JP2023126668A - Autonomous mobile device and movement control method for autonomous mobile device - Google Patents

Abstract

To improve the accuracy of the detected angle of an object to be carried and to detect the angle of the object to be carried, from a distance longer than that in a conventional technique.SOLUTION: An autonomous mobile device having control means that controls movement includes detection means configured to detect an identification member, present in a detection area, by means of a sensor that optically scans the detection area by emitting light to the detection area and receives reflection light of the emitted light, reflected by an object present in the detection area. The identification member has a detection surface that is optically scanned by the sensor. Based on the light received by the sensor, the detection means obtains a distance of the detection surface and an angle relative to the detection surface. Based on the distance and the angle obtained by the detection means, the control means sets a target position and controls movement of the autonomous mobile device to the target position.SELECTED DRAWING: Figure 16

Description

The present invention relates to an autonomous mobile device, a movement control method for an autonomous mobile device, and a method for controlling connection between an autonomous mobile device and a vehicle to be transported.

BACKGROUND ART Conventionally, automating transportation work in warehouses using automated guided vehicles (AGVs), which are autonomous mobile devices, has been widely considered in the world. Specifically, a configuration is already known in which an automatic guided vehicle is provided with a connection mechanism, an object to be transported (a cage car) is connected to the automatic guided vehicle, and the object is transported within a warehouse.

Patent Document 1 discloses a technology in which sensors are mounted on both an automatic guided vehicle and a moving target of the automatic guided vehicle, and the movement of the automatic guided vehicle is controlled while communicating using these sensors. . Further, Patent Document 2 discloses a technique in which a sensor is provided only on the automatic guided vehicle side and the sensor is used to control the movement of the automatic guided vehicle toward a moving target. Furthermore, Patent Document 2 discloses that the direction of the object to be transported (cart) is detected by detecting the front corners (both ends) of the object to be transported (cart) using a laser beam, and A technology has been disclosed in which an automatic guided vehicle is moved based on its orientation and automatically connected to a conveyed object (truck).

However, according to the technology disclosed in Patent Document 2, since the front corners (both ends) of the object to be transported (cart) are detected using laser light, the shape of the object to be transported (cart) and the shape of the object to be transported (cart) ) There is a concern that there is a possibility of false detection if there are objects (other trolleys or luggage) around the vehicle. Specifically, there is a concern that erroneous detection may occur in the case of objects to be transported, such as basket cars, whose edges are difficult to identify. Furthermore, there is a concern that the possibility of false detection will further increase if the cage car is loaded with luggage or if multiple cage cars are placed adjacent to each other.

Furthermore, according to the technology disclosed in Patent Document 2, in order to detect the orientation of the object to be transported (the truck) by detecting the front corners (both ends) of the truck, it is necessary to ), making it unsuitable for detection from a long distance.

Therefore, according to the techniques disclosed in Patent Documents 1 and 2, there is room for improvement in terms of angle detection accuracy and angle detection distance.

The present invention has been made in view of the above, and aims to improve the accuracy of angle detection of an object to be transported and to enable detection of the angle of an object to be transported from a longer distance than in the prior art.

In order to solve the above-mentioned problems and achieve the objects, an autonomous mobile device of the present invention is an autonomous mobile device that has a control means for controlling movement, and which controls the detection area by emitting light to the detection area. a detection means for detecting an identification member present in the detection area by a sensor that performs optical scanning and receives reflected light in which the emitted light is reflected by an object present in the detection area; It has a detection surface that is optically scanned by the sensor, the detection means determines the distance to the detection surface and the angle with respect to the detection surface based on the light received by the sensor, and the control means The present invention is characterized in that a target position is set based on the distance and the angle determined by the above, and movement of the autonomous mobile device to the target position is controlled.

According to the present invention, it is possible to improve the accuracy of detecting the angle of the object to be transported and to detect the angle of the object to be transported from a longer distance than in the prior art.

FIG. 1 is an explanatory diagram showing a self-propelled robot and a cage cart in a transport system according to a first embodiment. FIG. 2 is a perspective view showing an example in which an ID panel is arranged on a car cart. FIG. 3 is a diagram showing an example of an ID panel. FIG. 4 is an explanatory diagram showing an example of a distribution warehouse. FIG. 5 is a block diagram showing an example of the hardware configuration of a controller of a self-propelled robot. FIG. 6 is a block diagram showing an example of a functional configuration exhibited by a controller of a self-propelled robot. FIG. 7 is a flowchart schematically showing the flow of ID panel detection processing. FIG. 8 is a diagram showing a peak value detection state in ID panel detection. FIG. 9 is a diagram illustrating a method of detecting a peak value. FIG. 10 is a diagram showing a distance information value detection state in ID panel detection. FIG. 11 is a diagram showing a range in which a self-propelled robot and a cage cart can be connected. FIG. 12 is a diagram showing an example of calculating the inclination of the ID panel. FIG. 13 is a flowchart showing the process of moving the ID panel to the target position after the ID panel detection process is completed. FIG. 14 is a diagram showing a method for detecting the tilt of the ID panel. FIG. 15 is a diagram showing a method for detecting the direction of the ID panel. FIG. 16 is a diagram showing a method for calculating a relative target position. FIG. 17 is a diagram schematically showing a travel route to a relative target position. FIG. 18 is a flowchart schematically showing the flow of ID panel detection processing according to the second embodiment. FIG. 19 is a diagram showing a peak value detection state in ID panel detection. FIG. 20 is a diagram showing a state in which the ID panel is approached. FIG. 21 is a diagram showing an example of content identification of the ID panel. FIG. 22 is a block diagram showing an example of the hardware configuration of a self-propelled robot in the transport system according to the third embodiment. FIG. 23 is a flowchart schematically showing the flow of ID panel detection processing. FIG. 24 is a diagram showing an example of content identification of the ID panel. FIG. 25 is a flowchart showing the process of moving the ID panel to the target position after completion of the ID panel detection process according to the fourth embodiment. FIG. 26 is a diagram showing a method of shifting the relative target position.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of an autonomous mobile device, a movement control method for the autonomous mobile device, and a connection control method for the autonomous mobile device and a transport target vehicle will be described below in detail with reference to the accompanying drawings.

(First embodiment)
FIG. 1 is an explanatory diagram showing a self-propelled robot 1 and a cage truck 2 in a transport system according to a first embodiment. This embodiment is an automated guided vehicle (AGV) that automatically connects to and pulls a towed cart such as the car cart 2 to be connected, thereby automatically transporting the cart cart 2 to a desired destination. ) is an example of a transport system in which a self-propelled robot 1 is applied to an autonomous mobile device.

The self-propelled robot 1 is an autonomous mobile device that has a function of automatically connecting to a cart 2 on which objects are loaded. As a result, the self-propelled robot 1 does not have to be configured to be able to carry loads, and by towing the basket truck 2 with a simple moving device, it is possible to transport a large number of objects loaded on the basket truck 2. can.

