JP5298741B2 - Autonomous mobile device - Google Patents

Description

  The present invention relates to an autonomous mobile device that plans a movement route and moves autonomously along the movement route.

Conventionally, an autonomous mobile device that moves autonomously in the surrounding environment is known. In order for the autonomous mobile device to move autonomously in the surrounding environment, an environment map that represents an area where an object (obstacle) exists and an area that does not exist in the moving space is required. Various methods have been devised for obtaining such an environmental map. Here, Patent Document 1 discloses a technique for expressing the surrounding environment with a map using landmarks. In this technology, for example, when the moving area is an office, landmarks are installed at positions where autonomous mobile robots such as corridor corners and branch points, room centers, and room door entrances and exits can pass. Is done. On the other hand, SLAM (Simultaneous Localization and Mapping) is known as a technique for performing self-location estimation and environmental map creation in real time while moving. Here, Patent Document 2 discloses a mobile robot that uses SLAM and generates a topographic map (environmental map) using topographic data obtained as a result of distance measurement by a laser range finder (or camera). .
Japanese Patent Laid-Open No. 10-143243 JP 7-129238 A

  In the technology for creating an environmental map using the landmark described in Patent Document 1 described above, the user load for installing the landmark is high, and much effort (labor, man-hour) is required to create the environmental map. On the other hand, in the method of creating an environmental map using SLAM, for example, when setting points (for example, a start point, a target passing point, a goal point) are set on an environmental map prepared in advance, the actual position is shifted. There is a fear. For this reason, adjustment to the actual environment may be required.

  The present invention has been made to solve the above problems, and can create a highly reliable environmental map including a set point on the environmental map with less load. An object of the present invention is to provide an autonomous mobile device that can be used to perform more accurate autonomous movement.

The autonomous mobile device according to the present invention obtains a local map around the own device from the object information acquiring means for acquiring the position information of the object existing around the own device and the position information of the object acquired by the object information acquiring means. A local map creating means to create, a moving means for moving the own device, a local map created by the local map creating means, and a self-position estimating means for estimating the self-position based on the movement amount of the moving means, An autonomous mobile device comprising: a guiding unit that drives the moving unit based on a user's operation to guide the user's own device; and a moving region from the self-position and the local map estimated by the self-position estimating unit during guidance by the guiding unit The environment map creation means for creating the environment map and the self-position when the aircraft is located at a predetermined set point during guidance by the guidance means are registered as the position coordinates of the set point. Teaching means for teaching to do so, storage means for storing an environment map and set points, route planning means for planning a moving route using the set points on the environment map stored in the storage means, and a route e Bei and control means for controlling the moving means so as autonomously move along a movement path planned by the planner, teaches means, together with the registration of the set point, to register the attribute information of the set point It is characterized by teaching .

According to the autonomous mobile device of the present invention, an environment map is created when the aircraft is guided according to a user's operation, and is guided to a predetermined set point (for example, a candidate that becomes a goal such as before an elevator). Is reached, the actual self position at that time is registered as the position coordinates of the set point on the environment map. Also, attribute information (for example, before elevator) of the set point is registered in association with the set point. Therefore, it is possible to create an environment map including setting points that do not deviate from the actual moving environment simply by registering the setting points while guiding the operation area of the autonomous mobile device. In addition, according to the autonomous mobile device of the present invention, a moving route is planned by using the set points on the created and stored environment map, and the moving means is configured to move autonomously along the moving route. Be controlled. Therefore, for example, if a movement route is planned with the set point as a goal point, a movement route with little deviation from the actual movement region can be planned, and autonomous movement can be performed with high reproducibility. As a result, according to the autonomous mobile device of the present invention, it is possible to easily create a highly reliable environmental map including set points on the environmental map, and to use the environmental map for more accurate autonomy. It is possible to move.

The autonomous mobile device according to the present invention obtains a local map around the own device from the object information acquiring means for acquiring the position information of the object existing around the own device and the position information of the object acquired by the object information acquiring means. A local map creating means to create, a moving means for moving the own device, a local map created by the local map creating means, and a self-position estimating means for estimating the self-position based on the movement amount of the moving means, In the autonomous mobile device provided, it is possible to move from the local map and the self-position estimated by the self-position estimating means during the guidance by the guiding means by driving the moving means based on the user's operation The environmental map creation means for creating an environmental map of the area, and the self-position when the aircraft is located at a predetermined set point during guidance by the guidance means as the position coordinates of the set point Teaching means for teaching to record, storage means for storing an environment map and set points, route planning means for planning a movement route using the set points on the environment map stored in the storage means, A control unit that controls the moving unit to move autonomously along the movement route planned by the route planning unit, and a difference map that represents the degree of object change in the moving region when moving autonomously along the moving route A dynamic environment map that creates a dynamic environment map based on the addition result of the difference map created by the difference map creation means and the environment map when autonomously moving along the travel route self example Bei and creating means, when the autonomous moving along the travel path, the self-position estimating means, collates the respective environmental map and dynamic environmental map, the local map on the basis of the comparison result Estimating the location, the differential map creation means, the sum of the dynamic environment maps and local maps, based on the difference between the environmental map, and updates the differential map.

