JP6761293B2 - Movement control method, autonomous movement control system, autonomous mobile robot and autonomous movement control program - Google Patents

Description

The present disclosure discloses a movement control method in an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task, an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task, and a communication target to be communicated. The present invention relates to an autonomous mobile robot that communicates with an autonomous mobile robot and executes a predetermined task, and an autonomous movement control program of the autonomous mobile robot.

Conventionally, a technique relating to an autonomous mobile robot that executes an assigned task while cooperating with another autonomous mobile robot has been proposed (see, for example, Patent Document 1 and Patent Document 2).

Patent Document 1 discloses a technique in which a server allocates a cleaning area to each of a plurality of self-propelled vacuum cleaners and causes the plurality of self-propelled vacuum cleaners to perform cleaning. In Patent Document 2, in a robot remote control system including a control terminal and a plurality of autonomous mobile robots, a plurality of autonomous mobile robots communicate with each other and operate jointly with each other in accordance with a control command from the control terminal. The technology to be used is disclosed.

Japanese Unexamined Patent Publication No. 2014-054335 Japanese Patent No. 4713846

However, in the prior art, further technical improvement is required in order to improve the task execution efficiency by a plurality of autonomous mobile robots.

The present disclosure solves the above-mentioned conventional problems, and is a movement control method, an autonomous movement control system, an autonomous mobile robot, and an autonomous movement control program in which each of a plurality of autonomous mobile robots can execute a task more efficiently. The purpose is to provide.

The movement control method according to one aspect of the present disclosure is a movement control method in an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task, and the plurality of autonomous mobile robots are the first autonomous movement. A robot and a second autonomous mobile robot that communicates with the first autonomous mobile robot are included, and the first autonomous mobile robot performs the task at the current position of the first autonomous mobile robot. The certainty calculation step for calculating the first certainty indicating the degree of suitable position and the first autonomous mobile robot are suitable for the current position of the second autonomous mobile robot to execute the task. The reception step of receiving the second certainty degree indicating the degree of the position from the second autonomous mobile robot and the first certainty degree of the first autonomous mobile robot by the first autonomous mobile robot. A vector that calculates the movement vector to be moved by the first autonomous mobile robot based on the second certainty of the second autonomous mobile robot and the current position of the second autonomous mobile robot. The calculation step includes a calculation step and a movement control step in which the first autonomous mobile robot controls the movement of the first autonomous mobile robot based on the movement vector.

According to the present disclosure, each of the plurality of autonomous mobile robots can execute a task more efficiently.

It is an overall view which shows an example of the structure of the cleaning robot in Embodiment 1 of this disclosure. It is a block diagram which shows an example of the structure of the cleaning robot in Embodiment 1 of this disclosure. It is a schematic diagram which shows a mode that a cleaning robot moves while communicating with a plurality of other cleaning robots and executes a task. It is a flowchart for demonstrating the operation of the cleaning robot in Embodiment 1. It is an overall view which shows an example of the structure of the unmanned aerial vehicle in Embodiment 2 of this disclosure. It is a block diagram which shows an example of the structure of the unmanned aerial vehicle in Embodiment 2 of this disclosure. It is a schematic diagram which shows how the unmanned aerial vehicle moves while communicating with a plurality of other unmanned aerial vehicles and executes a task. It is 1st flowchart for demonstrating operation of an unmanned aerial vehicle in Embodiment 2 of this invention. It is a 2nd flowchart for demonstrating the operation of the unmanned aerial vehicle in the 2nd Embodiment.

(Knowledge on which this disclosure is based)
Patent Document 1 discloses a technique in which a server controls a plurality of self-propelled vacuum cleaners to perform cleaning while coordinating the plurality of self-propelled vacuum cleaners. More specifically, in the technique disclosed in Patent Document 1, the server allocates a cleaning area to each of the plurality of self-propelled vacuum cleaners, and causes the plurality of self-propelled vacuum cleaners to perform cleaning. .. Each self-propelled vacuum cleaner notifies the server of the progress of cleaning while cleaning the cleaning area assigned by the server. The server receives notifications from each self-propelled vacuum cleaner and keeps track of the progress of each self-propelled vacuum cleaner task. When the server receives a notification from one self-propelled vacuum cleaner that cleaning is complete, the server will contact the one self-propelled vacuum cleaner of another self-propelled vacuum cleaner that has not been cleaned. Reallocate the uncleaned area of the cleaned area.

However, the technique disclosed in Patent Document 1 is a configuration in which a self-propelled vacuum cleaner is coordinated by using a server. Therefore, it is necessary to construct a server for coordinating a plurality of self-propelled vacuum cleaners, which increases the cost for constructing the server. Furthermore, if the server becomes inoperable due to a failure or the like, the cleaning area cannot be allocated to the self-propelled vacuum cleaner, and a plurality of self-propelled vacuum cleaners cannot be properly coordinated. There is a problem. In addition, if the communication between the server and the self-propelled vacuum cleaner is interrupted, the server will not be able to grasp the progress of the task of the self-propelled vacuum cleaner that has lost communication, and multiple self-propelled vacuum cleaners will run. It becomes impossible to coordinate the type vacuum cleaner properly.

From the above, there is a need for a method of coordinating a plurality of self-propelled vacuum cleaners, that is, autonomous mobile robots, without performing central control by a central device such as a server. That is, each autonomous mobile robot cooperates with the autonomous mobile robots around it while exchanging information with the autonomous mobile robots around it, thereby coordinating the entire system composed of a plurality of autonomous mobile robots. There is a need for a way to make it happen.

If such a configuration can be realized, since the central device for grasping the entire system is not used, it is not necessary to construct the central device, and the cost for constructing the central device can be suppressed. Further, even if one autonomous mobile robot becomes inoperable due to a failure or the like, the coordinated operation does not stop functioning in the entire system.

Patent Document 2 discloses a system configuration that does not require the construction of a central device. In Patent Document 2, instead of cooperation by central control such as a server, each autonomous mobile robot cooperates with the autonomous mobile robot around itself while exchanging information with the autonomous mobile robot around itself. , A method of coordinating the entire system is disclosed. Patent Document 2 discloses a system composed of a server and a plurality of autonomous mobile robots, but the plurality of autonomous mobile robots only receive commands from the server and receive commands from the server. After that, a plurality of autonomous mobile robots send and receive information to each other and execute tasks in cooperation with each other. When a plurality of autonomous mobile robots in Patent Document 2 execute a task in cooperation with another autonomous mobile robot, they communicate with other autonomous mobile robots within the communication range and mutually obtain their own position information or task. They exchange progress information and perform tasks in cooperation with each other based on that information.

By the way, when an autonomous mobile robot such as a self-propelled vacuum cleaner moves, the communication range of the autonomous mobile robot changes. Therefore, the movement of the autonomous mobile robot may change other autonomous mobile robots capable of communicating with the autonomous mobile robot. In this case, as the autonomous mobile robot moves, the information of other autonomous mobile robots that can be acquired by the autonomous mobile robot changes.

