JP5947644B2 - 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 control device for remotely manipulating the unmanned moving body.

As this type of prior art, there is a configuration disclosed in Patent Document 1.
The unmanned moving body system disclosed in Patent Document 1 is acquired by a distance measuring unit for acquiring distance measurement data in a moving region, an unmanned moving body equipped with a driving mechanism for movement, and the distance measuring unit. Display unit for displaying an image based on the measured distance data, and remote control for transmitting control information including at least a moving direction and a moving speed for remotely controlling an unmanned moving body based on the image displayed on the display unit An area extracting means for extracting a movable area in the moving area based on distance measurement data acquired by the distance measuring unit, and a moving direction included in the maneuvering information sent from the remote control device And a movement plan creation means for creating a movement plan for autonomous movement in the movable area based on the movement speed and movement possibility based on the movement direction and movement speed included in the operation information. A configuration in which first determination means for determining whether or not movement within an area is possible and autonomous movement means for moving an unmanned moving body by a driving mechanism according to a created movement plan when it is determined that the movement is possible It has become.

JP 2010-152833 A

By the way, when maneuvering an unmanned mobile body, there is a demand for simple maneuvering that only roughly indicates only the moving direction.
On the other hand, in the unmanned mobile system described in Patent Document 1, since only a horizontal position corresponding to the moving speed can be selected, when there is an obstacle in front of the direction to move, an indication is displayed. Until the reference mark displayed in the section exceeds the obstacle, it is necessary to continue to indicate an avoidance route that is different from the direction in which the user intends to move.

  In addition, when the reference mark is over the obstacle and the direction in which the user wants to go is instructed, there is a problem that depending on the timing of instructing the vehicle, the vehicle heads toward the obstacle and stops.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an unmanned mobile system that can perform simple maneuvering that only indicates a movement target position without maneuvering to avoid an obstacle.

In order to solve the above problems, the present invention provides a distance measuring unit for acquiring distance measurement data in a moving region, an unmanned moving body equipped with a driving mechanism for movement, and a distance measuring unit acquired by the distance measuring unit. Unmanned movement having a display unit for displaying an image generated based on the distance data, and a remote control device for sending operation information for remotely maneuvering the unmanned mobile body based on the image displayed on the display unit The remote control device includes a control base mark setting means for setting one or more control base marks to be a base point for remote control of an unmanned mobile body, and the control base mark. , Determine whether the unmanned vehicle has exceeded, and if the steering base mark is exceeded, cancel the steering base mark and move the movement target mark to the movement target position on the image displayed on the display Move While providing the mark mark moving means, the unmanned moving body has an environment map creating means for creating an environment map based on the distance measurement data acquired by the distance measuring unit, and a movable area based on the created environment map. The movable area extraction means to be extracted, the obstacle detection means to detect obstacles that hinder the movement in the extracted movable area, and the control base mark sent from the remote control device are set on the environment map Mark position setting means for moving, and a movement path generation means for generating a movement path toward the movement target mark position while avoiding an obstacle until the end command is received via the control base point mark set on the environment map It is supposed to have.

In the above configuration, the movable area is extracted based on the environmental map in the movement area, the obstacle that hinders the movement in the extracted movable area is detected, and the maneuver sent from the remote control device is detected. Set the base point mark on the environment map.
Then, via the control base point mark set on the environment map, a movement route toward the movement target mark position is generated while avoiding the obstacle, and the vehicle moves along the generated movement route.

  According to the present invention, it is possible to perform simple maneuvering only by instructing the direction to move without maneuvering to avoid an obstacle.

It is explanatory drawing which shows the whole structure of the unmanned mobile body system which concerns on one Embodiment of this invention. It is explanatory drawing which shows the arrangement | positioning state of the actuator etc. which were arrange | positioned at 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. (A) is explanatory drawing which shows the structure of a remote control apparatus, (B) is a schematic explanatory drawing of an input device. It is a block diagram of the control circuit provided in the remote control device. (A) is explanatory drawing of the base point mark for a control displayed on a display part, and a movement target mark, (B) is explanatory drawing which shows a mode that the movement target mark was moved to the movement target position. It is a control flowchart of a vehicle control apparatus. It is a flowchart of remote control by a remote control device.