As shown in FIG. 1, the self-propelled robot 1 includes a robot main body 100 as a device main body, a magnetic sensor 3, a controller 4 as a detection device, a power source (battery) 6, a power motor 7, a motor driver 8, a first The vehicle includes a range sensor 9, which is a sensor, a coupling device 10, a driving wheel 71, a driven wheel 72, and the like. The range sensor 9 recognizes the surrounding environment of the self-propelled robot 1.

In the conveyance system of the present embodiment, a magnetic tape is installed on the floor surface of the path on which the self-propelled robot 1 can travel, and the magnetic tape is detected using the magnetic sensor 3. It can be recognized that it is located in The guiding method for installing the tape on the floor is not limited to a configuration using magnetic tape (magnetic type), but may also be a configuration using optical tape (optical type). When using an optical tape, a reflective sensor, an image sensor, or the like can be used instead of the magnetic sensor 3.

In addition, the transport system of this embodiment can perform autonomous travel that recognizes its own position by comparing a two-dimensional or three-dimensional map with the detection results of the range sensor 9. The range sensor 9 is a scanning laser distance sensor (laser range finder (LRF)) that irradiates an object with laser light and measures the distance to the object from the reflected light. Hereinafter, the range sensor 9 may be referred to as LRF9.

Note that a stereo camera, a depth camera, or the like can also be used as a sensor used to recognize the self-position by comparing the detection results with a two-dimensional or three-dimensional map.

In the self-propelled robot 1, the controller 4 controls the drive of the power motor 7 via the motor driver 8 based on the detection results of the magnetic sensor 3 and the range sensor 9, and the power motor 7 rotationally drives the drive wheels 71. This causes the self-propelled robot 1 to autonomously travel.

As shown in FIG. 1, the car trolley 2 includes a bottom plate 22 that holds the car part 20, casters 23 placed at the four corners of the square bottom plate 22, and an identification member placed on the side surface of the car part 20. ID panel 21.

An ID panel 21 on which a marker for recognition is displayed is attached to the cart 2 placed at a predetermined location. The marker is encoded with identification number information (ID information) of the cart 2, destination information such as the transport position, and transport priority information using a strip-shaped member such as retroreflective tape 21b (see FIG. 3). There is. The identification number information (ID information) of the car cart 2 can be recognized by referring to a table or the like.

The self-propelled robot 1 is equipped with a marker reading device. The marker reading device consists of a range sensor 9, which is an ID recognition means, and a decoding section. In this embodiment, the controller 4 has a function as a decoding section. The controller 4 recognizes the code of the marker from the detection result of the range sensor 9. The decoding unit of the controller 4 decodes the code information of the recognized marker to obtain identification number information, destination information, and priority information of the cart 2.

In this embodiment, although details will be described later, a retroreflective tape 21b is used as a marker installed on the car cart 2. The self-propelled robot 1 uses a range sensor 9 such as a laser range finder (LRF) to obtain the distance to the surrounding environment. The controller 4 calculates the position coordinates of the ID panel 21 from distance information between the ID panel 21 whose position has been recognized by the range sensor 9 and the range sensor 9 . Using the calculated positional coordinates of the ID panel 21, the controller 4 controls the drive of the power motor 7, thereby positioning the self-propelled robot 1 at a predetermined position in front of the ID panel 21 on the cart 2.

Next, the ID panel 21 will be explained in detail.

Here, FIG. 2 is a perspective view showing an example in which the ID panel 21 is arranged on the car cart 2. As shown in FIG. As shown in FIG. 2, the ID panel 21 is arranged approximately at the center of the front of the cart 2. As shown in FIG. More specifically, the ID panel 21 is arranged at a position facing the range sensor 9 of the self-propelled robot 1 (see FIG. 1). The ID panel 21 is removably attachable to the car cart 2, and is installed by an operator at a predetermined position such as the central frame (vertical bar) of the car cart 2. Note that the angle of the ID panel 21 is the same as the angle of the car cart 2, so it is installed parallel to the front part of the car cart 2.

In order for the self-propelled robot 1 to connect the cage cart 2, the self-propelled robot 1 needs to detect the distance and angle between the cage cart 2 and the self-propelled robot 1, and travel toward the cage cart 2. . However, when the range sensor 9 recognizes the shape of the cart 2, the shape to be recognized changes depending on the loading status of the cart 2, so it is difficult to accurately detect the distance and angle to the cart 2. . Therefore, in this embodiment, the ID panel 21 is mounted on the car cart 2, and the ID panel 21 is detected by the range sensor 9 mounted on the self-propelled robot 1.

Here, the ID panel 21, which is an identification member, will be technically explained. The ID panel 21 is an identification member for detecting and identifying a detection target using a detection device using electromagnetic waves such as a laser range finder (LRF). In order to detect using electromagnetic waves, etc., the detection surface (for example, the surface of the ID panel 21) on which the electromagnetic waves are detected is geometrically divided into at least three regions in a first direction, and in the plurality of divided regions, At least adjacent regions are set to have different reflectances for electromagnetic waves and the like.

This first direction is a direction parallel to the scanning direction by the detection device. In the example of the ID panel 21 shown in FIG. 3, the area is divided in the lateral direction (horizontal direction) of the page, and the scanning direction of the detection device is the lateral direction (horizontal direction) of the page.

Then, the detection device detects and identifies a detection target by detecting a specific pattern (signal) using differences in the intensity of reflected signals when electromagnetic waves or the like are irradiated.

FIG. 3 is a diagram showing an example of the ID panel 21. As shown in FIG. As shown in FIG. 3, in this embodiment, a plate-like member such as A4 size cardboard is used as an ID panel 21 that is an identification member. A marker for displaying an ID is formed by pasting retroreflective tape 21b on both ends of the surface 21a of the plate-like member or between them. Further, the surface 21a of the plate member and the retroreflective tape 21b constitute a detection surface 21c.

Since the surface 21a of the plate-shaped member and the retroreflective tape 21b have different reflectances for electromagnetic waves, etc., by configuring them in this way, the detection surface on which the electromagnetic waves, etc. described above are detected is geometrically at least The device is divided into three regions a, b, and c, and at least adjacent regions are set to have different reflectances for electromagnetic waves, etc. in the plurality of divided regions a, b, and c.

As shown in FIG. 3(a), the at least three divided regions are arranged from one end side of the detection surface 21c to the other end side in the first direction: the retroreflective tape 21b which is the first region a; The surface 21a of the plate-shaped member is the second region b, and the retroreflective tape 21b is the third region c.The reflectance of the first region a and the second region b are different, and the reflectance of the third region c is different. and the second region b are configured to have different reflectances.

