JP5314788B2 - Autonomous mobile device - Google Patents

Description

  The present invention relates to an autonomous mobile device that detects an obstacle and moves to achieve a desired operation in the same region where other moving bodies such as people and carts move.

  Conventionally, as this type of autonomous mobile device, the distance between the autonomous mobile device and an obstacle is obtained by using a distance measuring sensor such as a laser radar or a sonar or an image, and the autonomous mobile device travels according to the obtained distance. A device for setting the speed is known (see, for example, Patent Document 1). The apparatus disclosed in Patent Document 1 will be described with reference to FIG. In the figure, the autonomous mobile device 50 detects an obstacle with an obstacle detection sensor, and the area in front of the autonomous mobile device 50 is divided into three types according to the distance: a stop area 51, a deceleration area 52, and a prediction area 53. When the obstacle is present in the deceleration area 52, the autonomous mobile device travels at a reduced speed. When the obstacle is present in the stop area 51, the obstacle is stopped. The obstacle also stops in the deceleration area 52. When it does not exist in the area 51, the vehicle is driven at a normal speed.

  In addition, a method is known in which an autonomous mobile device determines whether an obstacle is a moving object or a stationary object, and changes the distance to the obstacle whose traveling should be stopped based on the determination result (for example, a patent) Reference 2). The apparatus disclosed in Patent Document 2 will be described with reference to FIG. As shown in FIG. 14A, when it is determined that the obstacle is a stationary object 55 (for example, a wall), the autonomous mobile device 54 sets the threshold of the distance to the obstacle to stop traveling to D1. Reduce to. On the other hand, as shown in FIG. 14B, when it is determined that the obstacle is the moving object 56 (for example, a person), the autonomous mobile device 54 increases the threshold to D2.

JP 2002-229645 A JP 2006-293661 A

  When the autonomous mobile device moves along a wall or the like, it is desired to move closer to a known wall and move it at a certain distance from an obstacle placed on the passage. However, since the deceleration area 52 and the stop area 51 are set according to the distance from the autonomous mobile device 50 regardless of the target object, the device disclosed in Patent Document 1 cannot realize the above operation.

  Also in the device disclosed in Patent Document 2, the autonomous moving device 54 may determine whether the target object is the stationary object 55 or the moving object 56 and set the approaching distance. It is not possible to realize an operation in which the target object is approached and the target object that is not desired to be approached is not approached. For example, when the person is not moving, the autonomous mobile device approaches the person, and therefore it is dangerous if the autonomous mobile device approaches from behind the person.

  The present invention has been made to solve the above-described conventional problems, and can move to a known object such as a wall closer than a normally set separation distance. It is an object of the present invention to provide an autonomous mobile device capable of moving with a predetermined separation distance.

  In order to achieve the above object, the invention of claim 1 detects a storage unit storing map information of a moving area, position information acquisition means for acquiring its own position information, and obstacle compensation around itself. Environment information acquisition means for acquiring obstacle compensation position information, movement means for moving itself, and movement control means for controlling the movement means to move to a target point based on the map information, An autonomous mobile device, further comprising an obstacle determination unit that determines whether the obstacle candidate is included in the map information, wherein the movement control means is configured to include the obstacle candidate in the map information. Controls the moving means so that the obstacle compensation does not enter the first area set around the self, and if the obstacle candidate is not included in the map information, Wider than the first region The moving means is controlled so that the obstacle candidate does not enter the area 2, and the map information is accessible so that the autonomous mobile device can be closer to the obstacle candidate than the separation distance normally set When the target point is within the accessible area, the movement control means makes the second area narrower than the normally set second area. The obstacle candidate refers to environmental information around the autonomous mobile device acquired by a sensor.

  According to the present invention, the autonomous mobile device can move closer to an object included in the map information than an obstacle not included in the map information. For example, an autonomous mobile device can move close to a wall or the like, while moving to a person or an obstacle placed temporarily at a large distance. For example, even when there is an obstacle near the target point, it is possible to move closer to the obstacle.

