means determines whether or not the recognized order marker is the correct order marker to be specified, and specifies the order marker determined to be correct. Next, the running motion marker recognizing and specifying means recognizes and specifies the running motion marker of the sign on which the turn marker specified by the turn marker recognizing and specifying means is displayed. When the turn marker recognizing and specifying means recognizes and specifies the turn marker and the running motion marker recognizing and specifying means recognizes and specifies the running motion marker, the drive control means responds to the specified running motion marker at the specified location. The driving unit causes the traveling body to perform the specified traveling operation at a predetermined timing. After completion of the specific running motion by the running body, the driving control means causes the running body to perform the general running motion by means of the drive section, and the running body heads for the specific location where the next marker is located. That is, the present apparatus causes the running body to perform the general running motion when the running body travels in the general section, and performs the corresponding specific running motion each time the order marker of the marker and the corresponding running motion marker are specified. Let the running body do it.

In this case, a person may use the traveling route together with the traveling object. It is possible to immediately know what kind of running action the body will make in the presence of the sign, and therefore, it is possible to prevent unexpected situations such as a collision with the running body, and to ensure safety. can.

By the way, the traveling route of the traveling body may be changed. In that case, if necessary, create a new sign and prepare it, or use a sign that has been created once, and put multiple signs on the corresponding driving route in the same way as when the above system was set up. They are installed in or near specific locations. In this case as well, for example, from the start point to the end point of the travel route, the markers are installed in ascending order. The marker to be changed can be immediately taken out of the markers and the route can be changed, so that the change work can be easily performed. That is, compared to the conventional method of determining a route using a map on a computer, the work can be done intuitively because the route can be set at the site while observing the arrangement of equipment, obstacles, and the like. Therefore, it becomes possible to easily cope with a change in the travel route, and it is possible to simplify the setting work of the system.

Then, if necessary, the turn marker recognition and specifying means and the running motion marker recognition and specifying means use a learned model learned in advance by machine learning means based on the captured images related to a plurality of markers, and the image captured by the imaging means is used. It is configured to recognize the corresponding marker from the captured image of the marker. The learned model is stored in the storage means, and the turn marker recognition and specifying means and the running action marker recognition and specifying means recognize the marker by searching for a marker with a feature similar to the feature of the learned model. As a result, so-called AI recognition is performed, so recognition accuracy is improved. For example, even if the imaging distance and imaging angle of the imaging means are various, the recognition accuracy of the marker is improved, and the turn marker and the running motion marker can be recognized accurately.

In this case, the machine learning means includes a deep neural network (DNN), a support vector machine (SVM), a decision tree, a random forest, k-means clustering, a self-organizing map, a genetic algorithm, a Bayesian network, It can be configured with one or a combination of a plurality of methods selected from deep learning methods and the like.

Further, if necessary, the order marker recognition and specification means includes order marker recognition means for recognizing the order marker from the picked-up image of the marker, and the detection frame size of the order marker recognized by the order marker recognition means. frame size determination means for determining whether the frame size determination means determines whether or not the frame size determination means is equal to or greater than the threshold; recognition frequency determination means for determining whether or not the recognition frequency of the order marker determined by the frame size determination means to be equal to or greater than the threshold is equal to or greater than the threshold; and the recognition frequency determination means. means for judging whether or not the order corresponding to the order marker determined to be equal to or greater than the threshold value; and an order marker identification means for canceling the identification of
The running motion marker recognition and specifying means has a running motion marker recognizing means for recognizing a running motion marker from a captured image of the marker, and a detection frame size of the running motion marker recognized by the running motion marker recognizing means as a threshold. frame size determining means for determining whether or not the frame size determining means determines whether or not the recognition frequency of the running motion marker determined by the frame size determining means to be equal to or greater than the threshold is equal to or greater than the threshold, and the recognition frequency determining means. a running motion marker specifying means for specifying the recognized running motion marker when it is determined that is equal to or greater than the threshold,
updating the specific running motion to be performed at the corresponding specific location in relation to the running motion marker specified by the running motion marker specifying means in relation to the order marker specified by the order marker specifying means each time the order marker specifying means specifies the running motion marker; Equipped with a specific running motion storage means for storing,
The drive control means is configured to control the drive section so as to cause the traveling body to perform the running motion to be performed stored in the specific running motion storage means at a predetermined timing.

As a result, in the order marker recognition and specifying means and the running motion marker recognition and specifying means, the marker is specified when the size of the detection frame increases to some extent and the recognition frequency of the marker increases. As a result, it is possible to accurately recognize the turn marker and the running motion marker. That is, the marker is recognized for each frame of the moving image. The closer the moving object is to the marker, the larger the marker screen becomes and the higher the recognition accuracy. Therefore, by counting the number of consecutive recognitions and the recognition frequency, it is possible to accurately determine the marker. Further, in the order marker recognition and specifying means, the order correctness determination means determines whether or not the order corresponding to the order markers determined to be equal to or greater than the threshold value by the recognition frequency determination means is correct or not. In such a case, it is possible to identify the order marker determined to be correct, so that it is possible to reliably deal with the situation.

That is, in general, the markers are often separated from each other, in which case the number of turn markers identified by the turn marker recognition and identification means is one and there is no problem. However, if the image pickup means picks up images of a plurality of markers, a plurality of recognition order markers may occur, and it may be difficult to know which one to select. However, in this configuration, the order marker recognition and specifying means specifies the order marker determined to be correct, so that erroneous recognition can be prevented, and marker recognition can be performed more accurately. In particular, it is effective when simultaneously imaging a marker near the traveling object and a marker ahead of it. In addition, when the traveling object travels twice on a route that it has traveled once, and the first and second traveling motions are different, for example, when the specific point is an intersection, the first time is a crossroad, the first time is a left turn, and the second time is a right turn. , there are two markers with different numbers at the same spot, and the imaging means images both, but the turn marker recognition and identification means and the running motion marker recognition and determination means identify the turn and its specific running motion in order of priority. Therefore, erroneous recognition can be prevented.

In this case, the drive control means maintains the running state of the running body when the turn marker identification means of the turn marker recognition and identification means cancels the identification of the turn marker, and the next turn by the turn marker identification means. It is effective to control the driving section so that the running body stops running after a predetermined time has elapsed or when the running body has traveled a predetermined distance without specifying a marker. Thus, when the turn marker identification means cancels the identification of the turn marker, the traveling state of the running body is maintained, and the identification of the next turn marker by the turn marker identification means is awaited. However, the running body is stopped after a predetermined time has elapsed or when the running body has traveled a predetermined distance. Therefore, unnecessary running is eliminated, and safety is ensured.

Further, if necessary, when there are a plurality of specific running motions to be performed in order by the running body at the specific location, a plurality of running motion markers corresponding to each of the specific running motions are attached to the marker to specify the running body to perform. Display in a predetermined display format based on the order of running operation,
The running motion marker recognizing and specifying means recognizes and specifies the plurality of running motion markers in association with a specific running motion order according to the display format,
The specific running motion storage means stores the specific running motions corresponding to the plurality of running motion markers specified by the running motion marker recognition and specifying means in association with the specific running motion order according to the display format,
The drive control means controls the driving section so that the traveling body sequentially performs the plurality of specific running motions stored in the specific running motion storage means in accordance with the specific running motion order according to the display format.

As a result, when there are a plurality of specific traveling motions to be performed by the traveling body in order at a specific location, for example, when the specific traveling motion to pause and then the specific traveling motion to make a U-turn are performed in order, the traveling motion marker recognition and specifying means , the driving control means recognizes and specifies the plurality of traveling motion markers, and the drive control means causes the traveling body to sequentially perform the specific traveling motion of pausing and the specific traveling motion of the subsequent U-turn by the driving section. Therefore, it is possible to cope with a plurality of specific traveling motions at specific locations.

