JP6192506B2 - Moving body - Google Patents

Description

  The present invention relates to a moving body. More specifically, the present invention relates to a moving body having a function of estimating the position and posture of the moving body.

  As a background art relating to a moving object, Patent Document 1 discloses an autonomous mobile device that can recognize autonomously map information and obstacle information in advance and set a destination or the like on a touch panel. .

JP2007-316799

  When a moving body that travels along a predetermined route, such as an automated guided vehicle, derails due to its position being unrecognizable, or has been moved to another location with its power turned off and unrecognizable. In some cases, it is necessary to estimate an initial position and an initial posture in order to return to a travelable state. This estimation is performed using a range including the approximate position of the moving body (reference position for position / posture search) input by the user as a search range. Here, for example, the user may not be able to input the approximate position of the moving object appropriately due to an environment where there are many similar scenes in the factory or an environment where the user is unfamiliar. In such a case, Patent Document 1 has no description of a technique for returning to a state in which the vehicle can travel in a shorter time.

  A typical example of the means for solving the problems according to the present invention is exemplified by a sensor that measures a distance between a moving object and an object in the environment and a direction from the moving object to the object in the environment. A position and orientation estimation unit that estimates the position and orientation of the moving object by matching the geometric shape data of the object in the environment obtained based on the data measured by the sensor unit and the map data of the object in the environment A display unit that displays a search range that is a range that includes the input position and that estimates the position and orientation of the moving object when the position and orientation estimation unit performs matching, and the display unit includes: When matching fails, a search range in which the search has failed is displayed.

  Since the user can specify the reference position while checking the history of the past search range, the possibility of erroneous specification of the reference position is reduced, and as a result, the vehicle can be returned to a state in which the vehicle can run quickly.

FIG. 3 is a schematic diagram illustrating a configuration of a moving object according to the first embodiment. 3 is a flowchart illustrating the operation of the moving object according to the first embodiment. It is a schematic diagram which shows the environment where the mobile body which concerns on Example 1 is arrange | positioned. FIG. 6 is a schematic diagram illustrating an example in which the initial position and initial posture are determined to be successful by the moving body according to the first embodiment. FIG. 5 is a schematic diagram illustrating an example in which the estimation of the initial position and the initial posture by the moving body according to the first embodiment is determined to have failed. FIG. 6 is a schematic diagram illustrating an example in which the initial position and initial posture estimation by the moving body according to the first embodiment is determined to be successful after it is determined to be a failure. 6 is a schematic diagram illustrating a display unit of a moving body according to Embodiment 2. FIG. FIG. 10 is a schematic diagram illustrating a display unit of a moving object according to a third embodiment. FIG. 10 is a schematic diagram illustrating a configuration of a moving object according to a fourth embodiment. 10 is a flowchart illustrating an operation of setting a search range of a moving object according to the fourth embodiment. FIG. 10 is a schematic diagram illustrating a display unit of a moving object according to a fourth embodiment.

  As an example of the moving body, an embodiment of the invention in a robot having a moving mechanism using wheels will be described below with reference to FIG. The robot 0101 includes a controller unit 0102, a movement mechanism unit 0103, a distance sensor unit 0104, a distance sensor control unit 0105, a position / orientation estimation unit 0106, a route planning unit 0107, a movement mechanism control unit 0108, map data 0109, route data 0110, a display. A section 0111, search range history data 0112, and an input display control section 0113. In addition, although not shown here, for example, hardware such as a case, power supply / wiring, and basic software such as OS and various types of firmware that are necessary for each unit to work together and operate And

  Here, it is assumed that each unit in the controller 0102 is implemented as software, and the others are implemented as hardware. However, each unit in the controller 0102 may be implemented as hardware. In addition, each unit other than the distance sensor unit 0104 and the moving mechanism unit 0103 may be partially in a remote place as long as communication is possible. Moreover, the hardware and software which comprise the above each part may perform selection according to embodiment.

  First, processing in the robot 0101 during normal automatic traveling will be described. The robot 0101 causes the distance sensor control unit 0105 to cause the distance sensor unit 0104 to measure the environment, thereby obtaining distance data including the distance between the moving object and the object in the environment and the direction from the moving object to the object in the environment. . Here, a laser distance sensor is used as the distance sensor unit 0104. This laser distance sensor measures the distance from the sensor to the object by measuring the time from when the laser is irradiated until the irradiated laser is reflected by the object in the environment and returns to the sensor. It is assumed that a distance to an object within the range of the rotation angle (hereinafter referred to as scanning) can be measured by measuring the laser irradiation unit while rotating the laser irradiation unit at a certain rotation angle. If this scan is performed in a plane, the distance and direction from the sensor to the object on the plane (hereinafter referred to as the scan plane) formed by the laser can be obtained by the scan. The data obtained by combining the distance data between the sensor and the object in each direction obtained at this time and the direction data irradiated with the laser are simply referred to as distance data.

