JP3931906B2 - Autonomous mobile device - Google Patents

Description

  The present invention relates to an autonomous mobile device that achieves a desired operation by moving around an obstacle in the same area as other mobile objects such as a person and a carriage.

  Autonomous mobile devices that reach their destination while recognizing their own position while avoiding obstacles are “Medical and Welfare Equipment Technology Research and Development Report November 1999, Research Institute for Medical and Welfare Equipment” and “Johon M. Evans, Bala Krishnamurthy, "HelpMate, The Trackless Robotic Courier: A perspective on the Development of a Commercial Autonomous Mobile Robot", etc. Matching and recognizing position in Li Zhang, Bijoy K. Ghosh, "Line Segment Based map building and Localization Using 2D Laser Rangefinder", IEEE Int. Conf. On Robotics & Automation, pp.2538-2543, 2000 is there. Various methods have been proposed for detecting and avoiding obstacles such as “Sean Quinlan, Oussama Khatib,“ Elastic Bands: Connecting Path Planning and Control ”, lCRA, 1993”.

In any case, basically, if an obstacle is detected in the traveling direction by the environment recognition means, an attempt is made to avoid it, and if it cannot be avoided, it is stopped.
Japanese Unexamined Patent Publication No. 63-150710 JP-A-9-330123 JP-A-11-29205

  However, although these autonomous mobile devices can avoid an obstacle, when there is another mobile body, the movement of the mobile body may be hindered. For example, when a large cart comes from the front in a narrow passage, the autonomous mobile device tries to avoid the cart, which is an obstacle, but cannot pass each other well and may get stuck.

  Also, when another cart comes from behind the autonomous mobile device, even if the autonomous mobile device is slow, even if the autonomous mobile device is moving near the center of the aisle and the cart tries to overtake the autonomous mobile device, A mobile device cannot overtake to continue moving without giving way.

  The present invention has been made in view of these points, and an object of the present invention is to provide an autonomous mobile device that performs an operation of giving way to another moving body to smoothly move the other moving body. It is in.

  Thus, the autonomous mobile device according to the present invention generates a storage means for storing a map of an operation area and various parameters for traveling, an interface for inputting a destination and an operation command, and a route to the destination. A route generating means, an environment recognizing means for recognizing obstacles and self-location, and a traveling means for running, and on the map based on the information obtained by the environment recognizing means. An autonomous mobile device having travel control means for recognizing a position and controlling a travel means to a destination while avoiding an obstacle, and starting a stop for detecting a stop start signal for avoiding another moving body It has signal detection means, and when the stop start signal detection means detects the stop start signal, the travel control means is to stop in the stop area for avoiding another moving body stored in advance in the storage means. It has a feature. It can be stopped at a stop area, which is an appropriate place of the passage, and the passage can be given to another moving body.

  The stationary region may be defined by one line or may be defined by a polygon. If the stop area is defined by a single line, it can be stopped even in a narrow passage. If the stop area is defined by a polygon, it can be widened where it can be stopped. Therefore, it is not necessary to determine the stop posture.

  The travel control means considers two things: the distance from the self position in the stop area to the stop operation with the shortest position as the stop position, the distance from the self position in the stop area and the amount of rotation required to change the course. Those that determine the stop position, those that divide the stop area into levels, determine the stop position based on the distance from the self-position and the above level, and move to the stop operation, advance after a predetermined distance in the direction of travel, then stop position To move to the stop position after moving forward by a distance corresponding to the speed in the direction of travel, or within the stop area, the stop position setting method is within a predetermined distance determined along the wall in the stop area. What makes a stop position etc. can be used suitably.

  As the stop start signal detecting means, in addition to detecting the disaster prevention information received via the communication means as the stop start signal, a plurality of contact type sensors attached, and the detected sound level pattern is compatible with the pre-registered pattern. Sensors that output the sound, a device that recognizes a signal emitted by another moving body, a device that recognizes a traffic light installed in the operation area, a predetermined distance of an obstacle detected by the environment recognition device What detects the approach to the inside can be used.

  In addition, the travel control means, at the start of the stop, if there are no obstacles in the direction of travel, the travel control means may be directed to the front stop area, and if there are obstacles in the direction of travel, the travel control means may be directed to the rear stop area. Can be used for both the front and rear sides, and to be directed to a stop area in a direction where no signal is detected at the start of the stop.

  A device for recognizing the position of the sound source may be provided, and the sound source may be directed to a stoppable area in the opposite direction to the sound source when the stop is started.