Furthermore, if necessary, it comprises an existing order marker storage means for storing an order marker related to the end each time a specific running action at a specific place is completed,
The order correctness determination means sets the order to 1 when the order marker is to be recognized for the first time, and sets the order to the last order marker stored in the already-appearing order marker storage means for the order marker to be recognized for the second time or later. and the order corresponding to the order markers determined by the recognition frequency determination means to be equal to or greater than the threshold match the order calculated by the order calculation means. and an order marker recognizing means for recognizing the order marker as an order marker to be specified when the matching result of the order matching means matches,
The order marker identification means has a function of identifying or canceling the order marker based on the authorization of the order marker authorization means.

As a result, in the order marker recognition and specification means, the order correct/incorrect determining means determines the order of the order markers in the order of the numerical sequence with a tolerance of 1 for 1, 2, 3, . . . Since it is checked by collation, it is possible to reliably determine whether or not the order corresponding to the order marker is correct. In particular, it is possible to reliably cope with the case of imaging a plurality of markers.

In this case, if necessary, the order right/wrong determination means recognizes the order markers that the recognition frequency determination means has determined to be equal to or greater than the threshold value for the first time as the order markers to be specified, second order marker recognition means for recognizing the order marker as the order marker to be specified when the order corresponding to the order marker determined to be equal to or greater than the threshold is greater than the order of the last order marker stored in the already-appearing order marker storage means; with
The order marker identification means has a function of identifying or canceling the order marker based on the authorization of the second order marker authorization means,
Mode setting means capable of switching between two modes, a basic mode and a correction mode, and when the mode setting means is set to the basic mode, the order calculating means, the order collating means, and the order of the order correct/incorrect judging means. mode switching means for enabling the function of the marker certifying means and enabling the function of the second order marker certifying means when the mode setting means sets the correction mode.

As a result, it is possible to specify the order marker by the order marker recognition and specification means by switching to one of the two modes of the basic mode and the correction mode. In the basic mode, as described above, the order of the order markers is checked by collating them in the order of the sequence of 1, 2, 3, . . . , it is possible to reliably determine whether or not the order corresponding to the order marker is correct. On the other hand, when the correction mode is set, first, when the order marker judged to be equal to or greater than the threshold value is specified for the first time, the second and subsequent times are determined to be in the order higher than the order of the last order marker stored in the existing order marker storage means. Identify markers. Therefore, even if the order in which the order markers are installed on the travel route does not necessarily have a tolerance of 1, such as 1→2→5→6, from the start point to the end point, it is possible. Therefore, it is effective when shortening and changing the travel route without substantially changing the position of the existing sign installed in advance.

In addition, if necessary, the traveling body control device may include projection means for projecting a movement display on the road surface of the traveling route, which can be visually recognized by a person involved in the specific traveling movement and can be interpreted as the specific traveling movement; When the means identifies the turn marker and the running movement marker recognizing and identifying means identifies the running movement marker corresponding to the turn marker, before the running body performs the specific movement, a movement display relating to the specific movement is displayed. and projection control means for causing the projection means to project at a predetermined timing.

As a result, there is a case where a person uses the traveling route together with the traveling object. Since the action display projected on the road surface of the travel route by the means can be visually recognized and interpreted as the specific travel action, it is also possible to immediately know what travel action the travel object will make on the sign. It is possible to prevent unforeseen situations such as a collision between a person and a traveling object, thereby further ensuring safety.

In this case, the projection means has a function of projecting a motion display on the road surface of the travel route that can be visually recognized by a person involved in the general running motion and can be interpreted as the general running motion. It is effective to have a function of projecting the action display related to the above on the projection means at a predetermined timing. Even when the traveling object is traveling in the general area, the general traveling motion can be known not only from the movement of the traveling object but also from the motion display, so that the safety can be further ensured.

In this case, it is effective that the motion display is a moving image. Since it can be visually recognized with a moving image, it is possible to draw attention to a large extent and ensure safety even more reliably.

Further, if necessary, when the specific running motion is a straight-ahead motion, a distance display indicating a straight-ahead distance is added to the running motion marker indicating the straight-ahead motion. As a result, it is possible to add a straight movement to the specific running motion and instruct the straight-ahead distance. For example, if the specific running motion includes a right-turn motion, the distance to the right-turn point can be specified. It can be performed.

Further, if necessary, when the specific running motion is a turning motion with an angle, an angle display indicating an angle is added to the running motion marker indicating the turning motion with an angle. As a result, it is possible to cope with not only right-angled bends but also non-right-angled bends, thereby improving versatility.

Further, if necessary, the general running operation includes a predetermined running in a straight line, and target guidance of running with the detected marker as a target when the imaging means detects one marker in the course of the predetermined running. and running. When the imaging means detects one marker, for example, the predetermined travel can be forward (straight), and then the target guided travel can be performed. When the imaging means detects a plurality of markers, the general running motion is a predetermined running straight ahead. As a result, meandering can be prevented, and the traveling body can be reliably guided to a specific location on the marker. It should be noted that the general running motion may be set only to a predetermined running motion. In this case, for example, it is possible to make the vehicle autonomously travel along a wall.

Furthermore, if necessary, the traveling body control device includes object detection means for detecting an object on the road surface of the travel route, and the drive control means detects the object detected by the object detection means by a predetermined distance. It is configured to control the drive unit so as to run while holding the A laser rangefinder, a depth camera, or a stereo camera can be used as an object detection means, and can be realized by a so-called odometry method. As a result, since it is possible to run while maintaining a certain distance from the object, if the object is, for example, an obstacle, it is possible to run while maintaining a certain distance from the obstacle, and to avoid the obstacle while traveling. can. In addition, when the object is a wall, the vehicle can run along the wall, so meandering can be prevented.

Further, in order to solve the above-described problems, a traveling body control device according to the present invention is mounted on a traveling body that performs various traveling operations by means of a driving section on a traveling route, and controls the driving section. 2. A traveling body control device according to any one of The same functions and effects as those described above are obtained.

Further, a traveling body according to the present invention for solving the above-mentioned problems is a traveling body that carries out various traveling motions on a traveling route by means of a drive unit, and is equipped with the above-mentioned traveling body control device. The same functions and effects as those described above are obtained.

According to the present invention, when setting up the system or when changing the traveling route of the traveling object, a plurality of markers are installed in or near specific locations on the relevant traveling route. In this case, for example, from the start point to the end point of the travel route, the markers are installed in ascending order. The sign body to be installed can be immediately taken out from inside, so that the installation work can be easily performed. Therefore, it becomes possible to easily cope with a change in the travel route, and it is possible to simplify the setting work of the system. In addition, when the traveling object travels along the traveling route, the traveling route may be used by a person along with the traveling object. Therefore, the user can immediately know how the running object will run when there is a sign, and therefore, it is possible to prevent unforeseen situations such as a collision between a person and the running object. can ensure safety.

1 is a perspective view showing an example of the relationship between a traveling object on a travel route and a marker in the traveling object system according to the embodiment of the present invention; FIG. 1 is a plan view showing an example of the relationship between a traveling object on a travel route and a marker in the traveling object system according to the embodiment of the present invention; FIG. 1 is a block diagram showing the configuration of a traveling body control device according to an embodiment of the present invention; FIG. FIG. 3 is a block diagram showing the configuration of turn marker recognition and specification means and traveling motion marker recognition and specification means in the running body control apparatus according to the embodiment of the present invention; FIG. 4 is a block diagram showing the configuration of a turn right/wrong determining means of turn marker recognition and specifying means in the running body control apparatus according to the embodiment of the present invention; FIG. 4 is a table showing an example of a running motion marker displayed on a marker used in the running body system according to the embodiment of the present invention; FIG. 4 is a table showing an example of an operation display projected onto the road surface of the traveling route in the traveling object system according to the embodiment of the present invention; FIG. 7 is a diagram showing another example of the motion display projected onto the road surface of the traveling route in the traveling object system according to the embodiment of the present invention; FIG. 9 is a diagram showing still another example of the motion display projected onto the road surface of the traveling route in the traveling system according to the embodiment of the present invention; 4 is a flowchart showing control processing of the traveling body control device according to the embodiment of the present invention; 7 is another flowchart showing control processing of the traveling body control device according to the embodiment of the present invention; 9 is yet another flowchart showing the control processing of the traveling body control device according to the embodiment of the present invention; FIG. 5 is a plan view showing an example of the relationship between a traveling object on another traveling route and a marker in the traveling object system according to the embodiment of the present invention; 14 is a flowchart showing control processing of the traveling body control device according to the embodiment of the present invention on another travel route shown in FIG. 13; FIG. 9 is a plan view showing an example of the relationship between a traveling object on another traveling route and a marker in the traveling object system according to the embodiment of the present invention;

Hereinafter, based on the attached drawings, a vehicle system, a vehicle control device, and a vehicle according to embodiments of the present invention will be described in detail. Since the traveling body control device and the traveling body according to the embodiment of the present invention constitute the traveling body system according to the embodiment of the present invention, the system will be described.

