JP5245139B2 - Mobile object guidance system and guidance method - Google Patents

Description

  The present invention relates to a guidance system and a guidance method for guiding a moving body such as an automatic guided vehicle traveling in a tunnel.

A system or method for guiding an unmanned transport vehicle using a GPS positioning method is known. However, in the case of a guidance system based on the GPS positioning method, accurate positioning cannot be realized unless the environment can capture GPS satellites. For example, a space shielded from the outside world such as in a tunnel or a specific large facility. It was unsuitable for guidance. On the other hand, for example, a guidance system called a guide system is known (see Patent Document 1). In the case of the guide type, for example, magnets are embedded at appropriate intervals, and the transport vehicle detects the travel route by detecting the magnetic field from the magnets. In addition, there is a method in which a predetermined guide line or the like is laid along the travel route, and the conveyance vehicle is guided while detecting the guide line with a sensor such as an optical system, a magnetic system, or an electromagnetic system.

  However, the guide type guidance method described above is troublesome because it is necessary to lay or remove equipment for guidance. In addition, the guide method such as the magnetic method or the electromagnetic method has a severe installation distance, but the guide method such as the optical method has a problem that the image analysis is complicated.

  The present invention aims to solve the above-described problems, and provides a moving body guidance system and a guidance method capable of guiding a moving body more accurately with relatively simple equipment in a tunnel. For the purpose.

  The inventor diligently studied to achieve the above-described object, and previously acquired the shape information of the surrounding environment along the route for guiding the moving body as a three-dimensional map. We considered that the surrounding environment is scanned and compared with a three-dimensional map to guide it while recognizing the position of the moving body.

  However, since the same shape continues in the longitudinal direction in a tunnel such as a tunnel, it is difficult to accurately detect the position in the longitudinal direction even if the lateral position of the moving body in the tunnel can be detected by the laser scanner. At this time, it is conceivable to detect the position in the longitudinal direction with a wheel sensor or the like, but it is difficult to accurately detect the position in the longitudinal direction due to the influence of wheel slippage or fluctuations in the wheel diameter due to the presence or absence of a load.

  Therefore, when the light reflecting member is arranged at a predetermined position in the tunnel and captured by the laser scanner, the position in the longitudinal direction is estimated from the relative positional relationship with this and the moving distance detecting means such as a wheel sensor is used. The starting position was corrected. As a result, when the light reflecting member cannot be captured, the position estimated by the moving distance detecting means is estimated as the position in the longitudinal direction, and when the light reflecting member can be captured, the estimated position using the longitudinal direction of the moving object is estimated. It is possible to correct the position in the longitudinal direction with higher accuracy every time the light reflecting member is captured, and by correcting the starting position of the moving distance detecting means, It has been found that the accumulated error can be corrected and the moving body can be guided with higher accuracy. The present invention has been made based on the above findings.

  The present invention is a guidance system for guiding a moving body in a tunnel. This system is equipped with a laser scanner that is mounted on a moving body and acquires shape information related to the surrounding environment of the moving body, a map storage unit that stores a three-dimensional map including shape information along the longitudinal direction in the tunnel, and the moving body A moving distance detecting means for detecting a moving distance from the starting position of the first position, and a first position for estimating a longitudinal position of the moving body in the tunnel based on the moving distance and the starting position detected by the moving distance detecting means Based on the relative positions of the estimating means, the predetermined light reflecting member arranged at a predetermined position in the tunnel, and the light reflecting member captured by the laser scanner, the position of the moving body in the longitudinal direction is estimated. If the light reflecting member is not captured by the two-position estimating means and the laser scanner, the one estimated by the first position estimating means is used. If the light reflecting member is captured by the laser scanner, the second position estimating means is used. When the light reflecting member is captured by the laser scanner, the position calculated by the moving distance detecting means is estimated by the second position estimating means when the estimated position is selected as the position in the longitudinal direction of the moving object in the tunnel. Based on shape information extracted from the three-dimensional map, shape information obtained by the laser scanner, and a longitudinal position of the moving body selected by the selection means in the shaft. Calculating means for determining the position and orientation information of the moving body in the vehicle, and absolute guidance control means for controlling the traveling of the moving body by absolute guidance based on the position and orientation information determined by the calculating means. .

