JP2023032888A - Moving body control device, moving body system, moving body operating system, moving body control method and computer program - Google Patents

Abstract

To reduce the cost of a moving body such as an autonomously moving robot.SOLUTION: A moving body control device includes: an environment map information storage unit storing environment map information relating to an area where a moving body moves; a position specifying unit that acquires position information indicating a position of the moving body; a direction specifying unit that acquires moving direction information indicating a moving direction of the moving body; a surrounding environment recognizing unit that recognizes a surrounding environment of the moving body, based on a captured image showing surroundings of the moving body; and an operation planning unit that plans an operation based on route information indicating a route along which the moving body moves, environment map information, position information, moving direction information, and a recognition result of the surrounding environment and that instructs a planned operation.SELECTED DRAWING: Figure 1

Description

The present invention relates to a mobile body control device, a mobile body control system, a mobile body operation system, a mobile body control method, and a computer program.

2. Description of the Related Art Conventionally, there has been known a technique for controlling an autonomously moving robot via a communication network.
In the technology described in Patent Document 1, in the process of the autonomous control process of the moving object, the moving object uses the information related to the surroundings of the moving object acquired by the information acquisition unit to determine whether to stop the autonomous control process. is identified, and as a result of the autonomous control identification process, when it is determined not to continue the autonomous control process, the terminal is notified.
In the technology described in Patent Document 2, a server is configured to set the installation position of a light-emitting body mounted on a robot that moves autonomously, the installation position and orientation of a camera installed in the area where the robot moves, and the images captured by the camera. The position of the robot is calculated based on the image data of the robot when the luminous body emits light, and the position information indicating the position is transmitted to the robot.
In the technology described in Patent Document 3, a platform communicates with a robot capable of autonomous movement that provides interpersonal services in a service provision area, and collects congestion information, which is information indicating the degree of congestion in the service provision area for each predetermined time period in the past. Store history information, generate congestion prediction information that is information that predicts the degree of congestion for each predetermined time based on the congestion history information, and present or future services that the robot acquires from the congestion prediction information received from the platform It sets itself to one of a plurality of operation modes, which are selected according to the degree of congestion in the service area and have different effects on the degree of congestion in the service area.

JP 2021-064147 A JP 2020-194485 A JP 2019-000940 A

However, in the conventional technology described above, the robot itself needs to plan the next action adapted to the current situation and autonomously execute it. For this reason, the information processing device mounted on the robot is required to have a certain level of information processing capability, which may hinder the cost reduction of the robot.

SUMMARY OF THE INVENTION The present invention has been made in consideration of such circumstances, and an object of the present invention is to reduce the cost of a mobile body such as a robot that moves autonomously.

(1) One aspect of the present invention is a mobile body control device for controlling a mobile body via a wireless communication network, comprising: a position specifying unit that acquires position information indicating a position of a body; a direction specifying unit that acquires moving direction information indicating a moving direction of the moving body; a surrounding environment recognition unit that recognizes a surrounding environment of a body; route information indicating a route along which the moving body moves, the environment map information, the position information, the moving direction information, and the surrounding environment for the moving body; and a motion planning unit that plans a motion based on a recognition result and instructs the planned planned motion.
(2) According to one aspect of the present invention, the operation planning unit performs the operation based on the timing at which the planned operation should be executed by the mobile unit, a communication delay between the mobile unit and a processing delay in the mobile unit. and adjusts the timing of instructing the planned action to the mobile object via the wireless communication network so that the mobile object may execute the planned action immediately after receiving the instruction information of the planned action. , the mobile body control device of (1) above.
(3) In one aspect of the present invention, the operation planning unit retains actual history data of communication delays when varying factors related to communication delays are changed, , calculating a predicted value of communication delay based on actual history data corresponding to variable factors related to communication delay of the mobile unit, and storing actual historical data of processing delay when variable factors related to processing delay are changed, The mobile body control device according to (2) above, wherein, as the processing delay in the mobile body subject to the planned operation, a predicted value of the processing delay is calculated based on performance history data corresponding to fluctuation factors relating to the processing delay of the mobile body. .
(4) One aspect of the present invention is a beam coverage storage unit that stores beam coverage information indicating coverage of each beam of a base station that performs beamforming in the wireless communication network; a beam scanning unit that issues a beam switching request for switching a beam direction, wherein the position specifying unit specifies the position of the moving object based on the reachable range of the beam received by the moving object; ) to (3).
(5) In one aspect of the present invention, the position specifying unit uses a VPS (Visual Positioning Service) based on the three-dimensional environment map information and a captured image in which the surroundings of the moving object are captured. The moving body control device according to any one of (1) to (4) above, which specifies the position of the moving body.
(6) In one aspect of the present invention, for a plurality of mobile bodies moving in formation, route information indicating a route along which the plurality of mobile bodies move and the position information of each of the mobile bodies are combined. and a base station of the wireless communication network for preferentially allocating radio resources to the wireless communication performed by the mobile unit. The mobile control apparatus according to any one of (1) to (5) above, further comprising a QOS control unit that issues a resource priority allocation request.
(7) In one aspect of the present invention, the mobile control device accommodates a branch station having an antenna for providing wireless communication connection in an area where the mobile moves, in the base station of the wireless communication network. The mobile control apparatus according to any one of (1) to (6) above, provided in a station.

