JP6051993B2 - Autonomous mobile automatic guided vehicle and autonomous mobile automatic transport system - Google Patents

Description

  The present invention relates to an autonomous mobile automatic guided vehicle and an autonomous mobile automatic transport system.

  2. Description of the Related Art Conventionally, an automated guided vehicle that automatically travels along a guide track laid on a predetermined traveling path has been used for transporting luggage in, for example, a warehouse or a factory. As such an automatic guided vehicle, Patent Document 1 includes a luggage sensor that detects a collapse of a loaded luggage, a collision sensor that detects a collision with an obstacle, and the like, and abnormality is detected by these sensors. In such a case, an emergency stop of the vehicle is performed while the steering system is controlled by the steering device.

JP 2001-344020 A

  As described above, according to the automatic guided vehicle described in Patent Document 1, when an abnormality is detected by a luggage sensor, a collision sensor, or the like, the vehicle is urgently stopped while the control of the steering system by the steering device is maintained. Therefore, the automatic guided vehicle can be stopped without deviating from the guide track. In such a case, the automatic guided vehicle can thereafter return from the stopped position (restart the conveyance).

  On the other hand, when the steering sensor (steering device) stops and deviates from the guide track due to an abnormality, it is difficult to return from the stop position. Need to return to position. However, in the automatic guided vehicle described in Patent Document 1, no consideration is given to how or from which position it is appropriate to return depending on the stop factor.

  The present invention has been made to solve the above-mentioned problems, and is an autonomous mobile unmanned that can start autonomous movement from an appropriate position at the time of start-up or return according to the cause of stoppage of the own machine An object is to provide a transport vehicle and an autonomous mobile unmanned transport system.

  An autonomous mobile automatic guided vehicle according to the present invention includes an object information acquisition unit that acquires position information of an object existing around the own aircraft, an environment map showing an object area where the object exists, and the environment map Storage means for storing the initial position set in association with, an environmental map, a self-position estimation means for estimating the self-position based on the position information of the object acquired by the object information acquisition means, an environment map, And a control means for controlling the autonomous movement based on the self-position, a self-position storage means for sequentially storing the self-position estimated by the self-position estimating means, and a stop factor when the autonomous movement is stopped by the control means. Stop factor storage means for storing the control means, and when the control means is activated, the autonomous movement can be continued from the current own position based on the stop factor stored in the stop factor storage means. If it is determined whether or not the autonomous movement is possible, the autonomous movement is started based on the self-position stored in the self-position storage means, and the autonomous movement is impossible. If it is determined, the stop state is maintained.

  According to the autonomous mobile guided vehicle according to the present invention, when the control means is activated, the autonomous movement is continued from the current own position based on the stop factor stored in the stop factor storage means. If it is determined whether or not it is possible and autonomous movement is possible, autonomous movement is started based on the self-position stored in the self-position storage means, and autonomous movement is impossible If it is determined that, the standby state is maintained. Therefore, for example, in the case of a stop factor with high probability that the self position is held, it is possible to return (restart autonomous movement) from the stopped position.

  On the other hand, for example, in the case of a stop factor (for example, a sensor file or a system error) in which the self position may not be held, the standby state is held, and then the operator returns to the initial position, for example. Appropriate treatment such as can be received. As a result, it becomes possible to start autonomous movement from an appropriate position at the time of start-up or return, depending on the stop factor of the own device.

  The autonomous mobile automatic guided vehicle according to the present invention further includes detection means for detecting contact with an obstacle, and when the stop factor is contact with the obstacle detected by the detection means, the control means includes: It is preferable to determine that autonomous movement is possible continuously.

  When the vehicle stops due to contact with an obstacle, it is determined that the autonomous movement can be continued because the probability that the self-position is maintained is high. Therefore, in this case, it is possible to return (autonomous movement is resumed) from the position where it was temporarily stopped by contact with the obstacle.

  The autonomous mobile automatic guided vehicle according to the present invention further includes notifying means for notifying information according to the state of the aircraft, and the control means determines that continuous autonomous movement from the current own position is impossible. In such a case, it is preferable that the notification means notifies the mobile device to move it to the initial position.

  In this way, if it is determined that continuous autonomous movement from the current self-position is impossible, that is, the self-position may not be retained due to a stop factor (for example, sensor file or system error). When it is determined that there is a possibility, for example, an operator or the like can return his / her own device to the initial position (appropriate position). Therefore, autonomous movement can be started again from the initial position.

  The autonomous mobile automatic guided vehicle according to the present invention further includes detection means for detecting the presence or absence of a first positioning member provided outside, and the first positioning member is detected when the control means is activated. In this case, it is preferable to move the own device to the initial position based on the positional relationship with the second positioning member provided outside and detected by the object information acquisition means.

  In this way, the operator can automatically detect the first positioning member based on the positional relationship with the second positioning member, for example, by merely moving the autonomously moving automatic guided vehicle. And more accurately, the autonomous mobile automatic guided vehicle can be set at the initial position.

  The autonomous mobile unmanned transport system according to the present invention includes the autonomous mobile unmanned transport vehicle and a charging device having the first positioning member and the second positioning member.

  According to the autonomous mobile unmanned transport system according to the present invention, the autonomous mobile unmanned transport vehicle and the charging device having the first positioning member and the second positioning member are provided. It is possible to start autonomous movement from an appropriate position according to the stop factor of the own device at the time or when returning.

  According to the present invention, it is possible to start autonomous movement from an appropriate position at the time of start-up or return, in accordance with the stop factor of the own device.

It is a perspective view which shows the structure of the autonomous mobile automatic guided vehicle which concerns on embodiment. It is a rear view which shows the structure of the autonomous mobile automatic guided vehicle which concerns on embodiment. It is a block diagram which shows the functional structure of the autonomous mobile automatic guided vehicle which concerns on embodiment. It is a figure which shows the example of the scanning range of a laser range finder in the autonomous mobile automatic guided vehicle which concerns on embodiment, and a mask area | region. It is a side view showing the state where the autonomous mobile automatic guided vehicle according to the embodiment is connected to the transfer machine. It is a perspective view which shows the structure of the loading part of the autonomous mobile automatic guided vehicle which concerns on embodiment. It is a figure which shows the structure of the connection part in the autonomous mobile automatic guided vehicle which concerns on embodiment. It is a perspective view which shows the structure of the transfer machine which transfers a load to the autonomous mobile automatic guided vehicle which concerns on embodiment. It is a figure which shows the whole autonomous mobile unmanned conveyance system structure provided with the autonomous mobile automatic guided vehicle which concerns on embodiment. It is a figure for demonstrating the transfer method of the load in the autonomous mobile unmanned conveyance system which concerns on embodiment. It is a rear view of the pass box which constitutes the autonomous mobile unmanned conveyance system concerning an embodiment. It is a flowchart which shows the process sequence of the installation process by the autonomous mobile automatic guided vehicle which concerns on embodiment. It is a flowchart which shows the process sequence of the conveyance process by the autonomous mobile automatic guided vehicle which concerns on embodiment. It is a flowchart which shows the process sequence of the starting process by the autonomous mobile automatic guided vehicle which concerns on embodiment. It is a figure which shows the structure of the optical communication apparatus provided in the pass box.