For example, when the autonomous mobile robot A moves, the autonomous mobile robot A may not be able to communicate with another autonomous mobile robot B that was able to communicate before the movement. In this case, the autonomous mobile robot A cannot acquire the information from the autonomous mobile robot B. Further, for example, when the autonomous mobile robot A moves, the autonomous mobile robot A may be able to communicate with another autonomous mobile robot C, which was unable to communicate before the movement. In this case, the autonomous mobile robot A can newly acquire information from the autonomous mobile robot C.

In the case of a method in which each autonomous mobile robot cooperates with surrounding autonomous mobile robots while exchanging information with each other, each autonomous mobile robot cooperates by using only the information of surrounding autonomous mobile robots. That is, each autonomous mobile robot cannot use the information of all the autonomous mobile robots constituting the system, and cooperates by using only the information of the autonomous mobile robots around itself. Therefore, each autonomous mobile robot cannot always perform optimal coordination from the viewpoint of the entire system. In order to perform more optimal cooperation, it is desired that each autonomous mobile robot cooperates by using more information of the autonomous mobile robot. In particular, when an autonomous mobile robot moves like a self-propelled vacuum cleaner, the information of other autonomous mobile robots that can be acquired by the autonomous mobile robot dynamically changes as the autonomous mobile robot moves. Therefore, it is desired to perform more optimal coordination by using more information of other autonomous mobile robots while considering that the information of other autonomous mobile robots that can be acquired changes dynamically.

However, the above-mentioned Patent Document 2 does not suggest that the information of other autonomous mobile robots that can be acquired by the autonomous mobile robot dynamically changes with the movement of the autonomous mobile robot. In the above Patent Document 2, it is premised that all the autonomous mobile robots can communicate with each other, and the communication range of the autonomous mobile robot changes due to the movement of the autonomous mobile robot, and the autonomous mobile robot acquires the robot. No consideration is given to changes in information about the tasks of other autonomous mobile robots that can.

In order to solve such a problem, the movement control method according to one aspect of the present disclosure is a movement control method in an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task, and the plurality of movement control methods. The autonomous mobile robot includes a first autonomous mobile robot and a second autonomous mobile robot that communicates with the first autonomous mobile robot, and the first autonomous mobile robot is a robot of the first autonomous mobile robot. A certainty calculation step for calculating a first certainty indicating the degree to which the current position is a position suitable for performing the task, and the first autonomous mobile robot are the present of the second autonomous mobile robot. The receiving step of receiving the second certainty degree indicating the degree to which the position is a suitable position for performing the task from the second autonomous mobile robot, and the first autonomous mobile robot are the first autonomous mobile robot. The first autonomous mobile robot is based on the first certainty of the autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the current position of the second autonomous mobile robot. A vector calculation step for calculating a movement vector to be moved, and a movement control step in which the first autonomous mobile robot controls the movement of the first autonomous mobile robot based on the movement vector are included.

According to this configuration, the plurality of autonomous mobile robots includes a first autonomous mobile robot and a second autonomous mobile robot that communicates with the first autonomous mobile robot. The first autonomous mobile robot calculates a first degree of certainty indicating the degree to which the current position of the first autonomous mobile robot is a suitable position for performing a task. The first autonomous mobile robot receives from the second autonomous mobile robot a second degree of certainty indicating the degree to which the current position of the second autonomous mobile robot is a suitable position for performing a task. By the first autonomous mobile robot, based on the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the current position of the second autonomous mobile robot, The movement vector to be moved by the first autonomous mobile robot is calculated. The movement of the first autonomous mobile robot is controlled by the first autonomous mobile robot based on the movement vector.

Therefore, the first certainty, which indicates the degree to which the current position of the first autonomous mobile robot is suitable for executing the task, and the current position of the second autonomous mobile robot are suitable for executing the task. Since the movement vector to be moved by the first autonomous mobile robot is calculated based on the second certainty indicating the degree of the position, and the current position of the second autonomous mobile robot, a plurality of autonomous movements are performed. Each of the robots will move to a more suitable position to execute the task, and each of the plurality of autonomous mobile robots can execute the task more efficiently.

Further, in the above movement control method, in the vector calculation step, the direction in which the first autonomous mobile robot moves from the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot is calculated. The direction calculation step, the distance calculation step in which the first autonomous mobile robot calculates the distance between the first autonomous mobile robot and the second autonomous mobile robot, and the first autonomous mobile robot. However, the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, the direction of the second autonomous mobile robot, and the second The movement vector calculation step of calculating the movement vector of the first autonomous mobile robot based on the distance of the autonomous mobile robot may be included.

According to this configuration, the first autonomous mobile robot calculates the direction from the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot. The distance between the first autonomous mobile robot and the second autonomous mobile robot is calculated by the first autonomous mobile robot. By the first autonomous mobile robot, the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, the direction of the second autonomous mobile robot, and the second autonomy The movement vector of the first autonomous mobile robot is calculated based on the distance of the mobile robot.

Therefore, the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot. The movement vector of the first autonomous mobile robot can be calculated based on the direction in which the robot is heading and the distance between the first autonomous mobile robot and the second autonomous mobile robot.

Further, in the above-mentioned movement control method, in the reception step, the first autonomous mobile robot receives light emitted from the second autonomous mobile robot, including the second certainty, by the optical sensor. Then, in the direction calculation step, the second autonomous mobile robot from the current position of the first autonomous mobile robot is based on the direction in which the optical signal received by the optical sensor is emitted. The direction toward the current position of the autonomous mobile robot is calculated, and in the distance calculation step, the first autonomous mobile robot moves based on the signal strength of the optical signal received by the optical sensor. The distance between the robot and the second autonomous mobile robot may be calculated.

According to this configuration, the optical signal including the second certainty, which is emitted from the second autonomous mobile robot, is received by the optical sensor. The direction from the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot is calculated based on the direction in which the optical signal received by the optical sensor is emitted. The distance between the first autonomous mobile robot and the second autonomous mobile robot is calculated based on the signal intensity of the optical signal received by the optical sensor.

Therefore, the direction from the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot can be easily calculated based on the direction in which the optical signal is emitted, and the received optical signal can be calculated. The distance between the first autonomous mobile robot and the second autonomous mobile robot can be easily calculated based on the signal strength.

Further, in the above movement control method, in the receiving step, the first autonomous mobile robot provides the position information indicating the current position of the second autonomous mobile robot together with the second certainty. Received from the autonomous mobile robot, in the vector calculation step, the first autonomous mobile robot has the first certainty of the first autonomous mobile robot and the second certainty of the second autonomous mobile robot. The movement vector of the first autonomous mobile robot may be calculated based on the certainty and the current position indicated by the position information of the second autonomous mobile robot.

According to this configuration, the position information indicating the current position of the second autonomous mobile robot is received from the second autonomous mobile robot together with the second certainty. The first is based on the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the current position indicated by the position information of the second autonomous mobile robot. The movement vector of the autonomous mobile robot is calculated.

Therefore, it is based on the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the current position indicated by the position information received from the second autonomous mobile robot. Therefore, the movement vector of the first autonomous mobile robot can be calculated.