(8) An aspect of the present invention includes the mobile control device according to any one of (1) to (7) above, and a mobile object that communicates with the mobile control device via a wireless communication network, The moving body is a moving body system including an operation control unit that controls the movement of the moving body according to the planned operation instructed by the moving body control device.

(9) An aspect of the present invention includes a mobile control device according to any one of (1) to (7) above and a mobile operation management device, wherein the mobile operation management device is configured to: A beamforming compatible base station information storage unit for storing beamforming compatible base station information indicating the arrangement of base stations having a beamforming function; and a route search unit that preferentially searches for a route passing through a communication area of a base station having a forming function.
(10) An aspect of the present invention is the mobile operation system according to (9) above, wherein the mobile is a mobile that performs delivery, and the route search unit searches for a delivery route for the mobile. .

(11) One aspect of the present invention is a mobile body control method executed by a mobile body control device that controls a mobile body via a wireless communication network, wherein the mobile body control device controls the area in which the mobile body moves. a step of storing environmental map information related to the mobile object in an environmental map information storage unit; a position specifying step of acquiring position information indicating the position of the mobile object by the mobile object control device; a direction identifying step of acquiring moving direction information indicating the moving direction of the moving body; and a surrounding environment recognizing step of recognizing the surrounding environment of the moving body based on a captured image in which the surroundings of the moving body are captured. and the moving body control device provides the moving body with route information indicating a moving route of the moving body, the environment map information, the position information, the moving direction information, and the recognition result of the surrounding environment. and a motion planning step of planning the determined motion and instructing the planned motion.

(12) One aspect of the present invention is the step of storing, in an environment map information storage section, environmental map information relating to an area in which the mobile body moves, in a computer of a mobile body control device that controls the mobile body via a wireless communication network. a position specifying step of acquiring position information indicating the position of the moving object; a direction specifying step of acquiring moving direction information indicating the moving direction of the moving object; a surrounding environment recognition step of recognizing the surrounding environment of the moving object based on the above; and a motion planning step of planning a motion based on the result of recognizing the surrounding environment and instructing the planned motion.

ADVANTAGE OF THE INVENTION According to this invention, the effect that the cost of mobile bodies, such as a robot which moves autonomously, can be reduced is acquired.

1 is a block diagram showing a configuration example of a robot system according to an embodiment; FIG. FIG. 4 is an explanatory diagram for explaining the relationship between a mobile robot and beam IDs according to one embodiment; 4 is a flow chart showing an example of a procedure of a mobile robot control method according to one embodiment; 1 is a schematic configuration diagram showing an example of a robot system according to an embodiment; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, a robot system in a delivery service system that performs delivery using a robot that moves autonomously (hereinafter referred to as a mobile robot) will be described as an example. In a delivery service system, a mobile robot moves through town to a destination specified by a delivery service user and delivers packages such as products.

FIG. 1 is a block diagram showing a configuration example of a robot system according to one embodiment. In FIG. 1, mobile robots 2 and 3 communicate with a robot controller 4 via a wireless communication network. The mobile robots 2 and 3 are examples of mobile bodies. A robot controller 4 controls the mobile robots 2 and 3 via a wireless communication network. The robot control device 4 instructs the mobile robots 2 and 3 to perform planned actions (planned actions). The mobile robots 2 and 3 execute planned actions instructed by the robot controller 4 .

As an example of this embodiment, the mobile robots 2 and 3 form a group of robots that move in a formation. It follows the robot 2. In one formation, the following mobile robot 3 may be one or may be plural. In the delivery service system, the mobile robots 2 and 3 are smaller than general delivery vehicles and can carry less articles. For this reason, the number of articles that can be delivered in one delivery can be increased by having a plurality of mobile robots 2 and 3 form a line for delivery.

As another example of this embodiment, the mobile robots 2 may move alone without forming a formation.

The robot operation management device 5 monitors the operation of the mobile robots 2 and 3 and provides route information indicating the route to the destination. The robot control device 4 and the robot operation management device 5 exchange information through communication. The robot control device 4 and the robot operation management device 5 constitute a robot operation system.

The configuration of the robot system according to this embodiment will be described in detail below with reference to FIG.

[User terminal]
The user terminal 1 is a terminal used by a user (delivery service user) of the delivery service system according to this embodiment. A delivery service user designates a destination to which a package is to be delivered and requests delivery. The user terminal 1 may be a mobile communication terminal device such as a smartphone or a tablet computer (tablet PC), or a stationary communication terminal device (for example, a stationary personal computer, etc.). good.

The user terminal 1 has a product ordering unit 101 and a destination information input unit 102 . The product ordering unit 101 selects a product and places an order for the selected product in accordance with an operation by a delivery service user.

The product ordering unit 101 manages the remaining amount of items owned by the delivery service user in real time, and when the remaining amount of items falls below a preset threshold value, the item for replenishment is automatically ordered. You can place an order.

The destination information input unit 102 inputs destination information indicating a destination such as an address when the product ordering unit 101 orders products. The destination information may be specified each time by the delivery service user, or the destination information input unit 102 may record the destination information specified by the delivery service user in the past and input the recorded destination information. It can be reused automatically.

Also, the destination information input unit 102 may use a positioning function based on a GPS (Global Positioning System) provided in the user terminal 1 to set the current position acquired by GPS as the destination. Further, the destination information input unit 102 may add an image of the surrounding scenery of the user terminal 1 captured by the camera of the user terminal 1 to the destination information as reference information of the destination.