  In this guidance system, when the light reflecting member is captured by the laser scanner, the position in the longitudinal direction is estimated by the second position estimating means based on the relative position to the light reflecting member, and the starting position of the moving distance detecting means is set to the second position. The position can be corrected to the position estimated by the position estimating means. As a result, when the light reflecting member cannot be captured, the position estimated by the moving distance detecting means is estimated as the position in the longitudinal direction, and when the light reflecting member can be captured, the estimated position using the longitudinal direction of the moving object is estimated. It is possible to correct the position in the longitudinal direction with higher accuracy every time the light reflecting member is captured, and by correcting the starting position of the moving distance detecting means, Cumulative error can be corrected. As a result, based on the position in the longitudinal direction estimated in this way, the shape information extracted from the three-dimensional map, and the shape information acquired by the laser scanner, the position and orientation information of the moving body in the tunnel is obtained. The moving body can be guided more accurately by absolute guidance and by absolute guidance. Compared with the guide-type guidance method, it is possible to realize guidance with high accuracy with relatively simple equipment.

  There are a plurality of light reflecting members, which are arranged at regular intervals in the longitudinal direction in the tunnel, and the second position estimating means is based on the relative position with respect to the light reflecting member captured by the laser scanner. It is preferable to estimate the position in the longitudinal direction inside. In this way, if the position information of the first light-capturing member arranged at regular intervals is stored, the light-reflecting member is sequentially captured from the position information, and the relative position with respect to it. Therefore, the position of the moving body in the longitudinal direction can be estimated with high accuracy.

  Furthermore, a light reflection member information storage means for storing the light reflection member identification information and the light reflection member position information in association with each other is further provided, and the laser scanner captures the light reflection member identification information and performs second position estimation. The means reads out the position information associated with the identification information of the light reflecting member captured by the laser scanner from the light reflecting member information storage means, and adds the read position information to the longitudinal direction in the tunnel of the moving body. It is preferable to estimate the position. In this way, by acquiring the identification information of the light reflecting member, the position information associated with the identification information is uniquely determined. Therefore, the current position of the light reflecting member is determined, and the relative position to it is determined. The position of the moving body in the longitudinal direction can be estimated with high accuracy.

  It is preferable that the light reflecting member has a light reflectance that is distinguishable from the surrounding environment in the tunnel. In this way, the reflected light from the light reflecting member can be reliably captured separately from the surrounding environment.

  The present invention is a guiding method for guiding a moving object in a tunnel. This method includes a scanning step of scanning a tunnel with a laser scanner to acquire shape information relating to the surrounding environment of the moving body, a moving distance detecting step of detecting a moving distance from the starting position of the moving body, and a moving distance detecting step. A first position estimating step for estimating the longitudinal position of the moving body in the tunnel based on the movement distance and the calculated position detected in step 1, and a predetermined light reflecting member provided at a predetermined position in the tunnel. And a second position estimating step for estimating the longitudinal position of the moving body in the tunnel based on the relative position of the light reflecting member captured by the laser scanner and the light reflected by the laser scanner. When the reflecting member is not captured, the one estimated at the first position estimating step is used. When the light reflecting member is captured by the laser scanner, the second position is estimated. In the second position estimating step, the selection step for selecting the position estimated in the step as the position in the longitudinal direction of the moving object in the tunnel and the position where the moving distance detection means is calculated when the light reflecting member is captured by the laser scanner A correction step for correcting to the estimated position, shape information extracted from a three-dimensional map including shape information along the longitudinal direction in the mine shaft, shape information obtained by the laser scanner, and the moving object selected in the selection step in the mine shaft Absolute guidance control that controls the traveling of the moving body based on the calculation step for determining the position and orientation information of the moving body in the tunnel based on the position in the longitudinal direction, and the absolute guidance based on the position and orientation information calculated in the calculating step And a step.

  According to this guiding method, the moving body can be guided with higher accuracy by using relatively simple equipment.

  ADVANTAGE OF THE INVENTION According to this invention, a mobile body can be guide | induced more accurately with a comparatively simple installation in a tunnel.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of a moving body guidance system and a guidance method according to the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a diagram schematically illustrating a transport vehicle that travels in a tunnel such as a tunnel. FIG. 2 is a perspective view of the transport vehicle. As shown in FIG. 1 or FIG. 2, along the predetermined traveling route R defined in the tunnel T, in order to quickly carry and inspect and perform other operations such as the segment Se of the inner wall Ta accompanying tunnel construction. It is necessary to automatically operate the transport vehicle 3A. The guidance system 1A according to the present embodiment is a system that realizes autonomous driving of the transport vehicle 3A by guiding the transport vehicle 3A by absolute guidance along the travel route R in the tunnel T. The transport vehicle 3A corresponds to a moving body.