The functional block diagram of the autonomous mobile device which concerns on the 1st form used as the premise of this invention. Explanatory drawing of the movement control based on the map information of the apparatus. Explanatory drawing of the movement system which sets an area | region around the apparatus. Explanatory drawing of the movement system which sets an area | region around an obstruction. The control flow figure of the same apparatus. Explanatory drawing of the own positional information of the apparatus. Explanatory drawing of the sensor structural example of the apparatus. Explanatory drawing of environmental information acquisition in the same apparatus. Explanatory drawing of obstruction candidate position information acquisition in the same apparatus. Explanatory drawing of judgment that the obstacle location information in the apparatus is contained in map information. Explanatory drawing of the coincidence degree of an obstacle candidate position and map information in the autonomous mobile device which concerns on the 2nd form used as the premise of this invention. Explanatory drawing of the accessible area | region in the autonomous mobile apparatus which concerns on embodiment of this invention. Explanatory drawing of the travel speed change according to the distance in the conventional autonomous mobile device. Explanatory drawing of the change of the stop distance by the difference in the obstruction in the conventional autonomous mobile apparatus.

  Hereinafter, an autonomous mobile device according to a first embodiment as a premise of the present invention will be described with reference to the drawings. FIG. 1 shows a functional configuration of the autonomous mobile device 10. The autonomous mobile device 10 includes an environment information acquisition unit including a control unit 11 including a computer for controlling itself, a sensor for detecting obstacle candidates around the self, and acquiring obstacle candidate position information. 12 and a moving means 13 including a wheel and a driving motor for moving itself. The control unit 11 includes a storage unit 14 that stores map information 141, obstacle candidate position information 142, and travel conditions 143, a position information acquisition unit 15 that acquires its own position information, and obstacle candidates in the map information 141. An obstacle determination unit 16 that determines whether or not it is included and a movement control unit 17 that controls the movement unit 13 are provided. The autonomous mobile device 10 further includes a battery 18 that supplies power to the control unit 11, the environment information acquisition unit 12, and the movement unit 13.

  The movement control based on the map information by the control unit 11 of the autonomous mobile device will be described with reference to FIG. In FIG. 2A, when the obstacle determination unit 16 determines that the obstacle candidate 20 detected by the environment information acquisition unit 12 is included in the map information 141 stored in advance in the storage unit 14, the autonomous mobile device The movement control means 17 controls the movement means 13 so that the obstacle candidate 20 does not enter the first area 21 set around the area 10. The first area 21 is set so that the autonomous mobile device can approach the obstacle candidate 20, and the autonomous mobile device 10 can move closer to the wall or the like. In FIG. 2B, when the obstacle determination unit 16 determines that the obstacle candidate 22 is not included in the map information 141, the obstacle candidate 22 does not enter the second region 23 around the autonomous mobile device 10. Thus, the moving means 13 is controlled. The second area 23 is set wider than the first area 21, and the autonomous mobile device 10 is controlled to move with a predetermined separation distance from a person or an obstacle.

  FIG. 3 shows an example in which the environment information acquisition means 12 is a laser range finder that is attached to the front of the autonomous mobile device 10 in the traveling direction and obtains distance information to surrounding obstacles by scanning a plane. In FIG. 3A, when the obstacle determination unit 16 determines that the obstacle candidate 20 detected by the environment information acquisition unit 12 is included in the map information 141 stored in the storage unit 14 in advance, the autonomous mobile device The area where the movement control means 17 controls the movement means 13 so that the obstacle candidate 20 does not enter among the ten obstacle detection areas is defined as a first area 21. In FIG. 3B, when the obstacle determination unit 16 determines that the obstacle candidate 22 is not included in the map information 141, the obstacle candidate 22 is not included in the obstacle detection area of the autonomous mobile device 10. An area where the movement control means 17 controls the movement means 13 is a second area 23 set wider than the first area 21. If it does in this way, when it goes to a destination, it can move close to the wall etc. which were beforehand memorized by map information, and traffic in a narrow place is also attained. On the other hand, it is controlled to move at a predetermined distance from a person or an obstacle that is not stored in the map information.