Here, by pasting retroreflective tapes 21b with different reflectances on the first area a and the third area c, the reflectance of the first area a, the reflectance of the second area b, and the reflectance of the third area c can be adjusted. It is possible to make the reflectance different. Further, by pasting retroreflective tape 21b with the same reflectance on the first area a and the third area c, the reflectance of the first area a and the reflectance of the third area c are made equal. Good too.

Further, the reflectance of the first region a and the third region c do not need to be higher than the reflectance of the second region b, and at least one of the reflectance of the first region a and the third region c is higher than the reflectance of the second region b. The reflectance may be lower than that of the second region b.

Further, the ID panel 21, which is an identification member, does not need to be composed of a single plate-shaped member, and the detection surface 21c may be composed of two plate-shaped members arranged side by side, for example.

The range measurement sensor 9, which is the first sensor, detects the first amount of received light reflected by the first area a, the second amount of received light reflected by the second area b, and the second amount of received light reflected by the third area c. The amount of received light, the first distance from the range sensor 9 to the first area a, the second distance from the range sensor 9 to the second area b, and the third distance from the range sensor 9 to the third area c. The distance and are detected.

Although details will be described later, the ID panel 21 is identified based on a first amount of received light, a second amount of received light, a third amount of received light, a first distance, a second distance, and a third distance. .

The retroreflective tapes 21b at both ends of the ID panel 21 represent a start bit and a stop bit, and define a recognition area. Information held by the ID panel 21 (identification number information of the car trolley 2, destination information, priority information) are displayed. Note that even if the retroreflective tape 21b forming the pattern is shorter (i.e., thinner) in the horizontal direction than the two retroreflective tapes 21b arranged at both ends of the detection surface 21c and the substrate member 21a, good. That is, the retroreflective tape 21b arranged in the second area b has a pattern containing information.

In the example of the ID panel 21 shown in FIG. 3, the detection surface, which is the surface of the ID panel 21, is divided into rectangular regions by applying retroreflective tape 21b to the surface 21a of the plate-like member. The shape of the divided regions is not limited to a rectangle, but may be any geometric shape. Note that in the example of the ID panel 21 shown in FIG. 3, a retroreflective tape 21b is attached, so that the identification member can be easily and inexpensively manufactured.

The laser irradiated from the range sensor 9 hits the retroreflective tape 21b of the ID panel 21 and the surface 21a of the plate-like member that constitute the detection surface 21c (with an intensity depending on the reflectance, angle of incidence, etc.). It is reflected and detected by a detector inside the range sensor 9. Inside the range sensor 9, the distance is calculated from the time taken for the laser to travel back and forth, the reflection intensity is calculated from the intensity value of the detected laser beam, and the results are sent to the controller 4.

According to the example of the ID panel 21 shown in FIG. 3(a), the information held by the ID panel 21 (identification number information of the cart 2, transport destination information, Priority information) is identified. Further, according to the example of the ID panel 21 shown in FIG. 3(b), information held by the ID panel 21 (identification number information of the car trolley 2, destination information, priority information) are identified.

Note that the retroreflective tape 21b attached to the ID panel 21 only needs to have a difference in reflection (absolute value of brightness difference) with respect to the surface 21a of the plate-like member of the ID panel 21. Therefore, the member attached to the ID panel 21 is not limited to one that retroreflects light, but may be one that absorbs light.

By using the retroreflective tape 21b as the marker, it becomes suitable for reading using the range sensor 9, which is a laser range finder (LRF). In the configuration using the retroreflective tape 21b, the controller 4 obtains the distance and reflection intensity from the range sensor 9 to the retroreflection tape 21b at both ends of the ID panel 21, and identifies the car trolley 2 and the car from the distance and reflection intensity. Calculate the distance and angle to the running robot 1.

Here, the reflection intensity is a numerical value of a voltage corresponding to the intensity of light received by a light receiving element inside the range sensor 9. Since the retroreflective tape 21b attached to the ID panel 21 has a high reflection intensity, the position can be accurately identified and used as feedback information for positioning the self-propelled robot 1 when connected.

The transport system of this embodiment using the self-propelled robot 1 automates the work of transporting a transport object with casters such as a cart 2 in a distribution warehouse or the like. The transport operation by the self-propelled robot 1 is divided into the following three tasks (1) to (3).
(1) Searching and connecting objects to be transported in the temporary storage area (2) Traveling in the driving area (3) Searching for storage locations and unloading in the storage area

FIG. 4 is an explanatory diagram showing an example of a distribution warehouse 1000 to which a transport system is assumed to be applied. FIG. 4 shows a floor plan of the distribution warehouse 1000 as viewed from the ceiling side. The XY plane shown in FIG. 4 is a plane parallel to the floor surface, and the Z axis indicates the height direction. In the distribution warehouse 1000 shown in FIG. 4, the temporary storage area A1 in (1) above is assumed to be a place where unloaded cargo is arranged. The storage area A2 in (3) above is assumed to be the area in front of the elevator when transporting to another floor by elevator or the like. Further, the driving area A3 in (2) above is assumed to be a place where the arrow in FIG. 4 indicates a round trip route between the temporary storage area A1 and the storage area A2.

The main movement of the self-propelled robot 1 is guided by a line recognition method in which a sensor recognizes the lines of a magnetic tape installed on the floor. Furthermore, the area is determined by detecting the area mark 52 next to the line. Further, the ID panel 21 includes information on the storage area A2, which is the transport destination, and information on the priority order.

As shown in FIG. 4, a magnetic tape for guiding the self-propelled robot 1 is provided in a line in the travel area A3, and a travel line 51 on which the self-propelled robot 1 travels is provided. Further, at the entrances of the temporary storage area A1 and the storage area A2 in the travel area A3, area marks 52 are arranged near the travel line 51, so that it is possible to recognize which area the vehicle has come to.

In the program executed by the self-propelled robot 1, which will be described later, operations can be specified for each area. The self-propelled robot 1 performs a connection operation in the temporary storage area A1 and a garage entry operation in the storage area A2.

In this embodiment, the temporary storage area A1 and the storage area A2 are located right next to the travel line 51. The self-propelled robot 1 searches within the temporary storage area A1 and the storage area A2 while traveling along the travel line 51. When the car cart 2 to be transported is found in the temporary storage area A1, the operation moves to connect the car cart 2 to the car cart 2 from the traveling line 51. Also, for the storage area A2, a vacant address is searched on the travel line 51 and the parking operation is performed.

In addition, in the distribution warehouse 1000 shown in FIG. 4, a plurality of retroreflective tapes 53 are installed on the opposite side of the storage area A2 across the travel line 51. The plurality of retroreflective tapes 53 are installed at positions where the range sensor 9 of the self-propelled robot 1 can detect them. The self-propelled robot 1 estimates its own position based on the installation information of the plurality of retroreflective tapes 53.

Next, the controller 4 of the self-propelled robot 1 will be explained.