  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 an unmanned mobile body system according to an embodiment of the present invention, and FIG. 2 is an arrangement state of actuators and the like disposed on the unmanned mobile body that forms part of the unmanned mobile body system. FIG. 3 is a block diagram of a control circuit provided in the unmanned mobile body.

As shown in FIG. 1, an unmanned mobile system A according to an 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.
As shown in FIG. 2, 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 controlled by the moving body control and autonomous moving computers 10 and 30. The details are 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.

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 the autonomous movement cameras 14 and 31 and a laser light sensor (hereinafter referred to as “LRF”) 32.

  The LRF 32 performs distance measurement by a time-of-flight method for measuring the time from projecting to receiving light of a laser beam. In the present embodiment, the one shown in this embodiment uses one laser light source and the optical axis is optical or It is of a scan type that acquires a three-dimensional shape of an object by mechanically sweeping.

  The autonomous movement cameras 14 and 31 are for acquiring image data necessary for autonomous traveling (autonomous movement), and are arranged symmetrically in the vehicle width direction and in the vehicle width direction. . That is, the autonomous movement cameras 14 and 31 are so-called stereo cameras.

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 via an Ethernet (registered trademark) 12, a GPS (Global Positioning System) 15, a vertical gyro 16, a vehicle speed pulse 17, and an odometry 18 are respectively connected to input ports of the vehicle control computer 10 through serial lines. Connected through. Reference numeral 20 denotes an antenna connected to the wireless LAN 13.

Further, a steering actuator 22 and a brake / accelerator actuator 23 are connected to the output port via a motor driver 21, respectively.
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 gyro 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 traveling cameras 14 and 31 described later, the yaw angular velocity, and the X, Y, and Z3. The axis acceleration is output.

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 outputs the moving speed of the unmanned vehicle B as pulse information, and is, for example, a hall element.

  The vehicle control computer 10 has a function of transmitting various information acquired by the GPS 15 and the vertical gyro 16 to the remote control device C, which will be described in detail later, through the Ethernet (registered trademark) 12, 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 steering information transmitted from the remote control device C.

  That is, it has a function of driving the steering actuator 22 and the brake / accelerator actuator 23 in accordance with a travel route (movement route) transmitted from the remote control device C and control information described later.

The vehicle control computer 10 exhibits the following functions by executing required programs stored in a memory (not shown).
(1) A function for creating an environmental map based on distance measurement data acquired by the distance measurement unit 33. This function is referred to as “environment map creation means 10a”.
(2) A function of extracting the movable area R based on the created environmental map. This function is referred to as “movable area extracting means 10b”.

(3) A function of detecting an obstacle S (see FIG. 6) that hinders autonomous movement in the movable area R based on distance measurement data acquired by the distance measurement unit 33. This is referred to as “obstacle detection means 10c”.
In the present embodiment, an obstacle S that hinders autonomous movement in the movable area R is detected based on the image data acquired by the autonomous movement cameras 14 and 31 and the laser light data acquired by the LRF 32. Yes.

(4) A function for setting one or two or more control base marks a ′ sent from the remote control device C on the environment map. This function is referred to as “mark position setting means 10d”.
(5) A function of generating a movement route toward the movement target mark position while avoiding the obstacle S via one or more control reference point marks a ′ set on the environment map. This function is referred to as “movement route generation means 10e”.
(6) A function of moving the unmanned moving body through the drive mechanism along the created moving path. This is called “autonomous moving means 10f”.

(7) A function of determining whether or not movement is possible in the movable area based on the movement direction and the movement speed included in the operation information. This is referred to as “moveability determination means 10g”.
“Moveability in the movable area based on the movement direction and the movement speed included in the operation information” is based on whether or not the created movement route is in the movable area.