[Mobile robot]
Mobile robots 2 and 3 are robots capable of autonomous travel. Mobile robots 2 and 3 have substantially the same configuration. The mobile robot 2 includes a wireless communication unit 201 , a beam identification information (beam ID) acquisition unit 202 , an angle acquisition unit 203 , an imaging unit 204 and an operation control unit 205 . The mobile robot 3 includes a wireless communication section 301 , a beam ID acquisition section 302 , an angle acquisition section 303 and an operation control section 305 .

In the following explanation, the mobile robot 2 will be used as a representative for the parts common to the mobile robots 2 and 3, and the corresponding reference numerals of the mobile robot 3 will be shown in parentheses.

The wireless communication unit 201 (301) performs wireless communication with the robot control device 4. FIG. The wireless communication unit 201 (301) corresponds to a wireless communication system such as 4G (fourth generation mobile communication system) or 5G (fifth generation mobile communication system). wireless communication. Note that 6G (sixth generation mobile communication system) or the like, which is expected to be put into practical use in the future, may be used as a wireless communication system.

The beam ID acquisition unit 202 (302) acquires a beam ID from the base station with which the wireless communication unit 201 (301) establishes wireless communication connection. The base station is a base station that performs beamforming in a wireless communication network. Base stations such as 5G perform beamforming when using high-frequency bands in which radio waves are difficult to travel over long distances. In beamforming, the radiation range of radio waves is narrowed to form a beam with concentrated output, and the beam is transmitted while switching rapidly in multiple different beam directions. This increases the reach of radio waves and forms the communication range of the base station. Each beam in each beam direction has an individual ID (beam ID). The beam ID acquisition unit 202 (302) acquires the beam ID of the beam received by the wireless communication unit 201 (301).

Here, the relationship between the mobile robot and the beam ID according to this embodiment will be described with reference to FIG. FIG. 2 is an explanatory diagram for explaining the relationship between the mobile robot and the beam ID according to this embodiment. In FIG. 2, a leading mobile robot 2 and two trailing mobile robots 3-1 and 3-2 form a formation and move along a route RT. A route RT is a route from the starting point SP to the destination EP. Four base stations 6-1, 6-2, 6-3 and 6-4 are arranged in an area including the route RT along which the mobile robots 2, 3-1 and 3-2 move. Each base station 6-1, 6-2, 6-3, 6-4 has an antenna for transmitting and receiving radio waves for forming its own communication range. The radio communication unit 201 of the mobile robot 2 and the radio communication units 301 of the mobile robots 3-1 and 3-2 communicate with the base stations 6-1, 6-2, 6-3 and 6-4 on the route RT. Wireless communication is performed by transmitting and receiving

FIG. 2 shows beamforming performed by the base station 6-3 as an example. In the beamforming performed by the base station 6-3, a total of five beams BM with "beam ID=1, 2, 3, 4, 5" are formed. The beam directions of the beams BM with the beam IDs "1", "2", "3", "4", and "5" are set to different directions. The base station 6-3 transmits beams BM with beam IDs "1", "2", "3", "4", and "5" while switching at high speed.

In the mobile robot 2, the beam ID acquisition unit 202 acquires the beam ID of the beam BM received by the wireless communication unit 201 from the base station 6-3. For example, when the beam ID acquired by the beam ID acquisition unit 202 is "5", the mobile robot 2 is present within the reach of the beam BM with the beam ID "5". Therefore, the position of the mobile robot 2 can be specified by the beam ID acquired by the mobile robot 2 .

Similarly, in mobile robot 3-1, beam ID acquisition unit 302 acquires the beam ID of beam BM received by wireless communication unit 301 from base station 6-3. For example, when the beam ID acquired by the beam ID acquisition unit 302 is "4", the mobile robot 3-1 is present within the reach of the beam BM with the beam ID "4". Therefore, the position of the mobile robot 3-1 can be identified by the beam ID acquired by the mobile robot 3-1.

Similarly, in mobile robot 3-2, beam ID acquisition section 302 acquires the beam ID of beam BM received by wireless communication section 301 from base station 6-3. If the beam ID acquired by the beam ID acquisition unit 302 is, for example, "3", the mobile robot 3-2 is present within the reach of the beam BM with the beam ID "3". Therefore, the position of the mobile robot 3-2 can be identified by the beam ID acquired by the mobile robot 3-2.

Returning to FIG.
The angle acquisition unit 203 (303) acquires angle data from an acceleration sensor provided in the mobile robot 2 (3). The angle data acquired by the angle acquisition unit 203 (303) is moving direction information indicating the moving direction of the mobile robot 2 (3).

The imaging unit 204 images the surroundings of the mobile robot 2 . The image pickup unit 204 picks up an image of the traveling direction of the mobile robot 2, for example.

In the mobile robot 2 , the wireless communication unit 201 transmits the beam ID acquired by the beam ID acquisition unit 202 , the angle data acquired by the angle acquisition unit 203 , and the captured image captured by the imaging unit 204 to the robot control device 4 . In the mobile robot 3 , the wireless communication unit 301 transmits the beam ID obtained by the beam ID obtaining unit 302 and the angle data obtained by the angle obtaining unit 303 to the robot control device 4 .