1 to 12 show a running body system S according to an embodiment of the present invention. This system S is a system used in various factories for manufacturing, assembly, etc., and in buildings with walls such as offices. A traveling body 1 is provided as an automatic guided vehicle. The running motion is selected from, for example, forward, backward, turn right, turn left, reverse, pause, stop, and the like. Right and left turns include right-angle (90°) as well as non-right-angle turns. The traveling body 1 is equipped with a traveling body control device T for controlling the drive section 2 of the traveling body 1 .

As shown in FIG. 2, in the embodiment, the traveling route R along which the traveling object 1 travels is a loop-shaped route from a starting point Ps (Start) to an ending point Pg (Goal). The travel route R has a plurality of specific points (P). The specific location (P) refers to an area having a predetermined area in which the traveling body 1 travels. In the embodiment, except for the starting point Ps, there are six specific points (P1 to P6) such as corners and intersections. The end point Pg is set as the last specific point (P6). A general portion of the travel route R is formed between the start point Ps and the first specific point (P1), and between specific points where a marker M (to be described later) is installed. The general part is linear. One specific point (P3) in the middle of the travel route R is a work site Pw where the work robot WR is installed. (not shown) is placed at the start point Ps, conveyed to the work site Pw, temporarily stopped at the work site Pw, the part is handed over to the work robot WR, and then returned to the end point Pg (=start point Ps) along the same route. come. It can also be set to return by another route. When the traveling body 1 travels in the general portion, it performs a general traveling motion as a traveling motion, and performs a specific traveling motion as a traveling motion at a specific location.

In this system S, markers M are installed in and near a plurality of specific locations (P) on the travel route R, respectively. Each marker M is formed in a rectangular plate shape and installed on a wall of a building or the like. In the embodiment, there is no marker M at the starting point Ps of the traveling route R, and the traveling body 1 is started using a display board H on which a starting marker Mk for starting travel is displayed by an operator.

On each marker M, an order marker Ma corresponding to the order of installation from the start point Ps to the end point Pg of the travel route R is displayed, and a specific position to be performed by the vehicle 1 at the specific location where the marker is installed. A running motion marker Mb corresponding to the running motion is displayed. When there are a plurality of specific running motions to be performed by the running body 1 in order at the specific location (P), a plurality of running motion markers Mb corresponding to the respective specific running motions are attached to the marker M. It is displayed in a predetermined display format based on the order of operations. In the embodiment, as shown in FIG. 2, a display format is adopted in which a plurality of running motion markers Mb are displayed in order from top to bottom in accordance with the order of the specific running motions corresponding thereto.

The order marker Ma is composed of a marker that can be visually recognized by a person as a turn, and the running motion marker Mb is composed of a marker that can be visually recognized by a person to be recognized as a specific running motion. Markers that are visually readable by humans are characters such as hiragana, katakana, kanji, numbers, etc. that can be read aloud, or symbols such as arrows that indicate directions that can be very easily deciphered. To tell. Specially defined bar codes, matrix-type two-dimensional codes such as QR codes (registered trademark), figures, etc. are not included.

The order marker Ma is set corresponding to an arithmetic progression with a tolerance of 1 for 1, 2, 3, . For example, in the case of characters, the markers that can be visually recognized and read as an order are: "A, I, U, E...", "A, I, U, E..." Japanese syllabary such as ``, wa, ni ...'', ``I, ro, ha, ni ...'', ...", "one, two, three, four ..." kanji and Chinese numerals, "A, B, C, D ...", "a, b, c, d ..." alphabets , ``I, II, III, IV, V, VI . Arabic numerals such as "." can be mentioned. In the embodiment, Roman numerals and Arabic numerals "1, 2, 3, 4, 5..." are used. Roman numerals are surrounded by "〇".

Examples of markers that can be visually recognized by a person and interpreted as a specific running motion include kanji characters such as "Forward, Backward, Right Turn, Left Turn, Reverse, Pause, Stop", "Forward, Rear, Right, Left, Turn, Pause, English such as "Stop", and symbols indicating directions such as "↑, ↓, →, ←". In the embodiment, as shown in FIG. 6, forward, reverse, turn right, turn left, and reverse use general symbols indicating directions such as "↑, ↓, →, ←" corresponding to these, and pause, For stop, Kanji is used as it is.

Further, when the specific traveling motion at the specific location is the straight traveling motion, a distance indication indicating the straight traveling distance is added to the traveling motion marker Mb indicating the straight traveling motion. Distance indications are composed of Roman numerals and Roman letters. The traveling motion marker Mb in this case is, for example, "↑3 m" (meaning 3 m going straight). Furthermore, when the specific running motion at the specific location is a turning motion with an angle, an angle display indicating the angle is added to the marker ("→, ←") indicating the turning motion with an angle. The angle indication is composed of Roman numerals. That is, the traveling motion marker Mb in this case is, for example, "→90" (meaning a right turn at a right angle), "←45" (meaning a 45° left turn), or the like. As a result, it is possible to cope with not only right-angled bends but also non-right-angled bends, thereby improving versatility.

As shown in FIG. 3, the traveling object control device T includes an image pickup means 10 comprising a camera for picking up an image in front of the moving direction, especially the marker M, and a control unit 20 implemented by functions such as a CPU. there is The control unit 20 recognizes the drive control unit 21 that controls the drive unit 2, the storage unit 22 that stores various necessary information, and the order marker Ma displayed on the marker M captured by the imaging unit 10. An order marker recognizing and specifying means 23 for determining whether or not the recognized order marker Ma is a correct order marker to be specified, and specifying the order marker Ma determined to be correct, and a running motion marker recognizing and specifying means 24 for recognizing and specifying the running motion marker Mb of the marker M on which the specified turn marker Ma is displayed.

Specifically, the drive control means 21 causes the running body 1 to perform a general running operation by means of the drive part 2 when the running body 1 runs in the general section, and the turn marker recognition and specifying means 23 identifies the turn marker Ma and runs. When the motion marker recognizing and specifying means 24 specifies the running motion marker Mb corresponding to the turn marker Ma, the drive unit 2 causes the running body 1 to perform the specified running motion corresponding to the running motion marker Mb. In the embodiment, for example, an encoder (not shown) is attached to the motor that constitutes the driving unit 2, and the drive control means 21 controls the specific traveling operation and the general traveling operation based on feedback from the encoder. are sequentially carried out by the driving unit 2 to the traveling body 1 .