  Further, as the travel control means, one that determines the passage of another moving body from the two-dimensional time series data of the range finder data that scans the horizontal plane provided as the environment recognition means and terminates the stopping operation is preferably used. be able to.

  It is also preferable to provide display means for displaying the stopping operation.

  Furthermore, the autonomous mobile device operation system according to the present invention includes a storage means for storing a map of an operation area and various parameters for traveling, an interface for inputting a destination and an operation command, and a route to the destination. A route generating means for generating, an environment recognizing means for recognizing obstacles and self-location, and a traveling means for running, and on the map based on the information obtained by the environment recognizing means. A stop control signal for avoiding other moving objects, comprising travel control means for recognizing the position of the vehicle and controlling the travel means to the destination while avoiding obstacles, and communication means for connecting to the communication line And a stop start signal detecting means for detecting other stop moving objects stored in advance in the storage means when the travel control means detects a stop start signal with the stop start signal detecting means. An autonomous mobile device to be stopped in the area, a map of an operation area of the autonomous mobile device, a region for the autonomous mobile device to enter, and a stop area for avoiding other mobile objects are connected to the communication line. And a management device that operates the autonomous mobile device based on the position information of the autonomous mobile device sent from the autonomous mobile device via the communication line and the information acquired from outside the system. It has a special feature. The operation of the autonomous mobile device can be monitored remotely, the content stored in the storage means of the autonomous mobile device can be managed by the management device, and the stored data can be shared even when a plurality of autonomous mobile devices are used.

  The map of the operation area of the autonomous mobile device, the area where the autonomous mobile device can enter, and the stop area for avoiding other moving objects are preferably input and stored in a plurality of areas. And it is preferable that an autonomous mobile apparatus acquires the information of the map of a required area, the approachable area | region, and a stop area | region from a management apparatus at the time of the movement which crosses an area.

  The information on the management device side may be updated with the map or area information changed on the autonomous mobile device side.

In the autonomous mobile device according to the invention of claim 1, the storage means for storing the map of the operation area and the various parameters for travel, the interface for inputting the destination and the operation command, and the route to the destination A route generating means for generating, an environment recognizing means for recognizing obstacles and self-location, and a traveling means for running, and on the map based on information obtained by the environment recognizing means An autonomous mobile device having travel control means for recognizing the position of the vehicle and controlling the travel means to the destination while avoiding an obstacle, and detecting a stop start signal for avoiding other moving objects The travel control means has a start signal detection means, and when the stop start signal detection means detects a stop start signal, the travel control means stops in a stop area for avoiding another moving body stored in advance in the storage means. Therefore, the stops the autonomous mobile apparatus to a suitable location of the passage are those that can yield a passage to another mobile, safety and usability is improved for this purpose. In addition, since the stop start signal detecting means is provided with signal detection areas on both sides , and the traveling control means is directed to the stop area in the direction where no signal is detected at the start of the stop, it is possible to indicate the direction to be saved. it can.
Further, since the invention of claim 2 is provided with the stop start signal detecting means at the front and rear of each side , whether the autonomous mobile device proceeds in the traveling direction toward the stop area, or stops at a different direction. You can indicate if you are going to the area .

  In the invention of claim 3, the travel control means determines the stop position in consideration of the distance from the self-position in the stop region and the amount of rotation required for the course change. The time can be shortened and smooth operation is possible.

  In the invention of claim 4, since the travel control means divides the stop area into levels, determines the stop position from the distance from the self-position and the level, and shifts to the stop operation. An appropriate stop position can be determined in consideration of the distance and the distance.

  Further, if the traveling control means moves forward by a predetermined distance in the traveling direction and then moves toward the stopping position, the stopping operation can be performed without stopping once.

  Further, if the traveling control means moves forward in the traveling direction by a distance corresponding to the speed and then moves toward the stop position, the stop control can be smoothly performed without sudden stop.

  In addition, if the traveling control means is a stop position setting method within the stop area and the stop position is set within a predetermined distance along the wall in the stop area, the autonomous mobile device is not circular when viewed from above. It can be stopped in a state where it is closer to the wall.

  Also, if the stop start signal detection means detects the disaster prevention information received via the communication means as a stop start signal, it will not interfere with the evacuation person, and will be sandwiched between fire prevention doors during disaster prevention. You can also prevent it from happening.

  Or if it is a contact-type sensor in which a plurality of stop start signal detecting means are attached, it is possible to reliably detect a signal and to indicate the direction to stop.