  FIG. 3 is a diagram schematically showing a mine shaft on which the transport vehicle travels, and FIG. 4 is a perspective view showing a part of the mine shaft broken. FIG. 5 is a perspective view showing an example of the light reflecting member. As shown in FIGS. 3 and 4, a plurality of light reflecting members Ts <b> 1 to Ts <b> 8 are arranged along the travel route R in the mine shaft T at a constant interval (for example, 20 m). Each of the light reflecting members Ts1 to Ts8 has a different reflection pattern. As shown in FIG. 5, in the light reflecting members Ts1 to Ts8, the low reflecting material and the high reflecting material are arranged in a bar code shape at a predetermined interval, and the arrangement of the low reflecting material and the high reflecting material The reflection patterns of the light reflecting members Ts1 to Ts8 are different from each other. Thereby, it is possible to distinguish from the surrounding environment in the tunnel T (for example, the inner wall surface of the tunnel T, telephone equipment, etc.). Note that the reflection patterns of the light reflecting members Ts1 to Ts8 may all be the same when arranged in a place where there is a high possibility of being reliably captured, for example, a ceiling in the tunnel T.

  As shown in FIG. 6 or FIG. 7, the transport vehicle 3 </ b> A has a vehicle body portion 5 provided with rolling wheels 5 a, a loading platform 7 provided on the upper portion of the vehicle body portion 5, and a front portion of the vehicle body portion 5. An obstacle sensor / bumper switch 9 provided, a steering device 11 for steering the steering wheel 5a, driving and stopping the wheel 5a (see FIG. 7), and a battery (not shown) are provided. . A load such as a segment Se is loaded on the loading platform 7, and the rotation of the wheels 5 a and the change of the steering angle are executed by the drive device 11.

  Further, the conveyance vehicle 3A includes a laser scanner 13 attached to the front portion in the traveling direction Dm, an inner world sensor (movement distance detecting means) 14 attached to the wheel 5a, and the laser scanner 13 and the inner world sensor 14. A control device 15A for controlling the traveling of the transport vehicle 3A based on the input data is mounted. The guidance system 1A according to the present embodiment includes a laser scanner 13, an inner world sensor 14, and a control device 15A.

  The laser scanner 13 irradiates a laser beam so as to draw a circular orbit toward the front side in the traveling direction Dm of the transport vehicle 3A, and reflects the laser beam returned to the inner wall Ta of the tunnel T (hereinafter referred to as “reflected light”). ”). The laser scanner 13 measures the distance to the positioning object from the round-trip time from the irradiation of the laser beam to the reception of the reflected light, and further the coordinate data of the positioning object from the distance and the irradiation direction of the laser beam. Is input to the control device 15A. This coordinate data is data as a cross-sectional shape crossing the mine tunnel T, and corresponds to shape information related to the surrounding environment of the transport vehicle 3A. Hereinafter, the data as the cross-sectional shape is referred to as observation shape data. Further, the laser scanner 13 obtains a reflection pattern from the reflected light that is reflected and returned by the light reflecting members Ts1 to Ts8 (see FIGS. 3 to 5) arranged at regular intervals on the inner wall Ta of the tunnel T. Input to the control device 15A.

  The inner world sensor 14 is a sensor that detects a movement distance from the number of rotations of the wheel 5a, and inputs data relating to the detected movement distance to the control device 15A.

  The control device 15A includes a control board on which a CPU, a RAM, a ROM, and the like are mounted, an input / output device, an external storage device, and the like. The control device 15A loads predetermined software on hardware such as a CPU and a RAM, whereby an input / output device and the like operate under the control of the CPU, thereby realizing a predetermined function. The functions executed by the control device 15A will be described.

  As shown in FIG. 7, the control device 15A includes a map storage unit (map storage unit) 15a, a first position estimation unit (first position estimation unit) 15b, and a second position estimation unit (second position estimation unit) 15c. , A selection unit (selection unit) 15d, a correction unit (correction unit) 15e, a calculation unit (calculation unit) 15f, and an absolute guidance control unit (absolute guidance control unit) 15g.

  The map storage unit 15a stores a three-dimensional map that associates shape data (shape information) along the travel route R with the position and orientation information of the transport vehicle 3A. The shape data along the travel route R is data as a cross-sectional shape crossing the tunnel T, and the position and orientation information of the transport vehicle 3A is the position information (lateral direction and longitudinal direction) of the transport vehicle 3A on the travel route R. Direction) and attitude angle information (pitch, yaw, roll) of the transport vehicle 3A. Further, in the map storage unit 15a, as shown in FIG. 8, the number of the light reflecting members Ts1 to Ts8 when counting the light reflecting members Ts1 to Ts8 in order from the start position, and the reflection pattern (1: high reflection material). , 0: low reflection material) and a table TB1 in which the distance from the start position is associated with each other.

  The first position estimating unit 15b estimates the position of the transport vehicle 3A in the longitudinal direction in the mine tunnel T based on the moving distance from the calculated position of the transport vehicle 3A detected by the inner sensor 14. The starting position is, for example, the start position of the transport vehicle 3A and can be changed as appropriate.

