JP5382770B2 - Unmanned mobile system - Google Patents

Description

  The present invention relates to an unmanned moving body system including an unmanned moving body such as an unmanned vehicle and a remote operation device for remotely operating the unmanned moving body.

Conventionally, as this type of prior art, there is one disclosed in Patent Document 1 under the name of “method that allows a user to remotely control a robot”.
The method described in Patent Document 1 includes a step of supplying image information representing an area around the robot, a step of supplying a user perceptual image representing an area around the robot using the image information, and a user In the image, there are provided a stage in which one or more targets can be specified for the robot to be moved and a stage in which the robot can be moved toward the target.
Special table 2003-532218 gazette

  With the above configuration, although the robot is intended to be remotely operated intuitively, the step of allowing the robot to move in the image can be designated by the point-and-click selection. .

Thus, for example, small to move the room, if the low speed of the robot, there is a possible move by instructing the direction of a few meters, but when outdoors of the unmanned vehicle to move at high speed of about 30 km / h In particular, in the case of instructing a right or left turn in a place such as an urban area, it is difficult to give an appropriate instruction for traveling with the one described in Patent Document 1.

  Accordingly, an object of the present invention is to provide an unmanned mobile system that can easily and reliably instruct the movement of an unmanned mobile body even at a high moving speed.

In order to achieve the above object, an unmanned moving body system according to the present invention includes an unmanned moving body equipped with a distance measuring unit for acquiring distance measurement data in a moving region and a driving mechanism for movement, and its measurement. Unmanned having a display unit for displaying an image of a moving area based on distance measurement data acquired by the distance unit, and a remote control device for remotely operating an unmanned moving body based on the image of the moving area displayed on the display unit In the mobile system, the remote control device is provided with a movement instruction means for instructing movement by any one of a plurality of movement parameters for moving the unmanned mobile body. a first path planning means for planning a travel route for the first speed planner to plan the movement speed of the unmanned movable body in accordance with the movement path, one transfer instructed by the movement instruction unit Based on use parameters, the autonomous moving means for moving autonomously unmanned mobile by driving movement mechanism provided, the movement parameters of the one is a moving direction of the unmanned movable body, the first path planner is instructed The first speed planning means is a means for planning the moving speed according to the curvature of the curve along the moving path. Therefore, the curve with a large curvature has a function of planning the moving speed so that the traveling speed is lower than the curve with a small curvature. The autonomous moving means is planned by the first route planning means and the first speed planning means. The unmanned moving body is autonomously moved by the driving mechanism in accordance with the moving path and the moving speed .

  According to the present invention, the unmanned moving body can be operated by the remote operation device by instructing the remote operation device to move according to any one of the plurality of movement parameters for moving the unmanned moving body. Since the movement based on the parameter instructed from is autonomously performed, the movement can be instructed easily and surely even at a high movement speed.

  The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing the overall configuration of the unmanned mobile system according to the first embodiment of the present invention, and FIG. 2 schematically shows the configuration of the unmanned mobile system that forms part of the unmanned mobile system. It is explanatory drawing. FIG. 3 is a block diagram of a control circuit provided in the unmanned mobile body.

As shown in FIG. 1, the unmanned mobile body system A1 according to the first embodiment of the present invention includes an unmanned vehicle B that is an example of an unmanned mobile body and a remote control device C.
The unmanned vehicle B has a configuration in which various actuators are added so that the steering wheel / accelerator / brake of a general passenger vehicle can be operated by the following moving body control and autonomous movement computers 10 and 30. Is as follows.

That is, the unmanned vehicle B is controlled by a mobile object control computer 10 including a CPU (Central Processing Unit), an interface circuit (none of which are shown), and the autonomous movement computer 30 (see FIG. 2 and 3).
In the following, the moving body control computer 10 is referred to as a vehicle control computer 10 according to the present embodiment.
The vehicle control computer 10 and the autonomous movement computer 30 are connected to each other via the Ethernet (registered trademark) 11.
In addition to Ethernet (registered trademark), in-vehicle networks such as CAN (Controller Area Network) can be used as the connection method.

The autonomous movement computer 30 is composed of a CPU (Central Processing Unit), an interface circuit (none of which are shown), and the like, and a distance measurement for obtaining distance measurement data in the movement area is provided at an input port thereof. The unit 33 is connected.
The distance measuring unit 33 includes autonomous movement cameras 14 and 31 and laser light sensors (hereinafter referred to as “LRF”) 32a and 32b (see FIG. 3).

The LRFs 32a and 32b perform distance measurement by a time-of-flight method for measuring the time from projecting to receiving of laser light. In the present embodiment, one laser light source is used and the optical axis is optical. This is a scan type that acquires a three-dimensional shape of an object by sweeping mechanically or mechanically.
In the present embodiment, one LRF 32a is for a long distance and the other LRF 32b is for a short distance so that the moving region can be covered regardless of the distance.

  The autonomous movement cameras 14 and 31 are for acquiring image data necessary for autonomous movement (hereinafter referred to as “autonomous traveling”), and are directed toward the traveling direction and left and right in the vehicle width direction. They are arranged symmetrically.