  Since this distance data is recorded as a set of distance and direction data, it can be converted into position data based on the sensor. The data obtained by converting the distance data into the position data in this way is referred to herein as geometric shape data. Here, it is assumed that the scanning surface of the laser distance sensor is attached to the robot so as to be parallel to the floor surface, and geometric shape data at the height of the scanning surface of the laser distance sensor can be obtained.

  The obtained geometric shape data is sent to the position / orientation estimation unit 0106. In the position / orientation estimation unit 0106, map data 0109 in which the geometric shape of the environment at the height of the scan plane is recorded as an image is read in advance. In the map data 0109, the presence or absence of an object is recorded, and the pixel in which the presence of an object is recorded (hereinafter referred to as an object existence pixel) is included in the geometric shape data represented in an image form. A process (hereinafter referred to as matching) for searching the position / orientation of the geometric shape data on the map data when the object existing pixels overlap most is performed. As a result, the position and orientation of the geometric shape data in the coordinate system of the map data 0109 when the geometric shape data and the map data 0109 are most overlapped are obtained. This directly corresponds to the position / orientation of the laser irradiation unit of the distance sensor unit 0104, but when representing the position / orientation of the robot, any part of the robot housing may be used as a reference. The obtained position / posture of the distance sensor unit 0104 is taken as the position / posture of the robot 0101.

  Subsequently, the process proceeds to the route planning unit 0107, and the target position / orientation for automatic traveling is calculated from the route data 0110 set in advance and the current position / orientation of the robot obtained by the position / orientation estimating unit 0106. Done.

  Subsequently, the moving mechanism control unit 0108 controls the moving mechanism unit 0103 so as to reduce the deviation between the calculated target position / posture and the current position / posture of the robot 0101, that is, the rotational speed of the wheel and the steering. A cutting angle or the like is obtained, and an instruction is given to the motor or the like. As described above, tracking of the robot's route and thus automatic traveling to the destination are realized.

  If this robot is moved with its power turned off for maintenance, etc., and turned on at another location, or it is unable to perform position and orientation estimation due to a communication trouble, etc. Consider a case in which a robot that does not know its own position / orientation is returned to the route to be traveled, such as when it stops after traveling a certain distance.

  In such a case, the robot needs to estimate the initial position and initial posture (initial position and posture estimation). This refers to the estimation of the position and posture performed at the start of robot operation.

  In this process, first, the input display control unit 0113 displays a map on the display unit 0111. As the display unit 0111 here, a touch panel is assumed, but other display / operation input devices such as a combination of a display and a mouse may be used. In the map of the environment displayed on the touch panel, when the user designates the approximate position of the robot by touching the screen or the like, a matching search range including the designated position is set and displayed. Subsequently, assuming that the moving body is located in the set search range, the initial position and the initial posture are estimated by matching the geometric shape data and the map data when assuming an arbitrary posture.

  The success or failure of the result of the estimation of the initial position and the initial posture is performed based on the ratio of the geometric shape data in the matching and the map, and if it is determined to be successful, the position and posture periodically performed in the automatic driving described above. The process proceeds to estimation (hereinafter, normal position / orientation estimation).

  On the other hand, if it is determined that it has failed, the initial position and the initial posture are estimated again after specifying the search range again. Here, the moving body according to the present embodiment is characterized in that the search range is designated by the input display control unit 0113 in a state where the search range in which the search has failed (hereinafter referred to as search range history) is displayed. As a result, the search range can be set while avoiding the search range in which the estimation of the initial position and the initial posture fails. Thereafter, the initial position and the initial posture are estimated again, and if successful, the process proceeds to normal position and posture estimation. As described above, the robot is in a state of grasping its own position / posture in the environment, and automatic traveling is possible. It should be noted that the invention according to the present embodiment is not particularly limited as to the display mode when it is determined to be successful. That is, the mobile object according to the present embodiment only needs to display the above when it is determined that the mobile device has failed, and the mobile object that displays the search range when it succeeds and the mobile object that does not display the technology It is included in the scope of philosophy.

  Next, a specific situation is set, and the operation of the robot 0101 in that situation will be described with reference to the flowchart of FIG. As a specific situation, it is assumed that the robot is automatically run at the position shown in the drawing in the environment shown in FIG.