  Since the distance between the two points is the same regardless of which point is the starting point, the autonomous mobile device 10 uses the obstacle candidate as the starting point instead of maintaining the separation distance to the obstacle candidate starting from itself. You may move while keeping the separation distance to self. In FIG. 4A, when the obstacle determination unit 16 determines that the obstacle candidate 20 detected by the environment information acquisition unit 12 is included in the map information 141 stored in the storage unit 14 in advance, the obstacle candidate The movement control means 17 controls the movement means 13 so that the autonomous mobile device 10 does not enter the first region 21 around the 20. In FIG. 3B, when the obstacle determination unit 16 determines that the obstacle candidate 22 is not included in the map information 141, the second area set wider than the first region 21 around the obstacle candidate 22. The movement control means 17 controls the movement means 13 so that the autonomous mobile device 10 does not enter the area 23.

  A control flow of the autonomous mobile device 10 will be described with reference to FIG. When the target point is set in the autonomous mobile device 10, the control unit 11 stores the target point in the storage unit 14 (S501). Next, if the control unit 11 can collate with the map information among the environment information acquired by the environment information acquisition unit 12, the position information acquisition unit 15 acquires the self position by at least dead reckoning. (S502). When the own position is acquired, the acquired environment information is stored in the storage unit 14 as the obstacle candidate position information 142 (S503). The control unit 11 determines the moving direction with reference to the map information 141, the obstacle candidate position information 142, the traveling condition 143, and the position information of the autonomous mobile device 10 (S504). When moving toward the target point, the moving direction is determined so that the obstacle candidate 20 does not enter the preset area (21 or 23 in FIG. 3) and the course is changed toward the target position. The less direction is the moving direction. In this moving direction, for example, the traveling speed is determined by using the method described in Japanese Patent No. 3879860 (S506), and the control unit 11 moves the autonomous mobile device 10 at the determined traveling direction and speed. The movement control means 17 controls the movement means 13.

  The control part 11 repeats control from said step S502 to step S506, and the autonomous mobile apparatus 10 arrives at a target point. The target point has coordinate data and stop angle information, and the control unit 11 determines whether or not the target point has arrived at the difference between the coordinates of the autonomous mobile device 10 and the coordinates of the target point, and the autonomous mobile device. This is done by determining whether the difference between the direction of 10 and the stop angle of the target point is within a predetermined value (S507).

  The self-location information will be described with reference to FIG. As shown in FIG. 6, the position information of the autonomous mobile device 10 in the moving environment is coordinates (x_Robot, y_Robot) and direction α. The position information of the self is calculated from the cumulative rotation angle of the wheel or obtained by mounting a gyro. In addition, the position after correcting its own position with reference to the map information 141 can be stored as its own position information.

  Acquisition of the obstacle candidate position information 142 will be described with reference to FIGS. As shown in FIG. 7, the environment information acquisition unit 12 acquires environment information using a distance sensor in which the autonomous mobile device 10 is installed. As the distance sensor, for example, a plurality of ultrasonic sensors or infrared sensors can be used, and a laser range finder that scans a two-dimensional plane may be used. In FIG. 8, the environment information is acquired as a set of the detection angle ahead of the autonomous mobile device 10 and the length Length (k) (k = 1 to n). In FIG. 9, obstacle candidate position information 142 of the obstacle 24 is acquired as coordinates (X, Y) of the global absolute position in the moving environment.