The mobile robot 2 may be equipped with a LiDAR (Light Detection and Ranging) device, and measure the distance to an object existing in the vicinity of the mobile robot 2 (for example, in the traveling direction) using the LiDAR technology. The wireless communication unit 201 may transmit measurement data measured by the LiDAR technology to the robot control device 4 .

The motion control unit 205 (305) controls the motion of its own mobile robot 2 (3) in accordance with the planned motion instructed by the robot control device 4. FIG. In the mobile robot 2 , the motion control unit 205 controls the running type and running speed of the mobile robot 2 such as forward movement, backward movement, right/left turn, and motion types other than running such as changing the image capturing direction of the image capturing unit 204 . In the mobile robot 3 , the motion control unit 305 controls the type of travel such as forward movement, backward movement, right/left turn, etc., and the running speed of the mobile robot 3 . As a result, the mobile robots 2 and 3 execute the planned motions respectively instructed by the robot control device 4 .

The mobile robot 2 ( 3 ) according to this embodiment executes a planned action instructed by the robot control device 4 . Therefore, the mobile robot 2 (3) itself does not need to plan and autonomously execute the next action adapted to the current situation. Therefore, the information processing capability of the information processing device mounted on the mobile robot 2(3) can be kept low. As a result, the cost of the mobile robot 2(3) can be reduced.

The mobile robot 3 moves behind the mobile robot 2 standing at the head of the row. For this reason, the mobile robot 3 is not provided with an imaging unit for imaging the surroundings such as the traveling direction or a LiDAR device for measuring the surroundings. As a result, the cost of the mobile robot 3 can be further reduced.

It should be noted that only a plurality of mobile robots 2 may form a formation and move.

Also, the mobile robots 2 and 3 may autonomously execute only the types of actions that are particularly urgent with a simple processing flow (a processing flow that can be executed even with a low information processing capability). For example, the mobile robots 2 and 3 may autonomously execute a simple processing flow to determine a collision based on the sensing results of their own collision sensors and stop.

[Robot controller]
The robot control device 4 includes an environment map information storage unit 401, a beam scanning unit 402, a beam reaching range storage unit 403, a position specifying unit 404, a direction specifying unit 405, a route information storage unit 406, and a surrounding environment recognition unit. It includes a unit 407 , an operation planning unit 408 , a head determination unit 409 and a QOS control unit 410 .

Each function of the robot control device 4 is realized by the robot control device 4 having computer hardware such as a CPU (Central Processing Unit) and memory, and the CPU executing a computer program stored in the memory. be done. The robot control device 4 may be configured using a general-purpose computer device, or may be configured as a dedicated hardware device.

The environment map information storage unit 401 stores the environment map information of the area handled by the robot control device 4 (the area including the area where the mobile robots 2 and 3 move). The environmental map information includes road map data, facility data such as various facilities and stores attached thereto, and the like.

The road map data is given as link data in which, for example, a road on a map is divided into a plurality of parts using intersections and the like as nodes, and the parts between the nodes are defined as links. This link data includes data such as a link-specific identifier (link ID), link length, position information (longitude, latitude) of the start and end points (nodes) of the link, angle (direction) data, road width, and road type. consists of The road map data may include lane information indicating lanes through which the mobile robots 2 and 3 can pass.

Also, the environmental map information may further include indoor map data. Also, the environmental map information may be three-dimensional map information (3D map).

The beam scanning unit 402 issues a beam switching request to the base station to switch the beam direction. The base station switches beam directions in response to the beam switching request. For example, in FIG. 2, the base station 6-3 switches beams BM with beam IDs "1", "2", "3", "4", and "5" at high speed in response to the beam switching request. while sending.

The beam reachable range storage unit 403 stores beam reachable range information indicating the reachable range of each beam of a base station that performs beamforming in a wireless communication network. For example, for each beam BM (beam IDs "1", "2", "3", "4", "5") of the base station 6-3 shown in FIG. , "3", "4", and "5" are associated with the coverage of the beam BM and stored in the beam coverage information.

The position specifying unit 404 acquires position information indicating the position of the mobile robot 2 (3).
An example of the position information acquisition method will be described. The position specifying unit 404 specifies the position of the mobile robot 2(3) based on the reachable range of the beam received by the mobile robot 2(3). The position specifying unit 404 uses the beam ID transmitted from the mobile robot 2 ( 3 ) to the robot control device 4 to determine the reachable range associated with the beam ID from the beam reachable range information in the beam reachable range storage unit 403 . , is obtained as the reachable range of the beam received by the mobile robot 2 (3).

The position specifying unit 404 causes the base station to switch beams in all beam directions at high speed, for example, by the beam scanning unit 402 . The beam ID obtained by the mobile robot 2 ( 3 ) by switching the beam direction is transmitted from the mobile robot 2 ( 3 ) and received by the robot controller 4 . The position specifying unit 404 uses the received beam ID to acquire the reachable range corresponding to the beam ID from the beam reachable range information in the beam reachable range storage unit 403 . The position specifying unit 404 specifies the position of the mobile robot 2 (3) from the acquired reach range. For example, the position specifying unit 404 determines the representative position (for example, the center position) of the acquired reach range as the position of the mobile robot 2 (3).