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

  First, the configuration of the autonomous mobile guided vehicle 1 according to the embodiment will be described with reference to FIGS. FIG. 1 is a perspective view showing the configuration of the autonomous mobile automatic guided vehicle 1, and FIG. 2 is a rear view showing the configuration of the autonomous mobile automatic guided vehicle 1. FIG. 3 is a block diagram illustrating a functional configuration of the autonomous mobile guided vehicle 1. FIG. 4 is a diagram showing an example of the scanning range and mask region of the laser range finder 20, 21. As shown in FIG. FIG. 5 is a side view showing a state where the autonomous mobile guided vehicle 1 is connected to the transfer machine 110. FIG. 6 is a perspective view showing the structure of the loading section 60 of the autonomous mobile automatic guided vehicle 1. FIG. 7 is a diagram illustrating a structure of a connection portion in the autonomous mobile automatic guided vehicle 1.

  The autonomous mobile automatic guided vehicle 1 uses a SLAM (Simultaneous Localization and Mapping) to map an environment map of a moving route (an area where an obstacle exists and an existence) when the machine is guided according to a remote operation of an operator (user). (Grid map showing the area not to be created) and when guided to reach a predetermined set point, it has a function of registering the actual self position at that time as the position coordinates of the set point on the environment map ( The mode for executing this function is called “installation mode”). Furthermore, the autonomous mobile guided vehicle 1 uses the set points on the environmental map that has been created and stored to plan the movement route, and along the planned movement route, the start point (the point where the luggage is loaded) ) To the goal point (the point at which the parcel is delivered) (see FIG. 9), and has a function of transporting the parcel (the mode for executing this function is referred to as “carrying mode”).

  Therefore, the autonomous mobile automatic guided vehicle 1 mainly exists in the periphery of the main body 10 in which the omni wheel 13 driven by the electric motor 12 is provided in the lower portion and the loading portion 60 for loading the load is provided in the upper portion. Sensors such as a pair of laser range finders 20 and 21 for measuring the distance to an object (for example, a wall or an obstacle) and a tray presence / absence sensor 50 for detecting the presence / absence of luggage, an action start switch 26, a status display lamp 40 And a user interface such as a speaker 45. In addition, the autonomous mobile automatic guided vehicle 1 is an electronic control device 30 that comprehensively manages creation of an environmental map in the installation mode, planning of a movement route in the conveyance mode, and autonomous movement (baggage conveyance) along the movement route. It has. Hereinafter, each component will be described in detail.

  The main body 10 is, for example, a metal frame formed in a substantially bottomed rectangular tube shape, and the above-described laser range finders 20 and 21 and the electronic control device 30 are attached to the main body 10. In addition, the shape of the main body 10 is not limited to a substantially bottomed rectangular tube shape. Four electric motors 12 are arranged in a cross shape and attached to the lower portion of the main body 10. Omni wheels 13 are mounted on the drive shafts of the four electric motors 12. That is, the four omni wheels 13 are mounted on the same circumference at intervals of 90 ° along the circumferential direction. Here, the electric motor 12 and the omni wheel 13 correspond to the moving means described in the claims.

  The omni wheel 13 includes two wheels that rotate about the drive shaft of the electric motor 12 and six wheels that are provided on the outer periphery of each wheel so as to be rotatable about an axis orthogonal to the drive shaft of the electric motor 12. It is a wheel having a free roller and is movable in all directions. The two wheels are attached with a phase shift of 30 °. Since it has such a configuration, when the electric motor 12 is driven and the wheel rotates, the six free rollers rotate together with the wheel. On the other hand, when the grounded free roller rotates, the omni wheel 13 can also move in a direction parallel to the rotation axis of the wheel. Therefore, by controlling the four electric motors 12 independently and individually adjusting the rotational directions and rotational speeds of the four omni wheels 13, the autonomous mobile guided vehicle 1 can be moved in any direction (all directions). Can be moved to.

  An encoder 16 for detecting the rotation angle (that is, the drive amount or the rotation amount) of the drive shaft is attached to the drive shaft of each of the four electric motors 12. Each encoder 16 is connected to the motor driver 11 that constitutes the electronic control device 30, and outputs the detected rotation angle of each electric motor 12 to the motor driver 11. The motion controller 38 calculates the movement amount of the autonomous mobile guided vehicle 1 from the rotation angle of each electric motor 12 input via the motor driver 11. In addition, it is good also as a structure which replaces with the omni wheel 13 which can move to all directions as a wheel, and uses a normal wheel (a steering wheel and a drive wheel).

  A pair of laser range finders 20 and 21 are paired on opposite sides of the main body 10 such that the detection areas of each other have a symmetrical relationship (that is, the emission direction of the detection wave is opposite). (See FIG. 4). That is, one laser range finder 20 is attached to the front portion of the autonomous mobile guided vehicle 1 so as to face the front direction (front) of the own machine. The other laser range finder 21 is attached to the rear part so as to face the back direction (rear) of the own machine.

  Each of the laser range finders 20 and 21 emits a laser (detection wave) and reflects the emitted laser with a rotating mirror to horizontally scan the periphery of the autonomous mobile guided vehicle 1. Specifically, as shown in FIG. 4, the laser range finder 20 has a fan-shaped detection area (scanning range) having a radius of 5 m and a front direction of 0 ° and a positive / negative 90 °, and exists in this detection region. By detecting the laser reflected back from the object, measuring the detection angle of the laser (reflected wave), and the time (propagation time) from when the laser is emitted until it is reflected back by the object, Detect the angle and distance to the object. Similarly, the laser range finder 21 has a fan-shaped detection area having a radius of 5 m and a positive / negative 90 ° with the back direction set to 0 °, and detects the laser reflected and returned by an object existing in the detection region. The angle and distance from the object are detected by measuring the detection angle of the laser (reflected wave) and the time (propagation time) from when the laser is emitted until it is reflected by the object and returned. That is, the laser range finders 20 and 21 function as object information acquisition means described in the claims. The laser range finder 20 (21) may have, for example, a fan-shaped detection region (scanning range) having a radius of 15 m and a front (back) direction of 0 ° and a positive / negative 120 °.