  First, when the controller 0102 is activated (0201), as initialization of each unit in FIG. 1, resetting of hardware such as a distance sensor and a moving mechanism, activation of an OS and robot software in the controller, and the like are performed (0202). .

  Subsequently, as processing of the position / orientation estimation unit 0106, map data 0109 is read (0203). Here, the map data 0109 is image data, the position of each pixel corresponds to the coordinate, and the presence or absence of an object in the environment is recorded in the pixel value of each pixel.

  Subsequently, it is confirmed whether the estimation of the initial position and the initial posture is completed (0204). If the estimation is not completed, the process proceeds to the search range setting process (0210), and a map corresponding to the display unit 0111 is displayed on the touch panel. Data is displayed (0217). Now, in FIG. 3, when an area 0301 with a slanting line on the left represents an obstacle existing area, the outer edge of the obstacle existing area is displayed on the touch panel as an object presence pixel represented by 0401 in FIG. In the process 0217 regarding this display, if the past search range remains as a history, it is also displayed, but in this example, the past search range is not yet displayed at this time. . Note that the coordinate system 0302 describes how to take a coordinate system that is a reference for the position and orientation obtained when the position and orientation are estimated, but may or may not be displayed as shown in FIG.

  When the user confirms this map 0401 and designates the approximate position 0406 of the robot by touching the screen, a search range 0407 by a rectangle centering on the position 0406 is provided and displayed on the touch panel and the position of the search range The shape is recorded as search range history data 0112 (0218).

  Subsequent to the search range setting process (0210), measurement by a laser distance sensor is performed. Assuming that the robot 0305 including the laser distance sensor 0306 is disposed at the position 0307, the geometric shape data 0303 of the environment corresponding to the scan range 0304 in FIG. 3 is obtained (0211). In the scan range 0304, a portion represented by a thick dotted line is a portion obtained as the geometric shape data 0303 when the laser beam is reflected by the obstacle.

  Subsequently, an initial position and an initial posture are estimated using the geometric shape data and the map data (0212). As described above, the position / orientation estimation is performed by the position / orientation estimation unit 0106 based on matching between geometric shape data and map data.

  Consider a case where the map data 0401 is matched with the geometric shape data 0402 obtained by the robot 0305 scanning with the position / posture of FIG. 3 to estimate the position / posture of the robot 0305.

  In the matching, in the search range 0407 provided based on the user's specification, the ratio at which the geometric shape data 0402 and the map data 0401 overlap with each other in the position / posture that the geometric shape data 0402 can take is evaluated, and the overlapping ratio becomes the maximum. Find the position and posture of the moment.

  Specifically, for example, when the geometric shape data 0402 is superimposed on the map data 0401 at the position 0405 in FIG. 4 and the posture of the arrow extending from the position 0405, the overlapping method is as shown in FIG.

  At this time, for example, when focusing on the range of 0403, the map data 0401 is represented by an image made up of an object presence pixel 0409 and a pixel 0411 indicating that no object exists. It is represented by an object existence pixel 0410 that forms At this time, the object existence pixel 0410 forming the geometric shape data 0402 overlaps with the object existence pixel 0409 of the map data 0401 at 0408. In this case, this pixel is regarded as a match. The number of matching object existence pixels is counted in this way, and the number of matching object existence pixels with respect to the total number of object existence pixels constituting the geometric shape data, that is, the ratio of the geometric shape data matching the map data is maximized. The position / posture of the geometric data at the time is obtained within the search range.

  In FIG. 4, the ratio (hereinafter referred to as an evaluation value) that the geometric shape data 0402 overlaps with the object existence pixel 0401 forming the map data at the position 0404 and the posture of the arrow extending from the position 0404 is maximum. Thus, a matching solution, that is, the position / posture of the robot 0305 is obtained.

  When the evaluation value is larger than the threshold value, it is determined that the initial position and the initial posture are successfully estimated. On the other hand, if it is smaller than the threshold value, it is determined as failure and the process returns to the search range setting 0210 (0214).