The vehicle control computer 10 includes a CPU (Central Processing Unit), an interface circuit, a memory (all not shown), and the like.
A wireless LAN 13 and a remote control camera 19 are connected to an input port of the vehicle control computer 10 via an Ethernet (registered trademark) 12, a GPS (Global Positioning System) 15, a vertical gyro 16, a vehicle speed pulse 17, and Odometry 18 is connected via a serial line. Reference numeral 20 denotes an antenna connected to the wireless LAN 13.
In addition to the wireless LAN, a mobile phone, PHS, satellite line or the like can be used as the communication means.

Further, a steering actuator 22 and a brake / accelerator actuator 23 are connected to the output port via a motor driver 21, respectively.
In FIG. 1, 9 are traveling wheels, and together with these traveling wheels 9, a motor driver 21, a steering actuator 22, and a brake / accelerator actuator 23 constitute a drive mechanism D.

The vertical gyroscope 16 obtains the inclination posture in the vertical plane of the unmanned vehicle B, and therefore the optical axis posture (orientation) information of the autonomous movement cameras 14 and 31, LRFs 32a and 32b and the remote operation camera 19 described later. It is.

The odometry 18 is a sensor for acquiring own position information based on each rotation amount of the traveling wheels 9 of the unmanned vehicle B.
The GPS 15 is for acquiring position information of the unmanned vehicle B.
The vehicle speed pulse 17 is for measuring the moving speed of the unmanned vehicle B, and is, for example, a hall element that outputs the moving speed of the unmanned vehicle B as pulse information.

The vehicle control computer 10 has a function of transmitting various types of information acquired by the GPS 15 and the vertical gyro 16 to the remote control device C, which will be described later, through the Ethernet (registered trademark) 1 2 , the wireless LAN 13 and the antenna 20. The steering actuator 22 and the brake / accelerator actuator 23 are driven and controlled via the motor driver 21 based on the movement parameters included in the operation information transmitted from the remote operation device C.
In other words, the steering actuator 22 and the brake / accelerator actuator 23 are driven based on a plurality of movement parameters for the unmanned vehicle B transmitted from the remote control device C.

The vehicle control computer 10 exhibits the following functions by executing required programs stored in a memory (not shown). FIG. 4 is a block diagram illustrating functions of the vehicle control computer, and FIG. 5 is an explanatory diagram illustrating a principle of acquiring image data by two autonomous moving cameras.

(1) A function for determining whether or not the command transmitted from the remote control device C is a semi-autonomous traveling instruction or a complete manual remote control instruction. This function is referred to as “first determination means 10a”.
“Semi-autonomous traveling” refers to a movement mode in a movement direction instruction mode or a movement speed instruction mode described later.
“Full manual remote control” is a manual operation by the operator Q using the input device 50 provided in the remote operation device C while viewing an image of a moving area displayed on the display 41 of the remote operation device C described later. It refers to the movement form by maneuvering.
As described above, since semi-autonomous driving or complete manual remote control can be selected, for example, even when it is determined that the fence or the like is an obstacle to be described later, the vehicle can break through while viewing the display 41. it can.

(2) A function of extracting a movable area in the movement area based on the distance measurement data acquired by the distance measuring unit 33. This function is referred to as “area extraction means 10b”.
In the present embodiment, a movable area in the movement area is extracted based on both the laser beam data acquired by the LRFs 32a and 32b and the image data acquired by the autonomous movement cameras 14 and 31.
It should be noted that the movable area in the moving area may be extracted based only on the image data acquired by the autonomous movement cameras 14 and 31 and based only on the laser beam data acquired by the LRFs 32a and 32b .

(3) A function of determining whether the command transmitted from the remote control device C is in the movement direction instruction mode or the movement speed instruction mode. This function is referred to as “mode determination means 10c”.
The “movement direction instruction mode” is a content that performs a process of autonomously moving based on the movement direction received as the movement parameter.
“Movement speed instruction mode” is intended to carry out a process of autonomously moving based on the movement speed received as the movement parameter.

(4) A function for planning a movement route for autonomous movement based on the movement direction designated as the movement parameter. This function is referred to as “first route planning means 10d”.
The “movement route” is a movement route of the unmanned vehicle B within the movable area, and is calculated by applying a clothoid curve or a spline curve using the potential method in the present embodiment.
Further, when an obstacle that hinders autonomous movement within the movable area is detected by the following obstacle detection means 10 f , a movement plan for avoiding the obstacle, and accordingly, a movement route is created.

(5) A function of planning the moving speed of the unmanned vehicle B according to the moving route. This function is referred to as “first speed planning means 10e”.
The “movement speed of the unmanned vehicle B according to the movement route” means, for example, a speed at which the vehicle can safely travel according to the curvature of the curve of the movement route, and a small curve (a curve with a large curvature or a curve with a small curvature radius) ) , The traveling speed is made lower than a large curve (a curve with a small curvature or a curve with a large curvature radius) .
Further, when it is determined that the vehicle cannot move in the movement direction instructed by the obstacle, the movement speed is decelerated and stopped before the obstacle.