  In this case, when moving along the movement route, a difference map representing the degree of object change in the movement area is created, and a dynamic environment map is created from the addition result of the environment map and the difference map. Each of the environment map and the dynamic environment map is collated with the local map, and the self-position is estimated based on the collation result. Only the difference map is updated during autonomous movement, and the highly reliable environmental map is maintained without being rewritten. For example, when the estimated self-location is different from the actual self-location, the reliability is high. It is possible to prevent the environmental map from being rewritten accidentally. For example, even if the estimated self-position is temporarily deviated from the actual self-position, it is possible to return. In addition, when there is an environmental change in the movement area, for example, when the moving body passes near the own machine or a new object is placed on the passage, the change is extracted as a difference map, It is reflected in the dynamic environment map. Therefore, it becomes possible to cope with the environmental change of the mobile environment.

  In the autonomous mobile device according to the present invention, it is preferable that the teaching means teaches to register the setting point attribute information together with the setting point registration. In this way, it becomes possible to register attribute information (for example, before the elevator, before the conference room, before the emergency stairs, etc.) of the set point in association with the set point.

  According to the present invention, it is possible to create a highly reliable environmental map including set points on the environmental map with less load, and to perform more accurate autonomous movement using the environmental map. It becomes.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same element and the overlapping description is abbreviate | omitted.

(First embodiment)
First, the configuration of the autonomous mobile device 1 according to the first embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of the autonomous mobile device 1.

  The autonomous mobile device 1 uses the SLAM to display an environment map (a grid map representing an area where an obstacle exists and an area where an obstacle does not exist) using SLAM when the aircraft is guided according to a user's remote operation. Create and have the function of registering the actual self position at that time as the position coordinates of the set point on the environment map when it is guided and reaches a predetermined set point (the mode for executing this function is Mode "). In addition, the autonomous mobile device 1 plans a travel route using the set points on the environmental map that has been created and stored, and starts along the planned travel route (including the current location of its own device). Has a function of autonomously moving from the point to the goal point (a mode for executing this function is referred to as a “transport mode”). Therefore, the autonomous mobile device 1 is a distance between the main body 10 provided with the electric motor 12 and the omni wheel 13 driven by the electric motor 12 at a lower portion thereof and an object (for example, a wall or an obstacle) existing in the surroundings. And a joystick 21 that guides the autonomous mobile device 1 and registers a set point. In addition, the autonomous mobile device 1 includes an electronic control device 30 that integrally manages the creation of an environmental map in the installation mode, the planning of the movement route in the transport mode, and the autonomous movement along the movement route. Hereinafter, each component will be described in detail.

  The main body 10 is, for example, a metal frame formed in a substantially bottomed cylindrical shape, and the above-described laser range finder 20 and the electronic control device 30 are attached to the main body 10. The shape of the main body 10 is not limited to a substantially bottomed cylindrical shape. Four electric motors 12 are arranged in a cross shape and attached to the lower portion of the main body 10. Omni wheels 13 are attached to the drive shafts 12A of the four electric motors 12, respectively. That is, the four omni wheels 13 are mounted on the same circumference at intervals of 90 ° along the circumferential direction.

  The omni wheel 13 is provided so as to be rotatable around two wheels 14 that rotate about the drive shaft 12A of the electric motor 12 and an axis that is orthogonal to the drive shaft 12A of the electric motor 12 on the outer periphery of each wheel 14. Further, the wheel has six free rollers 15 and is movable in all directions. The two wheels 14 are attached with a phase shifted by 30 °. Due to such a configuration, when the electric motor 12 is driven and the wheel 14 rotates, the six free rollers 15 rotate together with the wheel 14. On the other hand, when the grounded free roller 15 rotates, the omni wheel 13 can also move in a direction parallel to the rotation axis of the wheel 14. For this reason, the autonomous mobile device 1 is moved in any direction (omnidirectional) by independently controlling the four electric motors 12 and individually adjusting the rotational direction and rotational speed of the four omni wheels 13. be able to. That is, the electric motor 12 and the omni wheel 13 function as moving means described in the claims.