Further, in the above-mentioned movement control method, the transmission step of transmitting the calculated first certainty degree by the first autonomous mobile robot to the second autonomous mobile robot may be further included.

According to this configuration, the first certainty calculated by the first autonomous mobile robot is transmitted to the second autonomous mobile robot, so that the second autonomous mobile robot also has the first autonomous movement. Similar to the robot, the movement vector of the second autonomous mobile robot can be calculated, and the task can be executed in cooperation with the first autonomous mobile robot.

Further, in the above movement control method, the first autonomous mobile robot further includes a detection step of detecting the amount of dust at the current position of the first autonomous mobile robot, and in the certainty calculation step, the first The autonomous mobile robot 1 calculates the first certainty of the first autonomous mobile robot based on the amount of dust at the current position of the first autonomous mobile robot, and calculates the first certainty of the first autonomous mobile robot, and the second certainty. Is calculated based on the amount of the dust at the current position of the second autonomous mobile robot, and the value of the first certainty and the value of the second certainty are calculated as the amount of the dust increases. It may grow.

According to this configuration, the first autonomous mobile robot detects the amount of dust at the current position of the first autonomous mobile robot. The first certainty of the first autonomous mobile robot is calculated based on the amount of dust at the current position of the first autonomous mobile robot. The second certainty is calculated based on the amount of dust at the current position of the second autonomous mobile robot. The value of the first certainty and the value of the second certainty increase as the amount of garbage increases.

Therefore, the value of the first certainty and the value of the second certainty increase as the amount of dust increases. Therefore, when the amount of dust detected by the first autonomous mobile robot increases, the first autonomy The mobile robot is controlled to be in its current position and can reliably perform the task of cleaning. Further, when the amount of dust detected by the first autonomous mobile robot increases, the second autonomous mobile robot is controlled to approach the first autonomous mobile robot, so that the first autonomous mobile robot and the second autonomous mobile robot Autonomous mobile robots can efficiently perform the task of cleaning.

Further, in the above-mentioned movement control method, the first autonomous mobile robot further includes a detection step of detecting the likelihood that a person is at the current position of the first autonomous mobile robot, and in the certainty calculation step. The first autonomous mobile robot calculates the first certainty of the first autonomous mobile robot based on the likelihood, and the second certainty is the present of the second autonomous mobile robot. It is calculated based on the likelihood that a person is at a position, and the value of the first certainty and the value of the second certainty may increase as the likelihood increases.

According to this configuration, the first autonomous mobile robot detects the likelihood that a person is at the current position of the first autonomous mobile robot. The first certainty of the first autonomous mobile robot is calculated based on the likelihood. The second certainty is calculated based on the likelihood that a person is at the current position of the second autonomous mobile robot. The value of the first certainty and the value of the second certainty increase as the likelihood increases.

Therefore, the value of the first degree of certainty increases as the likelihood of having a person at the current position of the first autonomous mobile robot increases, and the value of the second degree of certainty increases as the likelihood of having a person at the current position of the first autonomous mobile robot increases. As the likelihood of having a person in the robot increases, the likelihood of having a person in the current position of the first autonomous mobile robot increases, so that the first autonomous mobile robot is controlled to be in the current position, and the person is moved. You can certainly perform the task of exploring. Further, when the probability that a person is present at the current position detected by the first autonomous mobile robot increases, the second autonomous mobile robot is controlled to approach the first autonomous mobile robot, so that the first autonomous mobile robot can approach the first autonomous mobile robot. The mobile robot and the second autonomous mobile robot can efficiently execute the task of searching for a person.

Further, in the above-mentioned movement control method, the plurality of autonomous mobile robots further include a third autonomous mobile robot that communicates with the first autonomous mobile robot, and in the receiving step, the first autonomous mobile robot A third degree of certainty indicating the degree to which the current position of the third autonomous mobile robot is suitable for executing the task is received from the third autonomous mobile robot, and in the vector calculation step, The first autonomous mobile robot has the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the present state of the second autonomous mobile robot. Based on the position, the first individual vector to be moved by the first autonomous mobile robot is calculated, and the first certainty of the first autonomous mobile robot and the third autonomous mobile robot Based on the third certainty degree and the current position of the third autonomous mobile robot, the second individual vector to be moved by the first autonomous mobile robot is calculated, and the first individual vector and the first individual vector are calculated. The sum with the second individual vector is calculated as the movement vector, and the magnitude of the first individual vector increases as the second certainty of the second autonomous mobile robot increases. The larger the distance between the first autonomous mobile robot and the second autonomous mobile robot, the smaller the distance, and the magnitude of the second individual vector is the third certainty of the third autonomous mobile robot. The larger the degree, the larger the degree, and the larger the distance between the first autonomous mobile robot and the third autonomous mobile robot, the smaller the direction, and the direction of the first individual vector is the first autonomous mobile robot. The direction from the current position of the mobile robot toward the second autonomous mobile robot, and the direction of the second individual vector is the direction from the current position of the first autonomous mobile robot toward the third autonomous mobile robot. It may be.

According to this configuration, the plurality of autonomous mobile robots further includes a third autonomous mobile robot that communicates with the first autonomous mobile robot. A third degree of certainty indicating the degree to which the current position of the third autonomous mobile robot is a suitable position for performing the task is received from the third autonomous mobile robot. The movement of the first autonomous mobile robot based on the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the current position of the second autonomous mobile robot. The first individual vector to be calculated is calculated. The movement of the first autonomous mobile robot based on the first certainty of the first autonomous mobile robot, the third certainty of the third autonomous mobile robot, and the current position of the third autonomous mobile robot. A second individual vector to be calculated is calculated. The sum of the first individual vector and the second individual vector is calculated as a movement vector. The magnitude of the first individual vector increases as the second certainty of the second autonomous mobile robot increases, and the distance between the first autonomous mobile robot and the second autonomous mobile robot increases. The smaller it becomes. The magnitude of the second individual vector increases as the third certainty of the third autonomous mobile robot increases, and the distance between the first autonomous mobile robot and the third autonomous mobile robot increases. The smaller it becomes. The direction of the first individual vector is the direction from the current position of the first autonomous mobile robot to the second autonomous mobile robot. The direction of the second individual vector is the direction from the current position of the first autonomous mobile robot to the third autonomous mobile robot.

Therefore, since a plurality of surrounding autonomous mobile robots approach the position of the autonomous mobile robot having a high degree of certainty, the plurality of autonomous mobile robots can cooperate and efficiently execute the task.

The autonomous movement control system according to another aspect of the present disclosure is an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task, and is a first autonomous mobile robot and the first autonomous mobile robot. The second autonomous mobile robot includes a second autonomous mobile robot that communicates with, and the second autonomous mobile robot indicates the degree of certainty that the current position of the second autonomous mobile robot is a position suitable for performing the task. The first autonomous mobile robot includes a certainty calculation unit for calculating the above and a transmission unit for transmitting the certainty of the second autonomous mobile robot to the first autonomous mobile robot. A certainty calculation unit that calculates a first certainty indicating the degree to which the current position of the autonomous mobile robot 1 is a position suitable for executing the task, and the certainty calculation unit transmitted by the second autonomous mobile robot. The receiving unit that receives the certainty as the second certainty, the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the second. A vector calculation unit that calculates a movement vector to be moved by the first autonomous mobile robot based on the current position of the autonomous mobile robot, and controls the movement of the first autonomous mobile robot based on the movement vector. A movement control unit is provided.