  More specifically, when each laser range finder 20 and 21 can detect a laser beam (reflected wave) reflected by an object, data indicating the distance to the object (for example, 20 to 20) corresponding to the scanning angle. 4095) including the detection information (position information) is output. On the other hand, when the laser (reflected wave) cannot be detected (that is, the reflected wave does not return), the laser range finders 20 and 21 associate non-detection information (error code, for example, 0 to 19) with the scanning angle. Output. Each laser range finder 20, 21 is connected to the electronic control device 30 and outputs detected information (angle / distance information) and non-detection information of the detected surrounding objects to the electronic control device 30.

  In addition, ultrasonic sensors 23 are attached to the side surface of the main body 10 at substantially equal intervals over the entire circumference. In the present embodiment, 16 ultrasonic sensors 23 are attached. Each of the 16 ultrasonic sensors 23 has directivity in the object detection direction. That is, an object can be detected in all directions (360 °) by combining each of the 16 ultrasonic sensors 23.

  The ultrasonic sensor 23 transmits an ultrasonic wave, detects an ultrasonic wave (reflected wave) that is reflected by the object and returns, and based on the presence / absence of the reflected wave and the arrival time (propagation time) of the reflected wave, Detect presence / absence and distance to object. The ultrasonic sensor 23 is connected to a motion controller 38 that constitutes the electronic control device 30.

  A bumper switch 24 is attached to the lower portion of the main body 10. The bumper switch 24 includes a cover that covers the front, back, left, and right side surfaces of the main body 10 and a proximity switch that is turned on / off in accordance with the relative displacement between the cover and the main body 10. That is, the bumper switch 24 detects contact with an obstacle or the like by detecting a relative displacement between the cover and the main body 10 that occurs when the cover comes into contact with the obstacle or the like by the proximity switch. The bumper switch 24 functions as detection means described in the claims. The bumper switch 24 is connected to a motion controller 38 that constitutes the electronic control device 30.

  On the side of the main body 10, there are a main power breaker 25 that interrupts the main power, an action start switch 26 that causes the autonomous mobile automatic guided vehicle 1 to start various actions (details will be described later), and a brake state of the omni wheel 13. A brake release switch 27 for releasing is provided. The action start switch 26 has a built-in action start switch lamp 46, and the brake release switch 27 has a built-in brake release switch lamp 47. The action start switch 26 is connected to an I / O board 39 constituting the electronic control device 30. In addition, the action start switch lamp 46 and the brake release switch lamp 47 are also connected to the I / O board 39, and the lighting state (lit, flashing, extinguished) is switched according to the status of the own machine. The brake release switch 27 is connected to all the electric motors 12.

  An emergency stop switch 28 is provided on the rear surface of the main body 10 for emergency stop of autonomous movement. The emergency stop switch 28 is connected to a motion controller 38 that constitutes the electronic control unit 30.

  Status display lamps 40 are arranged at the four corners of the main body 10. The status display lamp 40 is connected to an I / O board 39 constituting the electronic control unit 30, and the lighting color and / or blinking pattern is changed according to the status (state) of the own device. Thereby, the status of the autonomous mobile guided vehicle 1 is displayed (notified).

  Speakers 45 are arranged on the left and right side surfaces of the main body 10. The speaker 45 is connected to a control board 37 constituting the electronic control device 30, and outputs sound or the like according to the status (state) of the own device. Using the status display lamp 40 and the speaker 50, the autonomous mobile guided vehicle 1 notifies the operator, the user, and the like of the status of the own machine. That is, the status display lamp 40 and the speaker 45 function as notification means described in the claims.

  More specifically, the status display lamp 40 and / or the speaker 45 is mounted on the baggage when, for example, the device is moving within the baggage delivery allowable area 340 (see FIG. 9, details will be described later). If it is, the user is notified that the package can be received. Further, the status display lamp 40 and / or the speaker 45 informs that when the package is not detected outside the delivery allowance area 340, the status display lamp 40 and / or the speaker 45 is in a stopped state due to the transportation interruption. When it is no longer detected, it is informed that it is in a stopped state due to completion of conveyance. In addition, the status display lamp 40 and / or the speaker 45, when it is judged that continuous autonomous movement from the current self-position is impossible after autonomous movement (cargo transportation) is stopped, Notification is made to move to an initial position (a connection position with a transfer device 110 described later).

  On the upper part of the main body 10, a loading section 60 for loading a load is provided. The loading unit 60 includes a load storage unit 61 that stores the loaded baggage and a load cover 65 that covers the load storage unit 61 so that the loaded baggage does not fall. The load cover 65 is opened on the front side so that the transfer device 110 can transfer the load.

  A tray presence / absence sensor 50 for detecting the presence / absence of a tray on which a load is placed is attached to the load accommodation unit 61. The tray presence / absence sensor 50 is connected to an I / O board 39 constituting the electronic control unit 30, and the detection result (on / off signal) by the tray presence / absence sensor 50 is output to the I / O board 39. As the tray presence / absence sensor 50, for example, a photo interrupter or an eddy current sensor can be used in addition to the mechanical switch.

  A pair (two) of positioning member insertion ports 64 into which a pin-shaped positioning member 111 provided in a transfer machine 110 (to be described later) is inserted is formed in the lower portion of the stacking unit 60 on the front side of the main body 10. A positioning member 62 having a V-shaped recess is disposed inside each of the two positioning member insertion ports 64 (see FIG. 7). As shown in FIG. 5, when the autonomous mobile guided vehicle 1 and the transfer machine 110 are connected, the V-shaped recess formed in the positioning member 62 causes the transfer machine 110 side to move. The lateral movement of the pin-shaped positioning member 111 is restricted.

  A transfer machine connection detection sensor 52 that detects the pin-shaped positioning member 111 is attached to each of the pair of positioning members 62. As the transfer device connection detection sensor 52, for example, an eddy current sensor can be used in addition to the mechanical switch. The transfer machine connection detection sensor 52 is connected to an I / O board 39 constituting the electronic control unit 30, and the detection result (on / off signal) of the transfer machine connection detection sensor 52 is the I / O board. 39 is output.