Here, FIG. 5 is a block diagram showing an example of the hardware configuration of the controller 4 of the self-propelled robot 1. As shown in FIG. As shown in FIG. 5, the controller 4 includes a control device 11 such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), and a main storage device 12 such as a ROM (Read Only Memory) or a RAM (Random Access Memory). It is equipped with an auxiliary storage device 13 such as an SSD (Solid State Drive), a display device 14 such as a display, an input device 15 such as a keyboard, and a communication device 16 such as a wireless communication interface. It has a hardware configuration that uses a computer.

The control device 11 controls the overall operation of the controller 4 (self-propelled robot 1) by executing various programs stored in the main storage device 12 and the auxiliary storage device 13, and realizes various functional units described below. .

The program executed by the controller 4 of the self-propelled robot 1 is an installable or executable file that can be stored on a computer such as a CD-ROM, flexible disk (FD), CD-R, or DVD (Digital Versatile Disk). It may be configured to be recorded on a readable recording medium and provided.

Furthermore, the program executed by the controller 4 of the self-propelled robot 1 may be stored on a computer connected to a network such as the Internet, and may be provided by being downloaded via the network. Further, the program executed by the controller 4 of the self-propelled robot 1 may be provided or distributed via a network such as the Internet.

Next, the functions exhibited by the controller 4 of the self-propelled robot 1 when the control device 11 of the controller 4 of the self-propelled robot 1 executes programs stored in the main storage device 12 and the auxiliary storage device 13 will be described. Note that the description of conventionally known functions will be omitted here, and the characteristic functions exhibited by the controller 4 of the self-propelled robot 1 of this embodiment will be described in detail.

Note that some or all of the functions performed by the controller 4 of the self-propelled robot 1 may be configured using a dedicated processing circuit such as an IC (Integrated Circuit).

FIG. 6 is a block diagram showing an example of a functional configuration exhibited by the controller 4 of the self-propelled robot 1. As shown in FIG. As shown in FIG. 6, the controller 4 of the self-propelled robot 1 includes a detection means 111, a calculation means 112, and a movement control means 113.

The detection means 111 detects the ID panel 21 via the range sensor 9 based on the distance between the retroreflective tapes 21b on the ID panel 21 and the respective positions of the retroreflective tapes 21b.

The calculation means 112 calculates the distance and angle to the ID panel 21 detected by the detection means 111.

The movement control means 113 controls movement to the target position according to the distance and angle to the ID panel 21 calculated by the calculation means 112.

Next, the process of detecting the ID panel 21 provided on the cage trolley 2 in the self-propelled robot 1 will be described in detail.

Here, FIG. 7 is a flowchart schematically showing the flow of detection processing of the ID panel 21. As shown in FIG. 7, the controller 4 (detection means 111) of the self-propelled robot 1 detects a peak from the reflection intensity value of the range sensor 9 (step S1).

FIG. 8 is a diagram showing a peak value detection state in the detection of the ID panel 21. As shown in FIG. 8, the controller 4 (detection means 111) of the self-propelled robot 1 travels on the travel line 51 in the travel area A3 while checking the value of the range sensor 9. Note that the detection range of the range sensor 9 shown in FIG. 8(a) is approximately 270 degrees in this embodiment.

Then, as shown in FIG. 8(b), the controller 4 (detection means 111) of the self-propelled robot 1 detects the peak value of the reflection intensity from the range sensor 9.

FIG. 9 is a diagram illustrating a method of detecting a peak value. As shown in FIG. 9A, when the distance to the reflecting member is long, the reflection intensity value output by the range sensor 9 becomes low. Note that for a certain material, a correspondence formula of reflection intensity values according to distance is calculated in advance. Then, as shown in FIG. 9(b), for the values after normalization using the correspondence formula, a value whose ratio is equal to or higher than a certain value (80% in this case) is regarded as a peak.

Returning to FIG. 7, when the controller 4 (detection means 111) of the self-propelled robot 1 detects a peak from the reflection intensity value of the range sensor 9 (step S1), the distance (width) between the detected peaks is It is determined whether the distance (width) between the retroreflective tapes 21b corresponds (step S2).

Specifically, as shown in FIG. 8(b), the controller 4 (detection means 111) of the self-propelled robot 1 calculates the distance (width) between the detected peaks, and calculates the distance (width) between the detected peaks and Compare with the distance between

If the controller 4 (detection means 111) of the self-propelled robot 1 determines that the detected peak-to-peak distance corresponds to the distance (width) between the retroreflective tapes 21b of the ID panel 21 (Yes in step S2), the controller 4 (detection means 111) detects the distance between the ID panels 21 is selected as a candidate, and the process proceeds to step S3.

On the other hand, if the controller 4 (detection means 111) of the self-propelled robot 1 determines that the detected peak-to-peak distance does not correspond to the distance (width) between the retroreflective tapes 21b of the ID panel 21 (No in step S2), It is not selected as a candidate for the ID panel 21, and the process returns to step S1.

Next, the controller 4 (detection means 111) of the self-propelled robot 1 determines the distance information value of the range sensor 9 between peaks including the peak as described later (step S3).

Here, FIG. 10 is a diagram showing the distance information value detection state in the detection of the ID panel 21. In FIG. 10, the car cart 2 is shown as a plan view viewed from the ceiling side. As shown in FIG. 10, the distance from the range sensor 9 to the ID panel 21 is determined for the area of the ID panel 21 that was selected as a candidate in step S2. Note that the distance from the range sensor 9 can be determined by the time it takes for the laser to return. Then, the range sensor 9 can detect the shape of an object within the detection range as seen from the range sensor 9 based on the distance information value. When the ID panel 21 exists within the detection range, it becomes possible to detect the shape (surface shape) of the detection surface 21c of the ID panel 21 as seen from the range sensor 9.

For example, when the range sensor 9 performs a detection operation from the front to the center of the detection surface 21c of the ID panel 21 in the scanning direction of the range sensor 9 (range sensor 9 9 and the detection surface 21c of the ID panel 21 is as shown in FIG. (Although both ends are long distances, for the sake of brevity, here we will assume that the distance information values are approximately the same value.)Therefore, there is an object within the detection range that has a flat shape as seen from the range sensor 9. , it can be determined that.

In addition, when the detection surface 21c of the ID panel 21 is oblique to the distance measurement sensor 9, the distance information value to the ID panel 21 detected by the range measurement sensor 9 is in the scanning direction of the range measurement sensor 9. Since it changes at a constant rate from one side to the other, it can be determined that an object whose shape is flat as seen from the range sensor 9 exists within the detection range.

In addition, when the detection surface 21c of the ID panel 21 is a curved surface, the distance information value to the ID panel 21 detected by the range sensor 9 depends on the positional relationship between the range sensor 9 and the detection surface 21c of the ID panel 21, and By determining whether or not the curvature of the detection surface 21c is changing, it can be determined that an object whose shape as seen from the range sensor 9 is a curved surface exists within the detection range.

