JP6402526B2 - Movement control device, movement control method, movement control program, and target member used for movement control method - Google Patents

Description

  The present invention relates to a moving body control technique, and more particularly, to a movement control device, a movement control method, a movement control program, and a target member used for a movement control method for performing movement-related control.

At work sites, attempts have been made to increase work efficiency by introducing robots and the like for cleaning and transport.
For example, a mobile robot that performs cleaning is known (see, for example, Patent Document 1). The mobile robot described in this document senses a state quantity that changes due to movement, senses a distance from one or more fixed positions, and calculates an absolute position. Then, the optimum position of the current mobile robot is estimated using the sensed changing state quantity and the calculated absolute position, and the position is calibrated according to the optimum position. Thereby, a movement error can be reduced and a robot can be moved efficiently.

JP 2007-149088 A

  The technique described in Patent Document 1 requires a state quantity that changes depending on the movement of the mobile robot, and measurement of this value includes an error. For this reason, this technique uses a fixed position to calibrate the position. However, at the work site, the position of the range to be cleaned and transported may be changed. In this case, if the technique of Patent Document 1 is applied, it is necessary to reset the fixed position for calibration, and it is not possible to easily change the range for cleaning or conveyance.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a movement control device, a movement control method, and movement control for efficiently controlling the movement of a moving body by changing the set position of the movable range. The object is to provide a target member for use in a program and a movement control method.

  A movement control device that solves the above-described problem is a movement control device that includes a control unit that controls a drive mechanism unit that drives a moving mechanism provided in the moving body in order to move the moving body. The body includes a measurement unit that specifies an angle with respect to the target member and a distance to the target member in polar coordinates having the target member as an origin position according to reflected light reflected by the target member with respect to the irradiated light, The control unit executes a target position specifying process for specifying a target position included in a predetermined travel route with respect to the target member arrangement position, and an angle with respect to the target member in the polar coordinates from the measurement unit. And the current position specifying process for acquiring the distance and specifying the current position of the mobile body in order to reach the target position on the travel route in order. By repeating while moving, and summarized in that for running the mobile. According to this configuration, since the moving body travels with reference to the angle (direction) and position of the target member in polar coordinates, it is possible to easily change the set position of the moving range of the moving body by moving the target. Can do.

  In the movement control device, when the control unit acquires the movement amount from the movement mechanism and determines that the target position has been reached based on the movement amount, the control unit uses the measurement unit and uses the target in the polar coordinates. The angle and distance to the member are measured, and when the current position calculated based on the measurement is larger than a predetermined error range with respect to the target position, the drive mechanism unit is driven to move to the target position. It is preferable. According to this configuration, after the position of the moving body is specified based on the movement amount acquired from the moving mechanism, the position of the moving body is corrected based on the measurement from the measurement unit. The current position can be specified.

  In the movement control device, it is preferable that the current position specifying process detects an obstacle on the travel route and corrects the travel route according to the presence of the obstacle. According to this configuration, it is possible to detect the presence or absence of an obstacle and move the moving body along a travel route that avoids the obstacle.

  The said movement control apparatus WHEREIN: In the said target position specific process, the said control part specifies the target position contained in the said travel route using the angle and distance with respect to the said target member. According to this configuration, the position of the moving body can be specified based on the angle and distance with respect to the target member.

  In the movement control device, it is preferable that the travel route is determined with respect to the arrangement positions of a plurality of target members, and the target member used in the current location specifying process is changed at a target position in the middle of the travel route. . According to this configuration, since the travel route is defined using a plurality of target members, the moving body can be moved in a range exceeding the measurable range of the measuring unit of the moving body.

  A target member that solves the above problem is a target member that is used in a movement control method for a moving body that includes a measurement unit that identifies a relative direction and a relative distance according to reflection of irradiated light, and is a column-shaped main body The gist of the invention is that a plurality of highly reflective materials are provided on the outer peripheral surface. According to this configuration, the position of the target member is grasped using the luminance of the light reflected by the highly reflective material and the luminance of the light reflected at the other part of the target member, and the reference member's reference line with respect to the reference line. The direction (horizontal angle) can be specified.

  A target member that solves the above problem is a target member that is used in a movement control method for a moving body that includes a measurement unit that identifies a relative direction and a relative distance according to reflection of irradiated light, and is a fixed part of a main body On the other hand, a rotating part that rotates about the central axis of the main body is provided, and a blade member that protrudes in the horizontal direction is formed on the rotating part, and the angle of the target member is set on the fixed part. The gist is that a specific configuration is provided. According to this configuration, the position of the target member can be grasped by the rotating rotating part, and the direction (horizontal angle) of the target member with respect to the reference line can be specified by the fixing part.

  ADVANTAGE OF THE INVENTION According to this invention, the setting position of a movable range can be changed and the movement of a mobile body can be controlled efficiently.