  As shown in FIGS. 6 and 7, the load storage unit 61 is an XYθ movement table that can move in the XY direction (front-rear / left-right direction of the main body 10) and the rotation direction (direction around the central axis of the main body 10). It is connected to the main body 10 via 68. In FIG. 7, in order to make the internal structure easy to see, the bottom surface portion of the load storage portion 61 is indicated by a two-dot chain line. The load storage unit 61 is placed on a holding member 66 fixed to the upper surface of the main body 10 and is held so as to be movable in the XY direction and the rotation direction. Further, the load storage unit 61 is urged toward the front of the main body 10 by an urging spring 63 so as to abut against the stopper 67 and the stoppers 69 and 69. Thereby, the load storage unit 61 is arranged at the center of the upper surface of the main body 10 in a state where the transfer machine 110 is not connected.

  The electronic control unit 30 controls the autonomous mobile automatic guided vehicle 1 in an integrated manner. The electronic control unit 30 includes an I / O board 39, a control board 37 connected to the I / O board 39 via USB, and a motion controller connected to the control board 37 via Ethernet (registered trademark). 38 and a driver circuit 11 for driving the electric motor 12 based on a control signal from the motion controller 38.

  Further, the electronic control unit 30 is configured to be connectable to an external personal computer (hereinafter referred to as “external PC”) 90 and a controller such as joystick via an Ethernet (registered trademark) LAN or USB. When the operator guides and moves the autonomous mobile automatic guided vehicle 1 (in the installation mode), the operator uses the joystick to instruct the autonomous mobile automatic guided vehicle 1 in the direction of movement. The automatic guided vehicle 1 can be guided. In addition, the operator guides the autonomous mobile guided vehicle 1 and reaches a predetermined set point (for example, a start point (luggage loading location) candidate, a target passing point candidate, a goal passing point (luggage delivery location) candidate). Sometimes, from Joystick, the current position can be registered as the position coordinates of the set point. Further, the operator can also register the map and set point attribute information (for example, before the mixing room, before the nurse station, the delivery location, etc.) and the travel parameters using the external PC 90. Similarly, the operator uses the external PC 90 to register an area in which the package including the delivery location is allowed to be delivered, that is, the delivery acceptance region 340 when registering the delivery location of the package or after the registration. Settings can be registered in association with the environment map (see FIG. 9).

  The I / O board 39 includes input devices such as an action start switch 26, a brake release switch 27, a tray presence / absence sensor 50, a transfer machine connection detection sensor 52, a status display lamp 40, an action start switch lamp 46, and a brake release. An output device such as a switch lamp 47 is connected. The control board 37 reads the signal from the input device described above via the I / O board 39 and outputs a drive signal to the output device described above to drive the output device.

  By executing the installation mode, the control board 37 and the motion controller 38 create an environment map of the movement route using SLAM and register the position coordinates of the set point. In addition, the control board 37 and the motion controller 38 autonomously move from the start point (baggage loading place) to the goal point (baggage delivery place) along the planned movement route by executing the transfer mode (package). The electric motor 12 is controlled so that the Therefore, the control board 37 includes a local map creation unit 31, a self-position estimation unit 32, an environment map creation unit 33, a storage unit 34, a route plan unit 35, and a control unit 36. The motion controller 38 includes a travel control unit 381, a self-position storage unit 382, and an obstacle avoidance control unit 383.

  The control board 37 integrally controls the autonomous mobile automatic guided vehicle 1. The control board 37 holds a microprocessor that performs calculations, a ROM that stores programs for causing the microprocessor to execute each process, a RAM that temporarily stores various data such as calculation results, and the storage contents thereof. Backup RAM or the like. The control board 37 electrically connects the USB interface for connecting to the I / O board, the Ethernet (registered trademark) interface for connecting to the motion controller, and the laser range finder 20, 21, the speaker 45 and the microprocessor. It also has an interface circuit to be connected. Each functional unit described above is realized by a combination of the hardware and software (for example, Brain, SLAM, Path Planning, Status manager, I / O manager, etc.).

  Based on the angle / distance information (position information) of the surrounding objects read from the laser range finder 20, 21, the local map creation unit 31 is a local map around the own device with the laser range finder 20, 21 as the origin. Create When creating a local map in the installation mode, the local map creating unit 31 prevents an operator who guides the autonomous mobile guided vehicle 1 from being erroneously registered on the environmental map as an obstacle. Perform mask processing. That is, the local map creation unit 31 masks the detection information in a predetermined area from the acquired object detection information (position information).

  More specifically, as shown in FIG. 4, the local map creation unit 31 has a predetermined detection area (angle / distance information) out of detection information (angle / distance information) output from the laser range finder 21 attached to the rear side. For example, the detection information detected from the angle 210 ° to 330 ° with the laser range finder 21 as the origin (positive and negative (±) 60 ° when the back direction is 0 °) and a distance of 0.75 m or less) is unknown as to the presence of the object. The mask processing is performed by rewriting the information (0) indicating that it is. In addition, the area | region (mask area | region) to which a mask process is performed is not restricted to the said embodiment, It can set arbitrarily. Further, the masking process may be performed not by rewriting data but by processing (masking) the detection information in the predetermined detection area so as not to be used for creating a local map. Note that the local map created by the detection information subjected to the mask processing is output to the self-position estimation unit 32 and the environment map creation unit 33.

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

  The environment map creation unit 33 creates an environment map of the movement space (area) using SLAM during guided movement (when the installation mode is executed). The environment map is a grid map of the moving area of the autonomous mobile guided vehicle 1 and records the position of a fixed object (object) such as a wall surface. Here, the grid map is a map composed of planes obtained by dividing a horizontal plane with cells of a predetermined size (for example, 1 cm × 1 cm) (hereinafter referred to as “unit grid” or simply “grid”). Object existence probability information indicating whether or not there is present is given.

  The environment map creation unit 33 uses the local map around the own device with the laser range finders 20 and 21 created by the local map creation unit 31 as the origin and the self-position estimated by the self-position estimation unit 32 to Create and update maps.

  Here, the method for creating the environmental map will be described more specifically. The environment map creation unit 33 first acquires a local map from the local map creation unit 31 and also acquires a self-location on the environment map from the self-position estimation unit 32. Next, based on the self-position where the coordinate system with the laser range finder 20 (21) as the origin is estimated based on the self-position on the environment map, the environment map coordinate system (hereinafter referred to as "absolute coordinate system"). The local map (hereinafter, the coordinate-converted local map is referred to as “local map @ absolute coordinate system”) is projected onto the environment map. Then, the environment map creation unit 33 repeatedly executes this process while the autonomous mobile guided vehicle 1 is guided and moved, and sequentially adds the local map @ absolute coordinate system to the environment map ( The environment map of the entire moving space (area) is created by adding the data. Note that the environment map creation unit 33 stops the creation / update of the environment map during autonomous movement (when the transport mode is executed).