(8) A function of switching from the autonomous movement mode to the remote control mode when it is determined that movement in the movable area based on the movement direction and movement speed included in the operation information is impossible. This function is referred to as “mode switching means 10h”.
In the present embodiment, the unmanned vehicle B is temporarily stopped when it is determined that the movement in the movable area based on the moving direction and the moving speed included in the operation information is impossible.
“Remote control mode” refers to a state in which remote control based on control information sent from the remote control device C is enabled.
The “autonomous movement mode” refers to a state in which the unmanned vehicle B is autonomously moved by the drive mechanism D along the created movement route.

Next, the remote control device will be described with reference to FIGS. 4A is an explanatory diagram showing the configuration of the remote control device, FIG. 4B is a schematic explanatory diagram of the input device, FIG. 5 is a block diagram of a control circuit provided in the remote control device, and FIG. These are explanatory drawings of the control base point mark and the movement target mark displayed on the display unit, and (B) is an explanatory diagram showing the movement target mark moved to the movement target position.
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.

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 is configured to display a movement target mark a or the like, which will be described later, superimposed on an image acquired by the autonomous movement cameras 14 and 31 described above.

  The input device 50 includes a joystick 51, 52, a steering base mark setting button 53, a steering base mark release button 54, and a transmission / reception unit (not shown) that transmits and receives steering information to and from the control device 60. Are arranged.

The joystick 51 is used to move the movement target mark a on the display 41.
The joystick 52 is used for inputting control information, and by tilting the joystick 52 back and forth and left and right, the unmanned vehicle B is turned left and right and the moving speed (hereinafter referred to as “traveling speed”) is increased or decreased. Is to do.
The “steering information” includes at least the command movement direction, the command movement speed, and the acceleration / deceleration data of the unmanned vehicle B, as well as setting information for the following steering base mark a ′.
Steering information according to the operation of the joystick 52 described above is output to the unmanned vehicle.

The steering base mark setting button 53 is for setting the coordinate position of the steering base mark a ′.
The steering base mark cancel button 54 is for canceling each steering base mark a ′ set at one or two or more coordinate positions.
In FIG. 6A, the movement target mark a is brought to a position to be passed next to the control base point mark a ′ set in the past, and is set by the control base point mark setting button 53. At this position, a steering base mark a ′ (2) is set. Thereafter, the movement target mark a is moved to a position where the unmanned vehicle B wants to move after passing through a ′ (2). The situation is shown in FIG.

  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.
(9) A function of superimposing and displaying a movement target mark a serving as a movement target on the image displayed on the display 41 in accordance with the movement speed detected by the vehicle speed pulse (speed measuring device) 17. This is referred to as “superimposition display means 65a”.

In the present embodiment, for example, when the unmanned vehicle B is moving at a relatively high speed, the movement target mark a is displayed at the upper position of the display 41. When the unmanned vehicle B is moving at a relatively low speed, the movement target mark a is displayed. It is displayed at the lower position of the display 41.
In addition, what is shown by 41a is the state information of the unmanned vehicle B, for example, the front / rear / left / right inclination state of the unmanned vehicle B, the traveling speed, and the like.

(10) A function of setting one or two or more control reference point marks a ′ which are base points for remotely controlling the unmanned mobile body. This function is referred to as “steering reference mark setting means 65b”.
The setting of the steering base mark a ′ is set by turning on the steering base mark setting button 53.
The set steering base mark a ′ is fixedly displayed on the display 41 as shown in FIGS. 6 (A) and 6 (B).

(11) A function of moving the movement target mark a on the image displayed on the display 41. This function is referred to as “movement target mark moving means 65c”.
The movement target mark a is moved based on the operation of the joystick 51.

(12) A function of calculating a communication delay time between the unmanned vehicle B and the remote control device C. This is referred to as “delay time calculation means 65d”.
In the present embodiment, the round trip time of data is estimated between the unmanned vehicle B and the remote control device C in the manner of ping.
In addition, GPS is installed in both the unmanned vehicle B and the remote control device C, the time synchronization with high accuracy is performed by both computers using the GPS, and the delay time is estimated based on the time stamp of the received data. You may do it.