  In addition, a signal can be detected in a non-contact manner as long as it is a sensor that outputs whether or not the voice level pattern detected by the stop start signal detecting means matches a previously registered pattern.

  If the stop start signal detecting means is a voice recognition means, the signal can be detected without contact.

  In addition, when the stop start signal detecting means is a device that recognizes a signal emitted by another moving body, it is possible to start an action for stopping before a target to give way approaches.

  In addition, when the stop start signal detecting means is a device that recognizes a traffic light installed in the operation area, it is possible to start an action for stopping before the object to protect the road approaches, and to give way. Even when the subject cannot be seen, it is possible to shift to the stopping operation.

  In addition, if the stop start signal detection means detects the approach of the obstacle detected by the environment recognition means within a preset distance, the target to give way automatically stops before taking action. In addition to the need for a separate stop start signal detection means.

  In addition, if the traveling control means starts at the stop, if there are no obstacles in the direction of travel, the travel control means is directed to the forward stop area, and if there are obstacles in the travel direction, it is directed to the rear stop area. The direction of travel can be selected.

  Also, when the travel control means is provided with a device for recognizing the position of the sound source and the traveling control means is directed to a stoppable area in the opposite direction to the sound source at the start of the stop, it may disturb the person when giving way to the person. It will move in the direction that will not be.

  In addition, if the traveling control means determines the passage of another moving body from the two-dimensional time series data of the range finder data that scans the horizontal plane provided as the environment recognition means, and terminates the stopping operation, Time will always be appropriate.

  In addition, when a display means for displaying the stopping operation is provided, the operation of the autonomous mobile device can be recognized by the people around and can be relieved.

  An autonomous mobile device according to the present invention will be described in detail below based on an example of an embodiment. As shown in FIG. 1, a storage means 11 for storing a map of an operation area and various parameters for traveling, a destination And interface 12 for inputting operation commands, route generation means 13 for generating a route to the destination, environment recognition means 14 for recognizing obstacles and self-location, and travel means 10 for traveling. And a traveling control means 15 for controlling the traveling means 10 and a stop start signal detecting means 16. In the figure, reference numeral 17 denotes a battery as a power source.

  The traveling control means 15 normally recognizes its position on the map based on the information obtained by the environment recognition means 14 and avoids obstacles detected by the environment recognition means 14 until reaching the destination. The traveling means 10 is controlled.

  Here, in addition to the operating area map and various parameters for travel, the storage means 11 stores a stop area set in advance as an area for avoiding other moving objects. When the stop start signal is detected by the stop start signal detecting means 16, the traveling control means 15 moves the autonomous mobile device to the nearest place in the stop area stored in the storage means 11 and stops it there. Enter the stop state.

  As shown in FIG. 2 (a), when the autonomous mobile device 1 is moving in the operation area M where the stop area S is set along the walls on both sides, the stop start signal detecting means 16 stops the stop start signal. 2 (b), the traveling control means 15 controls the traveling means 10 to start the stopping operation toward the stopping area S, and the stopping area S is moved to the stopping area S as shown in FIG. 2 (c). If the autonomous mobile device 1 arrives, it stops and stays at that position. After stopping, for example, the CPU of the traveling control means 15 measures a certain time, and automatically returns to the work that was being performed when the stop start signal detecting means 16 detected the signal.

  On the program of the autonomous mobile device 1, as shown in FIG. 3, when the autonomous mobile device 1 goes to the final destination (xd, yd) on the coordinates (x1, y1) fixed to the operation area M, the route The route to the final destination final destination (xd, yd) going through several points (xi, yi) [1 = <i <d] generated by the generating means 13 is moved to the point (xm −1, ym−1), or between the point (xm−1, ym−1) and the point (xm, ym), the stop start signal detecting means 16 detects the stop start signal. As shown in FIG. 3 (b), the traveling control means 15 sets a route SP for stopping from the point (xm-1, ym-1) to the stop point (xed, yed) of the selected stop region S. Generate. In the figure, (xem, ym) is the coordinates of a transit point on the route SP. Then, the traveling control means 15 replaces the waypoint (xm, ym) that is currently heading with the coordinates of the waypoint or the stop position on the route SP for the stop. After the stop, the vehicle heads to the original transit point (xm, ym). Of course, a new route directly from the stop position (xed, yd) to the destination (xd, yd) may be generated after the stop. Meanwhile, people and trolleys can “pass” and “pass each other”. Although the travel control unit 15 generates a route for stopping, the route generation unit 13 may have this function. In any case, safety and usability are improved by stopping the vehicle in the stop area S set in advance at an appropriate place in the passage and giving the passage to another moving body.