  When the light reflecting members Ts1 to Ts8 are captured by the laser scanner 13, the second position estimating unit 15c is based on the relative positional relationship between the light reflecting members Ts1 to Ts8 and the transport vehicle 3A. The longitudinal position of the transport vehicle 3A is estimated. When the second position estimating unit 15c captures the light reflecting members Ts1 to Ts8, the number of the captured light reflecting members Ts1 to Ts8 is counted from the start position, and the count number and the light reflecting members Ts1 to Ts8 are arranged. By calculating based on a constant interval (for example, 20 m), the position in the longitudinal direction of the transport vehicle 3A in the mine tunnel T is estimated. In addition, even if the second position estimating unit 15c cannot capture the light reflecting member Ts3 for some reason, for example, if the next light reflecting member Ts4 can be captured, the second position estimating unit 15c uses the table TB1 of the map storage unit 15a. The distance from the start position is extracted based on the reflection pattern, the count number is corrected, and the position of the transport vehicle 3A in the longitudinal direction in the tunnel T is estimated.

  When the position of the transport vehicle 3A in the longitudinal direction of the mine tunnel T is estimated by the second position estimation unit 15c, the selection unit 15d determines the position of the transport vehicle 3A in the gallery T in the longitudinal direction by the first position estimation unit 15b. Even if it is estimated, the position in the longitudinal direction estimated by the second position estimating unit 15c is preferentially selected as the position in the longitudinal direction of the transport vehicle 3A in the tunnel T.

  When the light reflecting members Ts1 to Ts8 are captured by the laser scanner 13, that is, when the position of the transport vehicle 3A in the longitudinal direction in the mine tunnel T is estimated by the second position estimation unit 15c, the correction unit 15e is the first position. The starting position in the estimating unit 15b is corrected to the position in the longitudinal direction estimated by the second position estimating unit 15c.

  The calculation unit 15f reads the three-dimensional map stored in the map storage unit 15a, and calculates the position and orientation information of the transport vehicle 3A based on the three-dimensional map and the observation shape data acquired by the laser scanner 13. At this time, for the position in the longitudinal direction of the transport vehicle 3A in the tunnel T, the estimated position in the longitudinal direction selected by the selection unit 15d is employed.

  Specifically, the calculation unit 15f estimates the position and orientation of the transport vehicle 3A using a Markov position estimation method based on the three-dimensional map and the observed shape data. At this time, when a straight line with the same cross section or a curved section with a constant curvature of the tunnel T continues with the same cross section, the position in the longitudinal direction of the transport vehicle 3A cannot be uniquely specified only by the surrounding shape features. The position in the longitudinal direction selected by the selection unit 15d is adopted.

  The Markov position estimation method will be briefly described below. In the actual method, three dimensions and six degrees of freedom are used. However, in the following description, an example of 1.5 dimensions and one degree of freedom will be described for convenience. FIG. 9 is a diagram showing the positional relationship and the existence probability of the three structures installed in the tunnel T and the transport vehicle in order to explain the flow of the Markov position estimation technique, and (a) to (d) Are in chronological order. FIG. 9A shows an initial state. In the traveling route R, three structures Ar are installed in order from the left along the traveling direction of the transport vehicle 3A, and each structure Ar has the same shape. The transport vehicle 3A in the initial state has not yet captured the structure Ar. FIG. 9B is a diagram illustrating the initial sensing time when the transport vehicle 3A captures the first structure Ar, and FIG. 9C illustrates the movement state after the transport vehicle 3A passes through the first structure Ar. It is shown, and it is a figure which shows the state which has not captured the next structure Ar yet. FIG. 9D is a diagram showing a state in which the transport vehicle 3A captures the next structure Ar and the position is specified.

  As shown in FIG. 9A, in the initial state, the existence probability is uniform over the entire range of the travel route R. Assume that the transport vehicle 3A starts moving, and the laser scanner 13 captures any one of the structures Ar (see FIG. 9B). Since the three structures Ar arranged on the travel route R have the same shape, the position information of the transport vehicle 3A cannot be specified even with reference to the three-dimensional map. Therefore, the calculation unit 15f assigns the existence probability estimated from the observation shape data acquired by the laser scanner 13 to the vicinity of each structure Ar. For example, the presence predicted value in the vicinity of each structure Ar is set to “1/3”, and the presence predicted value in a range other than the vicinity is set to be lower than 1/3. The existence probability at each point is given as a value obtained by dividing the existence prediction value at that point by the sum of the existence prediction values.

  The transport vehicle 3A continues to move through the first structure Ar (see FIG. 9C). The calculation unit 15f calculates the first existence probability from the past to the present in consideration of the error of the internal sensor 14 and the second existence probability estimated from the laser scanner 13 at this time, and further calculates the first existence probability. A third existence probability obtained by combining the existence probability and the second existence probability is determined.