As shown in the graph of FIG. 10(a), the range sensor 9 is directly facing the detection surface 21c of the ID panel 21 from the front with respect to the center of the detection surface 21c of the ID panel 21 in the scanning direction of the range sensor 9. When the detection operation is performed, the distance information values detected by the range sensor 9 between the peaks including the peak of the reflection intensity are approximately the same value. In this case, it is a candidate for the ID panel 21.

In this way, candidates for the ID panel 21 are detected based on the distance information values between the peaks including the peaks, in other words, the distance information values to the first area a, second area b, and third area c.

As shown in FIG. 10(b), it is known that the frame of the car truck 2 also has a high reflection intensity value. Therefore, by simply looking at the peak value of the reflection intensity ratio, there is a possibility that the frame of the car cart 2 may be mistaken for the ID panel 21. Therefore, candidates for the ID panel 21 are detected by making a judgment based on the distance information value between the peaks including the peak of the reflection intensity detected by the range sensor 9. When the frame of the car trolley 2 is detected, the distance between the ID panel 21 and the frame is different, so the ID is This is so that it is excluded from the candidates for panel 21.

In this manner, the distance information measured by the range sensor 9 makes it possible to prevent a small, thin object that causes high reflection, such as the frame of the cart truck 2, from being mistakenly recognized as the retroreflective tape 21b of the ID panel 21. This is the same even if the cart 2 is loaded with luggage.

When the controller 4 (detection means 111) of the self-propelled robot 1 determines that the object corresponds to the detection surface 21c of the ID panel (Yes in step S3), it selects the object as a candidate for the ID panel 21 and proceeds to step S4.

On the other hand, if the controller 4 (detection means 111) of the self-propelled robot 1 determines that it does not correspond to the detection surface 21c of the ID panel (No in step S3), it does not select it as a candidate for the ID panel 21 and returns to step S1.

As described above, the controller 4 (detection means 111) of the self-propelled robot 1 selects the current measurement value of the range sensor 9 as a candidate for the ID panel 21 (step S4).

Next, the controller 4 (detection means 111) of the self-propelled robot 1 determines the angle of the peak-to-peak position in the scanning angle of the range sensor 9 (the scanning angle at which the candidate for the ID panel 21 was detected) regarding the candidate for the ID panel 21. ) is within the range where the self-propelled robot 1 and the cage cart 2 can be connected, thereby determining whether the self-propelled robot 1 and the cage cart 2 are in a positional relationship that allows the connection. A judgment is made (step S5).

Here, FIG. 11 is a diagram showing a range in which the self-propelled robot 1 and the cage cart 2 can be connected. As shown in FIG. 11, a range (angle) in which the self-propelled robot 1 and the cage cart 2 can be connected is determined.

FIG. 11A is a diagram showing a case where the cage cart 2 does not exist within the range to which the self-propelled robot 1 can connect. As shown in FIG. 11(a), when the angle of the peak-to-peak position in the scanning angle of the range sensor 9 (scanning angle when the ID panel 21 candidate is detected) is not within the connectable range (angle) It is determined that the self-propelled robot 1 and the cage cart 2 are not in a positional relationship in which they can be connected.

On the other hand, FIG. 11(b) is a diagram showing a case where the cage cart 2 exists within the connectable range of the self-propelled robot 1. As shown in FIG. 11(b), when the angle of the peak-to-peak position in the scanning angle of the range sensor 9 (scanning angle when the ID panel 21 candidate is detected) is within the connectable range (angle) determines that the self-propelled robot 1 and the cage trolley 2 are in a positional relationship that allows them to be connected.

The controller 4 (detection means 111) of the self-propelled robot 1 determines, for the candidates of the ID panel 21, that the angle of the peak-to-peak position in the scanning angle of the range sensor 9 (the scanning angle when the candidate of the ID panel 21 is detected) is If it is determined that the self-propelled robot 1 and the cage cart 2 are in a positional relationship that allows connection (Yes in step S5), the process proceeds to step S6.

On the other hand, the controller 4 (detection means 111) of the self-propelled robot 1 determines the angle of the peak-to-peak position in the scanning angle of the range sensor 9 (scanning angle when detecting the candidate for the ID panel 21) regarding the candidate for the ID panel 21. However, if it is determined that the self-propelled robot 1 and the cage trolley 2 are not in a connectable positional relationship (No in step S5), the process returns to step S1.

Next, the controller 4 (detection means 111) of the self-propelled robot 1 calculates the inclination of the ID panel 21 for the candidate ID panel 21 from the distance information of the range sensor 9 (step S6).

Here, FIG. 12 is a diagram showing an example of calculating the inclination of the ID panel 21. As shown in FIG. 12, the inclination of the ID panel 21 is based on the distance information of the peak value detected by the range sensor 9 (the distance information of the first area a and the distance information of the third area c on the detection surface 21c of the ID panel 21). ) can be detected from

Subsequently, the controller 4 (detection means 111) of the self-propelled robot 1 determines whether the inclination of the ID panel 21 is within a connectable range (step S7). If the inclination is within a predetermined range (the angle θ shown in FIG. 12 is less than or equal to a predetermined angle), the controller 4 (detection means 111) of the self-propelled robot 1 detects the cage cart 2 placed at an inclination within an allowable range for connection. It is determined that this is the case (Yes in step S7), and the process proceeds to step S8.

On the other hand, if the inclination of the controller 4 (detection means 111) of the self-propelled robot 1 is outside the predetermined range (the angle θ shown in FIG. 12 is larger than the predetermined angle), the controller 4 (detection means 111) is placed at an inclination within the allowable range for connection. It is determined that it is not the car cart 2 (No in step S7), and the process returns to step S1.

Then, the controller 4 (detection means 111) of the self-propelled robot 1 completes the detection process of the ID panel 21 (step S8).

Next, the operation of detecting the angle between the detected surface of the ID panel 21 and the self-propelled robot 1 will be described.

Roughly speaking, the angle of the detected detection surface 21c of the ID panel 21 and the self-propelled robot 1 are determined by utilizing the fact that the detection surface 21c of the ID panel 21 attached to the object to be transported (the cage truck 2) is a flat surface. This angle is used as the angle between the object to be transported (cart truck 2) and the self-propelled robot 1, and is used for automatic connection between the self-propelled robot 1 and the object to be transported (cart truck 2).

Next, the movement of the self-propelled robot 1 to the target position after the detection process of the ID panel 21 is completed will be described.

Here, FIG. 13 is a flowchart showing the flow of the process of moving the ID panel 21 to the target position after the detection process is completed. As shown in FIG. 13, the controller 4 (calculation means 112) of the self-propelled robot 1 starts traveling toward the ID panel 21 (step S31), and uses the range measurement sensor to collect the distance to the ID panel 21 and reflection intensity information. 9 (step S32).