The turn marker recognition and specification means 23 and the running motion marker recognition and specification means 24 are stored in the storage means 22, and the imaging means 10 captures images using a learned model learned in advance by machine learning means based on captured images related to a plurality of markers. The corresponding marker is recognized from the picked-up image of the marker M. Machine learning methods include deep neural networks (DNN), support vector machines (SVM), decision trees, random forests, k-means clustering, self-organizing maps, genetic algorithms, Bayesian networks, deep learning methods, etc. It can be composed of one or more combinations selected from

That is, the turn marker recognition and specifying means 23 and the running motion marker recognition and specifying means 24 recognize the markers by searching for markers having features similar to the features of the learned model stored in the storage means 22 . As a result, so-called AI recognition is performed, so recognition accuracy is improved. For example, even if the imaging distance and imaging angle of the imaging means 10 are various, the recognition accuracy of the markers is improved, and the order and running motion can be specified accurately.

Specifically, as shown in FIG. 4, the order marker recognition and specification means 23 includes order marker recognition means 30 that recognizes the order marker Ma from the captured image of the marker M, and order marker recognition means 30 that recognizes the order marker Ma. A frame size determination unit 31 that determines whether the size of the detected frame of Ma is equal to or greater than a threshold, and a recognition frequency that determines whether the recognition frequency of the order marker Ma determined by the frame size determination unit 31 to be equal to or greater than the threshold is equal to or greater than the threshold. a determination means 32; an order correct/incorrect determination means 33 for determining whether or not the order corresponding to the order marker Ma determined by the recognition frequency determination means 32 to be equal to or greater than a threshold value; , and cancels the identification of the order marker Ma when it is determined to be negative. Here, the size of the detected frame means the area of the rectangular frame of the detected order marker Ma and the number of vertical and horizontal pixel values. 5, the storage means 22 includes an existing order marker storage means 40 for storing the order marker Ma associated with the end each time the specific traveling motion at the specific location is completed.

That is, the turn marker recognition and specifying unit 23 acquires captured images at a predetermined sampling period (for example, 30 msec), for example, and performs size determination and marker recognition frequency determination on these images. As the recognition frequency threshold, the number of times the same marker is recognized continuously is set. For example, the number of times of continuous recognition is set to 10 times. In addition, even if it is not continuous, it is possible to set the number of times to detect five or more out of ten continuous frames, for example.

In the order marker identification means 34, as shown in FIG. 5, the order correct/incorrect judgment means 33 sets the order to 1 when the order marker Ma to be recognized for the first time, and sets the order to 1 for the order marker Ma to be recognized for the second and subsequent times. corresponds to the order marker Ma determined by the recognition frequency determination means 32 to be equal to or greater than the threshold value, and the order calculation means 41 which calculates the order obtained by adding one to the order of the last order marker Ma stored in the existing order marker storage means 40. An order collating means 42 for collating whether or not the order coincides with the order calculated by the order calculating means 41, and when the collation results of the order collating means 42 are coincident, the order marker Ma is recognized as an order marker to be specified. and an order marker certifying means 43 . The order marker identification means 34 has a function of identifying or canceling the order marker Ma based on the authorization of the order marker authorization means 43 .

Further, as shown in FIG. 5, the order correctness determination means 33 recognizes the order marker Ma, which the recognition frequency determination means 32 first determined to be equal to or greater than the threshold value, as the order marker to be specified. When the order corresponding to the order marker Ma determined to be equal to or greater than the threshold after the first time is larger than the order of the last order marker Ma stored in the already appearing order marker storage means 40, the order marker Ma is recognized as the order marker to be specified. A second turn marker certifying means 44 is provided. The order marker specifying means 34 has a function of specifying or canceling the order marker Ma based on the recognition of the second order marker recognition means 44 .

In the control unit 20, as shown in FIG. 5, a mode setting means 45 that can be set by switching between two modes, a basic mode and a correction mode, and when the mode setting means 45 sets the basic mode, the The functions of the order calculating means 41, the order checking means 42 and the order marker certifying means 43 of the right/wrong judging means 33 are enabled, and when the mode setting means 45 sets the correction mode, the function of the second order marker certifying means 44 is enabled. and a mode switching means 46 for switching.

Furthermore, as shown in FIG. 4, the running motion marker recognition and specifying means 24 includes a running motion marker recognition means 35 that recognizes the running motion marker Mb from the captured image of the marker M, and a running motion marker recognition means 35 that recognizes the running motion marker Mb. a frame size determining means 36 for determining whether or not the size of the detection frame of the detected running motion marker Mb is equal to or greater than a threshold; and a running motion marker specifying means 38 for specifying the recognized running motion marker Mb when the recognition frequency determining means 37 determines that the threshold value is exceeded.

That is, the running motion marker recognition and specification means 24, like the order marker recognition and specification means 23, acquires, for example, captured images at a predetermined sampling period (for example, 30 msec), and determines the recognition frequency of size determination and marker recognition for these images. make a judgment. As the recognition frequency threshold, the number of times the same marker is recognized continuously is set. For example, the number of times of continuous recognition is set to 10 times. In addition, even if it is not continuous, it is possible to set the number of times to detect five or more out of ten continuous frames, for example.

As described above, when there are a plurality of specific running motions to be performed in order by the running body 1 at a specific location as shown in FIG. The markers Mb are displayed from top to bottom in the order of their corresponding specific running motions, so that the running motion marker recognizing and specifying means 24 associates them with the specific running motion order according to this display format (top to bottom). A plurality of traveling motion markers Mb are recognized and specified.

In the control unit 20, as shown in FIG. 4, the storage means 22 stores a specific portion corresponding to the running motion marker Mb specified by the running motion marker specifying means 38 related to the order marker Ma specified by the order marker specifying means 34. A specific running motion storage means 47 is provided for updating and storing a specific running motion to be performed each time the turn marker specifying means 34 specifies the specified running motion. In particular, the specific running motion storage means 47 stores the specific running motions corresponding to the plurality of running motion markers Mb specified by the running motion marker recognition and specifying means 24 in association with the specific running motion order according to the display format.

The drive control means 21 controls the driving section 2 so that the running body 1 performs the running motion stored in the specific running motion storage means 47 at a predetermined timing. In particular, the drive control means 21 controls the driving section 2 so as to cause the traveling body 1 to sequentially perform the plurality of specific traveling motions stored in the specific traveling motion storage means 47 in accordance with the specific traveling motion order according to the display format.

Further, when the order marker identifying means 34 of the turn marker recognizing and identifying means 23 cancels the identification of the turn marker Ma, the drive control means 21 maintains the traveling state of the running body 1 and the next It has a function of controlling the drive unit 2 to stop the traveling of the traveling body 1 when a predetermined time has passed or the traveling body 1 has traveled a predetermined distance without specifying the turn marker Ma.

Further, the drive control means 21 of the system S causes the traveling body 1 to perform a general traveling motion by the driving section 2 as soon as the specific traveling motion at the specific location is completed. In the embodiment, the general running motion includes a predetermined running motion that is performed after the specific running motion of the running body 1 is completed, and detection when the imaging means 10 detects one marker M during the predetermined running process. and a target-guided run for running with the marked object M as a target. In the embodiment, since the general portion of the predetermined travel is in a straight line, a general travel operation relating to forward movement is performed. In the target-guided running, for example, the drive control means 21 calculates a running vector value so that the vehicle runs with the marker M as a target, and carries out running vector control.

When the imaging means 10 detects a plurality of markers M, the general running motion is a predetermined running straight ahead. As a result, meandering can be prevented, and the traveling body 1 can be reliably guided to a specific location on the marker. It should be noted that the general running motion may be set only to a predetermined running motion. In this case, for example, it is possible to make the vehicle autonomously travel along a wall. Further, in the correction mode described above, when the imaging means 10 detects a plurality of markers M, the driving control means 21 has a function of controlling the driving section 2 so as to stop the traveling of the traveling body 1. .

At the starting point Ps of the running route R, there is no marker M, and the running body 1 is started using a display board H on which a starting marker Mk for starting running is displayed. The running motion marker recognition and specification means 24 has a function of recognizing the start marker Mk from the image captured by the imaging means 10 . When the running motion marker recognition and specifying means 24 recognizes the start marker Mk, the drive control means 21 causes the running body 1 to perform a running motion corresponding to the start marker Mk by the driving portion 2 . In the embodiment, when the running motion marker recognition and specifying means 24 recognizes the start marker Mk, the running motion for moving forward is performed.