  When the stop area S is defined as a straight line as shown in FIG. 4A, the expression is simplified and the setting can be made in a narrower place. In this case, each stop area may be represented by a start point (xn0, yn0) and an end point (xn1, yn1) on absolute coordinates. n is the number of the area, and when stopping, the coordinates of the start point and end point of the stopping area S set in advance in the coordinate system of the map stored in the autonomous mobile apparatus 1 are used as the origin. The travel direction is converted into coordinates with the X axis. Assuming that the above coordinates are the start point (xrn0, yrn0) and the end point (xrn1, yrn1), if a straight line perpendicular to the origin can be drawn up to the line segment represented by the coordinates of the start point and the end point, the distance between the intersection and the origin Is the distance to region n.

  Whether or not they are orthogonal can be determined from, for example, the inner product of the vector from the start point to the end point and the vector from the start point to the origin, and the inner product of the vector from the end point to the start point and the vector from the end point to the origin. When the above two inner products are both positive, an orthogonal straight line can be drawn. If the intersection of the orthogonal line segment and the line segment indicating the region is obtained, the distance can also be obtained. In other cases, the shorter one of the distance between the origin and the start point and the distance between the origin and the end point may be set as the distance to the region n. And the stop area S in the shortest distance among the stop areas S may be selected and directed to that area.

  In the state shown in FIG. 5A, from the origin (position of the autonomous mobile device 1), the intersection point between the region n and the perpendicular from the origin is closest to that position. Here, the traveling direction and the stop area S are parallel to each other, but even when they are not parallel, they can be obtained by the same calculation.

  When selecting the stop area S, consider the distance d to the stop area S and the angle Θ (see FIG. 5 (b)) that must be changed to go to the coordinates on the stop area S that give that distance. Then, if d + α · Θ is obtained for each stop region S and is stopped in the stop region S where the evaluation formula is minimized, the time required for the course change can be shortened. Α is a weighting factor that is determined in advance and stored in the storage unit 11 and may be a constant value or a function that changes depending on the value of Θ.

If a level is set in advance in the stop area S, safety and usability are further improved. That is, as shown in FIG. 6, leveling is performed on each stop region S. As this level, for example, a value greater than 0 and less than or equal to 1 is set such that 1> = level 1> level 2> 0. And when selecting the stop area S,
Evaluation is based on the small distance / level to the stop area. In this case, even if the position of the autonomous mobile device 1 is close to the level 2 stop area S, the number of cases where it stops in the stop area S set to level 1 increases. This means that by increasing the level of the stationary region S having unevenness such as pillars, it becomes easier for other wide moving bodies to pass through. However, if the level 2 stop area S is very close, the stop time may be prioritized in the level 2 stop area S. The above evaluation formula is an example, and various weights based on the level and the evaluation formula itself can be used.

  In addition, in consideration of the time required for calculation for selecting the stop area S, as shown in FIG. 7, the stop area S is moved from a position advanced by a preset distance xd from the point where the stop start signal is detected. When the heading operation is started, it is possible to shift to the stopping operation without stopping once. That is, in FIG. 5A, the calculation from the origin to the stop area S is performed, but the stop position is determined by calculating the distance from the coordinates (xd, 0) to each stop area S. Therefore, the stopping operation in this case goes to the stopping position via the point (xd, 0).

  Further, the above xd may not be a predetermined value but may be a function of speed. For example, assuming that the maximum speed is Vmax and the time required for calculation of the stationary operation is Te, Xmax satisfying Xmax> Vmax · Te is set in advance, and xd = Xmax (V / Vmax) depending on the speed V of the autonomous mobile device 1. ) To determine Xd. When the speed V is 0, xd = 0. In this way, the time from when the stop position is determined until the stop operation is started can be shortened.

  Further, when moving toward the stop position Ss via the relay point (xd, 0) in this way, as shown in FIG. 8, the interpolation point Hp is placed before and after the relay point (xd, 0) to further smooth the route. Smooth and fast stopping operation is possible.

  Further, as shown in FIG. 9, after reaching the stop position Ss, it is moved autonomously by moving a predetermined distance in the stop region S in the operation direction after the stop (the maximum amount that can be moved if the distance cannot be moved). The moving device 1 can be directed straight in the traveling direction, and as a result, the passage can be opened widely. This is particularly effective when the autonomous mobile device 1 is longer in the traveling direction than in the width direction. The time for resuming the operation after the stop is also shortened.