Next, the controller 4 (calculating means 112) of the self-propelled robot 1 calculates the self-propelledness of the ID panel 21 from the distance and reflection intensity information, with reference to the design information (size, interval between retroreflective tapes 21b, etc.) of the ID panel 21. The relative position and inclination with respect to the running robot 1 are detected (step S33).

14 to 17, which will be described next, show the self-propelled robot 1 and the ID panel 21 as plan views viewed from the ceiling side. As already mentioned, the ID panel 21 is attached to the car cart 2, but in order to avoid complicating the diagram, the car cart 2 is omitted and only the ID panel 21 is shown.

FIG. 14 is a diagram showing a method for detecting the inclination of the ID panel 21. As shown in FIG. 14, the center of the self-propelled robot 1 is the axle center of the driven wheel 72, which is the rear wheel. The position of the ID panel 21 is the center of the ID panel 21. The inclination of the ID panel 21 is the angle (θ ₁ in FIG. 14) between a straight line parallel to the axle direction of the driven wheel 72, which is the rear wheel of the self-propelled robot 1, and a straight line parallel to the panel surface of the ID panel 21. be.

FIG. 15 is a diagram showing a method for detecting the direction of the ID panel 21. As shown in FIG. 15, the direction of the ID panel 21 is a straight line that is perpendicular to the axle direction of the driven wheel 72, which is the rear wheel of the self-propelled robot 1, and passes through the center of the self-propelled robot 1, and a straight line that passes through the center of the self-propelled robot 1. This is the angle (θ ₂ in FIG. 15) between the center and the straight line connecting the center of the ID panel 21.

If the relative position and inclination of the ID panel 21 with respect to the self-propelled robot 1 are not detected (No in step S34), the controller 4 (calculation means 112) of the self-propelled robot 1 temporarily stops (step S35), and then performs the calculation again. The distance to the ID panel 21 and reflection intensity information are acquired from the range sensor 9 (step S32).

Note that it is difficult to imagine that the self-propelled robot 1 will be unable to detect the ID panel 21 after detecting the ID panel 21 from the viewpoint of the positional relationship between the self-propelled robot 1 and the ID panel 21 (cart truck 2), but A temporary stop process (step S35) is provided as a countermeasure when the ID panel 21 cannot be detected due to a drive error of the running robot 1 or an error of the range sensor 9. Note that if the temporary stop period exceeds a predetermined time, it is determined that an abnormality has occurred, and processing such as stopping the self-propelled robot 1 and displaying an indication that the connection of the car trolley 2 has failed is performed.

If the relative position and inclination of the ID panel 21 with respect to the self-propelled robot 1 are detected (Yes in step S34), the controller 4 (calculation means 112) of the self-propelled robot 1 determines the relative target based on the position and inclination of the ID panel 21. The position is detected (step S36).

Here, FIG. 16 is a diagram showing a method of calculating the relative target position. As shown in FIG. 16, the relative target position (x', y', θ') is a certain distance from the center of the ID panel 21 in the vertical direction and an angle directly facing the ID panel 21.

Next, the controller 4 (movement control means 113) of the self-propelled robot 1 sets the current position to (x, y, θ) = (0, 0, 0), and determines the relative target position (x', y', θ' ), the direction angle θ ₃ toward the target position is determined, and the vehicle travels (step S37).

The controller 4 of the self-propelled robot 1 continues the processing in steps S32 to S37 until it reaches the relative target position (x', y', θ') set perpendicular to the panel surface of the ID panel 21. (Yes in step S38), repeat.

Here, FIG. 17 is a diagram schematically showing a travel route to a relative target position. As shown in FIG. 17, the controller 4 of the self-propelled robot 1 may reduce the speed of the self-propelled robot 1 as it approaches the relative target position. For example, the controller 4 of the self-propelled robot 1 may be controlled according to the following formula.
v[m/S]=α*(x ² +Y ² ) ^1/2
α: Parameter

Further, the controller 4 of the self-propelled robot 1 sets the rotation speed based on the direction of the ID panel 21 (FIG. 15).
ω[rad/S]=β*θ
*β is a parameter

According to this embodiment, when detecting the ID panel 21, the code generated on the detection surface 21c of the ID panel 21 and the distance information to the detection surface 21c of the ID panel 21 (in other words, the ID panel The ID panel 21 is detected using the distance information to the first area a, second area b, and third area c of the detection surface 21c of 21. As a result, the code for detecting the ID panel 21 can be a simple one with a small amount of information, so the sensor for detecting the ID panel 21 can have a simple configuration, and it can stably transport objects even from a long distance. (ID panel 21) can be detected. Further, according to the present embodiment, the accuracy of detecting the angle of the object to be transported (ID panel 21) can be improved, and the angle of the object to be transported (ID panel 21) can be detected from a longer distance than in the prior art.

(Second embodiment)
Next, a second embodiment will be described.

The conveyance system of the second embodiment differs from the first embodiment in that it has two stages: detection of the ID panel 21 and identification of the contents of the ID panel 21. Hereinafter, in the description of the second embodiment, description of the same parts as the first embodiment will be omitted, and only parts different from the first embodiment will be described.

In the first embodiment, the amount of information in the ID panel 21 depends on the number of retroreflective tapes 21b on the detection surface 21c (particularly in the second area b) of the ID panel 21. However, even if the retroreflective tapes 21b are arranged at intervals finer than the resolution of the range sensor 9, there is no point in increasing the amount of information. Further, the angular resolution of the range sensor 9 deteriorates as the distance increases, so the amount of information on the ID panel 21 located far from the self-propelled robot 1 decreases.

Therefore, in this embodiment, as shown below, when the ID panel 21 is detected (the distance between the ID panel 21 and the self-propelled robot 1 is long), the retroreflective tapes 21b ( Only the first area a and third area c) are viewed. After detecting the position of the ID panel 21, the self-propelled robot 1 approaches the ID panel 21 and identifies the contents of the ID panel 21.

FIG. 18 is a flowchart schematically showing the flow of ID panel detection processing according to the second embodiment. Note that steps S1 to S8 in FIG. 18 are no different from steps S1 to S8 in FIG. 7 described in the first embodiment, and therefore their description will be omitted here.

When the controller 4 of the self-propelled robot 1 completes the detection process of the ID panel 21 (step S8), the controller 4 of the self-propelled robot 1 stops the self-propelled robot 1 at a position on the traveling line 51 that can be connected to the car cart 2 (step S9).

Here, FIG. 19 is a diagram showing a peak value detection state in the detection of the ID panel 21. As shown in FIG. 19, in the present embodiment, the controller 4 of the self-propelled robot 1 detects the ID panel 21 when detecting peaks corresponding to the retroreflective tapes 21b at both ends of the ID panel 21. , the ID panel 21 detection process is completed.