  As illustrated in FIG. 9D, when the transport vehicle 3A captures the next structure Ar, the calculation unit 15f calculates the second existence probability based on the newly acquired observation shape data. Then, the calculation unit 15f combines the first existence probability and the second existence probability to determine a third existence probability. Here, only the observation shape data of the first structure Ar could not identify the protruding portion (position) in the third existence probability, but if the observation shape data of the next structure Ar can be captured, the third A protruding portion (position) occurs in the existence probability. The calculation unit 15f estimates the position having the highest third existence probability as the position in the lateral direction and the longitudinal direction of the transport vehicle 3A.

  The calculation unit 15f discretizes the Markov position estimation method, and estimates the position and orientation using a PF (particle filter) method that is realized numerically. Theoretically, the correct position can be estimated as the transport vehicle 3A moves even if the initial value is not given. However, since the correct position and posture are always necessary for the operation of the transport vehicle 3A, the initial position of the transport vehicle 3A is required. Give position and posture.

  The calculation unit 15f calculates the three-dimensional coordinates from the estimated position of the transport vehicle 3A in the tunnel T obtained by the first position estimation unit 15b, the observation shape data obtained from the laser scanner 13, and the three-dimensional map of the map storage unit 15a. Shape data expected to be obtained from the laser scanner 13 is calculated. The position and posture angle for performing the estimation are given by an initial value or a previous estimated value, and a combination that can occur from the movement of the transport vehicle 3A during the measurement interval of the first position estimation unit 15b or the laser scanner 13. . Then, the calculation unit 15f performs matching between a large number of shape data obtained from each position and posture angle and the observed shape data, and obtains the position and posture angle corresponding to the shape data having the highest degree of coincidence at the present time. The position and posture angle of the transport vehicle 3A are specified. At this time, the internal sensor 14 that gives the moving distance from the calculated position to the first position estimation unit 15b accumulates measurement errors due to an increase in travel distance, and the curvature of the tunnel T in the same section or in the same section. When a constant curve section continues, since there are a plurality of shape data having a high degree of coincidence along the longitudinal direction of the tunnel T, the position in the longitudinal direction cannot be specified. Therefore, in such a case, whenever the correct position in the longitudinal direction is estimated by the second position estimation unit 15c, the estimated position is set as the position in the longitudinal direction, and the starting position of the inner world sensor 14 is set as the second position. The position is corrected to the position estimated by the estimation unit 15c. As described above, the calculation unit 15f determines the position and orientation information of the transport vehicle 3A.

  As shown in FIG. 7, the absolute guidance control unit 15g controls the traveling of the transport vehicle 3A by absolute guidance based on the position and orientation information determined by the calculation unit 15f. That is, the absolute guidance control unit 15g guides the transport vehicle 3A to the destination based on the position and orientation information, and changes the posture of the transport vehicle 3A so that the posture angle is parallel to the tunnel axis. The vehicle 3A is travel-controlled.

  Absolute induction is a concept contrasted with relative induction. Relative guidance is intended to be guided based on position and orientation information (relative position and posture angle) determined from the relative positional relationship with the inner wall Ta of the tunnel T and other structures. The transport vehicle 3A is guided so as to travel at a certain distance from the structure. On the other hand, the absolute guidance is intended to guide the transport vehicle 3A based on position information and posture angle information determined as absolute information in the tunnel T.

  Next, a guidance method using the guidance system 1A will be described with reference to FIGS. FIG. 10 is a flowchart illustrating an operation procedure of the guidance method according to the present embodiment, and FIG. 11 is a flowchart illustrating an operation procedure of the guidance control process.

  As shown in FIG. 10, when the guidance of the transport vehicle 3A is started, the calculation unit 15f performs initial setting indicating that the position of the transport vehicle 3A is at the start position, and the driving device 11 moves the transport vehicle 3A. Start (step S01). Next, the control device 15A continues the autonomous operation of the transport vehicle 3A while performing the guidance control processing (step S02) by absolute guidance, and when reaching the stop position, ends the guidance control processing and stops the movement of the transport vehicle 3A. (Step S03) and the guidance of the transport vehicle 3A is terminated.

  The operation procedure of the above-described guidance control process (step S02) will be described in detail with reference to FIG. When the guidance control process is started, the first position estimation unit 15b performs longitudinal position estimation calculation based on the calculated position and the movement distance of the inner world sensor 14 (step S11). Step S11 corresponds to a movement distance detection step and a first position estimation step. Next, the laser scanner 13 performs a scanning process to acquire observation shape data (step S12). Step S12 corresponds to a scanning step and a light reflecting member capturing step.