  An encoder 16 that detects the rotation angle (that is, the drive amount or the rotation amount) of the drive shaft 12A is attached to the drive shaft 12A of each of the four electric motors 12. Each encoder 16 is connected to the electronic control unit 30, and outputs the detected rotation angle of each electric motor 12 to the electronic control unit 30. The electronic control unit 30 calculates the movement amount of the autonomous mobile device 1 from the input rotation angle of each electric motor 12.

  The laser range finder 20 is attached to the front part of the autonomous mobile device 1 so as to face the front direction (front) of the own device. The laser range finder 20 emits a laser (detection wave) and reflects the emitted laser with a rotating mirror, thereby scanning the periphery of the autonomous mobile device 1 in a fan shape with a central angle of 240 ° in the horizontal direction. The laser range finder 20 detects, for example, a laser reflected and returned by an object such as a wall or an obstacle, and detects a detection angle of the laser (reflected wave) and returns after being reflected by the object. By measuring the time (propagation time) until it comes, the angle and distance from the object are detected. That is, the laser range finder 20 functions as object information acquisition means described in the claims. The laser range finder 20 is connected to the electronic control device 30, and outputs distance information and angle information with respect to the detected surrounding object to the electronic control device 30.

  The joystick 21 is an input device for guiding and moving the autonomous mobile device 1 according to a user's remote operation. The joystick 21 is a bar-shaped lever 22 that indicates a direction for guiding the autonomous mobile device 1 and a setting on the environment map. And a registration switch 23 for registering points. The user can guide the autonomous mobile device 1 by operating the lever 22 of the joystick 21 to instruct the autonomous mobile device 1 in the moving direction. In addition, when the user reaches a predetermined set point (for example, a start point candidate, a target passing point candidate, a goal point candidate) while guiding the autonomous mobile device 1, The self position can be registered as the position coordinates of the set point. In addition, the user can be taught to register set point attribute information (e.g., in front of an elevator, in front of a conference room, in front of an emergency staircase, etc.). That is, the lever 22 constituting the joystick 21 functions as guiding means described in the claims, and the registration switch 23 functions as teaching means described in the claims. The joystick 21 is connected to the electronic control unit 30 and outputs a guidance control (direction instruction) signal and a set point registration signal to the electronic control unit 30.

  The electronic control device 30 integrally controls the autonomous mobile device 1. The electronic control unit 30 includes a microprocessor that performs calculations, a ROM that stores a program for causing the microprocessor to execute each process, a RAM that temporarily stores various data such as calculation results, and a storage content thereof Backup RAM or the like. The electronic control device 30 also includes a laser range finder 20, an interface circuit that electrically connects the joystick 21 and the microprocessor, a driver circuit that drives the electric motor 12, and the like.

  The electronic control unit 30 creates an environment map of the moving space (area) using the SLAM by executing the installation mode, and registers the position coordinates of the set points on the environment map. In addition, the electronic control unit 30 executes the transfer mode to plan a movement route with the set point as a goal candidate, for example, and from the start point (the current position of the aircraft) along the planned movement route to the goal point. The electric motor 12 is controlled so as to move autonomously. Therefore, the electronic control device 30 includes a local map creation unit 31, a self-position estimation unit 32, an environment map creation unit 33, a storage unit 34, a route plan unit 35, a travel control unit 36, a sensor information acquisition unit 37, and an obstacle. An avoidance control unit 38 and the like are provided. Each of these units is constructed by a combination of the hardware and software described above.

  The local map creation unit 31 is based on distance information / angle information (corresponding to object information described in claims) from a surrounding object read from the laser range finder 20 via the sensor information acquisition unit 37. A local map around the own apparatus (within the detectable range of the laser range finder 20) with the laser range finder 20 as the origin is created. That is, the local map creation unit 31 functions as a local map creation means described in the claims.

  The self-position estimation unit 32 performs coordinate conversion to the coordinate system (absolute coordinate system) of the environmental map in consideration of the movement amount of the own machine calculated according to the rotation angle of each electric motor 12 read from each encoder 16. The local map is compared with the environmental map, and the self-location is estimated based on the result. That is, the self-position estimating unit 32 functions as self-position estimating means described in the claims. Further, when a set point registration signal is input from the joystick 21 (registration switch 23), the self position estimating unit 32 registers the self position at that time in the storage unit 34 as the position coordinates of the set point on the environment map. .