Next, the controller 4 of the self-propelled robot 1 rotates the self-propelled robot 1 by 90 degrees (step S10).

Next, the controller 4 of the self-propelled robot 1 causes the self-propelled robot 1 to advance toward the ID panel 21 (step S11). The controller 4 of the self-propelled robot 1 causes the self-propelled robot 1 to advance toward the ID panel 21 until the distance information value from the range sensor 9 to the ID panel 21 becomes 50 cm or less (Yes in step S12). (Step S11).

Here, FIG. 20 is a diagram showing a state in which the ID panel 21 is approached. As shown in FIG. 20, the self-propelled robot 1 approaches the ID panel 21 to a distance of 50 cm.

When the distance information value between the range sensor 9 and the ID panel 21 becomes 50 cm or less (Yes in step S12), the controller 4 of the self-propelled robot 1 acquires a peak from the reflection intensity value of the range sensor 9 ( Step S13). Then, the controller 4 of the self-propelled robot 1 identifies the contents of the ID panel 21 from peak positions other than the peaks corresponding to the retroreflective tapes 21b at both ends of the ID panel 21 (step S14).

Here, FIG. 21 is a diagram showing an example of content identification of the ID panel 21. As shown in FIG. 21, when identifying the contents of the ID panel 21, the controller 4 of the self-propelled robot 1 searches for peaks other than the peaks corresponding to the retroreflective tapes 21b at both ends of the ID panel 21. As shown in FIG. 21, since the self-propelled robot 1 approaches to 50 cm in front of the ID panel 21, the resolution can be higher than when detecting the ID panel 21.

In this way, according to the present embodiment, since the detection of the ID panel 21 and the identification of the contents of the ID panel 21 are performed separately, a sensor with a simple configuration (range sensor 9) can be used stably even from a long distance. After detecting the ID panel 21, detailed information such as identification number information, transport destination information, transport priority information, etc. can be acquired by approaching the detected ID panel 21.

(Third embodiment)
Next, a third embodiment will be described.

The conveyance system of the third embodiment is different from the first embodiment and the second embodiment in that it further includes an identification means (for example, a barcode reader, etc.) and reads the code in the ID panel 21. different from. In the following description of the third embodiment, descriptions of parts that are the same as those of the first embodiment or the second embodiment will be omitted, and differences from the first embodiment and the second embodiment will be omitted. Explain the parts.

Here, FIG. 22 is a block diagram showing an example of the hardware configuration of the self-propelled robot in the transport system according to the third embodiment. As shown in FIG. 22, the self-propelled robot 1 of this embodiment includes a camera 5, which is a second sensor. Further, the barcode (image pattern) arranged in the second area b of the ID panel 21 is a pattern containing information.

The camera 5 constitutes a marker reading device together with the controller 4 which functions as a decoding section. The controller 4 recognizes the code of the marker by image recognition of the characteristics of the marker from the image taken by the camera 5. The decoding unit of the controller 4 decodes the code information of the recognized marker to obtain identification number information, destination information, and priority information of the cart 2.

To display the marker ID, a general barcode or QR code (registered trademark) as an image pattern can be used. Furthermore, by increasing the amount of information per unit area by using image patterns such as color codes and grayscale barcodes as IDs, it becomes possible to recognize objects from a greater distance.

In this embodiment, since a barcode is used as the marker installed on the car cart 2, the camera 5 is used as a barcode reader to read the marker. Note that if the marker for displaying the ID is a QR code, a QR code reader can be used as the ID recognition means.

FIG. 23 is a flowchart schematically showing the flow of ID panel detection processing according to the third embodiment. Note that steps S1 to S11 in FIG. 23 are no different from steps S1 to S11 in FIG. 18 described in the second embodiment, and therefore their description will be omitted here.

When the self-propelled robot 1 moves toward the ID panel 21 (step S11), the controller 4 of the self-propelled robot 1 calculates the distance information value of the range sensor 9 and the distance between the range sensor 9 and the camera 5. The distance between the camera 5 and the ID panel 21 is calculated from the relationship (step S21).

Next, the controller 4 of the self-propelled robot 1 moves the self-propelled robot 1 to the ID panel 21 until the distance between the camera 5 and the ID panel 21 becomes less than the barcode readable range (Yes in step S22). It is made to advance towards the target (step S11).

The controller 4 of the self-propelled robot 1 reads the barcode on the ID panel 21 with the camera 5 when the distance information value between the camera 5 and the ID panel 21 becomes less than the barcode readable range (Yes in step S22). (Step S23).

Then, the controller 4 of the self-propelled robot 1 identifies the contents of the ID panel 21 from the contents of the barcode (step S24).

Here, FIG. 24 is a diagram showing an example of content identification of the ID panel 21. As shown in FIG. 24, when identifying the contents of the ID panel 21, the controller 4 of the self-propelled robot 1 allows the self-propelled robot 1 to approach the ID panel 21 within a barcode readable range, and use the camera 5 to identify the ID panel 21. Since the barcode on the panel 21 is read, the amount of information on the ID panel 21 can be increased.

In this way, according to the present embodiment, since the detection of the ID panel 21 and the identification of the contents of the ID panel 21 are performed separately, a sensor with a simple configuration (range sensor 9) can be used stably even from a long distance. After detecting the ID panel 21, detailed information such as identification number information, transport destination information, transport priority information, etc. can be acquired by approaching the detected ID panel 21.

In addition, in this embodiment, a bar code or a QR code is used as a marker installed on the car cart 2, but the present invention is not limited to this. For example, the marker installed on the cart 2 may be a gray bar code, a color code, or the like. By reading the color code using the camera 5, the position information of the code can be read at the same time, so the position where the cart cart 2 is placed can be recognized. Furthermore, since the gray scale barcode can be read by the range sensor 9, more accurate position information can be obtained and is effective as feedback information for connection positioning.

(Fourth embodiment)
Next, a fourth embodiment will be described.

The transport system of the fourth embodiment differs from the first embodiment in that the connection device 10 in the self-propelled robot 1 connects the car cart 2 at an optimal position. Hereinafter, in the description of the fourth embodiment, description of the same parts as in the first embodiment will be omitted, and only parts different from the first embodiment will be described.

Depending on the positional relationship of the framework of the cage truck 2, etc., there may be cases where it is desired to change the connection position of the coupling device 10 in the self-propelled robot 1. Therefore, in the present embodiment, a panel ID (identification number) of the ID panel 21 is prepared for each type of car cart 2 in consideration of the position where the car cart 2 is desired to be connected. The self-propelled robot 1 detects the panel ID, changes the relative target position for each panel ID, and connects each car cart 2 at the optimal position.