  Further, the second position estimating unit 15c determines whether or not a predetermined reflection pattern corresponding to the light reflecting members Ts1 to Ts8 is detected when the observation shape data is acquired in Step S12 (Step S13). When the predetermined reflection pattern is detected, the second position estimation unit 15c performs longitudinal position estimation calculation based on the count numbers of the light reflecting members Ts1 to Ts8 (step S14). On the other hand, if the predetermined reflection pattern is not detected, the process proceeds to step S16. Step S13 corresponds to a light reflecting member capturing step, and step S14 corresponds to a second position estimating step.

  When the estimated position in the longitudinal direction is calculated by the second position estimating unit 15c, the correcting unit 15e corrects the starting position in the first position estimating unit 15b to the estimated position estimated by the second position estimating unit 15c ( Step S15). Step S15 corresponds to a correction step.

  In step S16, the calculation unit 15f executes position / posture estimation calculation by the PF method. Step S15 corresponds to a calculation step. And the absolute guidance control part 15g performs absolute guidance control of 3 A of conveyance vehicles based on the calculated position and orientation information (step S17). Step S17 corresponds to an absolute guidance control step. Subsequently, the absolute guidance control unit 15g determines whether or not the stop position is reached (step S18). If it is determined that the stop position is not reached, the process returns to step S11 and the above-described processing is repeated. On the other hand, if it is determined that the position is the stop position, the guidance control process ends.

  As described above, according to the guidance system 1A and the guidance method, when the light reflecting members Ts1 to Ts8 are captured by the laser scanner 13, the position in the longitudinal direction is estimated by the second position estimation unit 15c based on the relative position thereof. The starting position of the inner sensor 14 can be corrected to the position estimated by the second position estimating unit 15c. Accordingly, when the light reflecting members Ts1 to Ts8 cannot be captured, the position estimated by the inner sensor 14 is estimated as the position in the longitudinal direction, and when the light reflecting members Ts1 to Ts8 can be captured, the light reflecting members Ts1 to Ts8 are estimated using this. Is estimated to be the position in the longitudinal direction of the transport vehicle 3A, the position in the longitudinal direction can be corrected to a higher accuracy every time the light reflecting members Ts1 to Ts8 are captured. By correcting the position, the accumulated error of the movement distance can be corrected. As a result, based on the position in the longitudinal direction estimated in this way, the shape information extracted from the three-dimensional map, and the shape information acquired by the laser scanner 13, the position of the transport vehicle 3A in the tunnel T The posture information can be determined more accurately, and the transport vehicle 3A can be guided with higher accuracy by absolute guidance. Compared with the guide-type guidance method, it is possible to realize guidance with high accuracy with relatively simple equipment.

  Further, there are a plurality of light reflecting members Ts1 to Ts8, which are arranged at regular intervals in the longitudinal direction in the tunnel T, and the second position estimating unit 15c includes the light reflecting members Ts1 to Ts8 captured by the laser scanner 13. The position in the longitudinal direction in the tunnel T of the transport vehicle 3A is estimated by taking the number into consideration. In this way, if the position information of the first captured light reflecting members Ts1 to Ts8 arranged at regular intervals is stored, the light reflecting members Ts1 to Ts8 are sequentially captured from the position information. Then, the number is counted, and the current position of the light reflecting members Ts1 to Ts8 is determined from the counted number and the arrangement interval between the light reflecting members Ts1 to Ts8, and the position in the longitudinal direction of the transport vehicle 3A is determined from the relative position thereof. It can be estimated with high accuracy.

[Second Embodiment]
Next, with reference to FIG.12 and FIG.13, the guidance system which concerns on 2nd Embodiment of this invention is demonstrated. FIG. 12 is a block diagram of the guidance system according to the present embodiment. In addition, about the guidance system 1B which concerns on this embodiment, about the element similar to the guidance system 1A which concerns on 1st Embodiment, the code | symbol similar to 1st Embodiment is attached | subjected and detailed description is abbreviate | omitted.

  As shown in FIG. 12, the guidance system 1B includes a laser scanner 13, an internal sensor 14 and a control device 15B mounted on the transport vehicle 3B. Similarly to the control device 15A according to the first embodiment, the control device 15B includes a map storage unit 15a, a first position estimation unit 15b, a second position estimation unit 15c, a selection unit 15d, a correction unit 15e, a calculation unit 15f, and an absolute value. A guidance control unit 15g is provided, and a light reflection member data storage unit (light reflection member information storage unit) 15h that stores identification data of each of the light reflection members Ts1 to Ts8 is further provided.

  The light reflecting member data storage unit 15h stores identification data (identification information: ID) of the light reflecting members Ts1 to Ts8. Further, the light reflecting member data storage unit 15h stores a table TB2 that associates each light reflecting member Ts1 to Ts8 with distance information (position and orientation information) of the transport vehicle 3B from the start position (see FIG. 13). ). The identification data is given in a form in which the high reflection material (1) and the low reflection material (0) are arranged as the light reflection members Ts1 to Ts8. Further, the arrangement (pattern) is made unique for each of the light reflecting members Ts1 to Ts8, thereby enabling identification.