The traveling body control device T also includes a projection means 50 configured by a projector for projecting an action display D on the road surface of the traveling route R, which can be visually recognized by a person involved in the specific traveling action and interpretable as the traveling action. Further, the projection means 50 has a function of projecting an action display D on the road surface of the travel route R, which can be visually recognized and interpreted as a travel action by a person involved in the general travel action. As the motion display D that can be visually recognized by a person and interpreted as a specific running motion, similar to the markers for the above-described specific motions, for example, kanji characters such as "forward, backward, turn right, turn left, reverse, pause, stop", "Forward , Rear, Right, Left, Turn, Pause, Stop", and symbols indicating directions such as "↑, ↓, →, ←". For example, as shown in FIG. 7, a still image of "white arrow symbol" corresponding to "forward, backward, turn right, turn left, reverse" can be used.

Also, the action display D can be displayed as a moving image. For example, as shown in FIG. 8, it is possible to display a moving image that is displayed in the order of (a) to (i) in the operation display D for straight ahead display. The action display D in this moving image is composed of an arrow and the characters "go straight". Further, for example, as shown in FIG. 9, in the operation display D of the right turn display, it is possible to display a moving image displayed in the order of (a) to (o). The action display D in this moving image consists of an arrow and the words "turn right".

The control unit 20 performs projection control for causing the projection unit 50 to project the motion display D related to the specific running motion stored in the storage unit 22 before the drive control unit 21 causes the traveling body 1 to perform the specific running motion by the driving unit 2. It is configured with means 51 . When the running body 1 travels in the general section, the projection control means 51 keeps the storage means until the order marker recognition and specification means 23 specifies the order marker Ma and the traveling motion marker recognition and specification means 24 specifies the specific marker. 22 has a function of projecting the motion display D related to the general running motion stored in the projection means 50 .

The traveling body control device T also includes an object detection means 60 for detecting an object on the road surface of the travel route R. As shown in FIG. As the object detection means 60, for example, a depth camera, a LIDAR, or a stereo camera that detects an object ahead in the traveling direction can be used. The drive control means 21 controls the driving part 2 so that the object detected by the object detection means 60 is maintained at a predetermined distance and travels. This control can be realized by a so-called odometry method performed while measuring the distance to the object. As a result, it is possible to travel while keeping a certain distance from the object, so if the object is, for example, an obstacle, it is possible to avoid it while traveling.

Therefore, when setting the traveling object system S according to the embodiment, as shown in FIG. Install. In this case, for example, from the start point Ps to the end point Pg of the travel route R, the markers M are installed in ascending order. , the marker M to be installed can be immediately taken out from among the markers M, so that the installation work can be easily performed.

In this case, a person may use the traveling route R together with the traveling object 1, but the traveling motion marker Mb displayed on the marker M can be visually recognized by a person and interpreted as a traveling motion. It is possible to immediately know how the running body 1 will run at the place where the marker M is present, so that an unforeseen situation such as a collision of a person with the running body 1 can be prevented, and safety can be improved. can be secured.

When the traveling object 1 is caused to travel along the traveling route R, the diagram showing the traveling route R in FIG. 2 is used and the flow charts shown in FIGS. 10 to 12 are used for explanation as follows. Here, the case where the basic mode is set is shown. At the start point Ps of the travel route R, a part for the work to be performed by the robot WR at the work site Pw is placed on the traveling body 1, and the imaging means 10 starts imaging. The image of the display board H on which is displayed is picked up. As a result, when the running motion marker recognition and specifying means 24 recognizes the start marker Mk from the image captured by the imaging means 10, the drive control means 21 causes the driving section 2 to perform a predetermined running related to forward movement (straight forward), which is a general running motion. Let the moving body 1 perform (S1).

As a result, the traveling body 1 moves toward the first specific point (P1). Further, the projection control means 51 projects the motion display D related to the general running motion from the projection means 50 onto the road surface. The motion display D is, for example, a moving image of straight movement shown in FIG. As a result, a person may use the traveling route R together with the traveling object 1. In this case, the user can know the general traveling motion not only from the movement of the traveling object 1 but also from the motion display D. Safety can be ensured.

During the traveling process of the traveling body 1, the imaging means 10 picks up the images of the marked bodies M and detects the marked bodies M (S2, S10). (S2No, S10No), and when one marker M is detected (S2Yes), the drive control means 21 causes the running body 1 to perform target guidance running in which the running body 1 runs with the detected marker M as a target. The drive unit 2 is controlled (S3). Meandering can be prevented, and the traveling body 1 can be reliably guided to a specific location on the marker M. - 特許庁On the other hand, when a plurality of markers M are detected (S2No, S10Yes), the drive control means 21 controls the driving section 2 so that the traveling body 1 maintains the predetermined traveling (S11).

In this running process, the order marker Ma and the running motion marker Mb are recognized and specified by the turn marker recognizing and specifying means 23 and the running motion marker recognizing and specifying means 24 . First, in the order marker recognition and specification means 23, the order marker recognition means 30 recognizes the order marker Ma (S4), and the frame size determination means 31 determines whether the detected frame size of the recognized order marker Ma is equal to or larger than a threshold value. (S5). When the frame size determining means 31 determines that the frame size is equal to or greater than the threshold (S5 Yes), the recognition frequency determining means 32 determines whether or not the recognition frequency of the recognized marker is equal to or greater than the threshold (S6).

In the order right/wrong judging means 33, the order calculation means 41 sets the order to 1 when the order marker Ma to be recognized for the first time, and the existing order marker storage means for the order marker Ma to be recognized for the second time or later. 40 is calculated as the order obtained by adding one to the order of the last order marker Ma stored in 40. When the recognition frequency determination means 32 determines that the value is equal to or greater than the threshold value (S6 Yes), the order collation means 42 checks the recognition frequency determination means. It is checked whether or not the order corresponding to the order marker Ma for which 32 is determined to be equal to or greater than the threshold matches the order calculated by the order calculation means 41 (S7). Since the specific point (P1) is the first time, when the order marker Ma is 1, the collation results of the order collating means 42 match. The marker identifying means 34 identifies this turn marker Ma (S8). Since the specific point (P2) to the specific point (P6) are from the second time onward, when the order marker Ma is "the order of the order marker Ma at the immediately preceding specific point + 1", the collation result of the order collating means 42 is matched. Therefore, the order marker identifying means 43 identifies this order marker Ma (S7 Yes), and the order marker identifying means 34 identifies this order marker Ma (S8). Here, since the vehicle is traveling toward the specific location (P1), the first verification and identification are performed.

On the other hand, when the collation result of the order collation means 42 does not match (S7No), the order marker specifying means 34 cancels the specification of the order marker Ma, and the running state of the running body 1 is maintained to recognize the next order marker Ma. Wait (S9No, S1 to S7, S10, S11). During this time, when the predetermined time has passed or the running body 1 has traveled a predetermined distance without the next turn marker Ma being specified by the order marker specifying means 34 (S9 Yes), the running of the running body 1 is stopped. Therefore, unnecessary running is eliminated, and safety is ensured.

When the turn marker identification means 34 identifies the turn marker Ma (S8), recognition and identification of the running marker in the running motion marker recognition and identification means 24 is performed. With reference to the flowchart of FIG. 11, first, the running motion marker Mb immediately below the identified running marker Ma is recognized (S12). In the recognized running motion marker Mb, the frame size determination means 36 determines whether or not the size of the detected frame is equal to or larger than a threshold (S13). When the frame size determining means 36 determines that the frame size is equal to or greater than the threshold value (S13 Yes), the recognition frequency determining means 37 determines whether or not the recognition frequency of the recognized marker is equal to or greater than the threshold value (S14).