(6) A function of detecting an obstacle that hinders autonomous movement in the movable area based on the distance measurement data acquired by the distance measuring unit 33. This function is referred to as “obstacle detection means 10f”.
In this embodiment, based on the image data acquired by the autonomous movement cameras 14 and 31 and the laser light data acquired by the LRFs 32a and 32b, an obstacle that hinders autonomous movement in the movable area is detected. Yes.

Acquisition of distance measurement data by the autonomous movement cameras 14 and 31 is as follows.
That is, as shown in FIG. 5, the left image coordinate system [xl, yl], the right image coordinate system [xr, yr], the world coordinate system [X, Y, Z], the base line b in the autonomous movement cameras 14 and 31. When the focal length is f,
The coordinates X, Y, and Z of the obstacle P in the world coordinate system can be obtained by the following equations.
X = b (xl + xr) / 2d
Y = b (yl + yr) / 2d
Z = b · f / d
Note that d is parallax, and d = xl−xr.

  In addition, the method of taking the correspondence between the imaging point pr in the right image and the imaging point pl in the left image is a pattern matching method in which the image is divided into small areas and the position corresponding to the entire surface of the other image is scanned in the area. There is.

In the present embodiment, the LRFs 32a and 32b and the autonomous movement cameras 14 and 31 detect obstacles that hinder autonomous movement in the movable area. However, in the height direction of the laser scan of the LRFs 32a and 32b, Based on the profile data, an area having a certain height (or more) may be recognized as an obstacle.

In this case, when it is determined that there is discrete distance measurement data and discrete distance measurement data determination means for determining whether or not there is discrete distance measurement data in the acquired distance measurement data, the discrete distance measurement data is Discrete data removing means for removing may be provided. The discrete data removing means can be rephrased as filtering means for filtering discrete distance measurement data as noise.
Further, not only one scan line data but also a three-dimensional image in the depth direction may be obtained from a plurality of scan line data in the traveling direction, and obstacles may be recognized by pattern matching.

(7) A function of performing identification processing for identifying a movable area. This function is referred to as “identifying means 10g”.
Specifically, the visual effect process is performed on the movable area different from other movable areas, for example, the movable area is colored. Thereby, a movable area can be visually emphasized and identification can be performed easily.

(8) A function of superimposing the discrimination processing result obtained by the discrimination means 10g on the image acquired by the distance measuring unit. This function is referred to as “superimposition processing means 10h”.
More specifically, the image of the moving region acquired by the remote operation for the camera 19, the movable area, the identification process result, superimposing processing a moving path or the like planned.

(9) A function for planning a movement route for autonomous movement based on the movement speed designated as the movement parameter. This function is referred to as “second route planning means 10i”.
Specifically, a movement route is planned by recognizing the road in the movement direction in the movable region.
For example, if the vehicle is going straight, ignoring right and left turn roads and narrow branches at intersections, if it is curved, a moving path of the curve along the curve is planned.

(10) A function for planning the moving speed of the unmanned vehicle B according to the moving speed. This function is referred to as “second speed planning means 10j”.
Specifically, with the instructed moving speed as the upper limit, the moving speed is planned in consideration of the dynamic characteristics and safety of the unmanned vehicle B with respect to the moving path planned by the second route planning means 10i. .
For example, when it is determined that an obstacle cannot move in the moving direction, the vehicle decelerates and stops before the obstacle.

(11) A function for determining whether or not the obstacle detected by the obstacle detecting means 10f can move along the movement route. This function is referred to as “moveability determination unit 10l”.

(12) A function for autonomously moving the unmanned moving body by the driving mechanism D based on the moving parameter instructed by the parameter input means 65c which is the movement instructing means. This function is referred to as “autonomous moving means 10k”.
When planning the movement path for autonomous movement and the movement speed of the unmanned moving body according to the movement path based on the instructed movement direction, the driving mechanism will unmanned the vehicle according to the planned movement path and movement speed. The moving object is moved.
In addition, when a movement path for autonomous movement is planned based on the instructed movement speed, the unmanned moving body is moved by the drive mechanism according to the planned movement path and movement speed.

Furthermore, when the movement permission / non-permission determining means 101 determines that the movement along the movement path is impossible, the movement is stopped by the drive mechanism D.
Furthermore, when an obstacle is detected by the obstacle detection means 10f, the moving speed is reduced by the drive mechanism D.

Next, the remote control device will be described with reference to FIGS. 6A is an explanatory diagram showing the configuration of the remote control device, FIG. 6B is an enlarged view of an input device that forms part of the remote control device, and FIG. 7 shows the functions of the device body of the remote control device. FIG.
The remote control device C shown in the present embodiment is configured to include a display unit 40, an input device 50, and a control device 60, and is configured to be used by the operator Q wearing it.