According to this configuration, the certainty calculation unit of the second autonomous mobile robot calculates the certainty indicating the degree to which the current position of the second autonomous mobile robot is a position suitable for executing the task. The transmission unit of the second autonomous mobile robot transmits the certainty of the second autonomous mobile robot to the first autonomous mobile robot. The certainty calculation unit of the first autonomous mobile robot calculates a first certainty indicating the degree to which the current position of the first autonomous mobile robot is a position suitable for executing a task. The receiving unit of the first autonomous mobile robot receives the certainty transmitted by the second autonomous mobile robot as the second certainty. The vector calculation unit of the first autonomous mobile robot determines the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the current position of the second autonomous mobile robot. Based on, the movement vector to be moved by the first autonomous mobile robot is calculated. The movement control unit of the first autonomous mobile robot controls the movement of the first autonomous mobile robot based on the movement vector.

Therefore, the first certainty, which indicates the degree to which the current position of the first autonomous mobile robot is suitable for executing the task, and the current position of the second autonomous mobile robot are suitable for executing the task. Since the movement vector to be moved by the first autonomous mobile robot is calculated based on the second certainty indicating the degree of the position, and the current position of the second autonomous mobile robot, a plurality of autonomous movements are performed. Each of the robots will move to a more suitable position to execute the task, and each of the plurality of autonomous mobile robots can execute the task more efficiently.

The autonomous mobile robot according to another aspect of the present disclosure is an autonomous mobile robot that executes a predetermined task that communicates with the communication target autonomous mobile robot that is the communication target, and the current position of the autonomous mobile robot performs the task. The certainty calculation unit that calculates the first certainty that indicates the degree of the position suitable for execution, and the degree that the current position of the communication target autonomous mobile robot is the position suitable for executing the task. The receiving unit that receives the second certainty level to be shown from the communication target autonomous mobile robot, the first certainty level of the autonomous mobile robot, the second certainty level of the communication target autonomous mobile robot, and the communication. A calculation unit that calculates a movement vector to be moved by the autonomous mobile robot based on the current position of the target autonomous mobile robot, and a movement control unit that controls the movement of the autonomous mobile robot based on the movement vector. Be prepared.

According to this configuration, the certainty calculation unit calculates a first certainty indicating the degree to which the current position of the autonomous mobile robot is a position suitable for executing the task. The receiving unit receives from the communication target autonomous mobile robot a second degree of certainty indicating the degree to which the current position of the communication target autonomous mobile robot is a position suitable for executing the task. The movement vector to be moved by the autonomous mobile robot based on the first certainty of the autonomous mobile robot, the second certainty of the communication target autonomous mobile robot, and the current position of the communication target autonomous mobile robot by the calculation unit. Is calculated. The movement control unit controls the movement of the autonomous mobile robot based on the movement vector.

Therefore, the first certainty, which indicates the degree to which the current position of the first autonomous mobile robot is suitable for executing the task, and the current position of the second autonomous mobile robot are suitable for executing the task. Since the movement vector to be moved by the first autonomous mobile robot is calculated based on the second certainty indicating the degree of the position, and the current position of the second autonomous mobile robot, a plurality of autonomous movements are performed. Each of the robots will move to a more suitable position to execute the task, and each of the plurality of autonomous mobile robots can execute the task more efficiently.

The autonomous movement control program according to another aspect of the present disclosure is an autonomous movement control program of an autonomous mobile robot that executes a predetermined task and communicates with the communication target autonomous mobile robot, which is the communication target. The computer is equipped with a certainty calculation unit that calculates a first certainty that indicates the degree to which the current position of the autonomous mobile robot is suitable for executing the task, and the current position of the communication target autonomous mobile robot. Receiving a second certainty degree indicating the degree to which is a suitable position for executing the task from the communication target autonomous mobile robot, the first certainty degree of the autonomous mobile robot, and the communication. Based on the second certainty of the target autonomous mobile robot and the current position of the communication target autonomous mobile robot, a calculation unit that calculates a movement vector to be moved by the autonomous mobile robot, and a calculation unit based on the movement vector. It functions as a movement control unit that controls the movement of the autonomous mobile robot.

According to this configuration, the certainty calculation unit calculates a first certainty indicating the degree to which the current position of the autonomous mobile robot is a position suitable for executing the task. The receiving unit receives from the communication target autonomous mobile robot a second degree of certainty indicating the degree to which the current position of the communication target autonomous mobile robot is a position suitable for executing the task. The movement vector to be moved by the autonomous mobile robot based on the first certainty of the autonomous mobile robot, the second certainty of the communication target autonomous mobile robot, and the current position of the communication target autonomous mobile robot by the calculation unit. Is calculated. The movement control unit controls the movement of the autonomous mobile robot based on the movement vector.

Therefore, the first certainty, which indicates the degree to which the current position of the first autonomous mobile robot is suitable for executing the task, and the current position of the second autonomous mobile robot are suitable for executing the task. Since the movement vector to be moved by the first autonomous mobile robot is calculated based on the second certainty indicating the degree of the position, and the current position of the second autonomous mobile robot, a plurality of autonomous movements are performed. Each of the robots will move to a more suitable position to execute the task, and each of the plurality of autonomous mobile robots can execute the task more efficiently.

It should be noted that these general or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, and the system, method, integrated circuit, computer. It may be realized by any combination of programs or recording media.

Hereinafter, the movement control method and the like according to one aspect of the present disclosure will be described with reference to the drawings.

It should be noted that all of the embodiments described below show a specific example of the present disclosure. Numerical values, shapes, materials, components, arrangement positions of components, and the like shown in the following embodiments are examples, and are not intended to limit the present disclosure. Further, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept are described as arbitrary components.

(Embodiment 1)
[Overview of autonomous mobile robot]
In the first embodiment, a cleaning robot that performs suction cleaning while moving will be described as an example of an autonomous mobile robot. The task performed by an autonomous movement control system equipped with a plurality of autonomous mobile robots is suction cleaning for a predetermined area.

FIG. 1 is an overall view showing an example of the configuration of the cleaning robot according to the first embodiment of the present disclosure.

As shown in FIG. 1, the cleaning robot 1 includes at least a dust suction port 12, a drive wheel 13, a light emitting / receiving unit 14, a dust sensor 101, an approach sensor 102, and a contact sensor 103. In addition to these components, the cleaning robot 1 also includes a dust suction unit, a dust storage unit, a battery, and the like, but the cleaning robot 1 is omitted because it is not related to the autonomous movement control described here.

The dust suction port 12 is an opening formed at the bottom of the cleaning robot 1. Dust is sucked into the cleaning robot 1 from the dust suction port 12 by suction by the dust suction unit or sweeping out with a brush.