  The environment map creation unit 33 creates an environment map of the movement space (area) using SLAM during guided movement (when the installation mode is executed). That is, the environment map creation unit 33 functions as an environment map creation unit described in the claims. The environment map is a grid map of the movement area of the autonomous mobile device 1, and records the position of a fixed object (object) such as a wall surface. Here, the grid map is a map composed of planes obtained by dividing a horizontal plane with cells of a predetermined size (for example, 1 cm × 1 cm) (hereinafter referred to as “unit grid” or simply “grid”). Object existence probability information indicating whether or not there is present is given. In the present embodiment, a value of “0 to 1” is given to a grid with an object (obstacle) according to its existence probability, and “0” is given to a grid without an object (obstacle) according to its existence probability. The value of "-1" is given. Also, “0” is given to a grid where the presence or absence of an object (obstacle) is unknown.

  Here, the creation method of the environment map will be described in more detail. First, the environment map creation unit 33 acquires a local map from the local map creation unit 31 and self-position on the environment map from the self-position estimation unit 32. To get. Next, the environment map creation unit 33 creates a local map with the laser range finder 20 as the origin based on the self-position on the environment map based on the self-position and the coordinate system with the laser range finder 20 as the origin. By performing coordinate conversion into a map coordinate system (hereinafter referred to as “absolute coordinate system”), a local map (hereinafter referred to as “local map @ absolute coordinate system”) is projected onto the environment map. Then, the environment map creation unit 33 repeatedly executes this process while the autonomous mobile device 1 is guided and moved, and sequentially adds the local map @ absolute coordinate system to the environment map (adds it). ) To create an environment map of the entire moving space (area). Note that the environment map creation unit 33 stops the creation / update of the environment map during autonomous movement (when the transport mode is executed).

  The storage unit 34 is composed of, for example, the backup RAM described above, and stores the environment map created by the environment map creation unit 33. In addition, the storage unit 34 has a storage area for storing the position coordinates of the set points, movement route information planned by the route planning unit 35 described later, and the like. That is, the storage unit 34 functions as a storage unit described in the claims. Note that the storage unit 34 may be an SRAM, an EEPROM, or the like.

  The route plan unit 35 connects between the own position of the own device and a set point selected by the user (a set point on the environmental map stored in the storage unit 34 (for example, a start point, a target passing point, a goal point)). By doing so, the movement route of the autonomous mobile device 1 is planned. Note that when planning a travel route with a set point as a goal point, it is not always necessary to connect the set points because the self-position is known. In other words, the route planning unit 35 functions as route planning means described in the claims. More specifically, for example, the route planning unit 35 first creates an extended obstacle region by expanding the outline of the obstacle region included in the environment map by using the Minkowski sum by the radius of the own device, A region excluding the extended obstacle region is extracted as a movable region that can move without contacting the obstacle. Next, the path planning unit 35 thins the extracted movable region using the thinning method of Hilitch. Then, the route planning unit 35 uses the A * algorithm (A star algorithm) from the thinned movable area to connect the set points (start point, target passage point, goal point) to the shortest. Plan travel routes by searching for routes.

  The traveling control unit 36 is electrically driven so that the autonomous mobile device 1 moves (guides) in accordance with a guidance control (direction instruction) signal (that is, user operation) input from the joystick 21 (lever 22) when the installation mode is executed. The motor 12 is driven. On the other hand, the traveling control unit 36 controls the electric motor 12 so as to autonomously move the aircraft to the goal point along the planned movement route while avoiding an obstacle when the conveyance mode is executed. That is, the traveling control unit 36 functions as a control unit described in the claims. Here, in the present embodiment, the virtual potential method is employed as a control method for autonomously moving the aircraft to the goal point along the movement path while avoiding an obstacle when the transfer mode is executed. This virtual potential method creates and superimposes a virtual attractive potential field for the goal point and a virtual repulsive potential field for the obstacle to be avoided, thereby avoiding contact with the obstacle. The way to head. More specifically, the traveling control unit 36 first calculates a virtual attractive force for heading to the goal point based on the self position. On the other hand, the obstacle avoidance control unit 38 calculates a virtual repulsive force for avoiding the obstacle based on the self position, the moving speed, and the position and speed of the obstacle. Subsequently, the traveling control unit 36 calculates a virtual force vector by vector combining the obtained virtual attractive force and the virtual repulsive force. Then, the traveling control unit 36 drives the electric motor 12 (omni wheel 13) according to the obtained virtual force vector, thereby controlling the traveling of the aircraft so as to move to the goal point while avoiding the obstacle. To do.