Then, when the recognition frequency determination means 37 determines that it is equal to or greater than the threshold value (S14 Yes), the running motion marker specified by the running motion marker specifying means 38 related to the order marker Ma specified by the order marker specifying means 34 is stored in the specific running motion storage means 47 . A specific traveling action to be performed at a corresponding specific location corresponding to Mb is stored (S15). It is determined whether or not there is another running motion marker Mb immediately below the specified running motion marker Mb (S16). . When there are a plurality of running motion markers Mb, the specified running motion storage means 47 displays the specified running motions corresponding to the plurality of running motion markers Mb specified by the running motion marker recognition and specifying means 24 (from top to bottom). is stored in association with the specific running operation order according to If it is not directly under the specified traveling motion marker Mb (Yes in S16), the control proceeds to the next step. Here, since the vehicle is traveling toward the specific location (P1), the turn marker Ma "1" is recognized, and one traveling motion marker Mb of "→90 (right turn 90°)" is recognized and specified and stored. be done.

In the marker recognition by the order marker recognition and specifying means 23 and the running movement marker recognition and specifying means 24, the marker is recognized when the size of the detection frame becomes large to some extent and the recognition frequency of the marker becomes high. As a result, the order and running behavior can be specified more accurately.

In general, the markers M are often separated from each other, and in such a case, the number of order markers Ma determined by the order marker recognition and specification means 23 is one, and there is no problem. However, if the image capturing means 10 captures images of a plurality of markers M, a plurality of recognized order markers Ma may occur, and it may be difficult to know which one to select. However, in this configuration, the order marker recognition and specifying means 23 specifies the order marker Ma determined to be correct, so that erroneous recognition can be prevented and marker recognition can be performed more accurately. In particular, it is effective when simultaneously imaging the marker M close to the traveling body 1 and the marker M ahead of it.

As shown in the flow chart of FIG. 12, when the order marker recognition and specifying means 23 and the running motion marker recognition and specifying means 24 specify the order marker Ma and the running motion marker Mb of the marker M, the projection control means 51 projects them at a predetermined timing. A motion display D relating to the specific running motion is projected from the means 50 . Here, since "→90 (right turn 90°)" is recognized, the motion display D is, for example, the right turn animation shown in FIG. As a result, there is a case where a person uses the traveling route R together with the traveling object 1. In this case, in addition to visually recognizing the traveling motion marker Mb of the specific traveling motion of the legible marker M, the user also needs to project Since the action display D projected onto the road surface of the travel route R by the means 50 can be viewed and interpreted as a specific travel action, it is also possible to determine what kind of travel action the traveling body 1 performs on the marker M. It is possible to know immediately, prevent an unforeseen situation such as a collision of a person with the traveling body 1, and further secure safety.

Then, after specifying the markers of the turn marker recognition and specifying means 23 and the running motion marker recognition and specifying means 24, at the specified position (P1), the drive control means 21 stores the specific running motion storage means 47 at a predetermined timing (S17 Yes). It is determined whether or not there is a specific running motion corresponding to the plurality of stored running motion markers Mb (S18). to the traveling body 1 by the drive unit 2 (S22). On the other hand, if there are more than one (Yes in S18), the drive control means 21 causes the driving unit 1 to sequentially perform the plurality of specific traveling motions stored in the specific traveling motion storage means 47 in accordance with the specific traveling motion order according to the display format. 2 (S19, S20). At this specific point (P1), a 90° right turn is made (S22).

When the specific traveling motion by the traveling body 1 is completed, it is determined whether or not it is stopped at the end point Pg, that is, whether or not the traveling motion marker Mb for stopping is recognized (S21). (No at S21), the drive control means 21 again causes the drive section 2 to perform the normal running operation (S1). When it is recognized (S21 Yes), the traveling body 1 is stopped and the work is finished. At this specific point (P1), it is determined that the vehicle should not be stopped (S21, No), and the drive control means 21 again causes the drive unit 2 to perform the normal running operation (S1). The traveling body 1 moves to a specific point (P2) on the next marker M.

Here, as shown in FIG. 2, the case where there is an obstacle on the way will be described. The drive control means 21 controls the drive part 2 so that the traveling body 1 keeps a predetermined distance from the object detected by the object detection means 60 and travels. When an obstacle is detected, it is possible to avoid it and run.

Then, in the same manner as described above, when the marker M at the specific location (P2) is detected, the order marker Ma is recognized and specified by the order marker recognition and specification means 23 (S1 to S11). Further, the running motion marker recognition and specifying means 24 recognizes and specifies the running motion marker Mb (S12 to S16). Here, "2" is displayed as the turn marker Ma, and "↑3m" and "→90 (turn right at 90°)" are displayed in order from top to bottom on the marker M as the running motion marker Mb. are recognized and identified.

When the order marker recognition and specifying means 23 and the running motion marker recognition and specifying means 24 specify the order marker Ma and the running motion marker Mb of the marker M, the projection control means 51 causes the projection means 50 to project the motion related to the specific running motion at a predetermined timing. View D is projected. Here, as the action display D, first, for example, a straight-ahead moving image shown in FIG. 8 is projected, and then, for example, a right-turn moving image shown in FIG. 9 is projected. After specifying the markers by the turn marker recognition and specifying means 23 and the running motion marker recognition and specifying means 24, the drive control means 21 detects the plurality of running motions specified by the running motion marker recognition and specifying means 24 at the specified location (P2). The driving unit 2 is controlled so that the traveling body 1 sequentially performs the specific traveling motion corresponding to the marker Mb at a predetermined timing in accordance with the display format of the marker M (S17 to S22).

That is, at a predetermined timing (S17 Yes), the drive control means 21 causes the traveling body 1 to perform the first specified traveling motion corresponding to the specified traveling motion marker Mb by the drive unit 2 (S18 Yes, S19 ). When the running body 1 completes the 3m straight movement as the first specific traveling motion (S19 Yes), it is determined whether or not the specific traveling motion at the specific location (P2) is the last (S20). In this case, since the specified running motion marker Mb has "→90 (right turn 90°)" related to the next running motion (No in S20), the drive control means 21 continues to move the specified running motion marker The driving unit 2 causes the traveling body 1 to make a 90° right turn corresponding to Mb (S19). Then, when the specific traveling motion by the traveling body 1 is completed, it is determined whether or not the specific traveling motion at the specific location (P2) is the last (S20). In this case, since the last right turn is 90° (Yes in S20), it is determined whether or not the vehicle is stopped at the end point Pg (S21). A normal running operation is performed by the drive unit 2 (S1). The traveling body 1 moves to a specific point (P3) on the next marker M.

Then, in the same manner as described above, when the marker M is detected, the turn marker Ma and the running motion marker Mb are recognized and specified. Here, "3" is recognized and specified as the turn marker Ma, "Pause, reverse arrow" is recognized and specified as the traveling motion marker Mb (S1 to S16). Then, the driving control means 21 causes the driving unit 2 to sequentially perform the traveling motion of "pause, reverse arrow" to the traveling body 1 (S17 to S20). That is, at the specific point (P3), the traveling body 1 first stops temporarily. Since this specific location (P3) is the work site Pw, the robot WR unloads the parts placed and conveyed by the traveling body 1 . When the work is finished and a predetermined time has passed, the traveling body 1 reverses as instructed by the traveling motion marker Mb. It should be noted that the reversal may be performed before stopping or immediately after stopping, and may be changed as appropriate.

Then, when the reversal as the specific traveling motion by the traveling body 1 is completed (Yes in S20), it is determined whether or not it is stopped at the end point Pg (S21). S21 No), the drive control means 21 again causes the drive section 2 to perform the normal running operation (S1). The traveling body 1 moves to a specific location (P4) on the next marker M. Thereafter, the same control is performed until reaching the end point Pg (Ps) as the specific point (P6) through the specific point (P5) (S1-S21).