The display unit 40 includes a casing 42 and a transmission / reception unit (none of which is shown) that transmits and receives image data to and from the display 41, the display controller, and the control device 60. It is attached to a belt 43 for attaching to the belt.
The display 41 displays the image of the movement area acquired by the remote operation camera 19, the movable area that has been identified, the movement route planned by the first and second route planning means 10d, 10i, and the like. It has become so.

  The input device 50 transmits and receives various information including commands and movement parameters to and from the instruction lever 51, the wheel 52, the speed instruction mode selection button 53, the direction instruction mode selection button 54, and the control device 60 (illustrated). Is not provided in the housing 55.

The instruction lever 51 can be moved and operated along a lever guide groove 56 formed in a cross shape on the operation surface 55 a of the housing 55.
By moving the indicator lever 51 along the longitudinal groove 56a of the lever guide groove 56, the moving speed of the unmanned vehicle B can be increased or decreased, and the indicator lever 51 is tilted along the horizontal groove 56b. Thus, the left and right moving directions of the unmanned vehicle B can be input.
Specifically, by tilting the indicator lever 51 toward the upper half of the longitudinal groove 56a shown in FIG. 6B, the amount of accelerator depression increases, while the indicator lever moves toward the lower half of the longitudinal groove 56a. By tilting 51, the amount of brake depression increases.

The wheel 52 functions as a steering wheel when the above-described complete manual remote control instruction is performed.
The speed instruction mode selection button 53 is for instructing the moving speed of the unmanned vehicle B.
The direction instruction mode selection button 54 is for instructing the moving direction of the unmanned vehicle B.
In the present embodiment, only the moving speed or moving direction corresponding to the mode selected by the speed instruction mode selection button 53 or the direction instruction mode selection button 54 is valid.

  The control device 60 is configured integrally with a device main body 65 including a CPU (Central Processing Unit), an interface circuit (none of which is shown), and the input / output ports thereof, and a wireless LAN 61, a display 62, and a keyboard 63. Is. In addition, what is shown with the code | symbol 64 is an antenna.

The apparatus main body 65 exhibits the following functions by executing a required program.
(13) A function of displaying an image of a moving area or the like transmitted from the unmanned vehicle B on the display 41. This function is referred to as “image display means 65a”.
The “image transmitted from the unmanned vehicle B” includes the first and second routes corresponding to the image of the moving area that changes every time the unmanned vehicle B travels and the image of the moving area that changes every moment. The movement route planned by the planning means 10d and 10i is also included.
When the moving direction is input by the parameter input means 65c described below, a mark corresponding to the moving direction is also superimposed on the image displayed on the display 41.

(14) A function of selecting a speed instruction mode or a direction instruction mode. This function is referred to as “mode selection means 65b”.
In this embodiment, the moving speed instruction mode or the moving direction instruction mode is selected by the speed instruction mode selection button 53 or the direction instruction mode selection button 54.

(15) A function of inputting, via the input device 50, a moving parameter corresponding to the speed instruction mode or the direction instruction mode selected by the mode selection means 65b. This function is referred to as “parameter input means 65c”.
In the present embodiment, the parameter input unit 65 c is a movement instruction unit that performs a movement instruction using any one of the plurality of movement parameters for moving the unmanned vehicle B via the input device 50.

8A and 8B show examples of images displayed on the display 41. FIG. 8A shows a display example in the movement direction instruction mode, and FIG. 8B shows a table in the movement speed instruction mode. It is an example.
In the moving direction instruction mode shown in FIG. 8A, the moving area image 41a acquired by the distance measuring unit 33, the planned moving path 41b, and the like are superimposed on the display 41. .
In addition, 41c is a movable area in the moving area, 41d is a mark for indicating a moving direction, 41e is a mark indicating the detected obstacle S, and 41f is vehicle state information of the unmanned vehicle B.

  In the moving speed instruction mode shown in FIG. 8B, the moving area image 41a acquired by the distance measuring unit 33, the planned moving path 41b 'and the like described above are superimposed on the display 41. .

Next, a control flowchart will be described with reference to FIGS. FIG. 9 is a control flowchart on the remote operation device side, and FIG. 10 is a control flowchart on the unmanned vehicle side.
<Control flowchart on remote control device side>
Step 1 (abbreviated as “S1” in the figure. The same applies hereinafter): Initialization processing of each part is performed, and the process proceeds to Step 2.
Step 2: Processing for receiving vehicle state information and images transmitted from the unmanned vehicle B is performed, and the process proceeds to Step 3.

Step 3: Display the received image on the display 41 and proceed to Step 4.
Step 4: Select a fully manual remote control command, a semi-autonomous driving command, or an end command, and go to Step 5.

  Step 5: It is determined whether or not a fully manual remote control command, a semi-autonomous driving command, or an end command is selected. If the fully manual remote control command is selected, the process proceeds to Step 6 or the semi-autonomous driving command is selected. If yes, go to Step 8; if an end command is selected, go to Step 14.

<Full manual remote control command>
Step 6: A remote control instruction is issued from the remote control device C. That is, acceleration / deceleration information and steering information are input, and the process proceeds to step 7.
Step 7: The input instruction is transmitted to the unmanned vehicle B.