  Next, operation | movement of the autonomous mobile apparatus 1 is demonstrated using FIG. 2, FIG. 3 collectively. FIG. 2 is a flowchart showing a processing procedure of installation processing (installation mode) by the autonomous mobile device 1. FIG. 3 is a flowchart showing a processing procedure of a transport process (transport mode) by the autonomous mobile device 1. Each process shown in FIGS. 2 and 3 is mainly performed by the electronic control unit 30 and is activated and executed by an operation from the user. Note that the installation process (installation mode) shown in FIG. 2 is executed prior to the transfer process (transfer mode) shown in FIG.

  First, the procedure of the installation process (installation mode) shown in FIG. 2 will be described. In addition, before starting the installation process, it is preferable to exclude a movable object placed on the guide route as a preliminary preparation. Further, when the environment map is created while guiding the autonomous mobile device 1, it is preferable that the moving body does not enter the detection range of the laser range finder 20.

  In step S100, when an environment map creation start instruction is received from the user, the autonomous mobile device 1 is guided to start moving. In subsequent step S102, an environmental map of the moving area is created (or updated) using SLAM. In addition, since the creation method of an environmental map is as above-mentioned, detailed description is abbreviate | omitted here.

  Subsequently, in step S104, the autonomous mobile device 1 is guided and moved in accordance with a guidance control (direction instruction) signal (ie, user operation) input from the joystick 21 (lever 22).

  Next, in step S106, it is determined whether or not a set point registration signal has been input from the joystick 21 (registration switch 23). Here, when the set point registration signal is input, in step S108, the self position of the point is registered as the position coordinate of the set point on the environment map. On the other hand, when the set point registration signal is not input, the process proceeds to step S110.

  In step S110, a determination is made as to whether or not an environment map creation end instruction has been received from the user. If the environment map creation end instruction has not been received, the process proceeds to step S102, and the above-described steps S102 to S108 are repeatedly executed until the environment map creation end instruction is received. On the other hand, when an environment map creation end instruction is accepted, the created environment map including the set points is stored, and the installation process (installation mode) ends.

  Then, the process sequence of the conveyance process (conveyance mode) by the autonomous mobile apparatus 1 is demonstrated. First, in step S200, when a route planning instruction from a user is accepted, a moving route of the autonomous mobile device 1 is planned in step S202. That is, the movement path of the autonomous mobile device 1 is planned by designating at least one of the set points (start point, target passage point, goal point) on the environmental map stored in the storage unit 34 by the user. Since the route planning method is as described above, detailed description thereof is omitted here.

  Next, in step S204, self-position estimation is performed. That is, the local map is acquired by the environmental map creation unit 31 from the detection result of the laser range finder 20 and the movement amount of the own machine calculated according to the rotation angle of each electric motor 12 read from the encoder 16 is taken into consideration. Thus, a plurality of temporary self-positions are assumed. The acquired local map is converted into a local map @ absolute coordinate system at each temporary self-position, and a plurality of local maps @ absolute coordinate systems are acquired. Each of the plurality of local maps @ absolute coordinate system and the environment map are collated, the likelihood at each temporary self-position is calculated, and a Bayes filter is applied to the likelihood at each temporary self-position (in advance) The posterior probability at each temporary self-position is calculated by multiplying the probability and the likelihood). The highest one of the calculated posterior probabilities is extracted, and the provisional self-position corresponding to this is estimated as the true self-position. In the extraction of the highest posterior probability, the posterior probability having the highest peak among a plurality of posterior probability distributions may be extracted, or the posterior probability having the highest expected value may be extracted.

  Subsequently, in step S206, autonomous movement control is executed, and the electric motor 12 is controlled so as to autonomously move the aircraft to the goal point along the planned movement route while avoiding an obstacle. As described above, in the present embodiment, the virtual potential method is employed as a control method for moving the aircraft to the goal point along the movement path while avoiding the obstacle. Since the virtual potential method is as described above, detailed description thereof is omitted here.

  In subsequent step S208, a determination is made as to whether or not the aircraft has arrived at the goal point. Here, when the own aircraft has not arrived at the goal point, the process proceeds to step S204, and in steps S204 (self-position estimation) and step S206 (autonomous movement control) described above until the arrival at the goal point. The process is executed repeatedly. On the other hand, when the aircraft arrives at the goal point, the transfer process (transfer mode) ends.