  Further, the environment map creation unit 33 creates the environment map by dividing it into a plurality of partial maps during guided movement (when the installation mode is executed). In the present embodiment, the environment map is divided into three partial maps 341, 342, and 343 (see FIG. 9). At that time, the operator (installer) sets the travel parameters of the autonomous mobile guided vehicle 1 for each partial map 341, 342, 343 on the external PC 90 and registers them in the storage unit 34. Here, examples of the travel parameter include a laser finder to be used (for example, the laser range finder 20 or the laser range finder 21), an operation when an obstacle is detected (avoidance, stop, stop), a maximum speed, and the like.

  The storage unit 34 includes, for example, the above-described backup RAM, and stores the environment map created by the environment map creation unit 33 into a plurality of partial maps 341, 342, and 343 as described above. . Further, the storage unit 34 stores the set travel parameters (movement speed, etc.) of the autonomous mobile guided vehicle 1 for each of the partial maps 341, 342, and 343. The storage unit 34 also stores position coordinates of set points set in the partial maps 341, 342, and 343. Note that movement route information and the like planned by the route planning unit 35 described later is stored in a volatile RAM.

  Further, the storage unit 34 stores a parcel delivery allowable area (a position range including the set point of the delivery location) 340 when storing the set point as the delivery location. In that case, the memory | storage part 34 memorize | stores the delivery acceptance | permission area | region 340 in a different layer from an environmental map. That is, the storage unit 34 functions as a storage unit described in the claims. Further, the delivery allowance area 340 may be provided as a fixed area of a circle having a radius N [m] centered on the delivery location. In this case, it is preferable that the value of the radius N depends on the attribute of the destination. Furthermore, the storage unit 34 stores the stop factor when the autonomous movement is stopped. That is, the storage unit 34 functions as a stop factor storage unit described in the claims.

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

  The control unit 36 controls the autonomous movement (executes the transportation of the luggage) based on the environment map, the self position, the presence / absence of the luggage, and the like. That is, the control unit 36 and the motion controller 38 function as control means described in the claims.

  At this time, the control unit 36 determines that the baggage has fallen if the baggage is no longer detected outside the delivery allowance region 340, and if the baggage is no longer detected within the transfer allowance region 340, Controls autonomous movement without determining that has fallen. More specifically, when it is detected that there is no luggage based on the detection signal of the tray presence / absence sensor 50, the control unit 36 outputs control information to the motion controller 38 so as to stop itself. When the self-position is outside the parcel delivery allowable area 340, the control unit 36 sets the stop state (standby state) due to the conveyance interruption. At that time, the control unit 36 lights the status display lamp 40 in red, for example, and blinks the action start switch lamp 46, and for example “load a medicine tray” from the speaker 45, “flash button when set is completed” Please press "". On the other hand, when the self-position is within the parcel delivery allowance area 340, the control unit 36 determines that the parcel has been received and puts it in a stopped state (standby state) upon completion of conveyance, and the status display lamp 40 is displayed in green, for example. Light up.

  In addition, the control unit 36 controls the autonomous movement so that the movement speed is slower when moving in the transfer allowance area 340 than when moving outside the transfer allowance area 340. When the stop instruction is received by the emergency stop switch 28 in the delivery allowance area 340, the control unit 36 stops the autonomous movement.

  When the control unit 36 is activated (booted), the control unit 36 determines whether or not the autonomous movement can be continued from the current self-position based on the stop factor stored in the storage unit 34. Here, the activation (boot) includes, for example, activation of application software when the action start switch 26 is turned on, in addition to activation of the main power breaker 25. If the control unit 36 determines that autonomous movement is possible, the control unit 36 starts autonomous movement based on the self-position stored in the self-position storage unit 382. On the other hand, when it is determined that autonomous movement is impossible, the standby state is maintained. At that time, for example, when the stop factor is contact with an obstacle, the control unit 36 determines that the autonomous movement can be continued. On the other hand, the control unit 36 determines that the autonomous movement is not possible, for example, when the stop factor is a software malfunction or the like and there is a high possibility that the stored self-position is not correct.

  Furthermore, when the first positioning member 111 of the transfer machine 110 is detected when the control unit 36 is activated, the control unit 36 is based on the positional relationship with the second positioning member 112 detected by the laser range finder 20. Move your aircraft to the initial position. Details will be described later.

  The motion controller 38 drives the electric motor 12 on the basis of control information from the control board 37 to control the traveling of the autonomous mobile guided vehicle 1. The motion controller 38 includes a microprocessor that performs calculations, a ROM that stores programs for causing the microprocessor to execute each process, a RAM that temporarily stores various data such as calculation results, and the storage contents thereof. Backup RAM or the like. A driver circuit 11 that drives the electric motor 12, an ultrasonic sensor 23, a bumper switch 24, and an emergency stop switch 28 are connected to the motion controller 38. The motion controller 38 and the control board 37 are connected via Ethernet (registered trademark), and control information (encoder rotation angle, self-position, input / output information, movement stop factor, etc.) can be communicated with each other. ing. In the motion controller 38, the functions of the travel control unit 381, the self-position storage unit 382, and the obstacle avoidance control unit 383 are realized by a combination of the hardware and software.

  The traveling control unit 381 drives the electric motor 12 according to the guidance control signal when the installation mode is executed. On the other hand, the traveling control unit 381 controls the electric motor 12 so as to autonomously move the aircraft to a goal point (luggage delivery location) along a planned movement route while avoiding an obstacle when the conveyance mode is executed.

  The self-position storage unit 382 includes, for example, the backup RAM described above, and sequentially stores the self-position estimated by the self-position estimation unit 32 in the transport mode. That is, the self-position storage unit 382 functions as self-position storage means described in the claims.

  Here, the virtual potential method can be used as a control method for autonomously moving the aircraft to the goal point along the movement route while avoiding an obstacle when the transfer mode is executed. This virtual potential method creates and superimposes a virtual attractive potential field for the goal point and a virtual repulsive potential field for the obstacle to be avoided, thereby avoiding contact with the obstacle. The way to head. More specifically, the traveling control unit 381 first calculates a virtual attractive force for heading to the goal point based on the self position. On the other hand, the obstacle avoidance control unit 383 calculates a virtual repulsive force for avoiding the obstacle based on the self position, the moving speed, and the position and speed of the obstacle. Subsequently, the traveling control unit 381 calculates a virtual force vector by vector combining the obtained virtual attractive force and virtual repulsive force. Then, the traveling control unit 381 drives the electric motor 12 (the omni wheel 13) according to the obtained virtual force vector, thereby controlling the movement of the own machine so as to move to the goal point while avoiding the obstacle. To do.