Explanatory drawing for demonstrating the trolley | bogie and target member which are used for the movement control method in embodiment of this invention. It is explanatory drawing explaining the structure of the trolley | bogie in embodiment of this invention, (a) is a perspective view of a trolley | bogie, (b) is explanatory drawing explaining the measurement part attached to the trolley | bogie. The block diagram explaining the internal structure of the controller in embodiment of this invention. It is a figure explaining the target member in embodiment of this invention, (a) is an external appearance perspective view of a target member, (b) is explanatory drawing explaining the position for calculating a target member. The flowchart explaining the process sequence of the movement control process in embodiment of this invention. It is a flowchart explaining the process sequence in embodiment of this invention, (a) is target recognition process, (b) is route correction process. It is explanatory drawing explaining the route of the trolley | bogie in the example of a change of this invention, (a) shows the case where there is no obstacle, (b) shows the case where there is an obstacle. Explanatory drawing explaining the route of the trolley | bogie in the example of a change of this invention. It is a figure explaining the target member in the modification of this invention, (a) is an external appearance perspective view of a target, (b) is explanatory drawing explaining the position of the target measured by the measurement part of the trolley | bogie, (c) is The flowchart explaining the process sequence of a target recognition process. The flowchart explaining the process sequence of the movement control method using two trolley | bogies in the example of a change of this invention.

  Hereinafter, with reference to FIGS. 1 to 7, an embodiment in which a target member used in a movement control device, a movement control method, a movement control program, and a movement control method is embodied will be described. The present embodiment is applied to the case where the floor of the movement target area is cleaned at a construction site.

  As shown in FIG. 1, in this embodiment, a carriage 20 as a moving body and a movable target member 40 are used. In the present embodiment, the carriage 20 moves in a square spiral shape as indicated by a two-dot chain line in the movement target area 50. The movement target area 50 is set to a size that allows a later-described measuring unit 24 mounted on the carriage 20 to measure the distance from the target member 40 disposed in the center.

First, the configuration of the carriage 20 will be described with reference to FIGS. 2 and 3.
As shown in FIG. 2A, the carriage 20 includes a base portion 21 on which an object to be transported is placed. The base portion 21 is a square plate member to which a plurality of wheels (movement mechanisms) are attached. In the present embodiment, a through hole 21 a that penetrates the upper surface and the lower surface is formed in the center of the base portion 21. In addition, as a wheel, the wheel which can move to all directions is used.

The carriage 20 is provided with a cylindrical support section 22, a measurement section 24, a cleaning module 26, a controller 30, a drive mechanism section 35, and an encoder section 37.
The support portion 22 is erected in the vicinity of one corner of the base portion 21. A measurement unit 24 is attached to the upper part of the support unit 22. The measurement unit 24 has one or more laser range finders (hereinafter referred to as LRF). In the present embodiment, the measurement unit 24 is configured using two LRFs 24a and 24b. The LRFs 24a and 24b are scanning optical distance meters that can output physical shape data of a space, and an irradiation unit that irradiates laser light as monochromatic light and a light receiving unit that receives reflected light of the laser light. And.

  As shown in FIG. 2B, the LRF 24a (24b) of the present embodiment has a fan-shaped scanning range Ra (Rb) of ± 135 degrees. Then, the laser beam reflected and returned by the object existing in the scanning range Ra (Rb) is detected. Further, in the present embodiment, the LRFs 24a and 24b are arranged so that the scanning range Ra of the LRF 24a and the scanning range Rb of the LRF 24b are shifted by 180 degrees.

  The LRFs 24a and 24b irradiate laser light within a predetermined scanning range from the irradiating unit, and the light receiving unit detects reflected light from objects existing in the scanning ranges Ra and Rb. The LRFs 24a and 24b measure the reflected luminance, the detection angle of the laser (reflected wave), and the required time (propagation time) from laser irradiation to light reception. Then, the arrangement angle and distance (measurement distance) to the object are detected based on the reflection luminance, the detection angle of the laser, and the propagation time.

  As shown in FIG. 2A, the cleaning module 26 is placed on the base portion 21. The cleaning module 26 is a vacuum cleaner that is detachably attached through the through hole 21 a of the carriage 20. The cleaning module 26 includes a vacuum machine 27 and a dust collection box 28. The dust collection box 28 stores the dust sucked by the vacuum machine 27. The vacuum machine 27 starts suction when the movement of the carriage 20 starts, and stops suction when the movement of the carriage 20 stops. The vacuum machine 27 is connected to the suction port 27p via the nozzle 27a. The suction port 27p is inserted into the through hole 21a of the base portion 21 and is disposed at a position in contact with the floor surface.

  The controller 30 is connected to the measurement unit 24, the encoder unit 37, and the drive mechanism unit 35. The controller 30 executes a movement control process using output signals from the measurement unit 24 and the encoder unit 37. Details of the controller 30 will be described later.

The drive mechanism unit 35 controls the direction and rotation of the wheels to move the carriage 20 in a predetermined direction.
The encoder unit 37 includes an inertial measurement unit that detects the moving direction of the carriage 20 and a distance measurement unit that measures the amount of rotation of the wheel.

Next, the controller 30 that controls the movement of the carriage 20 will be described with reference to FIG.
The controller 30 includes a control unit 31 including a CPU, RAM, ROM, and the like, a route pattern storage unit 32, and a travel route data storage unit 33. The control unit 31 functions as a path recording unit 310, a position detection unit 311, a path generation unit 312, a drive control unit 315, and an output unit 316 by executing the movement control program. Further, the control unit 31 acquires an instruction from a start button (not shown).

  The route recording unit 310 acquires a route pattern in response to an operation from an external computer terminal connected to the controller 30. Further, the route recording unit 310 converts the acquired route pattern into a polar coordinate system (in this embodiment, a circular coordinate system) and records it in the route pattern storage unit 32. Here, in the polar coordinate system, the coordinates of each point are set in the horizontal plane with the center axis of the target member 40 as the origin, the angle from a predetermined reference line (coordinate axis) (angle in the plane), and the center of the target member 40. It is a coordinate system expressed by the distance from.