<Semi-autonomous driving command>
Step 8: Select the moving speed instruction mode or the direction instruction mode and proceed to Step 9.
Step 9: It is determined whether or not the movement speed instruction mode or the movement direction instruction mode is selected. If it is determined that the movement direction instruction mode is selected, the process proceeds to Step 10 and the movement speed instruction mode is selected. If it is determined, the process proceeds to Step 12.

Step 10: Input the moving direction from the input device 50 and proceed to Step 11.
Step 11: A mark 41d (see FIG. 8A) indicating the moving direction is superimposed on the image displayed on the display 41, and the process proceeds to Step 13.

Step 12: Input the moving speed from the input device 50, and proceed to Step 13.
Step 13: The input moving direction or moving speed is transmitted toward the unmanned vehicle B , and the process returns to Step 2.
Step 14: An end command is transmitted toward the unmanned vehicle B , and the process proceeds to Step 15.
Step 15: End processing is performed.

<Control flowchart on unmanned vehicle>
Step 1 (abbreviated as “Sa1” in the figure. The same applies hereinafter): Initialization processing of each part is performed and the process proceeds to Step 2.

Step 2: Processing for receiving a fully manual remote control command, a semi-autonomous driving command or an end command transmitted from the remote control device C is performed, and the process proceeds to Step 3.
Step 3: It is determined whether a fully manual remote control command, a semi-autonomous driving command, or an end command is received. If it is determined that the command is a fully manual remote control command, Step 4 is a semi-autonomous driving command. If it is determined, the process proceeds to step 7, and if it is determined to be an end command, the process proceeds to step 19.

Step 4: Completely manual remote control command reception processing is performed, and the process proceeds to Step 5.
Step 5: The accelerator and steering are directly driven by a remote control command.
Step 6: The vehicle state information and image of the unmanned vehicle B are transmitted to the remote control device C, and the process returns to Step 2.

Step 7: Based on the distance measurement data acquired by the distance measurement unit 33, a movable area in the movement area is extracted and the process proceeds to Step 8.
Step 8: A reception process for selecting the movement direction instruction mode or the movement speed instruction mode is performed, and the process proceeds to Step 9.

  Step 9: It is determined whether the movement direction instruction mode or the movement speed instruction mode is selected. If it is determined that the movement direction instruction mode is selected, the process proceeds to Step 10, and if the movement speed instruction mode is selected. If determined, the process proceeds to step 16.

Step 10: Processing for receiving a moving direction instruction command is performed, and the process proceeds to Step 11.
Step 11: A virtual destination target point is set in the instructed moving direction, and a route from the movable area to the target point is calculated by a route planning method such as a potential method. If there is an obstacle on the way, a moving route that avoids the obstacle is planned.

  Step 12: For the planned travel route, considering the dynamic characteristics and safety of the unmanned vehicle, the travel speed that can travel in the travel direction designated at the safest and fastest is planned. If there is an obstacle on the way, stop before the obstacle. Further, by including a speed limit command or a stop command in the movement direction instruction command, the maximum speed can be limited within a desired range, or the unmanned vehicle can be stopped at a desired position.

Step 13: The driving mechanism D is driven so as to move autonomously along the movement path and movement speed by planning, and the process proceeds to Step 14.
Step 14: Superimpose the movable area, the planned movement route, and the like on the image of the movement area acquired by the autonomous movement cameras 14 and 31, and proceed to Step 15.
Step 15: The vehicle state information including the actual movement speed, the identified movable area, the movement route, and the like are transmitted to the remote control device C, and the process returns to Step 2.

Step 16: A process of receiving a moving speed instruction command is performed, and the process proceeds to Step 17.
Step 17: Recognize the road in the moving direction in the movable area, and plan the moving route. For example, if the vehicle is going straight, ignoring right and left turn roads and narrow branches at intersections, if it is curved, a moving path of the curve along the curve is planned.

Step 18: The moving speed is planned in consideration of the dynamic characteristics and safety of the unmanned vehicle B with respect to the moving path planned by the second route planning means 10i with the instructed moving speed as the upper limit.
Step 19: End processing is performed.

According to the unmanned mobile system according to the first embodiment described above, the following effects can be obtained.
・ The operator only needs to input one of the parameters of the moving direction or moving speed, so there is no need for advanced skills like remote control while looking at the display, and it is possible to drive at high speed with simple operations. It becomes.
・ Since it is possible to travel at high speed with simple operation, it is possible to move and perform tasks in a short time.
-Since the input device can be operated with one hand, one hand is free so that, for example, a gun can be gripped, and risk of danger can be avoided.
・ Since autonomous control of unmanned vehicles functions as a safety system, safe unmanned travel is possible.
-Efficient maneuvering can be performed according to the situation by selectively switching between the movement direction instruction mode and the movement speed instruction mode.