  Next, the autonomous mobile unmanned transport system 3 including the autonomous mobile unmanned transport vehicle 1 will be described with reference to FIGS. In the present embodiment, as the autonomous mobile unmanned transport system 3, for example, a system for transporting a tray on which medicines and the like are placed in a hospital (hereinafter, the tray and the medicines placed on the tray are collectively referred to as luggage). Explained as an example. FIG. 9 is a diagram illustrating an overall configuration of an autonomous mobile unmanned transport system 3 including the autonomous mobile unmanned transport vehicle 1. FIG. 10 is a diagram for explaining a method of loading a load in the autonomous mobile unmanned conveyance system 3. FIG. 11 is a rear view of the pass box 150 constituting the autonomous mobile unmanned conveyance system 3.

  The autonomous mobile unmanned transport system 3 includes the autonomous mobile unmanned transport vehicle 1 and the transfer device 110, and loads the medicine prepared in the medicine preparation chamber 231 on the autonomous transport automatic guided vehicle 1 in the mixing room 232. This is a system for transporting to a delivery place 210 in the nurse station 251 via a passage 241 in the hospital.

  The medicine preparation room 231 is maintained in a clean room environment, and is separated from the normal environment mixing room 232 by a pass box 150. The pass box 150 is composed of a plurality of boxes in which the prepared medicines are put, and delivers the medicines to the mixing room 232 in the normal environment while keeping the medicine preparation room 231 in a clean room environment. Note that the cleanliness of the medicine preparation chamber 231 is maintained by forcibly ventilating the air inside the pass box 150 each time the door on the mixing room 232 side is opened and closed. A transfer switch 180 that permits (starts) delivery of packages and a stop switch 181 that prohibits delivery of packages are attached to the side surface of the pass box 150 on the side of the medicine preparation chamber 231. Further, the pass box 150 is provided with a door opening / closing sensor 182 for detecting the open / closed state of the door on the medicine preparation chamber 231 side of the box.

  On the side of the mixing room 232 of the pass box 150, a door opening / closing device 120 that opens and closes the door on the side of the mixing room 232, and a transfer device 110 that takes out the luggage from the pass box 150 and transfers it to the autonomous mobile guided vehicle 1. And are provided.

  Here, an outline of medicine transportation will be described. First, the medicine dispensed in the medicine preparation room 231 is placed on the tray and put in the pass box 150. Then, when the transfer switch 180 is turned on (the load set completion signal is turned on), the transfer of the load is started. More specifically, the door opening / closing device 120 and the transfer device 110 recognize that the load is set in the pass box 150 by turning on the transfer switch 180. When it is detected that the autonomous mobile automatic guided vehicle 1 is connected to the transfer machine 110 and is at the home position (initial position) 200, the door of the pass box 150 in which the luggage is set opens and closes the door. The baggage set in the pass box 150 is transferred to the autonomous mobile automatic guided vehicle 1 by the transfer device 110.

  Here, the transfer machine 110 which transfers a load to the autonomous mobile automatic guided vehicle 1 will be described with reference to FIG. The transfer machine 110 is a combination of a transfer device for transferring packages from the pass box 150 to the autonomous mobile guided vehicle 1 and a charging device for charging the autonomous mobile guided vehicle 1. . The transfer machine 110 charges the autonomous mobile automatic guided vehicle 1 when the autonomous mobile automatic guided vehicle 1 is connected to the transfer machine 110 and is on standby, and while the load is being transferred.

  The transfer machine 110 has a slide mechanism 116 for transferring a load. The slide mechanism 116 is provided with a slide rail and a rack and pinion mechanism so as to be movable in the vertical direction and the front-rear direction of the autonomous mobile automatic guided vehicle 1. In addition, a hand is provided at the tip of the slide mechanism 116, and is configured to grip a load and transfer it to the autonomous mobile guided vehicle 1. A tray presence / absence sensor 115 for detecting the presence / absence of a tray (luggage) is attached to the hand.

  The transfer machine 110 includes a pair of pin-like first positioning members 111 provided on the side (front) upper part connected to the autonomous mobile automatic guided vehicle 1 and a second positioning member provided on the lower front part. 112. The second positioning member 112 is attached at a position facing the laser range finder 20 attached to the front of the autonomous mobile guided automatic vehicle 1 when the transfer machine 110 is connected to the autonomous mobile automated guided vehicle 1. ing. In addition, the second positioning member 112 has a rectangular opening, the longitudinal section is rectangular, and the transverse section is trapezoidal (or V-shaped), that is, gradually becomes narrower from the opening to the back. In this way, it is formed of a plate or the like.

  Here, the autonomous mobile automatic guided vehicle 1 uses the position when it is connected to the transfer machine 110 as its home position (initial position). When the first positioning member 111 is detected when the autonomous mobile automatic guided vehicle 1 is activated (that is, when it is connected to the transfer machine 110), the autonomous mobile unmanned transport vehicle 1 detects the first detected by the laser range finder 20. 2. Based on the positional relationship with the positioning member 112, the own machine is accurately adjusted to the initial position. More specifically, based on detection information (angle / distance information) of the second positioning member 112 detected by the laser range finder 20, the relative positional relationship between the autonomous mobile guided vehicle 1 and the transfer machine 110. Based on the positional relationship, the electric motor 12 is driven so as to align the position with the home position 200.

  When the transfer of the package by the transfer machine 110 is completed, the autonomous mobile unmanned transport vehicle 1 autonomously transports the package to the package delivery place 210 in the nurse station 251. The autonomous mobile automatic guided vehicle 1 enters a standby state due to the end of transportation when the user (nurse or the like) who is the recipient of the luggage is picked up in the delivery place 210 or the delivery allowable area 340. Thereafter, when the action start switch 26 is turned on by the user, the autonomous mobile automatic guided vehicle 1 returns to the home position 200 in the mixing room 232 and stands by.

  In the autonomous mobile unmanned conveyance system 3, a pair of optical communication devices 160 are attached to the glass door of the pass box 150 so as to face each other on the drug preparation room 231 side and the mixing room 232 side to perform communication. (See FIG. 15). Thereby, signal communication can be performed inside and outside the clean room through the glass door.

  Next, the operation of the autonomous mobile guided vehicle 1 will be described with reference to FIGS. FIG. 12 is a flowchart showing a processing procedure of installation processing (installation mode) by the autonomous mobile guided vehicle 1. FIG. 13 is a flowchart showing a processing procedure of a transfer process (transfer mode) by the autonomous mobile automatic guided vehicle 1. FIG. 14 is a flowchart showing a processing procedure of activation processing by the autonomous mobile guided vehicle 1. Each process shown in FIGS. 12 to 14 is mainly executed by the electronic control unit 30. The installation process shown in FIG. 12 is executed prior to the transport process shown in FIGS.