  The position detection unit 311 detects the current position of the carriage 20 relative to the target member 40 based on the output signal from the measurement unit 24. Further, the position detection unit 311 detects the current position of the carriage 20 based on the output signal from the encoder unit 37. In addition, the position detection unit 311 determines whether there is an obstacle around the signal according to the signal from the measurement unit 24, and if there is an obstacle, specifies the position of the obstacle.

  The route generation unit 312 generates a travel route using the route pattern and stores it in the travel route data storage unit 33. In this case, the route generation unit 312 updates the route data stored in the travel route data storage unit 33 in accordance with the position of the target member 40 and the obstacle detected by the position detection unit 311.

  The drive control unit 315 controls the drive mechanism unit 35 in accordance with the travel route stored in the travel route data storage unit 33. Further, the drive control unit 315 determines whether or not the position of the carriage 20 detected by the position detection unit 311 has reached the target position. And when it determines with not having arrived at the destination, the drive mechanism part 35 is controlled to move to the destination position.

  The output unit 316 executes a process of outputting the data stored in the travel route data storage unit 33 to the computer terminal in response to an operation from an external computer terminal connected to the controller 30.

  The route pattern storage unit 32 stores data related to a route pattern that causes the carriage 20 to travel. The route pattern is a template of a route along which the carriage 20 moves in the movement target area (for example, a square spiral shape or a rectangular wave shape pattern). The route pattern data includes an outline of the entire route in the movement target area, the order of each position (target position) whose direction is changed on the route, and the coordinates of the target position (the direction of each target position with respect to the center of the movement target area). And distance).

  The travel route data storage unit 33 stores data related to the route used for the movement of the carriage 20. The travel route data is created based on the route pattern acquired from the route pattern storage unit 32 and the position of the obstacle from the position detection unit 311 when the controller 30 is powered on. Furthermore, when the carriage 20 is moved, it is updated according to the position of the newly detected obstacle. The travel route data includes data related to the target position identifier and the target position.

In the target position identifier data area, data relating to an identifier for specifying a target position whose direction is changed on the route is recorded. In this embodiment, the order when traveling on the route is used as the target position identifier.
In the target position data area, data relating to the angular coordinates of the target position is recorded.

Next, the target member 40 will be described with reference to FIG.
As shown in FIG. 4A, the target member 40 has a columnar body 41 having a radius x1 integrally formed on a pedestal 45. A plurality (two in this case) of highly reflective materials 42 are attached to a part of the outer periphery of the main body 41. In the present embodiment, the distance D1 (the inner angle of the circular arc is 90 degrees) so that the two highly reflective materials 42 are rotationally asymmetric with respect to the center c1 of the main body 41 (a shape that does not become the same except that it is rotated 360 degrees). Less than the distance). The highly reflective material 42 is made of a material having a high reflectance of laser light, such as an aluminum sheet, for example. Further, the highly reflective material 42 is disposed at a height corresponding to the laser beams La and Lb irradiated by the LRFs 24a and 24b.

  As shown in FIG. 4B, when the laser beams La and Lb of the LRFs 24a and 24b are irradiated, they are mapped on the circumference as point cloud data corresponding to the direction and distance of the reflected light. Here, dots are indicated by circles, and high-luminance points are indicated by white circles. And the high-intensity point reflected by the highly reflective material 42 is arranged on the outer periphery of the highly reflective material 42 at a distance D1.

  Next, the movement control process using the cart 20 and the target member 40 described above will be described with reference to FIGS. Here, in the horizontal plane, the direction crossing the vertical plane including the center of one highly reflective material 42 of the target member 40 and the center c1 of the target member 40 is defined as “0 degree”.

  First, the control unit 31 of the controller 30 executes a travel route setting process (step S1-1). Specifically, the route generation unit 312 of the control unit 31 acquires the route pattern stored in the route pattern storage unit 32.

  Next, the control part 31 of the controller 30 performs the conversion process to the angular coordinate system centering on a target (step S1-2). Specifically, the route generation unit 312 of the control unit 31 converts each target position of the acquired route pattern into coordinates (angle and distance) with respect to the center of the movement target area. The route generation unit 312 generates a travel route in which the coordinates of the target position are associated with the order of movement on the travel route (target position identifier), and records the travel route in the travel route data storage unit 33.

Thereafter, the user places the carriage 20 in the vicinity of the target member 40. Then, the user presses the start button of the carriage 20.
In this case, the control unit 31 of the controller 30 executes a travel operation start process (step S1-3). Specifically, the control unit 31 detects pressing of the start button. Further, in this case, the vacuum machine 27 of the cleaning module 26 starts a suction operation.

Next, the control unit 31 of the controller 30 executes target recognition processing (step S1-4). Details of this processing will be described later.
Then, the following processing is repeated from the first target position (initial position) to the last target position.

  First, the controller 31 of the controller 30 executes a vector calculation process up to the target position (step S1-5). Specifically, the drive control unit 315 of the control unit 31 acquires the coordinates of the next destination from the travel route data storage unit 33. Then, the drive control unit 315 compares the acquired coordinates of the destination and the coordinates of the current location, and calculates a movement direction (vector direction) and a movement distance (vector magnitude) for reaching the destination.