  According to the present embodiment, the environment map is created when the aircraft is guided according to the user's operation, and when the vehicle is guided to reach a predetermined set point, the actual self position at that time is the environment It is registered as the position coordinates of the set point on the map. Therefore, it is possible to create an environment map that includes setting points that do not deviate from the actual moving environment simply by registering the setting points while guiding the autonomous mobile device along the route on which it is desired to move.

  In addition, according to the present embodiment, a set point on the environmental map that has been created and stored is specified, a moving route is planned, and control is performed so as to move autonomously along the moving route. Therefore, for example, if a movement route is planned using the set point as a start point and / or a goal point, a movement route with little deviation from the actual movement region can be planned, and autonomous movement can be performed with high reproducibility. As a result, according to the present embodiment, a highly reliable environmental map including setting points on the environmental map can be easily created, and more accurate autonomous movement can be performed using the environmental map. It becomes possible.

(Second Embodiment)
Then, the structure of the autonomous mobile device 2 which concerns on 2nd Embodiment is demonstrated using FIG. FIG. 4 is a block diagram showing the configuration of the autonomous mobile device 2. In FIG. 4, the same or equivalent components as those in the first embodiment are denoted by the same reference numerals.

  The autonomous mobile device 2 is different from the autonomous mobile device 1 in that an electronic control device 40 is provided instead of the electronic control device 30 described above. The electronic control device 40 further includes a difference map creation unit 41 and a dynamic environment map creation unit 42, and has a self-position estimation unit 43 and a storage unit 44 instead of the self-position estimation unit 32 and the storage unit 34. This is different from the electronic control unit 30 in that Hereinafter, components different from those of the autonomous mobile device 1 will be described in detail. Since other configurations are the same as or equivalent to those of the autonomous mobile device 1, the description thereof is omitted here.

  The dynamic environment map creation unit 42 is created by the difference map created by the difference map creation unit 41 described later and the environment map creation unit 33 described above when the mobile device autonomously moves along the movement route, and is stored. The environment map (hereinafter referred to as “static environment map”) stored in the unit 44 is added for each grid to create a dynamic environment map representing the current actual environment. That is, the dynamic environment map creation unit 42 functions as a dynamic environment map creation unit described in the claims. Note that each grid of the static environment map multiplied by the coefficient P1 (for example, 0.5) and each grid of the difference map multiplied by the coefficient P2 (for example, 1.0) are added for each grid. A dynamic environment map may be created by

  The difference map creation unit 41 creates / updates a difference map representing the difference between the dynamic environment map and the static environment map, that is, the degree of object change in the movement area, when the aircraft autonomously moves along the movement route. . More specifically, the difference map creating unit 41 adds the dynamic environment map (t-1: previous value) and the local map @ absolute coordinate system (t: current value) for each grid, A difference map (t: current value) is created (updated) by obtaining a difference from the target environment map for each grid. That is, the difference map creating unit 41 functions as a difference map creating means described in the claims. The coordinate system of the difference map is the same (absolute coordinates) as that of the static environment map. Further, the difference map stored in the storage unit 44 to be described later is only the peripheral part of the own device, and the difference map of the area that has passed as the own device moves is deleted from the storage unit 44. The difference between the result obtained by adding the dynamic environment map and the local map @ absolute coordinate system for each grid and the value obtained by multiplying each grid of the static environment map by a coefficient P1 (for example, 0.5) is displayed for each grid. The difference map may be created (updated) by obtaining the above. In this case, considering the coefficient P1, the upper limit value of the dynamic environment map is limited to “0.5” and the lower limit value is limited to “−0.5”.

  The storage unit 44 has a storage area for storing the difference map in addition to the static environment map, and stores the static environment map and the difference map. Note that the dynamic environment map is temporarily created and stored only while self-position estimation (described later) is performed, and is not permanently stored in the storage unit 44.