(13) A function of correcting the display position of the movement target mark a based on the delay time calculated by the delay time calculation means 65d. This is referred to as “display position correcting means 65e”.
By performing such correction, it is possible to reduce a control error due to a delay time.

Next, a control flowchart will be described with reference to FIGS. FIG. 7 is a control flowchart of the vehicle control device, and FIG. 8 is a flowchart of remote control by the remote control device.
<Flowchart of vehicle control>
Step 1 (abbreviated as “S1” in FIG. 7; the same applies hereinafter): Initialization processing of each unit is performed, and the process proceeds to Step 2.

Step 2: The control information and command including the command moving speed / direction and the setting information of the control reference mark a ′ transmitted by the operator Q transmitted from the remote control device C are received, and the process proceeds to Step 3.
Step 3: It is determined whether or not an end command has been received. If an end command is received, the process proceeds to step 14; otherwise, the process proceeds to step 4.

Step 4: The moving area is recognized by the cameras 14 and 31 and the LRF 32, and the movable area R is extracted.
Specifically, when laser light data and image data are input, an obstacle recognition process is performed, and an environment map is created based on the recognition result of the obstacle S.

Step 5: A movement route is generated based on the movement target mark a, the movement speed and the like together with the set steering base mark a ′.
Specifically, when one or more control reference marks a ′ are set, if there is an obstacle S in the movable area R through each of them, A travel route including a travel route (travel route) that avoids the obstacle S is created.

Step 6: It is determined whether or not the movement is possible at the planned movement speed and movement direction. If it is determined that the movement is impossible, the process proceeds to Step 7, and if not, the process proceeds to Step 12.
Step 7: It is determined whether or not traveling (moving) in the moving direction is possible. If it is impossible, the process proceeds to Step 8, and if possible, the process proceeds to Step 11.

  Step 8: Reduce the moving speed. As the movement speed decreases, the display position of the movement target mark a displayed on the display 41 is lowered from the upper side of the display 41 to the lower side, and the process proceeds to Step 9.

Step 9: It is determined whether or not the moving speed is equal to or lower than a predetermined value. If it is determined that the moving speed is equal to or lower than the predetermined value, the process proceeds to Step 10;
The “predetermined value” is a moving speed at which the operator can safely move within the movable area.
Step 10: Stop the vehicle and switch from the autonomous movement mode to the remote control mode.
Step 11: Drive in the moving direction by controlling the moving speed so that it can run safely.

Step 12: The accelerator / brake and the steering are driven by the actuator so that the vehicle travels autonomously in the moving speed and the moving direction, and the process proceeds to Step 13.
Step 13: The vehicle information such as the moving speed (vehicle speed) and the recognition result of the movable area R are transmitted to the remote control device C, and the process returns to Step S2.

<Remote control flowchart>
Step 1 (abbreviated as “Sa1” in FIG. 8; the same applies hereinafter): The moving target mark a is superimposed on the display 41.
That is, the horizontal direction corresponds to the operation position of the joystick 51, and the vertical position displays the movement target mark a corresponding to the moving speed of the unmanned vehicle B on the display 41.

Step 2: It is determined whether or not the steering base point mark a ′ is to be set. If the setting is to be made, the process proceeds to Step 3; otherwise, the process returns to Step 1.
Step 3: The steering base mark setting button 53 is turned on to display the steering base mark a ′ on the display 41.

Step 4: It is determined whether or not the next steering base point mark a ′ (second steering base point mark a ′ (2)) is to be set. If so, the process proceeds to Step 5, otherwise. Proceed to step 6.
Step 5: The steering base point mark setting button 53 is turned on again to display the next steering base point mark a ′ (2) on the display 41.

Step 6: The joystick 51 is operated to move the movement target mark a to a further movement target position on the display 41.
Step 7: It is determined whether or not the unmanned vehicle B has exceeded the control base point mark a ′. If it is determined that the unmanned vehicle B has exceeded the control, the process proceeds to Step 8. If not, the process returns to Step 7.