Here, FIG. 25 is a flowchart showing the flow of the process of moving the ID panel 21 to the target position after completion of the detection process according to the fourth embodiment. As shown in FIG. 25, the controller 4 (calculation means 112) of the self-propelled robot 1 starts traveling toward the ID panel 21 (step S31), and uses the range measurement sensor to collect the distance to the ID panel 21 and reflection intensity information. 9 (step S32).

Next, the controller 4 (calculating means 112) of the self-propelled robot 1 calculates the self-propelledness of the ID panel 21 from the distance and reflection intensity information, with reference to the design information (size, interval between retroreflective tapes 21b, etc.) of the ID panel 21. The relative position and inclination with respect to the running robot 1 are detected, and the panel ID of the ID panel 21 is also detected (step S41).

If the relative position and inclination of the ID panel 21 to the self-propelled robot 1 and the panel ID of the ID panel 21 are not detected (No in step S34), the controller 4 (calculation means 112) of the self-propelled robot 1 temporarily stops. (Step S35), and the distance to the ID panel 21 and reflection intensity information are acquired again from the range sensor 9 (Step S32).

On the other hand, if the relative position and inclination of the ID panel 21 with respect to the self-propelled robot 1 and the panel ID of the ID panel 21 are detected (Yes in step S34), the configuration file is read (step S42). In the setting file, the amount of movement is registered in association with the panel ID.

Next, the controller 4 (calculating means 112) of the self-propelled robot 1 calculates the relative target position based on the position and inclination of the ID panel 21, and calculates the relative target position based on the position and inclination of the ID panel 21, and also calculates the relative target position by the amount of movement associated with the panel ID registered in the configuration file. The relative target position is shifted in a direction parallel to the panel surface of the ID panel 21 (step S43).

Here, FIG. 26 is a diagram showing a method of shifting the relative target position. As shown in FIG. 26, the relative target position is shifted in a direction parallel to the panel surface of the ID panel 21 by the amount of movement associated with the panel ID registered in the configuration file. For example, in the case of ID=2, the ID panel 21 is moved parallel to the panel surface of the ID panel 21 by 30 mm in the plus direction.

Next, the controller 4 (movement control means 113) of the self-propelled robot 1 sets the current position to (x, y, θ) = (0, 0, 0), and determines the relative target position (x', y', θ' ), the direction angle θ ₃ toward the target position is determined, and the vehicle travels (step S37).

The controller 4 of the self-propelled robot 1 continues the processing in steps S32 to S37 until it reaches the relative target position (x', y', θ') set perpendicular to the panel surface of the ID panel 21. (Yes in step S38), repeat.

As described above, according to the present embodiment, by preparing a panel ID for each type of car truck 2, the AGV detects the panel ID, changes the relative target position for each ID, and determines the optimal position for each car. You can make a connection with .

In each of the embodiments, an automatic guided vehicle (AGV) is used that automatically transports the basket truck 2 to a desired destination by automatically connecting and towing a towed truck such as the basket truck 2 to be connected. Although an example has been described in which the self-propelled robot 1 is applied to an autonomous mobile device, it goes without saying that the present invention is not limited to this and can be applied to various autonomous mobile devices.

1 Autonomous mobile device 4 Detection means 5 Second sensor 9 First sensor 21 Identification member (ID panel, plate member)
21a Surface of plate member 21b Retroreflective tape 111 Detection device 112 Calculation means 113 Movement control means

Japanese Patent Application Publication No. 2000-242335 Patent No. 6109616

The present invention relates to an autonomous mobile device and a movement control method for an autonomous mobile device.

In order to solve the above-mentioned problems and achieve the purpose, an autonomous mobile device of the present invention optically scans the detection area by emitting light to the detection area, and the emitted light is directed to the detection area. The detection device includes a detection device that detects an identification member existing in the detection area by a sensor that receives reflected light reflected by an existing object, and the detection device detects the identification member that is reflected from the object based on the light received by the sensor. and a distance detecting means for detecting the distance to the detection surface of the identification member based on the light received by the sensor, and the detection device includes: A candidate for the identification member is detected from information detected by the reflection intensity detection means, and a shape plane of the candidate is detected from information detected by the distance detection means.

Embodiments of an autonomous mobile device and a movement control method for an autonomous mobile device will be described in detail below with reference to the accompanying drawings.

Claims (7)

An autonomous mobile device having a control means for controlling movement,
An identification member present in the detection area by a sensor that optically scans the detection area by emitting light to the detection area, and receives reflected light in which the emitted light is reflected by an object present in the detection area. has a detection means for detecting
The identification member has a detection surface that is optically scanned by the sensor,
The detection means determines the distance to the detection surface and the angle with respect to the detection surface based on the light received by the sensor,
The autonomous mobile device, wherein the control means sets a target position based on the distance and the angle determined by the detection means, and controls movement of the autonomous mobile device to the target position. The identification member is attached to the transportation target vehicle,
The target position is a position connected to the transport target vehicle,
The control means moves the autonomous mobile device to the target position, and connects the autonomous mobile device to the conveyance target vehicle at the target position.
The autonomous mobile device according to claim 1, characterized in that: The control means sets the target position so that an angle with respect to the detection surface is equal to or less than a predetermined angle.
The autonomous mobile device according to claim 1 or 2, characterized in that: The detection means detects identification information written on the identification member,
The autonomous mobile device according to any one of claims 1 to 3, wherein the control means changes the target position based on the identification information. The detection means further includes an identification member for identifying the identification information,
The autonomous mobile device according to claim 4, characterized in that: A movement control method for an autonomous mobile device, the method comprising:
The autonomous mobile device includes:
An identification member present in the detection area by a sensor that optically scans the detection area by emitting light to the detection area, and receives reflected light in which the emitted light is reflected by an object present in the detection area. has a detection means for detecting
The identification member has a detection surface that is optically scanned by the sensor,
The detection means determines the distance to the detection surface and the angle with respect to the detection surface based on the light received by the sensor,
setting a target position based on the distance and the angle determined by the detection means, and moving the autonomous mobile device to the target position;
A movement control method for an autonomous mobile device, characterized in that: A method for controlling connection between an autonomous mobile device and a vehicle to be transported, the method comprising:
An identification member is attached to the transport target vehicle,
The autonomous mobile device includes:
The detection area is optically scanned by emitting light to the detection area, and the emitted light is reflected by an object existing in the detection area and the sensor detects the reflected light. It has a detection means for detecting the member,
The identification member has a detection surface that is optically scanned by the sensor,
The detection means determines the distance to the detection surface and the angle with respect to the detection surface based on the light received by the sensor,
A target position for coupling with the conveyance target vehicle is set based on the distance and the angle determined by the detection means, the autonomous mobile device is moved to the target position, and the autonomous mobile device and the vehicle are connected to each other at the target position. connecting the vehicle to be transported;
A method for controlling connection between an autonomous mobile device and a conveyance target vehicle, characterized in that:

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