  The stationary region S may be defined as a polygon (particularly a quadrangle) as shown in FIG. However, the polygons referred to here include those having some roundness at the corners. In this case, as shown in FIG. 10A, the line L is defined by the start point (xrn0, yrn0), the end point (xrn1, yrn1), and the width W. The region selection is performed on the line L on the passage side of the region S having the width W. If it does in this way, as shown in FIG.10 (b), even if the obstruction 9 exists in the stop place vicinity, it can enter into the stop area | region S by moving, avoiding the obstruction 9. . Further, in this case, if the distance from the line L is shorter than the width W, the position may be stopped as the stop position, not the initial stop position Ss.

  Next, the stop start signal detecting means 16 will be described. As the stop start signal detecting means 16, a contact-type sensor 16 attached to the autonomous mobile device 1 can be used as shown in FIG. In this case, the person who wants to pass can touch the sensor 16 of the autonomous mobile device 1 to instruct the autonomous mobile device 1 to perform a stop operation. If a plurality of sensors 16 are attached, it is possible to instruct the autonomous mobile device 1 in the direction in which it is desired to be saved. 12 (a), 12 (b), and 12 (c) show that when the person approaches from behind the autonomous mobile device 1 and wants to pass the autonomous mobile device 1, the autonomous mobile device 1 is stopped by touching the contact sensor 16 above. It is going to. Then, if the contact type sensor 16 is attached to both sides of the autonomous mobile device 1 and, for example, touches the contact sensor 16 on the left side, the autonomous mobile device 1 is directed toward the stopping area in the right direction. There is no possibility that a person will fail to determine the direction of changing the direction for stopping the autonomous mobile device 1.

  If the contact sensors 16 are arranged in front and rear of each side of the autonomous mobile device 1, when a person comes from the front of 1, the person is avoided as an obstacle. At this time, FIG. As shown in (e) and (f), when the person touches the contact sensor 16 on one side, the autonomous mobile device 1 changes its direction in a predetermined direction toward the stop area S. That is, it can be instructed whether the autonomous mobile device 1 proceeds in the traveling direction toward the stopping area, or changes direction to the stopping area S.

  The stop start signal detecting means 16 is a sensor that continuously collects whether or not there is a sound of a certain intensity or more and outputs a detection signal when there is a portion that matches a pre-registered sound presence / absence pattern from the sound presence / absence waveform. It may be. In this case, the stop can be instructed without contact.

  A word (or a plurality of words) for performing the stopping operation is determined in advance, and a voice presence / absence pattern Vp of the word, for example, “DOI” is stored in the sensor in advance. The voice presence / absence pattern Vp is represented by n pieces of data [f (i): 0 = <an integer of i <n] in a certain sampling period t, as shown in FIG. Then, a portion that matches the prestored pattern Vp is searched from the voice presence / absence waveforms [g (k): 0 = <k <m is an integer m> n] (see FIG. 13B). To do. For example, a correlation between n and f (i) is obtained from k = l (where 0 = <l = <mn) of g (k), and a detection signal is output from the sensor when a certain threshold value is exceeded. . In response to this detection signal, the traveling control means 15 starts a stopping operation.

  You may recognize not only with the presence or absence of a sound but with a sound level pattern. For example, a storage start signal detection unit 16 includes a storage unit that stores a voice level pattern and a search unit that searches a portion that matches a voice level pattern stored in advance from the collected voice level waveform. If the sound level is continuously collected and a detection signal is output when there is a part that matches the pre-registered pattern from the sound level waveform, it is recognized according to the sound level pattern stored in advance. The voice pattern (word) to be specified can be specified in detail. First, a word (or a plurality of words) for performing the stopping operation is determined, and a voice pattern Vp of this word (for example, “doi”) is stored in advance in the sensor. As shown in a), it can be expressed by n data [f (i): 0 = <an integer of i <n] in a certain sampling period t. g (k): 0 = <an integer of k <m and m> n] (see FIG. 14B) is searched for a portion that matches the previously stored pattern Vp, for example, k = l of g (k) (However, the correlation between n and f (i) from 0 = <l <mn) is taken, and a stop start detection signal is output from the sensor when it exceeds a certain threshold.

  The stop start signal detecting means 16 may be a device that recognizes a signal emitted by a device provided in another moving body. In this case, the signal can be reliably detected without contact. For example, a device that emits infrared light is attached to a cart that may request the autonomous mobile device 1 to stop. Even what always emits light may emit light according to operation only when it is desired to stop the autonomous mobile device 1. And the sensor which receives the said infrared rays is installed in the autonomous mobile apparatus 1 as the stop start signal detection means 16. FIG.