Step 8: With the movement, the passing control reference point mark a ′ is canceled.
Step 9: It is determined whether or not all the steering base marks a ′ have been released. If it is determined that they have been released, the process proceeds to Step 10, and if not, the process returns to Step 7.
Step 10: The moving target mark a is smoothly moved to the conventional control position. That is, it is moved to a horizontal position on the display 41 determined by the moving speed of the unmanned vehicle B. Then, it returns to step 1.

According to the unmanned mobile body according to the embodiment described above, the following effects can be obtained.
-It is possible to perform simple maneuvering that only indicates the target position of movement without maneuvering to avoid obstacles.

-Perspective according to the moving speed is displayed by superimposing the moving target mark, which is a reference for remote control, on the image displayed on the display 41 in correspondence with the moving speed detected by the speed measuring device. Can be obtained.

By calculating the communication delay time between the unmanned mobile body and the remote control device and correcting the display position of the movement target mark based on the calculated delay time, the remote control can be performed more easily.
Can do.

The present invention is not limited to the above-described embodiments, and the following modifications can be made.
The size of the steering base mark a ′ can be displayed differently depending on the vertical display position of the display. Specifically, the image is displayed larger as it is displayed at the lower position, and is displayed smaller as it is displayed at the upper position. Thereby, a sense of perspective can be easily given on the display 41.

10a Environmental map creation means 10b Movable area extraction means 10c Obstacle detection means 10d Mark position setting means 10e Movement path generation means 10f Autonomous movement means 10g Movement possibility determination means 10h Mode switching means 17 Speed measuring device 33 Distance measuring section 41 Display section (display)
65a Superimposed display means 65b Steering reference mark setting means 65c Moving target mark moving means 65d Delay time calculating means 65e Display position correcting means A Unmanned moving body system B Unmanned moving body C Remote control device D Drive mechanism a Moving target mark a 'Steering Base mark R for movable area

Claims (4)

A ranging unit for acquiring ranging data in the moving area, and an unmanned moving body equipped with a driving mechanism for movement;
A display unit for displaying an image generated based on the distance measurement data acquired by the distance measuring unit, and steering information for remotely maneuvering the unmanned moving body based on the image displayed on the display unit are transmitted. An unmanned mobile system having a remote control device,
Remote control devices include
Steering base point mark setting means for setting one or more steering base point marks that serve as base points for remotely maneuvering an unmanned mobile body;
It is determined whether or not the unmanned vehicle has exceeded the control base point mark. When the control base point mark is exceeded, the control base point mark is canceled and the movement target position on the image displayed on the display unit is released. , Providing moving target mark moving means for moving the moving target mark,
For unattended mobiles,
An environment map creating means for creating an environment map based on the distance measurement data acquired by the distance measuring unit;
A movable area extracting means for extracting a movable area based on the created environmental map;
Obstacle detection means for detecting an obstacle that hinders movement in the extracted movable area;
Mark position setting means for setting the control base mark sent from the remote control device on the environmental map;
A movement path generation means for generating a movement path toward the movement target mark position while avoiding an obstacle via one or more control reference point marks set on the environment map;
Autonomous moving means for moving the unmanned moving body via the drive mechanism according to the generated movement path;
I have a,
The unmanned mobile system according to claim 1, wherein the travel route generation means generates a travel route until an end command is received . It has a speed measuring device to measure the moving speed of the unmanned moving body,
The unmanned moving body system according to claim 1, further comprising a superimposing display unit that superimposes and displays the movement target mark on the image displayed on the display unit in correspondence with the moving speed detected by the speed measuring device. A delay time calculating means for calculating a communication delay time between the unmanned mobile body and the remote control device;
The unmanned moving body system according to claim 1 or 2, further comprising display position correction means for correcting the display position of the movement target mark based on the calculated delay time. A movement availability determination means for determining whether movement is possible in a movable area based on a movement direction and a movement speed included in the operation information;
A mode switching means for switching from the autonomous movement mode to the remote control mode when it is determined by the movement availability determination means that movement within the movable area based on the movement direction and movement speed included in the operation information is impossible. Item 4. The unmanned mobile system according to any one of Items 1 to 3.

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