  The self-position estimating unit 43 considers the movement amount of the own machine calculated according to the rotation angle of each electric motor 12 read from the encoder 16 when the own machine moves autonomously along the movement path. Each of the static environment map and the dynamic environment map is collated with the local map @ absolute coordinate system (matching for each grid), and based on the collation result (the same processing as in step S204 described above is executed) Is estimated. More specifically, first, the self-position estimation unit 43 converts a grid having a grid value (object existence probability) of 1.0 included in the local map @ absolute coordinate system into a static environment map and a dynamic environment map. Projection is performed, and the value of the grid of the local map @ absolute coordinate system is compared with the value of each grid of the static environment map and the dynamic environment map corresponding to the grid. Then, the grid value of the map having the higher degree of coincidence is adopted for each grid, and the average of the adopted grid values is set as the score (likelihood) of the position (temporary self-position). For example, when the grid value of the local map @ absolute coordinate system is 1.0, the grid value of the static environment map is 1.0, and the grid value of the dynamic environment map is 0.5, the static environment map A grid value of 1.0 is adopted. For example, if the grid value of the local map @ absolute coordinate system is 1.0, the grid value of the static environment map is -1.0, and the grid value of the dynamic environment map is 0.3, the dynamic map A grid value of 0.3 for the static environment map is adopted. For example, when the adopted grid values are 1.0, 1.0, 0.3, and 0.3 for four grids, their average value 0.65 is a temporary self-position. Score. Similarly, the temporary self-position is determined as points A, B, C, D,..., And the position with the highest score is estimated as the self-position. Here, when obtaining the score (likelihood) of the self-position, not only the grid having the grid value (object existence probability) of 1.0 is targeted, but for example, the grid value (object existence probability) is set. The score may be obtained for a grid of -1.0, or the score may be obtained for all grids.

  Next, the operation of the autonomous mobile device 2 will be described with reference to FIG. FIG. 5 is a flowchart illustrating a processing procedure of a transfer process (transfer mode) by the autonomous mobile device 2. The conveyance process shown in FIG. 5 is mainly performed by the electronic control unit 40, and is activated and executed by an operation from the user. In addition, since the processing procedure of the installation process (installation mode) by the autonomous mobile device 2 is the same as that of the autonomous mobile device 1 described above, the description thereof is omitted here.

  In step S300, when a route planning instruction from the user is accepted, a moving route of the autonomous mobile device 2 is planned in step S302. That is, the movement route of the autonomous mobile device 2 is planned by designating setting points (start point, target passage point, goal point) on the environment map stored in the storage unit 44. Since the route planning method is as described above, detailed description thereof is omitted here.

  Next, in step S304, self-position estimation is performed. That is, in consideration of the movement amount of the own machine calculated according to the rotation angle of each electric motor 12 read from the encoder 16, each of the static environment map and the dynamic environment map and the local map @ absolute coordinate system are Collation (matching) is performed, and the self-position is estimated based on the collation result (a process similar to step S204 described above is performed). Since the self-position estimation method is as described above, detailed description thereof is omitted here.

  Next, in step S306, the difference map (t) is obtained from the difference between the addition result of the dynamic environment map (t-1: previous value) and the local map @ absolute coordinate system (t: current value) and the static environment map. : Value this time) is created (updated). In subsequent step S308, the static environment map and the difference map (t: current value) are added for each grid to create a dynamic environment map (t: current value).

  Subsequently, in step S310, autonomous movement control is executed, and the electric motor 12 is controlled so as to autonomously move the aircraft to the goal point along the planned movement route while avoiding an obstacle. As described above, in the present embodiment, the virtual potential method is employed as a control method for moving the aircraft to the goal point along the movement path while avoiding the obstacle. Since the virtual potential method is as described above, detailed description thereof is omitted here.

  In subsequent step S312, a determination is made as to whether or not the aircraft has arrived at the goal point. If the aircraft has not arrived at the goal point, the process proceeds to step S304, and the above-described steps S304 to S310 are repeatedly executed until the aircraft arrives at the goal point. On the other hand, when the aircraft arrives at the goal point, the transfer process (transfer mode) ends.

  According to this embodiment, when autonomously moving along a movement route, a difference map representing the degree of object change in the movement area is created, and the dynamic environment map is obtained from the addition result of the environment map and the difference map. Created. Further, each of the environment map and the dynamic environment map is collated with the local map @ absolute coordinate system, and the self-position is estimated based on the collation result (the same processing as in step S204 described above is performed). Only the difference map is updated during autonomous movement, and the highly reliable environmental map is maintained without being rewritten. For example, when the estimated self-location is different from the actual self-location, the reliability is high. It is possible to prevent the environmental map from being rewritten accidentally. For example, even if the estimated self-position is temporarily deviated from the actual self-position, it is possible to return. In addition, when there is an environmental change in the movement area, for example, when the moving body passes near the own machine or a new object is placed on the passage, the change is extracted as a difference map, It is reflected in the dynamic environment map. Therefore, it becomes possible to cope with a dynamic environmental change of the mobile environment.

  Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made. For example, in the above-described embodiment, the joystick 21 is used as an input device for remotely operating the autonomous mobile devices 1 and 2, but it is only necessary to guide the autonomous mobile devices 1 and 2 and register a set point. Other types of remote controllers such as a keyboard and a numeric keypad may be used.

  In the above-described embodiment, the distance to the obstacle is measured using the laser range finder 20, but instead of or in addition to the laser range finder, for example, a stereo camera, an ultrasonic sensor, or the like may be used.

  In the said embodiment, although the omni wheel 13 which can move to all directions was employ | adopted as a wheel, it is good also as a structure which uses a normal wheel (a steering wheel and a drive wheel).

It is a block diagram which shows the structure of the autonomous mobile device which concerns on 1st Embodiment. It is a flowchart which shows the process sequence of the installation process (installation mode) by the autonomous mobile apparatus which concerns on 1st Embodiment. It is a flowchart which shows the process sequence of the conveyance process (conveyance mode) by the autonomous mobile apparatus which concerns on 1st Embodiment. It is a block diagram which shows the structure of the autonomous mobile apparatus which concerns on 2nd Embodiment. It is a flowchart which shows the process sequence of the conveyance process (conveyance mode) by the autonomous mobile apparatus which concerns on 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 2 Autonomous mobile device 10 Main body 12 Electric motor 13 Omni wheel 14 Wheel 15 Free roller 16 Encoder 20 Laser range finder 21 Joystick 22 Lever 23 Registration switch 30, 40 Electronic control unit 31 Local map creation part 32, 43 Self-position estimation part DESCRIPTION OF SYMBOLS 33 Environment map creation part 34,44 Storage part 35 Path planning part 36 Travel control part 37 Sensor information acquisition part 38 Obstacle avoidance control part 41 Difference map creation part 42 Dynamic environment map creation part

Claims (3)

Object information acquisition means for acquiring position information of objects existing around the own aircraft;
From the position information of the object acquired by the object information acquisition means, a local map creation means for creating a local map around the own machine;
Moving means for moving the aircraft;
In an autonomous mobile device comprising: a local map created by the local map creating means; and a self-position estimating means for estimating a self-position based on a movement amount of the moving means,
Guidance means for driving the moving means based on a user's operation to guide the own machine;
An environment map creating means for creating an environment map of a moving area from the self-position estimated by the self-position estimating means and the local map during guidance by the guidance means;
Teaching means for teaching to register the self position when the own machine is located at a predetermined set point as the position coordinates of the set point during guidance by the guidance means;
Storage means for storing the environmental map and the set point;
Route planning means for planning a movement route using the set points on the environmental map stored in the storage means;
E Bei and control means for controlling said moving means so as to autonomously move along a planned travel route by said route planning means,
The autonomous moving apparatus characterized in that the teaching means teaches to register attribute information of the set point together with the registration of the set point . Object information acquisition means for acquiring position information of objects existing around the own aircraft;
From the position information of the object acquired by the object information acquisition means, a local map creation means for creating a local map around the own machine;
Moving means for moving the aircraft;
In an autonomous mobile device comprising: a local map created by the local map creating means; and a self-position estimating means for estimating a self-position based on a movement amount of the moving means,
Guidance means for driving the moving means based on a user's operation to guide the own machine;
An environment map creating means for creating an environment map of a moving area from the self-position estimated by the self-position estimating means and the local map during guidance by the guidance means;
Teaching means for teaching to register the self position when the own machine is located at a predetermined set point as the position coordinates of the set point during guidance by the guidance means;
Storage means for storing the environmental map and the set point;
Route planning means for planning a movement route using the set points on the environmental map stored in the storage means;
Control means for controlling the moving means to autonomously move along the movement route planned by the route planning means;
A difference map creating means for creating a difference map representing the degree of object change in the movement area when autonomously moving along the movement path;
Dynamic environment map creation means for creating a dynamic environment map based on the addition result of the difference map created by the difference map creation means and the environment map when autonomously moving along the movement route and, the Bei example,
The self-position estimation means collates the environment map and the dynamic environment map with the local map when autonomously moving along the movement route, and estimates the self-position based on the collation result. ,
The differential map creation means, said dynamic environmental map and the addition result of the local map, based on a difference between the environmental map, autonomous mobile apparatus you and updates the differential map. The autonomous mobile device according to claim 2 , wherein the teaching unit teaches to register the setting point attribute information together with the setting point registration.

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