Next, the autonomous mobile device according to the second embodiment, which is a premise of the present invention, will be described. In the first form described above, if the obstacle candidate position information 142 is included in the map information 141, the autonomous mobile device 10 prevents the obstacle candidate position information 142 from entering the first area of the obstacle detection areas. If the obstacle candidate position information 142 is not included in the map information 141, the autonomous mobile device 10 moves the obstacle candidate position to a second area wider than the first area in the obstacle detection area. The movement was controlled so that the information 142 did not enter. The information that the obstacle candidate position 142 is included in the map information 141 means that the acquired obstacle candidate position 142 is a certain distance from the line segment 43 of the wall information stored in the map information 141, as shown in FIG. Means within. In the second mode, the size of the region to be controlled for movement is set so that the obstacle candidate position information 142 does not enter according to the degree of coincidence between the obstacle candidate position and the wall information. Here, the obstacle candidate position information 142 is regarded as a certain line segment (the line segment information acquired from the obstacle candidate position information 142 is hereinafter referred to as a line segment), and the line information matches the wall information described in the map information 141. A method for setting the size of the area according to the degree will be described. As a method of acquiring a line segment from the obstacle candidate position information 142, for example, an algorithm described in the following document can be used.
Li Zhang & Bijoy K. Ghosh: Line Segment Based Map Building and Localization Using 2D Laser Rangefinder, IEEE Int. Conf. On Robotics and Automation, pp2538-2543, 2000

In FIG. 11, when a line segment is acquired, a wall on the map closest to the line segment is searched, an angle difference (angle difference a) with the wall is obtained, and then the line segment is rotated by the angle difference. Find the distance between the wall and the wall (distance b between lines). Using these numerical values, assuming that the radius of the region is R, R can be obtained by the following equation, for example.
R = R0 + a × a1 + b × b1
R0: radius of the area when the line segment and the wall 45 on the map match
a1, b1: Correction amount (However, if a or b is greater than or equal to a certain value, the second area is set as the area.)

Table 1 is a table of wall information included in the map information, and each record of the wall information includes data of a wall start point x coordinate, a start point y coordinate, an end point x coordinate, an end point y coordinate, and a wall direction. .

  According to the second mode, even if the autonomous mobile device 10 determines that the obstacle candidate position is an obstacle due to a difference in recognition of its own position, the autonomous mobile device 10 does not excessively move away from the obstacle candidate. It is possible to make the degree of approach according to the degree of coincidence between the candidate object and that included in the map information.

  Next, an autonomous mobile device according to an embodiment of the present invention will be described with reference to FIG. In the present embodiment, the accessible area 46 is included in the map information 141. The accessible area 46 is an area in which the autonomous mobile device 10 can approach a distance that is normally set for an obstacle candidate, and is set by coordinates of a straight line surrounding the area. When the autonomous mobile device 10 moves to the target point in the accessible area 46, the autonomous mobile device 10 sets the second area to be narrower than the normally set second area. For example, in an environment where the stop location of the autonomous mobile device 10 is always secured, even if there is an obstacle at the stop location, it is possible to approach the obstacle. According to the present embodiment, the autonomous mobile device 10 can approach the destination (destination 2) set near the wall 48.

  The present invention is not limited to the above-described embodiment and the configurations of the first and second embodiments, and various modifications can be made without changing the gist of the invention. For example, in the above-described embodiment, the setting of the accessible region is not limited to a straight line, and can be set using a curve (for example, a circle).

DESCRIPTION OF SYMBOLS 10 Autonomous mobile device 11 Control part 12 Environment information acquisition means 13 Movement means 14 Storage part 141 Map information 142 Obstacle candidate position information 143 Driving condition 15 Position information acquisition means 16 Obstacle judgment part 17 Movement control means 18 Battery 21 First Area 23 second area 46 accessible area

Claims (1)

A storage unit storing map information of the moving area;
Position information acquisition means for acquiring own position information;
Environmental information acquisition means for detecting obstacle compensation around the user and obtaining obstacle compensation position information;
A moving means for moving the self;
A movement control means for controlling the movement means to move to a target point based on the map information, and an autonomous mobile device comprising:
An obstacle determination unit that determines whether the obstacle candidate is included in the map information;
When the obstacle candidate is included in the map information, the movement control means controls the movement means so that the obstacle compensation does not enter the first area set around the obstacle candidate,
When the obstacle candidate is not included in the map information, the moving means is controlled so that the obstacle candidate does not enter a second area wider than the first area around itself,
The map information includes an accessible area where the autonomous mobile device becomes accessible than the separation distance normally set for the obstacle candidate,
The said movement control means makes the said 2nd area | region narrower than the 2nd area | region normally set when the said target point is in the said accessible area, The autonomous mobile apparatus characterized by the above-mentioned.

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