  Next, the control part 31 of the controller 30 performs the movement process to the target position (step S1-6). Specifically, the drive control unit 315 of the control unit 31 controls the direction of the wheel according to the calculated movement direction, generates a signal for controlling the rotation of the wheel according to the movement distance, and sends it to the drive mechanism unit 35. Output. The drive mechanism unit 35 controls the wheel based on this signal and moves the carriage 20. In this case, the encoder unit 37 measures the moving direction of the carriage 20 and the rotation amount of the wheel, and supplies the measurement result to the position detection unit 311.

  And the control part 31 of the controller 30 performs the relative position recognition process by an encoder part (step S1-7). Specifically, the position detection unit 311 of the control unit 31 acquires the rotation amount of the wheel from the encoder unit 37. The position detection unit 311 calculates a movement distance based on the acquired rotation amount. Furthermore, the relative position after movement is specified based on the direction of the wheel.

  Next, the controller 31 of the controller 30 executes target recognition processing (step S1-8). Specifically, the position detection unit 311 of the control unit 31 specifies the coordinates of the current position acquired from the measurement unit 24. Details of this processing will be described later.

  And the control part 31 of the controller 30 performs the determination process whether an error is in the predetermined range (step S1-9). Specifically, the position detection unit 311 of the control unit 31 compares the coordinates of the target position on the travel route with the coordinates of the current position specified in the target recognition process. Then, the difference between the two and a predetermined allowable error are compared to determine whether or not they are within a predetermined range.

  Here, when it is determined that the error between the current position (coordinates) specified in the target recognition process and the target position (coordinates) on the travel route is outside the predetermined range (in the case of “NO” in step S1-9), The control unit 31 of the controller 30 repeatedly executes the processes after step S1-5. In this case, the control part 31 performs the process after step S1-5 with respect to the present destination position.

  On the other hand, when it is determined that the error between the coordinates of the current position and the coordinates of the target position is within the predetermined range (“YES” in step S1-9), the control unit 31 of the controller 30 The process ends. Then, the control unit 31 specifies the next target position as a new target position from the target position identifier of the current target position. And the control part 31 repeats the process after step S1-5 with respect to the specified next target position.

  When the processes of steps S1-5 to S1-9 are executed up to the last target position on the travel route, the controller 31 of the controller 30 stops moving. In response to this, the vacuum machine 27 of the cleaning module 26 stops the suction.

  And the control part 31 of the controller 30 performs the output process of a travel route (step S1-10). Specifically, the output unit 316 of the control unit 31 is connected to the computer terminal. And by operation in a computer terminal, the output part 316 outputs the travel route data memorize | stored in the travel route data storage part 33 to a computer terminal. The output unit 316 deletes the output travel route data from the travel route data storage unit 33.

<Target recognition processing>
Next, the target recognition process in steps S1-4 and S1-8 will be described with reference to FIG.

  First, the control unit 31 executes point cloud data acquisition processing (step S2-1). Specifically, the position detection unit 311 of the control unit 31 acquires the direction, distance, and luminance of each point measured from the LRFs 24 a and 24 b of the measurement unit 24. The position detection unit 311 generates a point cloud map in which points according to the direction and distance based on the acquired reflected light are plotted.

  Next, the control part 31 performs the sorting process of the point group of the brightness | luminance more than a threshold value (step S2-2). Specifically, the position detection unit 311 of the control unit 31 calculates a statistical value (for example, a median value) based on the luminance of each point, and sets a threshold value for dividing the luminance of each point into two based on the statistical value. calculate. Then, the position detection unit 311 determines whether or not each point is a point having a high luminance equal to or higher than the calculated threshold value, and associates the determined high luminance or low luminance with each point.

  Next, the control part 31 performs the specific process of the set of high-intensity point groups (step S2-3). Specifically, the position detection unit 311 of the control unit 31 specifies a point associated with high luminance in the generated point cloud map. Thereby, the arrangement position of the target member 40 can be specified.

  Next, the control unit 31 performs an angle calculation process based on the distance between the sets of high-luminance point groups (step S2-4). Specifically, the position detection unit 311 of the control unit 31 divides the specified high-luminance point group into two sets on the target member 40. Then, the position detection unit 311 specifies the center positions of the two sets, and calculates the distance between the centers. The direction (horizontal angle) of the highly reflective material 42 with respect to the position of the carriage 20 is calculated according to the comparison result between the center distance and the distance D1. Instead of using the center-to-center distance and the distance D1, the direction of the highly reflective material 42 may be calculated using the width of the highly reflective material 42. In this case, the position detection unit 311 of the control unit 31 calculates the direction of the high reflection material 42 according to the comparison result between the positions of the two high-brightness point groups and the widths of the respective high reflection materials 42.

  Next, the control part 31 performs the center calculation process of the circle from the whole target point group (step S2-5). Specifically, the control unit 31 calculates the position of the center c1 of the circle (target member 40) based on the angle between the two specified sets and the radius x1.

  Next, the control part 31 performs a self-position recognition process (step S2-6). Specifically, the control unit 31 specifies a reference line from the position of the center c1 of the target member 40 (circle) and one central position of the two sets of high luminance, and the reference line and the target member 40 The direction and distance of the current position of the carriage 20 are specified from the position of the center c1.

  And the control part 31 performs a route correction process (step S2-7). In this route correction process, the travel route is corrected based on the obstacle detected on the route. This process will be described below.