A specific example is as follows.
1) Movement direction instruction mode: Effective in scenes where direction instructions such as turning left and right and branching frequently occur. That is, the operator concentrates only on the direction instruction and performs speed control so that the unmanned vehicle (robot) can move safely and at high speed.
2) Traveling speed instruction mode: Effective when driving on the road without turning right or left or branching. That is, the operator concentrates on speed instructions only, and the unmanned vehicle (robot) selects a course that avoids obstacles.

Next, the unmanned mobile body according to the second embodiment will be described with reference to FIGS. FIG. 11 is a block diagram showing functions of the vehicle control computer, and FIG. 12 is a block diagram showing functions of the apparatus main body of the remote control device.
Since the hardware configuration of the unmanned mobile system A2 according to the second embodiment is equivalent to that of the unmanned mobile system A1 according to the first embodiment described above, FIGS. The description is omitted here.

The difference between the unmanned mobile system A2 according to the second embodiment and the unmanned mobile system A1 according to the first embodiment is that the movement direction instruction mode and the movement speed instruction mode are alternatively selected. On the other hand, in the present embodiment, the steering wheel steering mode and the accelerator steering mode are used. Based on the difference, the functions are different as follows.

The vehicle control computer 10 in the unmanned mobile system A2 according to the second embodiment exhibits the following functions by executing a required program stored in a memory (not shown). Note that the same components as those described in the first embodiment are denoted by the same reference numerals and the description thereof is omitted, and different functions are denoted by the same reference symbols with “′”. Show.

(16) A function of determining whether or not the command transmitted from the remote control device C is a semi-autonomous traveling instruction or a complete manual remote control instruction. This function is referred to as “first determination means 10a ′”.
“Semi-autonomous traveling” refers to a movement mode in a steering operation mode and an accelerator operation mode, which will be described later.
The “fully manual remote control” is as described in the first embodiment.
As described above, in the present embodiment as well, semi-autonomous traveling or fully manual remote control can be selected. For example, even when it is determined that the fence or the like is an obstacle described later, the breakthrough is observed while viewing the display 41. And can travel.

(17) A function for determining whether or not the movement parameters transmitted from the remote control device C are the steering wheel steering mode and the accelerator steering mode. This function is referred to as “mode determination means 10c ′”.
The “steering wheel steering mode” has a content of performing an autonomous movement process based on the steering information received as the movement parameter.
“Steering information” is steering operation information for the unmanned vehicle B.
The “accelerator maneuvering mode” is defined as performing autonomous movement processing based on acceleration / deceleration information received as a movement parameter.
“Acceleration / deceleration information” includes brake operation.

(18) A function for planning a movement route for autonomous movement based on acceleration / deceleration information instructed as a movement parameter. This function is referred to as “route planning means 10d ′”.
The “movement route” is a movement route of the unmanned vehicle B within the movable area, and is calculated by applying a clothoid curve or a spline curve using the potential method in the present embodiment.

Further, when an obstacle that hinders autonomous movement in the movable area is detected by the obstacle detection means 10f described above, a movement plan for avoiding the obstacle, and accordingly, a movement route is created.
Furthermore, when the obstacle detecting means 10f detects an obstacle, the autonomous moving means 10k reduces the moving speed by the driving mechanism D.

Next, the remote control device C, and described with reference to FIG 2.
The apparatus main body 65 exhibits the following functions by executing a required program.
(19) A function of displaying on the display 41 an image of a moving area or the like transmitted from the unmanned vehicle B. This function is referred to as “image display means 65a”.
The “image transmitted from the unmanned vehicle B” includes the image of the moving area that changes every time the unmanned vehicle B travels, and the route planning means 10d ′ corresponding to the image of the moving area that changes every moment. The travel route is also included.
When steering information is input by the following parameter input means 65c ′, a mark corresponding to the steering information is also superimposed on the image displayed on the display 41.

(20) A function of selecting a steering wheel steering mode or an accelerator steering mode. This function is referred to as “mode selection means 65b ′”.
In the present embodiment, the steering operation mode or the accelerator operation mode is selected by the accelerator operation mode selection button 53 corresponding to the speed instruction mode selection button or the steering operation mode selection button 54 corresponding to the direction instruction mode selection button. I have to.

(21) A function of inputting, via the input device 50, parameters for movement corresponding to the steering wheel steering mode or the accelerator steering mode selected by the mode selection means 65b ′. This function is referred to as “parameter input means 65c ′”.
In the present embodiment, the parameter input unit 65c ′ is a movement instruction unit that performs a movement instruction using any one of the plurality of movement parameters for moving the unmanned vehicle B via the input device 50. .

Next, a control flowchart will be described with reference to FIGS. FIG. 13 is a control flowchart on the remote operation device side, and FIG. 14 is a control flowchart on the unmanned vehicle side.
<Control flowchart on remote control device side>
Step 1 (abbreviated as “S1” in the figure. The same applies hereinafter): Initialization processing of each part is performed, and the process proceeds to Step 2.
Step 2: Processing for receiving vehicle state information and images transmitted from the unmanned vehicle B is performed, and the process proceeds to Step 3.