Note that other methods may be used as the location information acquisition method.
For example, the mobile robot 2 ( 3 ) may have a GPS positioning function, and position information indicating the position acquired by GPS may be transmitted from the mobile robot 2 ( 3 ) to the robot control device 4 . For example, the position specifying unit 404 uses a VPS (Visual Positioning Service) based on a 3D map stored in the environment map information storage unit 401 and a captured image of the surroundings of the mobile robot 2 (3). , the position of the mobile robot 2(3) may be specified. According to VPS, highly accurate location information can be obtained.

Further, the position specifying unit 404 may specify the positions of the mobile robots 2 and 3 by combining the results of a plurality of position information acquisition methods.

The direction specifying unit 405 acquires moving direction information indicating the moving direction of the mobile robot 2(3). The direction specifying unit 405 acquires the angle data received from the mobile robot 2(3) by the robot control device 4 as movement direction information of the mobile robot 2(3).

The route information storage unit 406 stores route information indicating the route along which the mobile robot 2(3) moves. For example, the route information storage unit 406 stores route information indicating a route RT along which the mobile robots 2, 3-1, and 3-2 shown in FIG. Path information is provided from the robot operation management device 5 .

The surrounding environment recognition unit 407 recognizes the surrounding environment of the mobile robot 2(3) based on the captured image of the surroundings of the mobile robot 2(3). The peripheral environment recognition unit 407 acquires the imaged image received by the robot control device 4 from the mobile robot 2 as an imaged image of the surroundings of the mobile robot 2 . Also, as shown in FIG. 2, when the mobile robots 2, 3-1, and 3-2 move in a formation, the robot control device 4 receives the picked-up image from the first mobile robot 2, The surroundings of the mobile robots 2, 3-1, and 3-2 are acquired as picked-up images.

The surrounding environment recognition unit 407 recognizes, for example, non-fixed obstacles such as people, bicycles, and automobiles as the surrounding environment of the mobile robot 2 (3). Fixed obstacles such as buildings and signboards are indicated in the environment map information in the environment map information storage unit 401 .

The motion planning unit 408 provides the mobile robot 2(3) with the route information in the route information storage unit 406, the environment map information in the environment map information storage unit 401, the position information acquired by the position specifying unit 404, and the direction specification. An action is planned based on the moving direction information acquired by the unit 405 and the recognition result of the surrounding environment by the surrounding environment recognition unit 407, and the planned planned action is instructed.

The motion planning unit 408, for example, moves the mobile robots 2, 3-1, and 3-2 shown in FIG. If there is an obstacle ahead of the direction indicated by the environmental map information or the recognition result of the surrounding environment, the movement is planned so as to move along a route avoiding the obstacle at a predetermined speed for obstacle avoidance.

The motion planner 408 instructs the mobile robot 2(3) on the planned motion through wireless communication. This planned operation instruction information is transmitted from the robot controller 4 to the mobile robot 2 (3) via the wireless communication network.

For example, the action planning unit 408 may include execution time information indicating the time at which the planned action should be executed in the planned action instruction information. In the mobile robot 2 (3), the motion control unit 205 (305) performs control so that the planned motion of the planned motion instruction information is executed at the time indicated by the execution time information of the planned motion instruction information.

For example, the motion planning unit 408 determines the timing at which the planned motion should be executed by the mobile robot 2(3), the communication delay with the mobile robot 2(3), and the processing delay in the mobile robot 2(3). , the mobile robot 2(3) can execute the planned action of the planned action instruction information immediately after receiving the planned action instruction information. You may adjust the timing which instruct|indicates planned operation|movement to. As a result, in the mobile robot 2 (3), the motion control unit 205 (305) can perform control so that the planned motion of the planned motion instruction information is executed immediately upon receiving the planned motion instruction information.
Note that the motion planning unit 408 retains actual history data of communication delays when varying factors related to communication delays are changed, and calculates the communication delay with the mobile robot 2 (3) as the target of the planned motion. A predicted value of communication delay is calculated based on performance history data corresponding to variable factors relating to communication delay of the robot 2 (3). Variable factors related to communication delay include, for example, the communication method, the configuration and parameters of the base station (for example, optical fiber length between the accommodation station device and the branch station device, the uplink and downlink time ratio, etc.), and the state of communication congestion.
In addition, the motion planning unit 408 retains actual history data of processing delays when the variation factors related to processing delays are changed, and calculates the processing delay of the mobile robot 2 (3) to be planned motion as the processing delay of the mobile robot 2 ( 3) A predicted value of the processing delay is calculated based on the actual history data corresponding to the variation factor related to the processing delay. Variation factors related to the processing delay include, for example, the model of the mobile robot 2 (3) and the details of the operation to be performed next.

For a plurality of mobile robots 2 and 3 moving in a formation, the head determination unit 409 provides route information indicating the route along which the plurality of mobile robots 2 and 3 move, and position information of each mobile robot 2 and 3. , the mobile robot 2 at the head is determined.
For example, for the mobile robots 2, 3-1, and 3-2 shown in FIG. , the mobile robot 2 moving at the head is determined.

In a plurality of mobile robots 2, 3 moving in a formation, the leading mobile robot 2 is responsible for subsequent movements within the formation, such as detecting an unknown obstacle or coping with a sudden appearance of a person. A faster movement than the robot 3 is required. Therefore, it is preferable to control the movement of the leading mobile robot 2 with a lower delay. For this reason, the leading mobile robot 2 is determined by the leading determination unit 409 .