  First, the procedure of the installation process (installation mode) shown in FIG. 12 will be described. In step S100, when an environment map creation start instruction is received from the user, the autonomous mobile guided vehicle 1 is guided by the operator and starts moving.

  Next, in step S102, the detection information acquired by the laser range finders 20 and 21, that is, the angle / distance information with respect to surrounding objects, the non-detection information, and the rotation angle of each electric motor 12 detected by the encoder 16 are detected. Is read.

  In subsequent step S104, mask processing is performed on the object information (angle / distance information) read in step S102. Since the mask process is as described above, detailed description is omitted here.

  Next, in step S106, a local map (local map) having the respective origins of the laser range finders 20 and 21 is generated based on the object information subjected to the mask process in step S104. Further, the movement amount of the own machine is calculated based on the rotation angle of each electric motor 12 (dead reckoning).

  In step S108, the self-position is probabilistically estimated using the Bayes filter from the local map (local map) generated in step S106 and the movement amount of the own device.

  Subsequently, in step S110, the local map masked in step S106 is coordinate-converted from the coordinate system having the laser range finders 20 and 21 as the origin to the coordinate system of the global map according to its own position, and projected onto the global map. As a result, a global map of the entire surrounding environment is generated or updated.

  Next, in step S112, a determination is made as to whether setting point registration information has been input from joystick. Here, when the set point registration information is input, in step S114, the location of the point is registered as a set point on the environment map. Also, after the installation is completed, various data editing is performed from the external PC 90, and input information such as a partial map number and travel parameters is also registered. On the other hand, when the set point registration information is not input, the process proceeds to step S116.

  In step S116, a determination is made as to whether an environment map creation end instruction from the user has been accepted. If the environment map creation end instruction has not been received, the process proceeds to step S102, and the above-described steps S102 to S114 are repeatedly executed until the environment map creation end instruction is received. On the other hand, when an environment map creation end instruction is received, a plurality of partial maps 341, 342, and 343 including the created set points are stored, and the installation process (installation mode) ends.

  Next, a description will be given of the processing procedure of the transport process by the autonomous mobile automatic guided vehicle 1 (the transport mode in which the autonomous mobile automatic guided vehicle 1 transports the luggage to the destination while autonomously avoiding the obstacle).

  In step S200, for example, initial processing (initialization processing) including loading processing of environmental maps (partial maps 341, 342, 343) used for autonomous movement (conveyance) is executed.

  Next, in step S <b> 202, detection information acquired by the laser range finder 20 and / or the laser range finder 21, that is, angle / distance information with respect to surrounding objects, and the rotation angle of each electric motor 12 detected by the encoder 16. Is read.

  In subsequent step S204, a local map with the laser range finder 20 and / or the laser range finder 21 as the origin is generated based on the angle / distance information with the surrounding object read in step S202, and each electric motor The movement amount of the own machine is calculated based on the 12 rotation angles (dead reckoning).

  In step S206, the self-position is probabilistically estimated using the Bayes filter from the local map generated in step S204 and the movement amount of the own device.

  In subsequent step S208, the self-position estimated in step S206 is stored. When the self position is within the baggage delivery allowable area 340, the moving speed is set lower than that outside the baggage delivery allowable area 340.

  Next, in step S210, a determination is made as to whether or not there is a package. If there is a package, the process proceeds to step S212. On the other hand, if there is no luggage, the process proceeds to step S216.

  Next, in step S212, a determination is made as to whether or not the goal point delivery location 210 has been reached. Here, if it has not arrived at the delivery place 210, the process proceeds to step S202, and the processes of steps S202 to S210 described above are repeatedly executed. On the other hand, when the own machine arrives at the delivery place 210, the end process is executed in step S214, and then the transfer process (transfer mode) ends. More specifically, in S214, for example, after N seconds have passed since the arrival at the delivery place 210, the status display lamp 40 repeatedly blinks green twice and turns off for a certain period of time. Further, at that time, a voice “Please drop medicine” is emitted from the speaker 45. Thereafter, the process is temporarily exited. If it is detected that the package has been received and the action start switch 26 is turned on, the autonomous mobile guided vehicle 1 returns to the home position 200 described above.

  When step S210 mentioned above is denied, in step S216, the autonomous movement of the autonomous mobile guided vehicle 1 is stopped. In the subsequent step S218, a determination is made as to whether or not the own device is within the delivery allowance area 340. Here, when the own device is in the delivery allowance area 340, the process proceeds to step S220. On the other hand, when the own device is outside the delivery allowance area 340, the process proceeds to step S222.

  In step S220, it is determined that the parcel has been received, and a standby state for completion of conveyance is entered, and the conveyance process ends. More specifically, for example, the status display lamp 40 is lit in green, and the transfer process (transfer mode) ends. Thereafter, the process is temporarily exited. After that, when the action start switch 26 is turned on, the autonomous mobile guided vehicle 1 returns to the home position 200 described above.

  In step S222, it is determined that the luggage has fallen, and the autonomous mobile guided vehicle 1 enters a standby state due to the interruption of conveyance. More specifically, for example, the status display lamp 40 is lit red and the action start switch lamp 46 is blinked. In addition, for example, a sound such as “Please put a medicine tray. Please press the blinking button when the setting is completed” is emitted from the speaker 45 and enters a standby state. Thereafter, the process is temporarily exited.

  Then, the process sequence of the starting process by the autonomous mobile automatic guided vehicle 1 is demonstrated. When, for example, an error or the like occurs in the autonomous mobile automatic guided vehicle 1 and the autonomous movement (conveyance) is stopped, a stop factor is stored in step S300.

  Thereafter, in step S302, a determination is made as to whether or not the own device (electronic control device 30) has been activated (booted). The activation includes, for example, activation of application software when the action start switch 26 is turned on, in addition to activation of the main power breaker 25. Here, when the own device (electronic control unit 30) is activated, the movement stop factor is read in step S304.

  Next, in step S306, based on the movement stop factor read in step S304, it is determined whether or not autonomous movement (conveyance) is possible continuously from the current position (the place). If it is determined that autonomous movement (return on the spot) from the spot is possible, the process proceeds to step S308. On the other hand, if it is determined that autonomous movement is not possible, the process proceeds to step S310.

  In step S308, autonomous movement is started from the spot. Thereafter, the process is temporarily exited.