At the end point Pg (Ps) as the specific point (P6), the traveling body 1 stops and reverses. In this case, it is determined whether or not the stop is at the end point Pg (S21), and since the specific action is to stop at the end point (S21 Yes), the series of operations is terminated. When restarting, do the same as above.

By the way, the traveling route R of the traveling body 1 may be changed as shown in FIG. 13, for example. In that case, if necessary, a new marker M is prepared, or a marker M that has been created once is used, and a plurality of markers M are applied as in the initial setting of the system S described above. They are installed in or near specific locations on the travel route R. The example of FIG. 13 shows a case where the work site Pw is provided at a specific location (P2), and the vehicle 1 is changed to a travel route R consisting of P1→P2→P5→P6 (P1). Therefore, in this case, it suffices to newly create, prepare, and install a marker M for the specific location (P2). Therefore, it becomes possible to easily cope with the change of the travel route R, and the simplification of the work of changing the system S can be achieved.

In the example of FIG. 13, the running body 1 is controlled by changing from the basic mode to the correction mode. Description will be made with reference to the flowchart shown in FIG. Unlike the basic mode, detection of the marker M is limited to single detection. That is, when the traveling object 1 starts traveling (S31), the imaging means 10 picks up images of the marked objects M and detects the marked objects M (S32, S40). (S32 No, S40 No), and when one marker M is detected (S32 Yes), the drive control means 21 causes the running body 1 to run with the detected marker M as a target and to perform target guidance running. The drive unit 2 is controlled so as to perform (S33). On the other hand, when a plurality of markers M are detected (S32 No, S40 Yes), the drive control means 21 controls the drive section 2 to stop the traveling body 1 (S40 Yes).

In this running process, first, the order marker Ma is recognized and specified by the order marker recognition and specifying means 23 . First, in the order marker recognition and specifying means 23, the order marker recognition means 30 recognizes the order marker Ma (S34), and the frame size determination means 31 determines whether the detected frame size of the recognized order marker Ma is equal to or larger than a threshold value. (S35). When the frame size determining means 31 determines that the frame size is equal to or greater than the threshold (S35 Yes), the recognition frequency determining means 32 determines whether or not the recognition frequency of the recognized marker is equal to or greater than the threshold (S36).

Then, in the turn right/wrong determining means 33, the second turn marker certifying means 44 in the correction mode functions, and for the first time, the turn marker Ma determined by the recognition frequency determining means 32 to be equal to or greater than the threshold value is recognized as the turn marker to be specified. , from the second time onwards, when the order corresponding to the order marker Ma determined by the recognition frequency determination means 32 to be equal to or greater than the threshold value is greater than the order of the last order marker stored in the already-appearing order marker storage means 40, the order marker Ma is It is recognized as an order marker to be specified (S37). Since the specific location (P1) is the first time and the order marker Ma is 1, the order marker certifying means 43 certifies this order marker Ma (S37 Yes), and the order marker identifying means 34 identifies this order marker Ma (S38). . Since the specific position (P2), the specific position (P5), and the specific position (P6) are the second and later times, the order marker Ma is "the order of the recognized order marker Ma > the order of the order marker Ma at the immediately preceding specific position". Then, the order marker identifying means 43 identifies this order marker Ma (S37 Yes), and the order marker identifying means 34 identifies this order marker Ma (S38).

On the other hand, except for the first time, when the condition "the order of the recognized order marker Ma>the order of the order marker Ma at the immediately preceding specific position" is not satisfied (S37 No), the order marker specifying means 34 cancels the specification of the order marker Ma. Then, the running state of the running body 1 is maintained, and the recognition of the next turn marker Ma is awaited (S39 No, S31 to S37, S40). During this time, when the predetermined time has passed or the running body 1 has traveled a predetermined distance without specifying the next turn marker Ma by the order marker specifying means 34 (S39 Yes), the running of the running body 1 is stopped.

When the order marker Ma is specified by the order marker specifying means 34, after that, the running motion marker Mb is recognized and specified by the running motion marker recognition and specifying means 24 in the same manner as described above, and then the running object 1 moves as required. Operations are performed (S12-S22 in FIGS. 11 and 12). In this example, three running motion markers Mb are displayed on the marker M installed at the specific location (P2). Therefore, at the specific point (P2), the specific traveling motion of "go straight for 5 m→pause→reverse" is performed in order. Also, in this example, since the vehicle may return to the travel route R in FIG. 2, the marker M at the specific point (P3) and the marker M at the specific point (P4) are left as they are without being removed. Therefore, after the specific running motion of the running body 1 at the specific location (P2) is completed, the "3" and "4" of the turn markers Ma become blind spots of the imaging means 10 and cannot be imaged. Go to a specific point (P5) on the body M. At this time, the order marker recognition and specifying means 23 determines that the order marker Ma of the marker M to be recognized and specified next is not "3" but becomes "5" skipping by two. , the second order marker certifying means 44 in the correction mode judges whether or not the condition "the order of the recognized order marker Ma>the order of the order marker Ma at the immediately preceding specific position" is satisfied or not, so "5" is set. Since it is recognized as the correct order, the corresponding running action is performed. Subsequent operations are performed in the same manner.

15 shows another example of changing the travel route R. In FIG. In the example of FIG. 15, the work site Pw is provided at a different specific location and shares part of the travel route R shown in FIG. In this case also, if necessary, a new marker M is prepared, or a marker M that has been created once is used, and a plurality of markers M are applied in the same manner as when the system S was initially set up. They are installed in or near specific locations on the travel route R. In this case as well, for example, from the start point Ps of the travel route R toward the end point Pg, the markers M are installed in ascending order. Since the order can be read, the marker M to be installed can be immediately taken out from among the markers M, so that the installation work can be easily performed. For this reason, it becomes possible to easily cope with changes in the travel route R, and simplification of the setting work of the system S can be achieved. The control of the traveling body 1 in this case can be performed in the basic mode.

In the above embodiment, the number of specific points (P1 to P6) is six, but the number of specific points is not limited to six and may be changed as appropriate. Further, the form of the order marker Ma and the running movement marker Mb of the marker M is not limited to the form shown in the figure, and may be any form of marker. Any form of marker may be used as long as it exists, and it may be changed as appropriate. Furthermore, the operation display D displayed on the road surface may be of any form, and in short, any form of display may be used as long as it is a display that can be visually recognized and read by a person. May be changed.

In addition, in the above-described embodiment, a rectangular plate-shaped sign is used as the sign M, but the present invention is not limited to this. may be used and may be changed as appropriate. Furthermore, in the above-described embodiment, one camera is provided as the imaging means 10 so as to pick up an image of the front, but this is not necessarily the case, and a plurality of cameras may be provided. In particular, in the case of backward movement, it is preferable to separately provide a camera for capturing an image of the rear. Those skilled in the art will readily make many modifications to these illustrative embodiments without departing substantially from the novel teachings and advantages of this invention, and many of these modifications will fall within the scope of this invention. included.