<Route correction processing>
The route correction process will be described with reference to FIG.
Here, the route generation unit 312 of the control unit 31 executes a determination process for determining whether there is an obstacle on the route (step S3-1). Specifically, the route generation unit 312 identifies the position and distance of the obstacle in the point cloud map generated in step S2-1. Furthermore, the route generation unit 312 identifies a passing surface in consideration of the width of the carriage 20 with respect to the route stored in the travel route data storage unit 33. When a predetermined number or more of point clouds are present in the passage plane, the path generation unit 312 determines that an obstacle exists.

Here, when it is determined that there is no obstacle (in the case of “NO” in Step S3-1), the route generation unit 312 of the control unit 31 ends the route correction process.
On the other hand, when it is determined that an obstacle exists (in the case of “YES” in step S3-1), the route generation unit 312 of the control unit 31 executes a detour route specifying process (step S3-2). Specifically, the route generation unit 312 generates a detour route in which no obstacle is placed on the passage surface.

  Then, the route generation unit 312 of the control unit 31 performs the update process for the planned movement route (step S3-3). Specifically, the route generation unit 312 generates a route that connects the generated detour route to another part, and stores this route in the travel route data storage unit 33 as a new travel route.

<Specific example of cleaning>
With reference to FIG. 7A, a specific example of the case where cleaning is performed using a square spiral path pattern will be described.

First, the target member 40 is arranged at the center of the range to be cleaned (the movement target area 50). Next, the carriage 20 is arranged and a start button is pushed.
Thereby, the control part 31 of the trolley | bogie 20 measures the distance with the target member 40, and moves the trolley | bogie 20 to the first target position (target position Z1 shown by x of Fig.7 (a)). And the control part 31 performs the process of step S1-5-S1-9 mentioned above by making into a target position (target position Z2, Z3, ... of Fig.7 (a)) the position which changes advancing direction one by one. .

  As shown in FIG. 7B, when the presence of the obstacle B1 or the wall 51 is detected in the target recognition process (step S1-8), the control unit 31 makes a detour that passes in front of the obstacle. A route R1 is generated. And the control part 31 drives the trolley | bogie 20 according to this detour route.

According to this embodiment, the following effects can be obtained.
(1) In the present embodiment, a movable target member 40 is used to run the carriage 20. The control unit 31 of the controller 30 of the carriage 20 performs a conversion process (step S1-2) into an angular coordinate system centered on the target for the identified travel route, and executes a target recognition process after the start (step S1). -4). And the control part 31 performs the target recognition process (step S1-8) about each target position in the specified driving | running route, and controls the drive mechanism part 35 of the trolley | bogie 20 so that the target position may be reached. In the target recognition process, the control unit 31 specifies the direction (angle with respect to the coordinate axis) and the distance of the target member 40 based on the output signal of the measurement unit 24 that has received the light reflected by the target member 40. Thereby, since the absolute position of the carriage 20 can be grasped based on the arrangement of the target member 40, the set position of the movement range of the carriage 20 can be easily changed by moving the target member 40. Can do.

  (2) In this embodiment, when the drive mechanism unit 35 of the carriage 20 is controlled so as to reach the target position, the control unit 31 of the controller 30 of the carriage 20 uses an encoder for each target position in the specified travel route. Relative position recognition and target recognition processing (steps S1-7 and S1-8) are executed. If the error is larger than the predetermined range (“NO” in step S1-9), the drive mechanism unit 35 is driven to reach the current target position, and if the error is within the predetermined range (step In the case of “YES” in S1-9), the drive mechanism unit 35 is controlled to reach the next target position. Accordingly, the current position of the carriage 20 can be identified efficiently and accurately based on the movement amount acquired from the drive mechanism unit 35 and the measurement from the measurement unit 24.

  (3) In this embodiment, the control part 31 of the controller 30 of the trolley | bogie 20 performs a self-position recognition (step S2-6) in a target recognition process, and performs a route correction process (step S2-7). In this route correction process, when there is an obstacle on the route (in the case of “YES” in step S3-1), the control unit 31 specifies the detour route (step S3-2) and the scheduled movement route update process. (Step S3-3) is executed. Thereby, a detour route can be generated so as not to collide with an obstacle.

  (4) In this embodiment, the target member 40 provided with the cylindrical main body 41 and the highly reflective material 42 provided on the circumference thereof is used. The highly reflective material 42 is provided at intervals smaller than 90 degrees. By using this target member 40, the measuring unit 24 of the carriage 20 specifies the position of the center c1 of the target member 40 and the highly reflective material 42 from the difference in luminance. Thereby, the current position of the carriage 20 can be identified efficiently.

Moreover, you may change the said embodiment as follows.
In the above-described embodiment, the control unit 31 of the controller 30 of the cart 20 uses the single target member 40 to control the cart 20 to travel according to a predetermined travel route. Instead of this, the control unit 31 may control the carriage 20 using a plurality of target members 40 so as to travel on the travel route.

  As shown in FIG. 8, for example, target members 46, 47, and 48 are used. These target members 46-48 can use the same structure as the target member 40 of the said embodiment. In addition, it is also possible to use the target member of the other form mentioned later.

  The control unit 31 of the controller 30 uses the relative positions of the target members 46 to 48 to generate a travel route that travels from the initial position to the final position via a plurality of relay positions and vice versa. Also in this case, the controller 30 of the carriage 20 executes a movement control process for performing steps S1-5 to S1-9 for the target positions (P1, P2,..., P7) for changing the direction of the carriage 20. Thereby, the trolley | bogie 20 can be moved using the some target members 46-48. Therefore, a range wider than the range that can be measured by the measurement unit 24 of the carriage 20 can be set as the movement target range of the carriage 20. And the setting position of the movement object range which the trolley | bogie 20 moves can be easily changed by changing the position of the target members 46-48.