The QOS control unit 410 controls the wireless communication network so that wireless resources are preferentially allocated to the wireless communication performed by the leading mobile robot 2 based on the determination result of the leading mobile robot 2 by the leading determination unit 409 . A radio resource priority allocation request is issued to the base station. In response to the radio resource priority allocation request, the base station preferentially allocates radio resources to the radio communication performed by the mobile robot 2 specified in the radio resource priority allocation request. As a result, low-delay communication is realized with the mobile robot 2 moving at the head.

[Robot operation management device]
The robot operation management device 5 includes an operation monitoring unit 501, an order information storage unit 502, a destination acquisition unit 503, an overall map information storage unit 504, a robot wireless device information storage unit 505, and beamforming compatible base station information. A storage unit 506 , a route search unit 507 and a route distribution unit 508 are provided.

Each function of the robot operation management device 5 is realized by the robot operation management device 5 having computer hardware such as a CPU and memory, and the CPU executing a computer program stored in the memory. The robot operation management device 5 may be configured using a general-purpose computer device, or may be configured as a dedicated hardware device.

The operation monitoring unit 501 monitors the operation of the mobile robot 2(3). The operation monitoring unit 501 receives real-time position information and status information (for example, recognition results of the surrounding environment, etc.) of the mobile robot 2 ( 3 ) from the robot control device 4 . The operation monitoring unit 501 performs operation monitoring by associating the received information with information (mobile robot ID) for identifying the mobile robot 2 (3). The operation monitoring unit 501 may also monitor whether the robot control device 4 is operating normally.

The order information storage unit 502 receives order information for ordering products from the user terminal 1 and stores the received order information. The order information storage unit 502 performs purchase processing in cooperation with a purchase system (not shown) and formulates a product delivery plan. The order information storage unit 502 stores scheduled delivery information such as the place of departure, the destination, and the time period for delivering the product by the mobile robot 2(3) according to the formulated product delivery plan.

The destination acquisition unit 503 acquires destination information from the order information or scheduled delivery information stored in the order information storage unit 502 .

The overall map information storage unit 504 stores overall map information. The overall map information includes nationwide road map data, facility data such as various facilities and stores attached thereto, and the like.

The robot wireless device information storage unit 505 stores information on wireless devices provided in the wireless communication unit 201 (301) of the mobile robot 2 (3). The information about the wireless device is, for example, information such as the wireless communication method and the wireless frequency band that the wireless device supports.

The beamforming compatible base station information storage unit 506 stores beamforming compatible base station information indicating the arrangement of base stations having a beamforming function in the wireless communication network. For example, if all base stations 6-1, 6-2, 6-3 and 6-4 shown in FIG. The arrangement of 6-3 and 6-4 is indicated by the beamforming compatible base station information. On the other hand, if only some base stations among the base stations 6-1, 6-2, 6-3, and 6-4 shown in FIG. The arrangement of only is indicated by the beamforming-capable base station information.

The route search unit 507 uses the overall map information in the overall map information storage unit 504 to search for a route from the starting point to the destination of the mobile robot 2(3). The route searching unit 507 searches for routes from the starting point SP to the destination EP of the mobile robots 2, 3-1, 3-2 shown in FIG. 2, for example.

The destination of mobile robot 2 ( 3 ) is the location indicated by the destination information acquired by destination acquisition unit 503 . The starting point of the mobile robot 2(3) is set in advance. For example, a product delivery base (for example, a distribution warehouse where products are stored, a store that handles delivery closest to the destination, etc.) is set in advance as the starting point of the mobile robot 2 (3). Also, when the mobile robot 2(3) is transported to the vicinity of the destination by a vehicle, the location of the transportation destination of the mobile robot 2(3) is set in advance as the starting point of the mobile robot 2(3). .

As a route search method used by the route search unit 507, for example, the Dijkstra method, the A* algorithm, the genetic algorithm, or the like can be used. Here, a method of searching for a route using the Dijkstra method will be described as an example of the route searching method.

The route search unit 507 sequentially calculates (integrates) the costs of roads (links) from the starting point to the destination to the next reachable intersection (node). Choose a cost path. The cost of each link has a smaller value as the distance of the link is shorter.

Also, the cost of each link may be weighted from the viewpoint of safety, wireless communication quality, and the like.

For example, since it is difficult for the mobile robot 2 (3) to move safely on a road link with a road width less than a predetermined threshold, the link may be weighted to increase the cost.

For example, if mobile robots 2(3) are classified according to size, structure, etc., it may be difficult for some mobile robots 2(3) to climb over bumps on the road. Therefore, when searching for the route of the mobile robot 2 (3) of that type, weighting may be performed to increase the cost for links on roads with steps.

For example, if mobile robots 2(3) are classified according to available radio communication systems and radio frequency bands, it is conceivable that the quality of radio communication may vary depending on the type of mobile robot 2(3) in the area in which it moves. be done. For this reason, when searching for the route of the mobile robot 2 (3) of that type, weighting may be performed to increase the cost for links of roads with a high possibility of deteriorating wireless communication quality.