Step 3: Display the received image on the display 41 and proceed to Step 4.
Step 4: Select a fully manual remote control command, a semi-autonomous driving command, or an end command, and go to Step 5.

  Step 5: It is determined whether or not a fully manual remote control command, a semi-autonomous driving command, or an end command is selected. If the fully manual remote control command is selected, the process proceeds to Step 6 or the semi-autonomous driving command is selected. If YES, the process proceeds to step 8, and if the end command is selected, the process proceeds to step 13.

<Full manual remote control command>
Step 6: A remote control instruction is issued from the remote control device C. That is, accelerator information and steering information are input, and the process proceeds to step 7.
Step 7: The input instruction is transmitted to the unmanned vehicle B.

<Semi-autonomous driving command>
Step 8: Select a steering wheel steering mode or an accelerator steering mode, and proceed to Step 9.
Step 9: It is determined whether or not the steering wheel steering mode or the accelerator driving mode is selected. If it is determined that the steering wheel steering mode is selected, the process proceeds to Step 10, and it is determined that the accelerator driving mode is selected. if the process proceeds to step 1 1.

Step 10: An instruction to input a handle operation is made by rotating the wheel 52 of the input device 50, and the process proceeds to Step 12.
Step 11: The accelerator operation is input by the tilting operation of the instruction lever 51 of the input device 50, and the process proceeds to Step 12.

Step 12: The input steering operation or accelerator operation is transmitted to the unmanned vehicle B, and the process returns to Step 2.
Step 13: An end command is transmitted to the unmanned vehicle B, and the process proceeds to Step 14.
Step 14: Perform termination processing.

<Control flowchart on unmanned vehicle>
Step 1 (abbreviated as “Sa1” in the figure. The same applies hereinafter): Initialization processing of each part is performed and the process proceeds to Step 2.

Step 2: Processing for receiving a fully manual remote control command, a semi-autonomous driving command or an end command transmitted from the remote control device C is performed, and the process proceeds to Step 3.
Step 3: It is determined whether a fully manual remote control command, a semi-autonomous driving command, or an end command is received. If it is determined that the command is a fully manual remote control command, Step 4 is a semi-autonomous driving command. If it is determined that the command is an end command, the process proceeds to step 7. If it is determined that the command is an end command, the process proceeds to step 17.

Step 4: Completely manual remote control command reception processing is performed, and the process proceeds to Step 5.
Step 5: The accelerator and steering are directly driven by a remote control command.
Step 6: The vehicle state information and image of the unmanned vehicle B are transmitted to the remote control device C, and the process returns to Step 2.

Step 7: Based on the distance measurement data acquired by the distance measurement unit 33, a movable area in the movement area is extracted and the process proceeds to Step 8.
Step 8: Processing for receiving selection of the steering wheel steering mode or the accelerator steering mode is performed, and the process proceeds to Step 9.

  Step 9: It is determined whether the steering wheel steering mode or the accelerator steering mode is selected. If it is determined that the steering wheel steering mode is selected, the process proceeds to Step 10, and if it is determined that the accelerator steering mode is selected. Proceed to step 14.

Step 10: A handle steering instruction command is received, and the process proceeds to Step 11.
Step 11: The steering operation of the indicated amount is driven by the steering actuator 22, and the process proceeds to Step 12.
Step 12: Based on the steering result and the environment recognition result of the moving direction, the maximum moving speed is calculated to control the moving speed. In addition, it is possible to designate the range of the maximum value of the moving speed by setting the speed limit in advance. In addition, a stop command can be received even in the steering operation mode, and the unmanned vehicle B can be stopped at a desired position.
Step 13: The vehicle state information including the actual movement speed, the identified movable area, the movement route, and the like are transmitted to the remote control device C, and the process returns to Step 2.

Step 14: An accelerator (brake) operation instruction is received and the process proceeds to Step 15.
Step 15: The accelerator operation of the instructed amount is driven by the brake / accelerator actuator 23, and the process proceeds to Step 16.
Step 16: For the movable area, the moving route is planned by the route planning method such as the potential method, the steering operation is executed, and the instructed accelerator control is performed for the moving speed. Note that the operator Q adjusts the moving speed when there is an obstacle on the way or when there is a curve.
Step 17: Perform end processing.

According to the unmanned mobile system according to the second embodiment described above, the following effects can be obtained.
・ Since the operator only needs to input one of the parameters of the steering wheel operation or the accelerator operation, it does not require advanced skills like remote control while looking at the display, and it is easy and fast. Driving is possible.

・ Since it is possible to run at high speed with simple operations, it can be moved in a short time.
-Since the input device can be operated with one hand, one hand is free so that, for example, a gun can be gripped, and risk of danger can be avoided.
・ Since autonomous control of unmanned vehicles functions as a safety system, unmanned driving can be performed safely.
-An efficient operation can be performed according to the scene by selectively switching the steering wheel operation or the accelerator operation.