  In the above embodiment, the target member 40 on which a plurality of highly reflective materials 42 are attached is used. The configuration of the target is not limited to this as long as it can identify the target position (center position) and the direction (angle) of the target with respect to the carriage 20. For example, as shown in FIG. 9A, a target member 60 including a fixed portion 61 where the lower portion of the cylindrical body is fixed and a rotating portion 62 where the upper portion rotates may be used. Specifically, the target member 60 includes a cylindrical body that is erected on the pedestal portion 65. A fixed portion 61 is formed on the lower portion of the main body, from which two blade portions 61a and 61b project. These blade portions 61a and 61b are arranged at positions that form a predetermined angle (for example, 90 degrees) so as to be rotationally asymmetric with respect to the center c2 of the main body of the target member 60. Further, in the main body of the fixed portion 61, a rotating mechanism for rotating the rotating portion 62 provided on the upper portion of the main body is housed. The rotating mechanism rotates the rotating unit 62 at a predetermined angular velocity (for example, one turn per second).

  On the rotating portion 62 of the main body, blade portions 62a and 62b having the same plate shape are formed to protrude. The blade portions 62a and 62b function as blade members and are provided in opposite directions (so as to form 180 degrees). Each blade part 62a, 62b is formed with a length x2 from the center c2 to the end of the cylindrical body. Furthermore, when this target member 60 is used, two sets of LRFs 24 a and 24 b are attached to the carriage 20. Specifically, the laser beam La, Lb of one set (lower side) of the LRF 24a, 24b is provided at the support portion 22 of the carriage 20 at a height at which the fixed portion 61 is irradiated, and another set (upper side) of the LRF 24a, The laser beam La, Lb of 24 b is provided on the support portion 22 of the carriage 20 at a height at which the rotation portion 62 is irradiated. In this case, the LRFs 24a and 24b do not measure the brightness of the received laser.

When using a target having such a configuration, the control unit 31 of the controller 30 executes a target recognition process shown in FIG.
In this target recognition processing, as shown in FIG. 9C, first, the control unit 31 executes point cloud data acquisition processing of the rotating unit LRF (step S4-1). Specifically, the position detection unit 311 of the control unit 31 acquires measurement value data (data associated with a direction and a distance) from the upper pair of LRF 24a and LRF 24b.

  Next, the control unit 31 performs a process of summarizing point cloud data for a predetermined period (step S4-2). Specifically, the position detection unit 311 of the control unit 31 collectively acquires measurement value data for a predetermined period (for example, 1 second) from the memory.

  Next, the control part 31 performs the extraction process of the set of point groups according to the order (step S4-3). Specifically, the position detection unit 311 of the control unit 31 generates a point cloud map using the collected measurement value data (direction and position). In this case, a point cloud map is generated according to the measurement order.

  And the control part 31 performs the determination process of whether both width and depth are the predetermined ranges (step S4-4). Specifically, the position detection unit 311 of the control unit 31 has a spread of the generated point cloud map within a predetermined range (for example, within ± 20%) with respect to the length x2 of the rotation unit 62 of the target member 60. If there is, both the width and the depth are determined to be within the predetermined range.

  In this case, when it is determined that the spread of the point cloud map exceeds the predetermined range (in the case of “NO” in step S4-4), the position detection unit 311 of the control unit 31 determines the point cloud map to be processed. The process after step S4-3 is performed using the point cloud data measured in the next predetermined period.

  On the other hand, when it is determined that the spread of the point cloud map is within the predetermined range (in the case of “YES” in step S4-4), the control unit 31 executes a calculation process of the center of gravity of the set (step S4-5). Specifically, the position detection unit 311 of the control unit 31 calculates the barycentric position of the set of points in this point cloud map, and specifies the center c2 of the target member 60 as shown in FIG. 9B.

  Next, the control part 31 performs the acquisition process of the point cloud data of the fixing | fixed part LRF (step S4-6). Specifically, the position detection unit 311 of the control unit 31 acquires measurement value data (data associated with a direction and a distance) acquired by the lower set of LRF 24a and LRF 24b.

  And the control part 31 performs the extraction process of the point cloud around a target (step S4-7). Specifically, the position detection unit 311 of the control unit 31 has measured value data (direction and distance) acquired in step S4-6 around the center of gravity position (center c2 of the target member 60) specified in step S4-5. Data) are plotted to generate a point cloud map.

  Next, the control part 31 performs the calculation process of an angle from the feature of a shape (step S4-8). Specifically, the position detection unit 311 of the control unit 31 has the same shape (length and angle) as the blade portions 61a and 61b of the fixing unit 61 of the target member 60 in the point cloud map generated in step S4-7. The direction (rotation angle about the center c2) that is the shape is specified.