  In the above-described example, the user designates the position 0406 as the approximate position of the robot, and the search range 0407 provided thereby includes the position 0404 to be a solution. Therefore, the evaluation value increases, and the initial position And the estimation of the initial posture is judged to be successful. On the other hand, consider a case where the user designates the position 0501 in FIG. 5 as the approximate position of the robot. In this case, the search range 0503 provided on the basis of the position 0501 does not include the position 0404 which is the above-described solution. Therefore, the geometric shape data does not overlap with the map data, and is overlapped as 0502 in FIG. The estimation result of the initial position and the initial posture in a state where it is not obtained is obtained, and the evaluation value becomes small. At this time, the process returns to the process 0210 (0214), and the search range is set again. Here, the invention according to the present embodiment is characterized in that the previous search range 0503 is displayed on the display unit 0111 when the process 0210 is performed again, as shown in FIG. This makes it easy for the user to specify a position 0505 that is distant from the displayed search range 0503 based on the fact that there is no solution in the search range 0503 provided with the position 0501 as a reference. Based on the above, it is assumed that the search range 0504 is provided in the second processing 0210.

  In this case, since the position 0404 (0505), which is the above-mentioned solution, is within the search range, the above-described matching results in a solution with a high evaluation value, that is, an estimation result (0601 in FIG. 6) of the robot position / posture. Will be. At this time, the geometric shape data 0602 is displayed in a state matched with the map data 0603, and it can be confirmed that the position / orientation is correctly estimated. In FIG. 6, since it becomes difficult to read the geometric shape data 0602 and the map data 0603 when they are completely overlapped, they are shown slightly shifted for explanation.

  As described above, the moving body according to the present embodiment includes a sensor unit (0104) that measures the distance between the moving body and an object in the environment and the direction from the moving body to the object in the environment, and data measured by the sensor unit. A position and orientation estimation unit (0106) for estimating the position and orientation of the moving object by matching the geometric shape data of the object in the environment obtained based on the map and the map data of the object in the environment, and the input position And a display unit (0111) for displaying a search range that is a range for estimating the position and orientation of the moving object when the position and orientation estimation unit performs matching. When the search fails, the search range where the search has failed is displayed.

  With such a feature, the moving body according to the present embodiment can reduce erroneously specifying a search range that fails to estimate the initial position and initial posture, and thus the robot can automatically run quickly. It will be possible to be in a state.

  Note that the above-described matching process is assumed here as the process for calculating the position / orientation by the position / orientation estimation program 0214, but other methods may be used as long as the same effect can be obtained. . For example, ICP (Iterative Closest Point) may be used. Further, although only the position is specified as the reference of the search range, the position and orientation, and the search range shape may be specified. Alternatively, the position and orientation of the rectangle, that is, the position and orientation of the search range may be adjusted by dragging while keeping touching the set rectangle.

  If the initial position and the initial posture are successfully estimated by the above flow, the geometric shape data is acquired by the laser distance sensor (0205), and the normal position and posture based on matching equivalent to the estimation of the initial position and the initial posture is performed. Estimation is performed (0206). This is position and orientation estimation based on the same principle as the above-described initial position and initial orientation estimation, but the search range is different in that it is automatically set based on the immediately preceding estimated position and orientation.

  Thereafter, as a route plan (0208) based on the result of the normal position and orientation estimation, a target position and orientation for automatic traveling along a predetermined route from the current position is calculated, and movement mechanism control is performed ( 0209). Note that if there is an end operation input during the processing from the normal position / orientation estimation 0206 to the control 0209 of the moving mechanism (0207), the automatic running is stopped, the hardware / software end processing is performed, and the program Is terminated (0215).

  Another method is shown about the search range setting 0210 of Example 1. FIG. In Example 1, when estimating the initial position and initial posture, a rectangular search range was set on the map displayed on the touch panel based on the position specified by the user touching the screen. Here, it is assumed that a search range having an arbitrary shape other than a rectangle can be set.

  Specifically, it is assumed that an arbitrary shape is drawn when the position of the vertex of a figure is input at the time of search range setting 0210, and this shape is set as a search range. As a result, for example, the search range can be set in an arbitrary shape like the search range 0701 in FIG. Further, it is assumed that a plurality of search ranges can be set, and a search range 0703 can be added in addition to the search range 0701 in FIG.

  In the set search range, the time required to estimate the initial position and initial posture is calculated and displayed. This time is obtained by multiplying the area of the search range obtained from the polygon area formula by the search time per unit area. The calculated time is displayed in the search time display area 0702 of FIG.

  Another method is shown about the search range setting 0210 of Example 1. FIG. Specifically, as shown in FIG. 8, when the user inputs time in an allowable search time input area 0802 displayed together with a map on the touch panel, a search range 0801 having a size corresponding to the allowable search time is displayed. The search range is set by moving the search range to a position including the approximate position of the robot by dragging or the like. As a result, the longer the allowable search time is, the longer it takes, but the possibility of re-setting the search range while looking at the search range history decreases. The search range history display of the first embodiment may be combined with the display.