  FIG. 13 is a diagram illustrating a table stored in the light reflecting member data storage unit 15h. The first light reflecting member Ts1 is installed at a position “100 m” from the start position. As shown in FIG. 13, the table TB2 includes position and orientation information corresponding to the first light reflecting member Ts1. Data indicating “100 m” is stored. When the second position estimating unit 15c acquires the identification data of the light reflecting member Ts1 from the reflection pattern (1: high reflecting material, 0: low reflecting material) of the reflected light, the second position estimating unit 15c is stored in the light reflecting member data storage unit 15h. The identification data of each of the light reflecting members Ts1 to Ts8 is read and matched to recognize the light reflecting member Ts1.

When the second position estimating unit 15c recognizes the first light reflecting member Ts1, the second position estimating unit 15c refers to the table TB2 stored in the light reflecting member data storage unit 15h, and is stored in association with the first light reflecting member Ts1. reading the distance "100 m" are, the longitudinal position in the tunnel T in the transport vehicle 3 B. Further, the correction unit 15e corrects the starting position in the first estimation unit 15b. And the calculating part 15f calculates | requires the position and orientation information of the conveyance vehicle 3B by the PF method mentioned above. The absolute guidance control unit 15g executes the traveling control of the transport vehicle 3B based on the position and orientation information determined by the calculation unit 15f. The same applies when the second to eighth light reflecting members Ts2 to Ts8 are captured.

Also in the guidance system 1B according to the present embodiment, by acquiring the identification data of the light reflecting members Ts1 to Ts8, the position information associated with the identification data is uniquely determined, and thus the current light reflecting members Ts1 to Ts1. The position of Ts8 can be determined, and the position in the longitudinal direction of the transport vehicle 3B in the mine tunnel T can be accurately estimated from the relative position. Thereby, every time the light reflecting members Ts1 to Ts8 are captured, the position in the longitudinal direction can be corrected to a more accurate one, and the accumulated error of the moving distance can be corrected by correcting the starting position of the internal sensor 14. Can be corrected. As a result, the longitudinal position estimated in this way, the shape information extracted from the three-dimensional map, based on the obtained at the laser scanner 13 shape information, the transport vehicle 3 B in a tunnel T The position and orientation information can be determined more accurately, and the transport vehicle 3B can be guided with higher accuracy by absolute guidance.

  As mentioned above, although this invention was demonstrated based on each embodiment, this invention is not limited only to these embodiment. For example, in the first embodiment, the second position estimation unit 15c estimates the position of the transport vehicle 3A in the longitudinal direction in the mine tunnel T based on the count number of the light reflecting members Ts1 to Ts8. May be estimated. For example, when the estimated position by the first position estimating unit 15b when the light reflecting members Ts1 to Ts8 are captured is, for example, 19.4 m, the second position estimating unit 15c sets the estimated position to the light reflecting members Ts1 to Ts1. Divide by the interval (20 m) at which Ts8 is arranged. Then, the value obtained by dividing the estimated position by the arrangement interval (19.4 / 20 = 0.97≈1) is multiplied by the arrangement interval of the light reflecting members Ts1 to Ts8 (1 × 20 = 20). To estimate the position in the longitudinal direction. The correcting unit 15e corrects the position (20m) in the longitudinal direction estimated as described above as the starting position in the first position estimating unit 15b.

  In the second embodiment, a table in which the identification data of each of the light reflecting members Ts1 to Ts8 is associated with the set speed or posture angle of the transport vehicle 3B is held, and the identification data acquired by the laser scanner 13 is stored in the table. Based on this, the moving speed of the transport vehicle 3B may be set and the attitude angle information may be specified.