The drive wheel 13 is a drive wheel for moving the cleaning robot 1. The drive wheel 13 is installed at the bottom of the cleaning robot 1.

The light emitting / receiving unit 14 emits infrared light and receives infrared light to perform infrared light communication with another cleaning robot. The light emitting / receiving unit 14 is installed on the upper surface of the cleaning robot 1, emits infrared light to the entire circumference of the cleaning robot 1, and receives infrared light from the entire circumference of the cleaning robot 1.

The dust sensor 101 is, for example, an optical sensor, and detects the amount of dust sucked by the cleaning robot 1. The dust sensor 101 detects the amount of dust at the current position of the cleaning robot 1. The dust sensor 101 is installed inside the cleaning robot 1 between the dust suction port 12 and the dust storage unit. For example, the dust sensor 101 counts the number of dust that has passed through the dust suction port 12.

The proximity sensor 102 is, for example, an ultrasonic sensor, and detects that the cleaning robot 1 has approached an obstacle such as a wall or furniture. The approach sensor 102 is installed at the front portion of the cleaning robot 1 with reference to the traveling direction of movement by the drive wheels 13.

The contact sensor 103 is, for example, an electric switch, and detects that the cleaning robot 1 has come into contact with an obstacle such as a wall or furniture. The contact sensor 103 is installed at the foremost part of the cleaning robot 1 with reference to the traveling direction of movement by the drive wheels 13.

[Functional configuration of autonomous mobile robot]
FIG. 2 is a block diagram showing an example of the configuration of the cleaning robot 1 according to the first embodiment of the present disclosure.

As shown in FIG. 2, the cleaning robot 1 includes a dust sensor 101, an approach sensor 102, a contact sensor 103, a drive unit 104, a light receiving unit 105, a light emitting unit 106, and a control unit 11.

Since the dust sensor 101, the approach sensor 102, and the contact sensor 103 have been described in the overall view of FIG. 1, the description thereof will be omitted.

The drive unit 104 is composed of a motor or a drive wheel 13 for moving the cleaning robot 1, and moves the cleaning robot 1 based on an instruction from the control unit 11.

The light receiving unit 105 is located inside the light emitting / receiving unit 14 and receives an infrared light signal from another cleaning robot. The light emitting unit 106 is located in the light emitting / receiving unit 14, and transmits an infrared light signal to another cleaning robot.

The control unit 11 controls the movement of the cleaning robot 1 and is composed of a plurality of components. For example, an information processing device including a processor and a memory for storing a program operates as a control unit 11.

The control unit 11 includes a certainty calculation unit 111, a direction calculation unit 112, a distance calculation unit 113, a movement vector calculation unit 114, and a movement control unit 115.

The certainty calculation unit 111 calculates the certainty indicating the degree to which the current position of the cleaning robot 1 is a position suitable for executing the task. The certainty calculation unit 111 calculates the certainty indicating the degree to which the current position of the cleaning robot 1 is suitable for suction cleaning of the dust based on the amount of dust detected by the dust sensor 101. The confidence value increases as the current position is suitable for performing the task. The certainty value of the cleaning robot 1 and the certainty value of the other cleaning robots increase as the amount of dust increases. The method of calculating the degree of certainty will be described later.

The light emitting unit 106 transmits the certainty calculated by the certainty calculation unit 111 to another cleaning robot. That is, the infrared light signal emitted by the light emitting unit 106 includes the certainty calculated by the certainty calculation unit 111.

In addition, the light receiving unit 105 receives from the other cleaning robot a certainty level indicating the degree to which the current position of the other cleaning robot is a position suitable for executing the task. That is, the infrared light signal received by the light receiving unit 105 includes the certainty level transmitted by another cleaning robot. The light receiving unit 105 receives an infrared light signal including certainty emitted from another cleaning robot by an optical sensor.

The direction calculation unit 112 calculates the direction from the current position of the cleaning robot 1 toward the current position of another cleaning robot. The direction calculation unit 112 calculates the direction from the current position of the cleaning robot 1 to the current position of the other cleaning robot based on the direction in which the infrared light signal from the other cleaning robot received by the light receiving unit 105 is emitted. To do.

The distance calculation unit 113 calculates the distance between the cleaning robot 1 and another cleaning robot. The distance calculation unit 113 calculates the distance between the cleaning robot 1 and the other cleaning robot based on the signal strength of the infrared light signal from the other cleaning robot received by the light receiving unit 105.

The movement vector calculation unit 114 calculates the movement vector of the cleaning robot 1 to be moved based on the certainty of the cleaning robot 1, the certainty of the other cleaning robot, and the current position of the other cleaning robot. The movement vector calculation unit 114 determines the certainty calculated by the certainty calculation unit 111, the certainty of another cleaning robot received by the light receiving unit 105, the direction of the other cleaning robot, and the distance of the other cleaning robot. Based on, a movement vector including a direction and a speed for moving the cleaning robot 1 is calculated.

The movement control unit 115 controls the drive unit 104 based on the movement vector calculated by the movement vector calculation unit 114. The movement control unit 115 controls the movement of the cleaning robot 1 based on the movement vector.

FIG. 3 is a schematic diagram showing how the cleaning robot 1 moves while communicating with a plurality of other cleaning robots to execute a task. In FIG. 3, the room 15 is an area where the cleaning robot 1 executes a task. The plurality of cleaning robots in the room 15 clean the floor surface of the room 15 in cooperation with each other by sucking the dust existing on the floor surface of the room 15. The broken line 16 indicates that the cleaning robot 1 is communicating with another cleaning robot.

The cleaning robot 1 receives infrared light signals transmitted by a plurality of other cleaning robots. Further, the cleaning robot 1 transmits an infrared light signal to a plurality of other cleaning robots which are unspecified targets. FIG. 3 shows that the cleaning robot 1 communicates with all of the plurality of other cleaning robots, but when there is an obstacle between the cleaning robots or when the distance between the cleaning robots is large, etc. It is not always possible to communicate with all cleaning robots, and if there are few other cleaning robots that can communicate, it may not be possible to communicate with other cleaning robots at all.

Although only the communication between the cleaning robot 1 and the other cleaning robots is shown in FIG. 3, the other cleaning robots also communicate with each other in the same manner.

The operation of the cleaning robot 1 of the first embodiment configured as described above will be described with reference to the flowchart of FIG.

FIG. 4 is a flowchart for explaining the operation of the cleaning robot according to the first embodiment.

First, in step S101, the dust sensor 101 detects the amount of dust d per unit time sucked by the cleaning robot 1 at the current position.

Next, in step S102, the certainty calculation unit 111 sets the certainty c below from the amount d of the dust detected by the dust sensor 101 to indicate whether the current position is a suitable position for executing the task. Calculate using equation (1).

c = max (1, k × d) ... (1)
In the above equation (1), k is a coefficient. The function is not limited to the equation (1) as long as it is a function that increases according to the amount of dust d.