Based on the beamforming-compatible base station information in the beamforming-compatible base station information storage unit 506, the route search unit 507 determines the path along which the mobile robot 2 (3) will move. A route passing through the area may be preferentially searched. In this case, the route search unit 507 weights the links of the roads passing through the communication area of the base station having the beamforming function among the roads in the route search range so as to reduce the cost.
When the position specifying unit 404 in the robot control device 4 specifies the position of the mobile robot 2(3) based on the reachable range of the beam received by the mobile robot 2(3), the mobile robot 2(3) preferably passes through the communication area of a base station with beamforming capability.

The route distribution unit 508 transmits route information indicating the route searched by the route search unit 507 to the robot control device 4 . The robot control device 4 stores the route information transmitted from the route distribution unit 508 in the route information storage unit 406 .

Next, the mobile robot control method according to this embodiment will be described with reference to FIG. FIG. 3 is a flow chart showing an example of the procedure of the mobile robot control method according to this embodiment.

(Step S1) The robot operation management device 5 acquires a departure point and a destination.

(Step S2) The robot operation management device 5 searches for a route from the departure point acquired in step S1 to the destination. The robot operation management device 5 transmits to the robot control device 4 route information indicating the route of the search result.

(Step S3) The robot control device 4 acquires information (position information, moving direction information, recognition result of the surrounding environment, etc.) on the mobile robot 2(3).

(Step S4) The robot control device 4 plans an action for the mobile robot 2(3) based on the route information, the environment map information, and the information acquired in step S3.

(Step S5) The robot controller 4 instructs the mobile robot 2(3) to perform the planned motion planned in step S4. The mobile robot 2 ( 3 ) executes a planned action instructed by the robot controller 4 .

(Step S6) If the robot control is finished, the process of FIG. 3 is finished. When the robot control is continued, the process returns to step S3.

Next, an example of the robot system according to this embodiment will be described with reference to FIG. FIG. 4 is a schematic configuration diagram showing an example of the robot system according to this embodiment. In FIG. 4, the base station of the wireless communication network is separated into a host station device 22 having a signal processing function and a branch station device 6 having an antenna using radio over fiber (RoF) technology. . One accommodation station device 22 accommodates a plurality of branch office devices 6-1, 6-2, . . . , 6-p.

The accommodating station device 22 is connected by communication with the central station device 20 via the backhaul network BNW. The central station device 20 accommodates a plurality of accommodating station devices 22 . Regarding beamforming, the central station device 20 may have a remote beamforming function for remotely controlling the beams formed by the branch office device 6 .

In the embodiment of FIG. 4, the robot control device 4 is provided in the accommodation station device 22 . At least one of the plurality of branch office devices 6-1, 6-2, . It has an antenna for providing wireless communication connectivity in an area. This is to minimize the communication delay between the mobile robot 2 (3) and the robot controller 4 as much as possible. In this embodiment, the mobile robot 2(3) executes a planned action instructed by the robot control device 4, whereby the mobile robot 2(3) itself plans the next action adapted to the current situation and autonomously performs the action. It eliminates the need to execute explicitly. Therefore, it is preferable to minimize the communication delay between the mobile robot 2 (3) and the robot controller 4 as much as possible.

Further, in the embodiment of FIG. 4, the robot operation management device 5 is provided in the central station device 20 . This is because a common robot operation management device 5 is provided for a plurality of robot control devices 4 respectively provided in a plurality of accommodation station devices 22 accommodated by the central station device 20 . When the robot operation management device 5 accommodates only one robot control device 4 , the robot control device 4 and the robot operation management device 5 may be provided in the same accommodation station device 22 .

According to the above-described embodiment, it is possible to reduce the cost of the mobile robot 2 (3).

As a result, it is possible to improve the overall service quality in, for example, the delivery service system. It will be possible to contribute to the promotion of industrialization and the expansion of innovation.

Although the embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like are included within the scope of the present invention.

Although the robot system is applied to the delivery service system in the above-described embodiments, it may be applied to systems other than the delivery service system. For example, the robot system according to the above-described embodiments may be applied to a road inspection service system that inspects roads using mobile robots.

Also, in the above-described embodiments, a mobile robot is used as an example of a mobile body, but the mobile robot is not limited to this. As the moving object, a vehicle that automatically operates (automatically driven vehicle) or the like may be applied.

Alternatively, a computer program for realizing the functions of the devices described above may be recorded in a computer-readable recording medium, and the program recorded in the recording medium may be read and executed by the computer system. Note that the “computer system” referred to here may include hardware such as an OS and peripheral devices.
In addition, "computer-readable recording medium" includes writable nonvolatile memories such as flexible discs, magneto-optical discs, ROMs and flash memories, portable media such as DVDs (Digital Versatile Discs), and computer system built-in media. A storage device such as a hard disk that

Furthermore, "computer-readable recording medium" means a volatile memory (e.g., DRAM (Dynamic Random Access Memory)), which holds the program for a certain period of time, is also included.
Further, the above program may be transmitted from a computer system storing this program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in a transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the program may be for realizing part of the functions described above. Further, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

1 User terminal 2, 3 Mobile robot 4 Robot control device 5 Robot operation management device 20 Aggregation station device 22 Accommodation station device (base station) 6-1, 6-2, ..., 6-p ... branch office device (base station) 201, 301 ... wireless communication section 202, 302 ... beam ID acquisition section 203, 303 ... angle acquisition section 204 ... imaging section 205, 305 ... Operation control unit 401 Environment map information storage unit 402 Beam scanning unit 403 Beam reaching range storage unit 404 Position specifying unit 405 Direction specifying unit 406 Route information storage unit 407 Surrounding environment recognition Part 408... Operation planning part 409... Head determination part 410... QOS control part 501... Operation monitoring part 502... Order information storage part 503... Destination acquisition part 504... Overall map information storage part 505... Robot wireless device information storage unit 506 Beamforming compatible base station information storage unit 507 Route search unit 508 Route distribution unit