S traveling body system T traveling body control device R traveling route 1 traveling body 2 drive unit Ps start point Pg end point Pw work site P (P1 to P6) specific location M marker Ma order marker Mb traveling motion marker H display board Mk start marker 10 Imaging means 20 Control section 21 Drive control means 22 Storage means 23 Turn marker recognition and specification means 24 Running motion marker recognition and specification means 30 Order marker recognition means 31 Frame size determination means 32 Recognition frequency determination means 33 Order right/wrong determination means 34 Order marker determination means 35 Running motion marker recognizing means 36 Frame size determining means 37 Recognition frequency determining means 38 Running motion marker identifying means 40 Already appearing order marker storing means 41 Order calculating means 42 Order checking means 43 Order marker authenticating means 44 Second order marker authenticating means 45 Mode Setting means 46 Mode switching means 47 Specific running motion storage means D Motion display 50 Projection means 51 Projection control means 60 Object detection means

Claims (16)

A traveling body system comprising a traveling body that performs various traveling operations on a traveling route by means of a driving section, and a traveling body control device that controls the driving section mounted on the traveling body,
Markers are installed in or near a plurality of specific locations on the travel route, and each marker is placed in an order corresponding to the order in which the markers are installed from the start point to the end point of the travel route. In addition to displaying the marker, a running motion marker corresponding to the specific running motion to be performed by the running body at the specific location where the marker is installed is displayed, and the order marker is a marker that can be visually recognized by a person and interpreted as the order. configured, the running motion marker is composed of a marker that can be visually recognized by a person and interpreted as a specific running motion,
The above running body control device is
imaging means for imaging the labeled body;
Recognizing the order marker displayed on the marker imaged by the imaging means, determining whether or not the recognized order marker is the correct order marker to be specified, and identifying the order marker determined to be correct. means and
a running motion marker recognition and specifying means for recognizing and specifying a running motion marker of a sign on which the order marker imaged by the imaging means and specified by the order marker recognition and specifying means is displayed;
The running body is made to perform a general running motion when the running body runs in the general section, and the order marker recognition and specifying means specifies the order marker, and the running motion marker recognition and specifying means corresponds to the order marker. drive control means for controlling the driving unit to cause the traveling body to perform a specific traveling motion corresponding to the traveling motion marker each time the traveling motion marker is specified;
A running body system comprising: The turn marker recognition and specifying means and the running motion marker recognition and specifying means use a learned model learned in advance by machine learning means based on the captured images related to a plurality of markers, from the captured image of the marker captured by the imaging means. 2. The running body system according to claim 1, wherein the corresponding marker is recognized. The order marker recognition and specification means includes:
an order marker recognition means for recognizing an order marker from a captured image of the marker;
frame size determination means for determining whether or not the size of the detection frame of the order marker recognized by the order marker recognition means is equal to or larger than a threshold;
a recognition frequency determining means for determining whether or not the recognition frequency of the order marker determined by the frame size determining means to be equal to or greater than the threshold is equal to or greater than the threshold;
an order correctness determining means for determining correctness of an order corresponding to an order marker determined by the recognition frequency determining means to be equal to or greater than a threshold;
an order marker identification means for identifying the order marker when the order correctness/incorrectness determination means determines that the order is correct, and canceling the identification of the order marker when the order correctness determination means determines that the order is not correct;
The running motion marker recognition and specification means includes:
a running motion marker recognizing means for recognizing a running motion marker from a captured image of the marker;
frame size determination means for determining whether or not the size of the detection frame of the running motion marker recognized by the running motion marker recognition means is equal to or larger than a threshold;
a recognition frequency determining means for determining whether or not the recognition frequency of the running motion marker determined by the frame size determining means to be equal to or greater than the threshold is equal to or greater than the threshold;
a running motion marker specifying means for specifying a recognized running motion marker when the recognition frequency determining means determines that the recognition frequency is equal to or greater than a threshold;
updating the specific running motion to be performed at the corresponding specific location in relation to the running motion marker specified by the running motion marker specifying means in relation to the order marker specified by the order marker specifying means each time the order marker specifying means specifies the running motion marker; Equipped with a specific running motion storage means for storing,
3. The traveling body system according to claim 2, wherein said drive control means controls said driving section so as to cause said traveling body to perform the traveling motion to be performed stored in said specific traveling motion storage means at a predetermined timing. . The drive control means maintains the running state of the running body when the turn marker identification means of the turn marker recognition and identification means cancels the identification of the turn marker, and identifies the next turn marker by the turn marker identification means. 4. The traveling body system according to claim 3, wherein the driving section is controlled so as to stop the traveling of the traveling body when a predetermined time has passed or the traveling body has traveled a predetermined distance without the air conditioner. When there are a plurality of specific running motions to be performed in order by the running body at the specific location, a plurality of running motion markers corresponding to the respective specific running motions are provided on the marker in advance based on the order of the specific running motions to be performed by the running body. displayed in a specified display format,
The running motion marker recognizing and specifying means recognizes and specifies the plurality of running motion markers in association with a specific running motion order according to the display format,
The specific running motion storage means stores the specific running motions corresponding to the plurality of running motion markers specified by the running motion marker recognition and specifying means in association with the specific running motion order according to the display format,
The drive control means controls the driving section so that the traveling body sequentially performs the plurality of specific running motions stored in the specific running motion storage means in accordance with the specific running motion order according to the display format. 5. The running body system according to claim 3 or 4. having an existing order marker storage means for storing an order marker relating to the end each time a specific running action at a specific location is completed;
The order correct/incorrect determination means includes:
When the order marker is to be recognized for the first time, the order is set to 1, and when the order marker is to be recognized for the second time or later, the order is set by adding 1 to the order of the last order marker stored in the already-appearing order marker storage means. an order calculating means for calculating;
an order collation means for collating whether or not the order corresponding to the order marker determined by the recognition frequency determination means to be equal to or greater than the threshold matches the order calculated by the order calculation means;
an order marker recognizing means for recognizing the order marker as an order marker to be specified when the collation results of the order collating means match;
6. The running body system according to any one of claims 3 to 5, wherein said order marker specifying means has a function of specifying or canceling the order marker based on the recognition by said order marker recognition means. The order correct/incorrect determining means recognizes the order marker determined by the recognition frequency determining means to be equal to or greater than the threshold value for the first time as the order marker to be specified, and the order marker determined by the recognition frequency determining means to be equal to or greater than the threshold value for the second and subsequent times. a second order marker recognition means for recognizing the order marker as an order marker to be identified when the order corresponding to is greater than the order of the last order marker stored in the already-appearing order marker storage means;
The order marker identification means has a function of identifying or canceling the order marker based on the authorization of the second order marker authorization means,
a mode setting means capable of setting by switching between two modes, a basic mode and a modified mode;
When the mode setting means sets the basic mode, the functions of the order calculating means, the order collating means, and the order marker certifying means of the order right/wrong judging means are enabled. 7. The running body system according to claim 6, further comprising mode switching means for validating the function of the second order marker recognition means. The running body control device includes projection means for projecting a motion display on the road surface of the running route that can be visually recognized by a person involved in the specific running motion and interpreted as the specific running motion, and the turn marker recognition and specifying means specifies the turn marker. When the running motion marker recognizing and specifying means specifies the running motion marker corresponding to the turn marker, before the running object performs the specified running motion, a motion display related to the specified running motion is displayed on the projection means in a predetermined manner. 8. The system according to any one of claims 1 to 7, further comprising projection control means for projecting with timing. The projection means has a function of projecting a motion display on the road surface of the travel route that can be visually recognized by a person and can be interpreted as the general travel motion, and the projection control means performs the motion related to the general travel motion. 9. The running body system according to claim 8, further comprising a function of causing said projection means to project a display at a predetermined timing. 10. The running body system according to claim 8, wherein said motion display is a moving image. 11. The running body system according to any one of claims 1 to 10, wherein when the specific running motion is a straight-ahead motion, a distance display indicating a straight-ahead distance is added to a running motion marker indicating the straight-ahead motion. 12. The vehicle according to any one of claims 1 to 11, wherein, when the specific running motion is a turning motion with an angle, an angle display indicating an angle is added to a running motion marker indicating the turning motion with an angle. vehicle system. The general running motion consists of a predetermined running straight ahead, and a target guidance running in which the imaging means detects one marker during the predetermined running, and runs with the detected marker as a target. 13. The running body system according to any one of claims 1 to 12. The traveling body control device includes object detection means for detecting an object on the road surface of the traveling route, and the drive control means keeps the object detected by the object detection means at a predetermined distance while traveling. 14. The system according to any one of claims 1 to 13, wherein the driving unit is controlled at the same time. 15. The traveling body control device according to any one of claims 1 to 14, wherein the traveling body control device is mounted on a traveling body that performs various traveling operations by means of a driving section on a traveling route and controls the driving section. 16. A running body that carries out various running motions by means of a drive unit on a running route, and is equipped with the running body control device according to claim 15.

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