It is a figure which shows typically the conveyance vehicle which drive | works a tunnel, such as a tunnel. It is a perspective view of the conveyance vehicle which concerns on this embodiment. It is a figure which shows typically the tunnel where the conveyance vehicle which concerns on this embodiment drive | works. It is a perspective view which fractures | ruptures and shows a part of mine shaft which the conveyance vehicle which concerns on this embodiment drive | works. It is a perspective view which shows an example of a light reflection member. It is a side view of the conveyance vehicle which concerns on this embodiment. It is a block diagram of the guidance system concerning this embodiment. It is a figure of the table which matches and shows the position and orientation information of a conveyance vehicle with the count number of a light reflection member. In order to explain the flow of the Markov position estimation method, it is a diagram showing the positional relationship and the existence probability of three structures arranged in a tunnel and a transport vehicle. It is a flowchart which shows the operation | movement procedure of the guidance method performed using the guidance system concerning this embodiment. It is a flowchart which shows the operation | movement procedure of a guidance control process. It is a block diagram of the conveyance vehicle which concerns on 2nd Embodiment of this invention. It is a figure of the table which matches and shows the position and orientation information of a conveyance vehicle with the identification data of a light reflection member.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1A, 1B ... Guidance system, 3A, 3B ... Conveyance vehicle (moving body), 7 ... Tunnel, 13 ... Laser scanner, 14 ... Internal sensor (movement distance detection means), 15a ... Map storage part (map storage means), 15b ... 1st position estimation part (1st position estimation means), 15c ... 2nd position estimation part (2nd position estimation means), 15d ... Selection part (selection means), 15e ... Correction part (correction means), 15f ... Calculation unit (calculation unit), 15 g... Absolute guidance control unit (absolute guidance control unit), 15 h... Light reflection member data storage unit (light reflection member information storage unit), Dm... Travel direction (longitudinal direction), Ts1 to Ts8. Light reflecting member.

Claims (4)

In a guidance system for guiding a moving object in a tunnel,
A laser scanner that is mounted on the moving body and acquires shape information about the surrounding environment of the moving body;
Map storage means for storing a three-dimensional map including shape information along the longitudinal direction in the tunnel;
A moving distance detecting means for detecting a moving distance from the starting position of the moving body;
First position estimating means for estimating a longitudinal position of the moving body in the mine shaft based on the moving distance detected by the moving distance detecting means and the calculated position;
A predetermined light reflecting member disposed at a predetermined position in the tunnel and having a light reflectance distinguishable from the surrounding environment in the tunnel;
Second position estimating means for estimating a position of the moving body in the longitudinal direction in the tunnel based on a relative position with the light reflecting member captured by the laser scanner;
If the laser scanner does not capture the light reflecting member, what is estimated by the first position estimating means, if the laser scanner captures the light reflecting member, what is estimated by the second position estimating means, Selecting means for selecting the position of the moving body in the longitudinal direction in the mine shaft;
Correction means for correcting the calculated position by the movement distance detection means to the position estimated by the second position estimation means when the light reflecting member is captured by the laser scanner;
Based on the shape information extracted from the three-dimensional map, the shape information acquired by the laser scanner, and the longitudinal position of the moving body selected by the selection means in the tunnel, Computing means for determining position and orientation information of the moving body;
A moving body guidance system comprising: absolute guidance control means for controlling travel of the moving body by absolute guidance based on the position and orientation information determined by the computing means. There are a plurality of the light reflecting members, arranged at regular intervals in the longitudinal direction in the tunnel,
The second position estimating means estimates a position of the moving body in a longitudinal direction in the tunnel based on a relative position with respect to the light reflecting member captured by the laser scanner. The described moving body guidance system. A light reflecting member information storage means for storing the identification information of the light reflecting member and the position information of the light reflecting member in association with each other;
The laser scanner captures identification information of the light reflecting member,
The second position estimating means reads the position information associated with the identification information of the light reflecting member captured by the laser scanner from the light reflecting member information storage means, and takes the position information read out into account. The moving body guiding system according to claim 1, wherein a position of the moving body in a longitudinal direction in the mine shaft is estimated. In a guidance method for guiding a moving object in a tunnel,
A scanning step of scanning the inside of the mine shaft with a laser scanner to obtain shape information relating to the surrounding environment of the moving body;
A moving distance detecting step for detecting a moving distance from the starting position of the moving body;
A first position estimating step for estimating a longitudinal position of the moving body in the tunnel based on the moving distance detected in the moving distance detecting step and the starting position;
A light reflecting member capturing step in which the laser scanner captures a predetermined light reflecting member provided at a predetermined position in the tunnel and having a light reflectance distinguishable from the surrounding environment in the tunnel;
A second position estimating step for estimating a longitudinal position of the movable body in the tunnel based on a relative position with the light reflecting member captured by the laser scanner;
If the laser scanner does not capture the light reflecting member, what is estimated in the first position estimation step, if the laser scanner captures the light reflecting member, what is estimated by the second position estimation step, A selection step of selecting as a longitudinal position of the mobile body in the mine shaft;
When the light reflecting member is captured by the laser scanner, a correction step for correcting the calculated position in the moving distance detecting step to the position estimated in the second position estimating step;
Shape information extracted from a three-dimensional map including shape information along the longitudinal direction in the mine shaft, shape information acquired by the laser scanner, and a longitudinal position of the moving body selected in the selection step in the mine shaft Based on the calculation step of calculating the position and orientation information of the moving body in the tunnel,
An absolute guidance control step of controlling the traveling of the moving body by absolute guidance based on the position and orientation information determined in the calculating step.

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