And the control part 31 performs a self-position recognition process similarly to step S2-6 (step S4-9). Further, the control unit 31 executes route correction processing in the same manner as in step S2-7 (step S4-10).
By using the target member 60 in this way, the position and angle of the target member 60 can be specified in the LRFs 24a and 24b without measuring the luminance.
Further, instead of providing the blade portions 61a and 61b in the fixing portion 61 of the target member 60, a highly reflective material may be provided as a configuration for specifying the angle. Specifically, instead of forming the two blade portions 61a and 61b, a highly reflective material is attached to the fixed portion 61 of the target member 60. In this case, LRFs 24a and 24b capable of measuring the luminance of the received laser beam are used as the measurement unit 24 of the carriage 20. Then, the control unit 31 identifies the position of the highly reflective material from the distribution of the high brightness point group based on the measured detection of the reflected light, and the angle of the arrangement position of the target member 60 from the position of the highly reflective material. Is identified. In this case, it is not necessary to provide the blade portions 61 a and 61 b in the fixing portion 61 of the target member 60.
Furthermore, the upper and lower configurations of the target member 60 may be interchanged so that the upper portion is the fixed portion 61 and the lower portion is the rotating portion 62.

  In the above embodiment, the carriage 20 as a moving body performs the movement control process based on the fixed target member 40. Instead of this, the target member 40 may be moved. In this case, two carriages (70, 80) on which targets are placed are used.

  For example, as shown in FIG. 10, a first carriage 70 as a first moving body and a second carriage 80 as a second moving body are used. In this case, each cart (70, 80) has the same configuration as the cart 20 described above. Furthermore, each cart (70, 80) is provided with a target member 40 to which a plurality of highly reflective materials 42 are attached. For example, as the target member 40, in the support unit 22, the high reflection material 42 is pasted on the measurement unit 24 in the first cart 70, and the high reflection material 42 is pasted on the measurement unit 24 in the second cart 80. Yes. Then, the laser beams La and Lb from the measurement unit 24 of the second carriage 80 are the first so that the laser beams La and Lb from the measurement unit 24 of the first carriage 70 face the highly reflective material 42 of the second carriage 80. It is configured to face the highly reflective material 42 of the single carriage 70. In addition, it is also possible to comprise the target member 40 of each trolley | bogie (70,80) separately from the support part 22. FIG. In this case, the distance D1 of the highly reflective material 42 of each carriage (70, 80) is changed so that it can be identified.

  Furthermore, the controller 30 of each cart (70, 80) is provided with a communication unit that communicates with other carts. Furthermore, the route pattern information used for the movement control process is stored in the route pattern storage unit 32 of the first carriage 70 and the second carriage 80. In this case, the order of the route patterns used for the movement restriction process, the number of times of use, etc. are recorded. And the control part 31 of the controller 30 of each trolley | bogie (70,80) calls the route pattern recorded on the route pattern memory | storage part 32 sequentially, when performing a movement control process.

And the 2nd trolley | bogie 80 is arrange | positioned in the center of the movable range, and the 1st trolley | bogie 70 is arrange | positioned around it.
Thereafter, the controller 30 of the first cart 70 executes the movement control process of the first cart with the second cart 80 as a target (step S5-1). Specifically, the control unit 31 of the controller 30 executes the same movement control process as in the above embodiment.

  Thereafter, when the movement control process of the first carriage 70 is completed, the controller 30 of the first carriage 70 executes a process of notifying the second carriage 80 of the movement completion of the first carriage 70 (step S5- 2).

  In this case, the controller 30 of the second carriage 80 executes the movement control process for the second carriage with the first carriage as a target (step S6-1). Here, the controller 30 of the second cart 80 calls the route pattern used for the first travel from the route pattern storage unit 32 and uses it for the movement control process.

  Then, when the movement control process ends, the controller 30 of the second carriage 80 executes a process of notifying the first carriage 70 of the movement end of the second carriage 80 (step S6-2).

  In this case, similarly to step S5-1, the controller 30 of the first cart 70 executes the movement control process of the first cart with the second cart as a target (step S7-1). Here, the controller 30 of the first cart 70 calls the route pattern used for the second run from the route pattern storage unit 32 and uses it for the movement control process. Then, when the movement control process ends, the controller 30 of the first carriage 70 executes a process of notifying the second carriage 80 of the end of movement of the first carriage 70 (step S7-2).

The controller 30 of the second carriage 80 that has received the notification from the first carriage executes a movement control process of the second carriage with the first carriage as a target, similarly to step S6-1 (step S8-1). As described above, the first cart 70 and the second cart 80 use the route pattern information recorded in the route pattern storage unit 32 to alternately perform the movement control processing until the predetermined order and number of times are completed. repeat.
Therefore, by alternately using the first carriage 70 and the second carriage 80, a movement control process with a higher degree of freedom can be performed as compared with the case where the target member 40 that does not move is used.

  -In the movement control process of the said embodiment, the control part 31 of the trolley | bogie 20 performed the conversion process to the angular coordinate system which made the target position of the driving | running route the target center (step S1-2). A route pattern in which the target position is indicated in advance in the angular coordinate system may be stored, and the conversion process to the angular coordinate system may be omitted in the movement control process.

  In the above embodiment, the cleaning module 26 is mounted on the cart 20, and the moving target range is cleaned by the suction operation of the vacuum machine 27 of the cleaning module 26. The module mounted on the carriage 20 is not limited to the cleaning module 26. For example, a removable transport module for transporting with the carriage 20 may be mounted. Furthermore, the present invention can be used in a movement control method for a moving body equipped with a module for performing work.