  In step S310, it is determined whether or not the pin-shaped first positioning member 111 is detected, that is, whether or not the autonomous mobile guided vehicle 1 and the transfer machine 110 are connected. If the pin-shaped first positioning member 111 is detected, the process proceeds to step S312. On the other hand, when the pin-shaped first positioning member 111 is not detected, the process proceeds to step S314.

  In step S312, a positioning operation for adjusting the own machine to the home position 200 (initial position) is executed. Since this operation is as described above, detailed description thereof is omitted here. Thereafter, the process is temporarily exited.

  On the other hand, in step S314, the status of the autonomous mobile guided vehicle 1 is set to an error state (cannot be returned on the spot), and the stopped state is maintained. Thereafter, the process is temporarily exited. At this time, for example, the status display lamp 40 flashes red, and an electronic sound indicating an error from the speaker 45 and “an error has occurred” “while simultaneously pressing the flashing buttons on both sides, "Please carry it to (transfer machine 110) and dock it" is output. Thereafter, the process is temporarily exited.

  As described above in detail, according to the present embodiment, whether or not autonomous movement is possible continuously from the current own position based on the stored stop factor when activated. If it is determined that autonomous movement is possible, autonomous movement is started based on the stored self-position. On the other hand, when it is determined that autonomous movement is impossible, the standby state is maintained. Therefore, for example, in the case of a stop factor with high probability that the self position is held, it is possible to return (restart autonomous movement) from the stopped position. On the other hand, for example, in the case of a stop factor (for example, a sensor file or a system error) in which the self-position may not be held, the standby state is held. Appropriate treatment such as can be received. As a result, it becomes possible to start autonomous movement from an appropriate position at the time of start-up or return, depending on the stop factor of the own device.

  Further, according to the present embodiment, when the stop factor is a contact with an obstacle detected by the bumper switch 24, it is determined that the autonomous movement can be continued. That is, when the vehicle stops due to contact with an obstacle, it is determined that the autonomous movement can be continued continuously because there is a high probability that the self position is maintained. Therefore, in this case, it is possible to return (autonomous movement is resumed) from the position where it was temporarily stopped by contact with the obstacle.

  In addition, according to the present embodiment, when it is determined that continuous autonomous movement from the current self-position is impossible, the speaker 45 is notified to move the self-machine to the initial position. Therefore, if it is determined that continuous autonomous movement from the current self-position is impossible, that is, there is a possibility that the self-position may not be held due to a stop factor (for example, sensor file or system error). When it is determined, for example, an operator or the like can return the machine to the initial position (appropriate position). Therefore, autonomous movement can be started again from the initial position.

  According to the present embodiment, when the first positioning member 111 provided in the transfer machine 110 is detected when activated, the autonomous moving type is based on the positional relationship with the second positioning member 112. The automatic guided vehicle 1 is moved to the initial position. Therefore, for example, the operator can automatically detect the first positioning member 111 of the transfer machine 110 by simply moving the autonomous mobile guided vehicle 1 based on the positional relationship with the second positioning member 112. In addition, the autonomous mobile automatic guided vehicle 1 can be set at the initial position more accurately.

  According to the autonomous mobile unmanned conveyance system 3 according to the present embodiment, the autonomous mobile automatic guided vehicle 1 described above and the transfer machine 110 including the first positioning member 111 and the second positioning member 112 described above are provided. Therefore, as described above, it is possible to start autonomous movement from an appropriate position according to the stop factor of the own device at the time of starting or returning.

  As mentioned above, although embodiment of this invention was described in detail, this invention is not limited to the said embodiment, A various deformation | transformation is possible. For example, in the above embodiment, the transfer device 110 in which the charging device and the transfer device are integrated is used. However, the charging device and the transfer device may be provided separately.

  In the above-described embodiment, the object information is acquired using the laser range finders 20 and 21, but the object information may be acquired by pattern recognition using a stereo camera, for example.

  In addition, the control board 37, the motion controller 38, and the I / O board 39 can be integrated. Similarly, the storage unit 34 and the self-position storage unit 382 may be integrated.

DESCRIPTION OF SYMBOLS 1 Autonomous mobile automatic guided vehicle 3 Autonomous mobile automatic guided system 10 Main body 12 Electric motor 13 Omni wheel 16 Encoder 20, 21 Laser range finder 23 Ultrasonic sensor 24 Bumper switch 25 Main power breaker 26 Action start switch 30 Electronic control unit 31 Local map creation unit 32 Self-position estimation unit 33 Environmental map creation unit 34 Storage unit 35 Path planning unit 36 Control unit 37 Control board 38 Motion controller 39 I / O board 40 Status display lamp 45 Speaker 50 Tray presence sensor 52 Transfer machine connection Detection sensor 60 Loading unit 62 Positioning member 110 Transfer machine 111 First positioning member 112 Second positioning member 200 Home position 210 Delivery place 340 Delivery allowable area 381 Travel control unit 3 2 self-position storage unit 383 obstacle avoidance control section

Claims (5)

Object information acquisition means for acquiring position information of objects existing around the own aircraft;
An environment map showing an object area where an object exists, and storage means for storing an initial position set in association with the environment map;
Self-position estimation means for estimating a self-position based on the environmental map and the position information of the object acquired by the object information acquisition means;
Control means for controlling autonomous movement based on the environmental map and the self-position,
Self-position storage means for sequentially storing the self-position estimated by the self-position estimation means;
When autonomous movement is stopped by the control means, comprising stop factor storage means for storing a stop factor,
When the control means is activated, the control means determines whether or not autonomous movement can be continued from the current self-position based on the stop factor stored in the stop factor storage means, and autonomous movement Based on the self-position stored in the self-position storage means, the autonomous movement is started. Autonomous automatic guided vehicle characterized by holding. It further comprises detection means for detecting contact with an obstacle,
2. The control unit according to claim 1, wherein the control unit determines that the autonomous movement is continuously possible when the stop factor is a contact with an obstacle detected by the detection unit. Autonomous automatic guided vehicle. It further comprises a notifying means for notifying information according to the state of the own machine,
The informing means informs the own apparatus to move to the initial position when it is determined by the control means that continuous autonomous movement from the current own position is impossible. Item 3. The autonomous mobile automatic guided vehicle according to item 1 or 2. It further comprises detection means for detecting the presence or absence of the first positioning member provided outside,
When the first positioning member is detected when the control unit is activated, the control unit is provided outside and based on the positional relationship with the second positioning member detected by the object information acquisition unit, The autonomous mobile automatic guided vehicle according to any one of claims 1 to 3, wherein the own machine is moved to an initial position. The autonomous mobile automatic guided vehicle according to claim 4,
An autonomous mobile unmanned conveyance system comprising: a charging device including the first positioning member and the second positioning member.

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