  The signal detected by the stop start signal detection means 16 may be emitted from a device attached to the wall or ceiling of the operation area of the autonomous mobile device 1. In this case, the autonomous mobile device 1 can start the stop operation even when a cart or the like that requests the stop is not visible from the autonomous mobile device 1, and an efficient stop operation can be realized. For example, as shown in FIG. 15, a device 8 that recognizes a target for which the autonomous mobile device 1 should yield a passage and issues a signal for notifying the autonomous mobile device 1 that the target is approaching is installed at a corner portion. The recognition of the object can be performed by processing an image collected by a camera, or can be performed by detecting a signal emitted from a device attached to the object. And if the said object is detected, the autonomous mobile device 1 will detect the target which is not in a line-of-sight position by issuing the signal with respect to the autonomous mobile device 1 and detecting this by the stop start signal detection means 16 of the autonomous mobile device 1. Then, the stop operation can be started at an early stage. If the signal generated by the device 8 is infrared, the stationary start signal detection means 16 of the autonomous mobile device 1 may be constituted by an infrared detection sensor.

  The stop start signal detection means 16 may use the environment recognition means 16 having an obstacle detection function attached to the autonomous mobile device 1. In particular, when a laser device that scans a two-dimensional horizontal area SC and measures the distance to an obstacle is used for obstacle detection, the position of the obstacle can be recognized with high accuracy. it can. Therefore, as shown in FIG. 17, when there is an obstacle 9 between the autonomous mobile device 1 and the point 7 that is currently heading and the obstacle 9 approaches, a stop operation is performed instead of obstacle avoidance. It is. When the autonomous mobile device 1 is moving at a speed v, it is detected by the radar device, and the obstacle 9 is between the point 7 and the distance is r1, and the measurement is performed after Δt time. However, when there is an obstacle between the point 7 and the distance is r2, if there is a relation of r2 <r1-v · Δt, the autonomous mobile device 1 approaches the obstacle 9 as a moving object. It is determined that the vehicle has stopped, and the stop operation is started.

  Further, when the moving body is detected by the non-contact type stop start signal detecting means 16 and no obstacle is detected in the traveling direction by the obstacle detecting means (environment recognition means 14), the stop area S on the traveling direction side is displayed. If there is an obstacle detected, if it is decided to go to the rear stop area S, an appropriate stop area S can be selected even if the stop position cannot be specified by the stop start signal detecting means 16. For example, when a stop start signal is detected by the stop start signal detection means 16, an obstacle is detected between the point where the radar head is currently facing and the autonomous mobile device 1 as shown in FIG. And if the detection distance at that time is smaller than the distance previously set in the memory | storage means 11, the stop area | region S is selected in the direction opposite to the said point, and if not, the direction with the said point is selected.

  In addition, when the stop start signal detecting means 16 can distinguish the signal detection area between the front and the rear of the autonomous mobile device 1, the stop area in the direction in which no detection was detected when the detection was made. If it goes to S, selection of the stop area S will be easy. For example, when using the stop detection signal detection means 16 that detects sound, the sound is collected using two directional microphones and the sound in front of the autonomous mobile device is detected alone, On the other hand, it arrange | positions so that a back sound may be detected, and if a sound is detected, the stop area | region S will be selected in the direction which did not detect. The same effect can be obtained if the stop start signal detection means 16 has two detection units, a detection unit for detecting the front signal of the autonomous mobile device 1 and a detection unit for detecting the rear signal.

  Furthermore, when detecting the stop start signal by sound, it is more optimal if the direction of the sound source is specified by using a plurality of microphones and the stop direction is in the direction opposite to the sound source. The stop area S can be selected.

  As the stop start signal detection means 16, as shown in FIG. 18, it is assumed that a wireless communication means 18 is provided, and if a disaster signal is received from the disaster prevention system through the communication means 18 in the event of a fire or the like, The stop operation may be performed using the signal as a stop start signal, and the stop may be continued until an instruction is given again. In this case, a passage can be secured for the evacuees. Further, by setting the stop area S so as to avoid the vicinity of the emergency door, the possibility that the autonomous mobile device 1 is caught between the emergency doors can be reduced. Furthermore, when the stop position is reached, a signal is sent from the autonomous mobile device 1 to the disaster prevention system, and the disaster prevention system receives the signal and then controls the emergency door so that the autonomous mobile device 1 becomes the emergency door. It will not be pinched. As the communication means 18, a wireless LAN, PHS or the like may be used.