Next, in step S103, the light emitting unit 106 transmits the certainty degree c calculated by the certainty degree calculation unit 111 to another cleaning robot. The light emitting unit 106 transmits the certainty using infrared light, and emits light in all directions to broadcast an infrared light signal including the certainty to an unspecified number of other cleaning robots. The infrared light signal may include identification information for identifying the cleaning robot in addition to the certainty.

Next, in step S104, the light receiving unit 105 receives the certainty from another cleaning robot by receiving the infrared light signal. When the infrared light signal can be received from the plurality of other cleaning robots, the light receiving unit 105 receives the plurality of infrared light signals. In this case, the light receiving unit 105 does not identify the plurality of other cleaning robots that are the transmission sources, but distinguishes the plurality of infrared light signals. Here, the i-th received infrared light signal is s (i), and the certainty of another cleaning robot received by the infrared light signal s (i) is c (i). Note that the light receiving unit 105 cannot receive the infrared light signal when there is no other cleaning robot within the range in which the infrared light signal can be received or when there is an obstacle between the cleaning robot and the other cleaning robot. You may.

Next, in step S105, the direction calculation unit 112 calculates the unit vector A (i) indicating the direction in which the infrared light signal s (i) is transmitted. The direction is calculated based on, for example, the bias of the signal intensity of the infrared light signal between the plurality of optical sensors by the light receiving unit 105 being composed of a plurality of directional optical sensors. Is calculated.

Next, in step S106, the distance calculation unit 113 calculates the distance r (i) between the cleaning robot 1 and another cleaning robot that has transmitted the infrared light signal s (i). The distance calculation unit 113 calculates the distance from, for example, the signal intensity of the infrared light signal received by the light receiving unit 105. That is, the distance calculation unit 113 stores in advance a table or function that associates the signal strength of the infrared light signal with the distance, and uses the table or function to associate with the signal strength of the infrared light signal. Calculate the distance you are in.

Next, in step S107, the movement vector calculation unit 114 determines the certainty c that is calculated by the certainty calculation unit 111, the certainty c (i) obtained from the infrared light signal s (i), and the direction. From the unit vector A (i) and the distance r (i), the movement vector R (i) for moving the cleaning robot 1 is calculated using the following equation (2).

Next, in step S108, the movement control unit 115 controls the moving direction and speed of the cleaning robot 1 according to the direction and magnitude of the movement vector calculated by the movement vector calculation unit 114, and causes the cleaning robot 1 to move. Move.

That is, the larger the certainty c (i) included in the infrared light signal s (i), the more the cleaning robot 1 is pulled in the direction of the infrared light signal s (i). Further, the closer the distance r (i) between the cleaning robot 1 and the other cleaning robot that has transmitted the infrared light signal s (i) is, the closer the cleaning robot 1 has to the infrared light signal s (i). Pulled in the direction. Further, the cleaning robot 1 is moved and controlled so that the greater the certainty c is, the smaller the degree of pulling is.

Here, the operation in which the cleaning robot 1 moves in cooperation with a plurality of other cleaning robots will be described with reference to FIG.

As shown in FIG. 3, in the light receiving unit 105 of the cleaning robot 1 (first autonomous mobile robot), the current position of the cleaning robot 121 (second autonomous mobile robot) is a position suitable for executing a task. The degree of certainty is received from the cleaning robot 121, and the degree of certainty indicating the degree to which the current position of the cleaning robot 122 (third autonomous mobile robot) is suitable for executing the task is received from the cleaning robot 122. Receive from.

The movement vector calculation unit 114 calculates the first individual vector to be moved by the cleaning robot 1 based on the certainty of the cleaning robot 1, the certainty of the cleaning robot 121, and the current position of the cleaning robot 121. Further, the movement vector calculation unit 114 calculates a second individual vector to be moved by the cleaning robot 1 based on the certainty of the cleaning robot 1, the certainty of the cleaning robot 122, and the current position of the cleaning robot 122. To do. Then, the movement vector calculation unit 114 calculates the sum of the first individual vector and the second individual vector as the movement vector.

Here, the magnitude of the first individual vector increases as the certainty of the cleaning robot 121 increases, and decreases as the distance between the cleaning robot 1 and the cleaning robot 121 increases. Further, the size of the second individual vector increases as the certainty of the cleaning robot 122 increases, and decreases as the distance between the cleaning robot 1 and the cleaning robot 122 increases. The direction of the first individual vector is the direction from the current position of the cleaning robot 1 toward the cleaning robot 121, and the direction of the second individual vector is the direction from the current position of the cleaning robot 1 toward the cleaning robot 122.

Next, in step S109, the approach sensor 102 detects that the cleaning robot 1 has approached an obstacle such as a wall or furniture by an ultrasonic sensor or the like, and the contact sensor 103 has the approach sensor 102 approaching the obstacle. Is not detected, and the cleaning robot 1 detects that it has come into contact with an obstacle such as a wall or furniture by an electric switch or the like.

Next, in step S110, the movement control unit 115 determines whether or not the approach sensor 102 has detected the approach to the obstacle or the contact sensor has detected the contact with the obstacle. Here, when it is determined that an approach or contact is detected (YES in step S110), in step S111, the movement control unit 115 changes the direction of the cleaning robot 1 in a direction to avoid a collision with an obstacle. Move the cleaning robot 1. After that, the process returns to step S101.

On the other hand, when it is determined that the approach or contact is not detected (NO in step S110), in step S112, the movement control unit 115 determines whether or not a predetermined time has elapsed since the cleaning robot 1 started the operation. To judge. Here, when it is determined that the predetermined time has elapsed (YES in step S112), the movement control unit 115 ends the operation. At this time, the movement control unit 115 may move the cleaning robot 1 so as to return to the position (charging position) where the cleaning robot 1 has started its operation, for example. On the other hand, when it is determined that the predetermined time has not elapsed (NO in step S112), the process returns to the process of step S101.

By the above operation, in the autonomous movement control system in which a plurality of autonomous mobile robots cooperate to execute a predetermined task, the tasks can be performed more efficiently in the entire system by using the positions of other autonomous mobile robots and the information on the tasks. Can be executed. In particular, by transmitting and receiving a certainty degree indicating the degree to which the current position is a suitable position for executing a task between a plurality of autonomous mobile robots, each autonomous mobile robot can perform a task in a more suitable position. You can move in the direction of and perform a predetermined task. This makes it possible to execute tasks more efficiently throughout the system.

In the first embodiment, the autonomous movement control system includes a plurality of cleaning robots, but the present disclosure is not particularly limited to this, and the autonomous movement control system includes a plurality of cleaning robots and a plurality of cleaning robots. It may include at least one of the robots and a communicable connected server.

In this case, the cleaning robot includes a communication unit in addition to the dust sensor 101, the approach sensor 102, the contact sensor 103, the drive unit 104, the light receiving unit 105, the light emitting unit 106, and the control unit 11. The control unit 11 includes a certainty calculation unit 111, a direction calculation unit 112, a distance calculation unit 113, and a movement control unit 115. The server includes a communication unit and a control unit. The control unit of the server includes a movement vector calculation unit 114. The communication unit of the cleaning robot transmits the certainty of the other cleaning robot, the direction of the other cleaning robot, and the distance of the other cleaning robot to the server. Further, the communication unit of the cleaning robot receives the calculated movement vector from the server. The communication unit of the server receives the certainty of the other cleaning robot, the direction of the other cleaning robot, and the distance of the other cleaning robot from the cleaning robot. In addition, the communication unit of the server transmits the calculated movement vector to the cleaning robot.