Claims (12)

In a mobile body control device that controls a mobile body via a wireless communication network,
an environment map information storage unit that stores environment map information related to an area in which the moving object moves;
a position specifying unit that acquires position information indicating the position of the moving object;
a direction identifying unit that acquires moving direction information indicating the moving direction of the moving object;
a surrounding environment recognition unit that recognizes the surrounding environment of the moving body based on a captured image of the surroundings of the moving body;
planning an action for the mobile object based on route information indicating a route along which the mobile object moves, the environment map information, the position information, the moving direction information, and the result of recognition of the surrounding environment; a motion planning unit that instructs a planned motion;
A mobile body control device. The operation planning unit determines whether the mobile object performs the planned operation based on the timing at which the planned operation should be executed by the mobile object, a communication delay between the mobile object and a processing delay in the mobile object. adjusting the timing of instructing the mobile object to perform the planned action via the wireless communication network so that the planned action may be performed immediately upon receiving the instruction information;
The moving body control device according to claim 1 . The motion planning unit
Retains actual history data of communication delay when the variable factor related to communication delay is changed, and records the actual history corresponding to the variable factor related to the communication delay of the target mobile as the communication delay with the target mobile of the planned operation. Calculate the predicted value of communication delay based on the data,
Retains actual history data of processing delays when the variable factors related to processing delays are changed, and determines the processing delays of the mobile units subject to planned actions based on the actual historical data corresponding to the variable factors related to processing delays of the mobile units. to calculate the expected value of the processing delay,
The moving body control device according to claim 2 . a beam coverage storage unit that stores beam coverage information indicating coverage of each beam of a base station that performs beamforming in the wireless communication network;
a beam scanning unit that issues a beam switching request to the base station to switch a beam direction,
The position specifying unit specifies the position of the moving body based on the coverage of the beam received by the moving body.
The moving body control device according to any one of claims 1 to 3. The position specifying unit specifies the position of the mobile object using a VPS (Visual Positioning Service) based on the three-dimensional environment map information and a captured image in which the surroundings of the mobile object are captured.
The moving body control device according to any one of claims 1 to 4. With respect to the plurality of mobile bodies moving in a formation, the leading mobile body is determined based on the route information indicating the route along which the plurality of mobile bodies move and the position information of each of the mobile bodies. a head judgment unit;
a QOS control unit that issues a radio resource priority allocation request to a base station of the radio communication network so that radio resources are preferentially allocated to the radio communication performed by the first mobile unit;
The moving body control device according to any one of claims 1 to 5. The mobile control device is provided in a base station of the wireless communication network, and is provided in an accommodation station that accommodates a branch office having an antenna for providing a wireless communication connection in an area where the mobile moves.
The moving body control device according to any one of claims 1 to 6. A mobile body control device according to any one of claims 1 to 7;
a mobile body that communicates with the mobile body control device via a wireless communication network;
The mobile body includes a motion control unit that controls the motion of the mobile body according to a planned motion instructed by the mobile body control device.
mobile system. A mobile body control device according to any one of claims 1 to 7;
and a mobile operation management device,
The mobile operation management device,
a beamforming compatible base station information storage unit that stores beamforming compatible base station information indicating the arrangement of base stations having a beamforming function in a wireless communication network;
a route search unit that preferentially searches for a route passing through a communication area of a base station having a beamforming function as a route along which the mobile body moves, based on the beamforming compatible base station information;
Mobile operation system. The moving body is a moving body that performs delivery,
The route search unit searches for a delivery route for the mobile object,
The mobile operation system according to claim 9. A mobile body control method executed by a mobile body control device that controls a mobile body via a wireless communication network,
a step in which the mobile body control device stores environment map information about an area in which the mobile body moves in an environment map information storage unit;
a position specifying step in which the mobile body control device acquires position information indicating the position of the mobile body;
a direction specifying step in which the moving body control device acquires moving direction information indicating a moving direction of the moving body;
A peripheral environment recognition step in which the mobile body control device recognizes the peripheral environment of the mobile body based on a captured image in which the periphery of the mobile body is captured;
The mobile body control device performs an operation for the mobile body based on route information indicating a route along which the mobile body moves, the environment map information, the position information, the moving direction information, and the recognition result of the surrounding environment. and an action planning step that directs the planned planned action;
A moving body control method including In the computer of the mobile body control device that controls the mobile body via the wireless communication network,
a step of storing environmental map information relating to an area in which the moving object moves in an environmental map information storage unit;
a position specifying step of acquiring position information indicating the position of the mobile body;
a direction specifying step of acquiring moving direction information indicating the moving direction of the moving object;
a surrounding environment recognition step of recognizing a surrounding environment of the moving body based on a captured image in which the surroundings of the moving body are captured;
planning an action for the mobile object based on route information indicating a route along which the mobile object moves, the environment map information, the position information, the moving direction information, and the result of recognition of the surrounding environment; a motion planning step for directing a planned motion;
A computer program for executing

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