  As described above, some examples of the stop start signal detection means 16 have been shown, but other examples may be used, and some types may be provided.

  After stopping in the stop area S, returning to the original operation may be determined by using the obstacle recognition function of the environment recognition means 14 in addition to the time control as described above. . For example, when the environment recognizing means 14 has a radar device that scans a two-dimensional horizontal plane and measures the distance to the obstacle 9, the autonomous mobile device 1 has a target that has given way from the output data of the radar device. If it is determined whether or not the vehicle has passed, and if it is determined that the vehicle has passed, the stop operation can be ended at the most appropriate time by ending the stop operation. For example, when a passage is given to a moving body coming from behind, the data of the radar device changes as shown in FIGS. 19 (a) to 19 (b) and 19 (c) as the moving body passes from behind. . In addition, the hatching part in a figure is an area which the radar apparatus judges that there is no obstacle (moving body). Therefore, from a plurality of data of the radar device at regular time intervals, a moving body (an object having a different detection distance in the plurality of data) moves from the rear to the front of the autonomous mobile device 1 (evaluated by an angle to the object), When the distance La to the object becomes larger than the set distance, the stopping operation is terminated. Similarly, for a moving body coming from the front, it is possible to determine the end time of the stopping operation by observing the movement from the front to the rear. The object may stop passing, but in this case, the stopping operation may be terminated when the movement of the object cannot be observed by the radar device for the time previously stored in the storage unit 11.

  If the autonomous mobile device 1 is provided with the display means 19 for displaying the operation during the stopping operation, the surrounding people can predict what operation the autonomous mobile device 1 will perform next. It will be possible. For example, when the autonomous mobile device 1 has a display 19 as shown in FIG. 20 (a), the moving direction may be indicated by an arrow on the display 19, as shown in FIG. 20 (b). If the autonomous mobile device 1 is provided with a plurality of lamps 19, the lamp 19 in the moving direction may be turned on (flashing).

  Next, the operation system for the autonomous mobile device 1 will be described. This operational system includes one or a plurality of autonomous mobile devices 1 and a management device that manages the operation of the autonomous mobile device 1 as shown in FIG. It consists of two. Reference numeral 3 in the figure is connected to the management device 2 via a communication line, and inputs an operation area map of the autonomous mobile device 1, an area where the autonomous mobile device 1 can enter, a stop area for avoiding other moving objects, and the like. And a user terminal that functions as a means for confirming the position and state of the autonomous mobile device 1.

  The management device 2 includes a storage unit 20 that stores the information input and corrected through the user terminal 3, and exchanges the information between the user terminal 3 and the autonomous mobile device 1 in a wired or wireless manner. An interface 21 is provided and is also connected to an elevator management system, a disaster prevention system, and the like.

  In addition, the autonomous mobile device 1 used here includes a communication means for exchanging the above information and environment information, ID information individually attached to each autonomous mobile device 1, position information, and the like with the management device 2. ing.

  Then, the management device 2 uses the position information of the autonomous mobile device 1 sent from each autonomous mobile device 1 via the communication line and the information sent from outside this system based on the location information of the autonomous mobile device 1. By performing the operation, the autonomous mobile device 1 is engaged in work such as transportation, guidance, and cleaning in a building such as a hospital.

  For example, when the autonomous mobile device 1 is operated and operated, communication with the management device 2 is established, and the attached ID information, position / destination, and state (moving, stationary, immovable, etc.) are determined and stored in advance. The vehicle travels while sending it to the management device 2 via the communication means at a cycle stored in the means 11 and ends the communication when it arrives at the destination. Therefore, the management device 2 can know the status of the autonomous mobile device 1 and can grasp the status of the autonomous mobile device via the management device 2 from other user terminals 3 connected to the communication line. In addition, the autonomous mobile device 1 can be operated from the user terminal 3 and can be linked with other elevators and disaster prevention systems. The operation of the autonomous mobile device 1 can be monitored remotely, the contents stored in the storage means 13 of the autonomous mobile device 1 can be managed by the management device 2, and the stored data can be stored when a plurality of autonomous mobile devices 1 are used. Sharing is possible.