(Embodiment 2)
[Overview of autonomous mobile robot]
In the first embodiment, the cleaning robot has been described as an example of the autonomous mobile robot. In the second embodiment, an unmanned aerial vehicle that searches for a victim in a disaster area such as an earthquake or flood will be described as an example of an autonomous mobile robot. The task performed by an autonomous movement control system equipped with a plurality of autonomous mobile robots is to search for a victim in a predetermined area.

FIG. 5 is an overall view showing an example of the configuration of the unmanned aerial vehicle according to the second embodiment of the present disclosure.

As shown in FIG. 5, the unmanned aerial vehicle 2 includes at least four rotors 22, a motion sensor 201, and a position sensor 202. The unmanned aerial vehicle 2 includes a battery and the like in addition to these components, but is omitted because it is not related to the autonomous movement control described here.

The rotor 22 is a rotor for obtaining lift, thrust, or torque for flying the unmanned aerial vehicle 2. In the second embodiment, the unmanned aerial vehicle 2 includes four rotors 22, but the present disclosure is not particularly limited to this, and the number of rotors 22 may be any number.

The motion sensor 201 detects a victim (person) on the ground substantially directly below the unmanned aerial vehicle 2. The motion sensor 201 is installed at the lower part of the unmanned aerial vehicle 2 toward the ground. The motion sensor 201 detects the likelihood that a person is at the current position of the unmanned aerial vehicle 2. Here, the motion sensor 201 uses an infrared temperature sensor that detects a person by detecting the body temperature of the person. The motion sensor 201 may use a millimeter wave sensor so that it can detect a person inside a building or under rubble.

The position sensor 202 detects the current position of the unmanned aerial vehicle 2. Here, as the position sensor 202, for example, a GPS (Global Positioning System) sensor is used.

[Functional configuration of autonomous mobile robot]
FIG. 6 is a block diagram showing an example of the configuration of the unmanned aerial vehicle 2 according to the second embodiment of the present disclosure.

As shown in FIG. 6, the unmanned aerial vehicle 2 includes a motion sensor 201, a position sensor 202, a drive unit 203, a reception unit 204, a transmission unit 205, a storage unit 206, and a control unit 21.

Since the motion sensor 201 and the position sensor 202 have been described in the overall view of FIG. 5, the description thereof will be omitted.

The drive unit 203 is composed of a motor or a rotor 22 for flying the unmanned aerial vehicle 2, and moves the unmanned aerial vehicle 2 based on an instruction from the control unit 21.

The receiving unit 204 receives a radio signal from another unmanned aerial vehicle. The transmission unit 205 transmits a radio signal to another unmanned aerial vehicle.

The storage unit 206 has searched for the position information indicating the current position of the unmanned aerial vehicle 2 detected by the position sensor 202 and the position information indicating the current position of another unmanned aerial vehicle obtained from the radio signal. Remember as.

The control unit 21 controls the movement of the unmanned aerial vehicle 2 and is composed of a plurality of components. For example, an information processing device including a processor and a memory for storing a program operates as a control unit 21.

The control unit 21 includes a certainty calculation unit 211, a movement vector calculation unit 212, and a movement control unit 213.

The certainty calculation unit 211 calculates the certainty indicating the degree to which the current position of the unmanned aerial vehicle 2 is a position suitable for executing the task. The certainty calculation unit 211 determines that the current position of the unmanned aerial vehicle 2 is suitable for searching for a person based on the likelihood that the person is at the current position of the unmanned aerial vehicle 2 detected by the motion sensor 201. Calculate the certainty that indicates a certain degree. The certainty value increases as the current position of the unmanned aerial vehicle 2 is suitable for performing the task. The value of certainty increases as the likelihood of having a person at the current position of the unmanned aerial vehicle 2 increases. The method of calculating the degree of certainty will be described later.

The transmission unit 205 transmits the certainty calculated by the certainty calculation unit 211 to another unmanned aerial vehicle. That is, the radio signal transmitted by the transmission unit 205 includes the certainty calculated by the certainty calculation unit 211. In addition, the transmission unit 205 transmits the position information indicating the current position of the unmanned aerial vehicle 2 to other unmanned aerial vehicles 2 together with the certainty.

The receiving unit 204 also receives from the other unmanned aerial vehicle a certainty indicating the degree to which the current position of the other unmanned aerial vehicle is suitable for performing the task. That is, the radio signal received by the receiver 204 includes the certainty transmitted by another unmanned aerial vehicle. In addition, the receiving unit 204 receives the position information indicating the current position of the other unmanned aerial vehicle from the other unmanned aerial vehicle together with the certainty.

The movement vector calculation unit 114 calculates the movement vector of the unmanned aerial vehicle 2 to be moved based on the certainty of the unmanned aerial vehicle 2, the certainty of the other unmanned aerial vehicle 2, and the current position of the other unmanned aerial vehicle. calculate. The movement vector calculation unit 212 is currently indicated by the certainty calculated by the certainty calculation unit 211, the certainty from another unmanned aerial vehicle received by the receiving unit 204, and the position information of the other unmanned aerial vehicle. Based on the position, a movement vector including the direction and speed for moving the unmanned aerial vehicle 2 is calculated.

The movement control unit 213 controls the drive unit 203 based on the movement vector calculated by the movement vector calculation unit 212. The movement control unit 213 controls the movement of the unmanned aerial vehicle 2 based on the movement vector.

FIG. 7 is a schematic diagram showing how the unmanned aerial vehicle 2 moves while communicating with a plurality of other unmanned aerial vehicles to execute a task. By detecting a person existing on the ground, a plurality of unmanned aerial vehicles cooperate with each other to search for a person existing on the ground. In FIG. 7, the broken line 23 indicates that the unmanned aerial vehicle 2 is communicating with another unmanned aerial vehicle.

The unmanned aerial vehicle 2 receives radio signals transmitted by a plurality of other unmanned aerial vehicles. In addition, the unmanned aerial vehicle 2 transmits a radio signal to a plurality of other unmanned aerial vehicles that are unspecified targets. FIG. 7 shows that the unmanned aerial vehicle 2 communicates with all of the plurality of other unmanned aerial vehicles, but when there is an obstacle between the unmanned aerial vehicles and when the distance between the unmanned aerial vehicles is large. Or, when the communication status of wireless communication is poor, it is not always possible to communicate with all unmanned aerial vehicles, and when there are few other unmanned aerial vehicles that can communicate, it is completely different from other unmanned aerial vehicles. Communication may not be possible.

Although only the communication between the unmanned aerial vehicle 2 and the other unmanned aerial vehicle is shown in FIG. 7, the other unmanned aerial vehicles also communicate with each other in the same manner.