  In Examples 1 to 3, the user has specified the approximate position of the robot on the map displayed on the touch panel. However, in order to make such a designation effective, the user himself / herself needs to know the approximate position on the map to some extent. In this case, it is difficult for a user who is not familiar with the location to specify the position of the robot. Based on this, we will describe a simpler method for specifying the approximate position of the robot.

  The configuration of the robot at this time is shown in FIG. The basic configuration is the same as that in FIG. 1, but region-specific search range data / position / attitude history data 0901 is added. Further, it is assumed that the search range setting 0210 has been changed to the process of FIG.

  In processing 1001, area-specific search range data / position and orientation history data 0901 are read. Here, the area-specific search range data is data in which a user tags a region set on the map with a name such as a room or a passage, and can be specified as a search range.

  In addition, a region including the position and orientation history data read at the same time is searched, and the corresponding region is set as a search range (1002).

  Subsequently, a map or the like is displayed on the touch panel. This is shown in FIG. On the screen, in addition to the map, the passage area 1101 and the room area 1103 recorded in the area-specific search range data are displayed separately. The previous position / orientation is displayed as 1102 based on the position / orientation history data read at the same time.

  Here, if the user can determine that the robot is at least on the passage, the position and orientation estimation is started as it is. When it can be determined that the object is not on the passage and is, for example, in the room, the room is selected as the search range (1004, 1005), and the initial position and initial posture are estimated. Here, a list of search range candidates associated with the search range such as the common area and the room area is displayed as shown on the right side of FIG. 11, and the robot is selected from the list of names corresponding to the areas 1105 to 1109. The search range may be set by selecting the name of the area including the.

  0101: Robot, 0102: Controller unit, 0103: Movement mechanism unit, 0104: Distance sensor unit, 0105: Distance sensor control unit, 0106: Position and orientation estimation unit, 0107: Path planning unit, 0108: Movement mechanism control unit, 0109: Map data, 0110: Route data, 0111: Display unit, 0112: Search range history data, 0113: Input display control unit, 0201-0214: Flow chart, 0301: Obstacle presence area, 0302: Coordinate system set in the map , 0303: Geometric shape data, 0304: Scan range, 0305: Robot, 0306: Laser distance sensor, 0307: Position, 0401: Map data, 0402: Geometric shape data, 0403: Range, 0404: Position, 0405: Position, 0406 : Position, 0407: Search range, 0408: Element, 0409: Object existence pixel, 0410: Object existence pixel, 0411: Pixel, 0501: Position, 0502: Estimation result, 0503: Search range, 0504: Search range, 0505: Position, 0601: Estimation result, 0602: Geometric shape Data, 0603: map data, 0701: search range, 0702: search time display area, 0703: search range, 0801: search range, 0802: allowable search time input area, 0901: position and orientation history data, 1001-1005: flowchart, 1101: Passage area 1102: Position / Attitude 1103: Room area 1105: List of names corresponding to the area 1106: List of names corresponding to the area

Claims (5)

A sensor unit for measuring a distance between the moving object and an object in the environment, and a direction from the moving object to the object in the environment;
A position for estimating the position and orientation of the moving object by matching the geometric shape data of the object in the environment obtained based on the data measured by the sensor unit and the map data of the object in the environment A posture estimation unit;
A display unit that displays a search range that is a range that includes an input position and that is a range in which the position and orientation estimation unit estimates the position and orientation of the moving body when the matching is performed;
When the matching fails, the display unit displays the search range where the search has failed ,
Wherein the display unit, the moving body, characterized in that have a search time display area for displaying the search time required to explore the range in which the search range is set. A sensor unit for measuring a distance between the moving object and an object in the environment, and a direction from the moving object to the object in the environment;
A position for estimating the position and orientation of the moving object by matching the geometric shape data of the object in the environment obtained based on the data measured by the sensor unit and the map data of the object in the environment A posture estimation unit;
A display unit that displays a search range that is a range that includes an input position and that is a range in which the position and orientation estimation unit estimates the position and orientation of the moving body when the matching is performed;
When the matching fails, the display unit displays the search range where the search has failed,
The display unit has an allowable search time input area for receiving an input of an allowable search time,
The search range is set such that a search time required for searching the range is equal to or less than the allowable search time. In claim 1 or 2 ,
The mobile object characterized in that the search range is a rectangle. In any one of claims 1 to 3,
The display unit displays a map of the environment in such a manner that a passage area and a room area can be distinguished. In claim 1 or 2 ,
The moving body, wherein the display unit is a touch panel that receives the input.

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