The present invention is not limited to the above-described embodiments, and the following modifications can be made.
Although described in detail above, in any case, each configuration described in each of the above embodiments is not limited to being applied only to each of the above embodiments, and the configuration described in one embodiment is not limited to other embodiments. It can be applied mutatis mutandis or applied to the form, and can be arbitrarily combined.
-In this embodiment, although an unmanned vehicle was demonstrated as an example of an unmanned mobile body, it can apply mutatis mutandis to an unmanned reconnaissance machine etc.

It is explanatory drawing which shows the whole structure of the unmanned mobile body system which concerns on 1st embodiment of this invention. It is explanatory drawing which shows roughly the structure of the unmanned mobile body which makes a part of unmanned mobile body system same as the above. It is a block diagram of the control circuit provided in the unmanned mobile body same as the above. It is a block diagram which shows the function which the computer for vehicle control provided in the unmanned mobile body same as the above has. It is explanatory drawing which shows the principle which acquires image data with the two cameras for autonomous movement provided in the unmanned mobile body. (A) is explanatory drawing which shows the structure of a remote control device, (B) is an enlarged view of the input device which makes a part of remote control device. It is a block diagram which shows the function which the apparatus main body of a remote control apparatus has. (A), (B) shows an example of an image displayed on the display, (A) is a display example in the movement direction instruction mode, and (B) is a display example in the movement speed instruction mode. . It is a control flowchart by the side of the remote operation device in a first embodiment. It is a control flowchart by the side of an unmanned vehicle in a first embodiment. It is a block diagram which shows the function which the computer for vehicle control in 2nd embodiment has. It is a block diagram which shows the function which the apparatus main body of the remote control apparatus in 2nd embodiment has. It is a control flowchart by the side of the remote operation apparatus same as the above. It is a control flowchart by the side of an unmanned vehicle same as the above.

Explanation of symbols

10b Area extraction means 10d First route planning means
10e First speed planning means 10f Obstacle detection means 10g Identification means 10h Superimposition processing means 10i Second route planning means 10j Second speed planning means 10k Autonomous movement means 10l Movement possibility determination means 33 Distance measurement section 40 Display section 41a Movement area 41b Movement path 65c Movement instruction means (parameter input means)
A1, A2 Unmanned mobile system B Unmanned vehicle (unmanned mobile body)
C Remote control device D Drive mechanism

Claims (7)

A distance measuring unit for acquiring distance measurement data in the moving region, an unmanned moving body equipped with a driving mechanism for movement, and an image of the moving region based on the distance measuring data acquired by the distance measuring unit are displayed. In an unmanned moving body system having a display unit and a remote control device for remotely operating an unmanned moving body based on an image of a moving area displayed on the display unit,
The remote operation device is provided with a movement instruction means for instructing movement by any one of the plurality of movement parameters for moving the unmanned mobile body,
In an unmanned moving body,
A first route planning means for planning a movement route for autonomous movement;
A first speed planning means for planning the moving speed of the unmanned moving body according to the moving path;
Based on one movement parameter of which is instructed by the movement instruction unit, provided the autonomous moving means for moving autonomously unmanned mobile by driving movement mechanism,
The one moving parameter is the moving direction of the unmanned moving body,
The first route planning means has a function of planning a movement route for autonomous movement based on the instructed movement direction,
The first speed planning means is a means for planning the moving speed according to the curvature of the curve in the moving route, and the moving speed is set so that the traveling speed is lowered for a curve with a large curvature compared to a curve with a small curvature. Has the ability to plan,
The autonomous moving means is configured to move the unmanned moving body autonomously by a driving mechanism according to the moving route and the moving speed planned by the first route planning means and the first speed planning means. . Based on the distance measurement data acquired by the distance measurement unit, an area extraction means for extracting a movable area in the movement area is provided,
The unmanned mobile system according to claim 1, wherein the first route planning means plans a movement route in the movable area extracted by the area extraction means. Based on the distance measurement data acquired by the distance measurement unit, there is provided an obstacle detection means for detecting an obstacle that hinders autonomous movement in the movable area,
3. The unmanned mobile system according to claim 2, wherein the first route planning means plans a movement route that avoids the obstacle based on the obstacle data corresponding to the detected obstacle. A moveability determining means for determining whether or not the obstacle detected by the obstacle detecting means can move along the movement path;
4. The unmanned mobile system according to claim 3, wherein the autonomous moving means stops the movement by the driving mechanism when it is determined by the movement availability determining means that the movement along the movement route is impossible. When an obstacle is detected by the obstacle detection means,
The unmanned moving body system according to claim 3 or 4, wherein the autonomous moving means reduces the moving speed of the unmanned moving body by a driving mechanism. Identifying means for performing identification processing for identifying a movable area;
The unmanned movement according to any one of claims 1 to 5, further comprising a superimposition processing unit that superimposes the discrimination processing result obtained by the discrimination unit on an image acquired by the distance measuring unit. Body system.   The unsupervised moving body according to any one of claims 1 to 6, wherein the superimposing processing unit superimposes the movement route planned by the first route planning unit on the image acquired by the distance measuring unit. system.

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