  And the map of the active area memorize | stored in the autonomous mobile device 1 and the management apparatus 2, the area | region which an autonomous mobile device can approach, and the area | region which can be stopped in order to avoid another mobile body are divided into several areas, and it is made to memorize | store it. In this case, a large amount of data can be divided and managed, and correction of data can be easily added. For example, as shown in FIG. 22, when traveling on a plurality of floors, areas A and B are set separately for each floor, and the position coordinates and walls of the room are represented for each area A and B. The coordinates of the start point and end point of the line segment representing the line segment or the stop area S are stored. In addition, each autonomous mobile device 1 downloads a map of a different area, an accessible area, and a stop area information from the management device 2 when moving to a different area. The information is stored in the storage unit 11 instead of the area information.

  When the autonomous mobile device 1 is instructed to move across the areas A and B, for example, as shown in FIG. 22, the route generation in the autonomous mobile device 1 from the room A's Room A2 to the area B's Room B4. The means 13 first generates a route from the room A2 to the boundary point P between the areas A and B, and starts moving along this route. Then, when approaching the boundary point P, the information of the area B is downloaded from the management device 1, a route from the point P to Room B4 is generated, and when the boundary point P is reached, traveling on the newly generated route is started. To do. The amount of data managed and processed by the autonomous mobile device 1 is small.

  In addition, when the map and area information changed and corrected by the autonomous mobile device 1 are reflected in the management device 2 and the data of other autonomous mobile devices 1 is also corrected, one data correction is performed. If applied to the autonomous mobile device 1, it can be reflected in all the autonomous mobile devices 1, and the entire autonomous mobile device 1 is always operated with the latest information. For example, when the stop area S stored in the autonomous mobile device 1 in a certain area is deleted, the information of the management device 2 is also corrected. When the autonomous mobile device 1 stops in the stop area S in a certain area, The information is transmitted to the management device 2, and the area is temporarily set as a region where other autonomous mobile devices 1 cannot stop, so that the information of other autonomous mobile devices 1 in the area can be rewritten, and then the stop When the autonomous mobile device 1 that has been moved starts, the information of another autonomous mobile device 1 in the area is rewritten so that it can be stopped.

It is a block diagram of an example of the embodiment of the autonomous mobile device concerning the present invention. (a) (b) (c) is an operation explanatory view of the above. (a) (b) is explanatory drawing of a path | route sequence same as the above. (a) (b) is an explanatory view of setting a stop area, respectively. (a) (b) is explanatory drawing of the route change for the movement to a stop area. It is operation | movement explanatory drawing in another example. It is explanatory drawing of the route change for the movement to the stop area | region in another example. It is explanatory drawing of the other example of a route change. It is explanatory drawing of the other example about the movement to a stop area. (a) (b) is explanatory drawing of another example about the movement to a stop area. It is a perspective view of another example. (a)-(f) is operation | movement explanatory drawing same as the above. (a) (b) is explanatory drawing about an audio | voice presence / absence pattern. (a) (b) is explanatory drawing of the audio | voice pattern in another example. (a) (b) (c) is an operation explanatory diagram in still another example. It is a schematic plan view of the example provided with the radar apparatus. (a) (b) (c) is an operation explanatory view of the above. It is a block diagram of another example. It is operation | movement explanatory drawing in another example. (a) (b) is a perspective view of the example provided with the display means, respectively. It is a block diagram of the operation system concerning the present invention. (a) and (b) are operation explanatory views of other examples.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Autonomous mobile device 2 Management apparatus 10 Traveling means 11 Storage means 12 Interface 13 Route generation means 14 Environment recognition means 15 Travel control means 16 Stop start signal detection means

Claims (4)

Storage means for storing operating area maps and various parameters for driving, interface for inputting destinations and operation commands, route generating means for generating routes to destinations, obstacles and self-location Environment recognition means for recognizing and traveling means for running, while recognizing its position on the map and avoiding obstacles based on information obtained by the environment recognition means An autonomous mobile device comprising travel control means for controlling travel means to a destination,
It has a stop start signal detecting means for detecting a stop start signal for avoiding other moving bodies by providing a signal detection region on both sides ,
The travel control means is for stopping the vehicle in a stop area for avoiding another moving body previously stored in the storage means when the stop start signal detecting means detects the stop start signal. An autonomous mobile device characterized by being directed to a stop area in a non-direction. The autonomous mobile device according to claim 1 , wherein a stop start signal detecting means is provided in front of and behind each side . 2. The autonomous mobile device according to claim 1, wherein the travel control means determines the stop position in consideration of two of the distance from the self position in the stop area and the amount of rotation required to change the course. The autonomous mobile device according to claim 1, wherein the travel control means divides the stop area into levels, determines a stop position from the distance from the own position and the level, and shifts to a stop operation.

Images