  DESCRIPTION OF SYMBOLS 20 ... Carriage, 21 ... Base part, 21a ... Through-hole, 22 ... Support part, 24 ... Measuring part, 24a, 24b ... LRF (Laser range finder), 26 ... Cleaning module, 27 ... Vacuum machine, 27a ... Nozzle, 27p DESCRIPTION OF SYMBOLS ... Suction port, 28 ... Dust collection box, 30 ... Controller, 31 ... Control unit, 32 ... Route pattern storage unit, 33 ... Travel route data storage unit, 35 ... Drive mechanism unit, 37 ... Encoder unit, 40, 46, 47 , 48, 60 ... target member, 41 ... main body, 42 ... highly reflective material, 45, 65 ... pedestal, 50 ... moving object area, 51 ... wall, 61 ... fixed part, 61a, 61b, 62a, 62b ... blade part, 62 ... rotating unit, 70 ... first carriage, 80 ... second carriage, 310 ... route recording unit, 311 ... position detection unit, 312 ... route generation unit, 315 ... drive control unit, 316 ... output unit.

Claims (9)

In order to move the moving body, a movement control device including a control unit that controls a drive mechanism unit that drives a moving mechanism provided in the moving body,
The moving body includes a measuring unit that specifies an angle with respect to the target member and a distance to the target member in polar coordinates having the target member as an origin position according to reflected light reflected by the target member with respect to the irradiated light. Prepared,
The controller is
Specify the position of the center of gravity of the set of point clouds reflected and acquired by the rotating unit that reflects and rotates the light at a plurality of different distances from the vertical central axis of the target member as the target member placement position,
Relative to the position of the target member, run the target position specifying process for specifying the target position included in a predetermined travel route,
From the measurement unit, an angle and a distance with respect to the target member in the polar coordinates are acquired, and a current position specifying process for specifying the current position of the moving body is performed so as to reach the target position on the travel route in order. The movement control apparatus is characterized in that the moving body is caused to travel by repeating while repeating. The controller is
Obtaining the moving amount of the moving body from the moving mechanism;
When it is determined that the target position has been reached based on the movement amount, the angle and distance to the target member in the polar coordinates are measured using the measurement unit,
The drive mechanism unit is driven to move to the target position when a current position calculated based on the measurement is larger than a predetermined error range with respect to the target position. The movement control device described.   3. The movement control device according to claim 1, wherein, in the current position specifying process, an obstacle on the travel route is detected and the travel route is corrected according to the presence of the obstacle.   The said control part specifies the target position contained in the said driving | running | working path | route using the angle and distance with respect to the said target member in the said target position specific process, The Claim 1 characterized by the above-mentioned. The movement control device described. The travel route is determined with respect to the arrangement positions of a plurality of target members,
The movement control device according to any one of claims 1 to 3, wherein a target member used in the current position specifying process is changed at a target position in the middle of the travel route.   The target member includes a blade portion,
  The control unit calculates a rotation angle with respect to the target member using a point cloud of reflected light from the blade unit,
  The target position specifying process specifies a target position included in a predetermined travel route with respect to the arrangement position of the target member and the calculated rotation angle. The movement control device according to claim 1. In order to move the moving body, a movement control method using a movement control device including a control unit that controls a drive mechanism unit that drives a moving mechanism provided in the moving body,
The moving body includes a measuring unit that specifies an angle with respect to the target member and a distance to the target member in polar coordinates having the target member as an origin position according to reflected light reflected by the target member with respect to the irradiated light. Prepared,
The controller is
Specify the position of the center of gravity of the set of point clouds reflected and acquired by the rotating unit that reflects and rotates the light at a plurality of different distances from the vertical central axis of the target member as the target member placement position,
Relative to the position of the target member, run the target position specifying process for specifying the target position included in a predetermined travel route,
From the measurement unit, an angle and a distance with respect to the target member in the polar coordinates are acquired, and a current position specifying process for specifying the current position of the moving body is performed so as to reach the target position on the travel route in order. The movement control method is characterized in that the moving body is caused to travel by repeating while repeating. A movement control program using a movement control device including a control unit that controls a drive mechanism unit that drives a moving mechanism provided in the moving body to move the moving body,
The moving body includes a measuring unit that specifies an angle with respect to the target member and a distance to the target member in polar coordinates having the target member as an origin position according to reflected light reflected by the target member with respect to the irradiated light. Prepared,
The control unit
Specify the position of the center of gravity of the set of point clouds reflected and acquired by the rotating unit that reflects and rotates the light at a plurality of different distances from the vertical central axis of the target member as the target member placement position,
Relative to the position of the target member, run the target position specifying process for specifying the target position included in a predetermined travel route,
From the measurement unit, an angle and a distance with respect to the target member in the polar coordinates are acquired, and a current position specifying process for specifying the current position of the moving body is performed so as to reach the target position on the travel route in order. The movement control program is made to function as means for causing the moving body to travel by repeating while repeating. In order to move the movable body provided with the measurement unit, the movable body includes a control unit that controls a drive mechanism unit that drives a moving mechanism provided in the movable body, and the control unit is configured with respect to an arrangement position of the target member. A target position specifying process for specifying a target position included in a predetermined travel route is executed, and an angle and a distance with respect to the target member in polar coordinates with the target member as an origin position are acquired from the measurement unit, and the movement Current position identification process for identifying the current position
Is a target member used in the movement control method of the moving body by a movement control device that travels the moving body by repeating while moving so as to reach the target position on the travel route in order ,
A plurality of distances different from the vertical central axis of the target member in order to specify the center of gravity position of the set of point groups acquired by reflecting the irradiated light as the control member, as the arrangement position of the target member A target member comprising a rotating part that reflects and rotates the light .

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