The operation of the unmanned aerial vehicle 2 of the second embodiment configured as described above will be described with reference to the flowcharts of FIGS. 8 and 9.

FIG. 8 is a first flowchart for explaining the operation of the unmanned aerial vehicle according to the second embodiment, and FIG. 9 is a second flowchart for explaining the operation of the unmanned aerial vehicle according to the second embodiment. It is a flowchart.

First, in step S201, the motion sensor 201 detects the victim (person) on the ground substantially directly below the unmanned aerial vehicle 2, and detects the likelihood d, which is the likelihood that the victim is at the current position. Here, the likelihood d is 0 ≦ d ≦ 1. When the human sensor 201 is an infrared temperature sensor, the human sensor 201 measures the temperature on the ground substantially directly below the unmanned flying object 2, and the measured temperature is the average body temperature of the human body (for example, 36.5 degrees). ), The likelihood d is set to 1, and the likelihood d approaches 0 as the measured temperature deviates from the average body temperature of the human body.

Next, in step S202, the position sensor 202 detects the current position of the unmanned aerial vehicle 2 using GPS, and outputs the position information P indicating the current position.

Next, in step S202, the certainty calculation unit 211 determines whether or not the current position detected by the position sensor 202 has already been searched. That is, the certainty calculation unit 211 determines whether or not the current position detected by the position sensor 202 matches the searched position stored in the storage unit 206. In this way, by determining whether or not the current position has already been searched, it is possible to prevent the same place from being searched many times, and the task can be executed efficiently.

Here, if it is determined that the current position has already been searched (YES in step S203), the process proceeds to step S212.

On the other hand, when it is determined that the current position has not been searched (NO in step S203), in step S204, the certainty calculation unit 211 is currently based on the likelihood d of the victim detected by the motion sensor 201. The confidence level c indicating whether the position is a position suitable for executing the task is calculated using the following equation (3).

c = max (1, k × d) ... (3)
In the above equation (3), k is a coefficient. Note that the function is not limited to the equation (3) as long as it is a function that increases according to the likelihood d.

Next, in step S205, the transmission unit 205 uses the position information P indicating the current position of the unmanned aerial vehicle 2 detected by the position sensor 202 and the certainty degree c calculated by the certainty degree calculation unit 211 to be another unmanned vehicle. Send to the aircraft. The transmission unit 205 wirelessly transmits the position information and the certainty, and broadcasts the radio signal including the position information and the certainty to an unspecified number of other unmanned aerial vehicles. The radio signal may include identification information for identifying an unmanned aerial vehicle in addition to position information and certainty.

Next, in step S206, the receiving unit 204 receives the position information and the certainty from another unmanned aerial vehicle by wireless communication. If the radio signal can be received from the plurality of other unmanned aerial vehicles, the receiving unit 204 receives the plurality of radio signals. In this case, the receiving unit 204 does not identify the plurality of other unmanned aerial vehicles that are the sources, but distinguishes the plurality of radio signals. Here, the i-th received radio signal is s (i), the certainty of another unmanned aerial vehicle received by the radio signal s (i) is c (i), and the position information of the other unmanned aerial vehicle is used. Let it be P (i). In addition, when there is no other unmanned aerial vehicle within the range where the wireless signal can be received, when there is an obstacle between the other unmanned aerial vehicle, or when the communication condition of wireless communication is poor, the receiver 204 Does not have to be able to receive the radio signal.

Next, in step S207, the movement vector calculation unit 212 determines the certainty c that is calculated by the certainty calculation unit 211, the certainty c (i) obtained from the radio signal s (i), and the radio signal s ( From the position information P (i) obtained from i), the movement vector R (i) for moving the unmanned vehicle 2 is calculated using the following equation (4).

Next, in step S208, the movement control unit 213 controls the moving direction and speed of the unmanned aerial vehicle 2 according to the direction and magnitude of the movement vector calculated by the movement vector calculation unit 212, and the unmanned aerial vehicle 2 Move 2

That is, the greater the certainty c (i) included in the radio signal s (i), the more the unmanned aerial vehicle 2 is pulled toward the other unmanned aerial vehicle that transmitted the radio signal s (i). Further, in the unmanned aerial vehicle 2, the closer the distance | P (i) -P | between the unmanned aerial vehicle 2 and the other unmanned aerial vehicle that transmitted the radio signal s (i), the more the radio signal s ( i) is pulled in the direction of the other unmanned aerial vehicle that sent it. Further, the unmanned aerial vehicle 2 is moved and controlled so that the greater the certainty c is, the smaller the degree of pulling is.

Here, the operation of the unmanned aerial vehicle 2 moving in cooperation with a plurality of other unmanned aerial vehicles will be described with reference to FIG. 7.

As shown in FIG. 7, the receiving unit 204 of the unmanned vehicle 2 (first autonomous mobile robot) has a position where the current position of the unmanned vehicle 221 (second autonomous mobile robot) is suitable for executing a task. The confidence level indicating the degree of certainty is received from the unmanned vehicle body 221 and the current position of the unmanned vehicle body 222 (third autonomous mobile robot) is a position suitable for performing the task. Is received from the unmanned aircraft 222.

The movement vector calculation unit 212 is a first individual vector to be moved by the unmanned aerial vehicle 2 based on the certainty of the unmanned aerial vehicle 2 and the certainty of the unmanned aerial vehicle 221 and the current position of the unmanned aerial vehicle 221. Is calculated. Further, the movement vector calculation unit 212 should move the unmanned aerial vehicle 2 based on the certainty of the unmanned aerial vehicle 2, the certainty of the unmanned aerial vehicle 222, and the current position of the unmanned aerial vehicle 222. Calculate the individual vector. Then, the movement vector calculation unit 212 calculates the sum of the first individual vector and the second individual vector as the movement vector.

The magnitude of the first individual vector increases as the certainty of the unmanned aerial vehicle 221 increases, and decreases as the distance between the unmanned aerial vehicle 2 and the unmanned aerial vehicle 221 increases. Further, the magnitude of the second individual vector increases as the certainty of the unmanned aerial vehicle 222 increases, and decreases as the distance between the unmanned aerial vehicle 2 and the unmanned aerial vehicle 222 increases. The direction of the first individual vector is the direction from the current position of the unmanned vehicle 2 toward the unmanned vehicle 221 and the direction of the second individual vector is from the current position of the unmanned vehicle 2 toward the unmanned vehicle 222. The direction.

Next, in step S209, the movement control unit 213 indicates the position information indicating the current position of the unmanned aerial vehicle 2 detected by the position sensor 202, and the position indicating the current position of another unmanned aerial vehicle obtained from the radio signal. Information and information are stored in the storage unit 206. These position information are stored in the storage unit 206 as the searched positions.

In the second embodiment, the position information indicating the current position is stored, but the present disclosure is not particularly limited to this. The movement control unit 213 has a predetermined area including the area information indicating a predetermined area including the current position of the unmanned aerial vehicle 2 detected by the position sensor 202 and the current position of another unmanned aerial vehicle obtained from the radio signal. The area information indicating the above may be stored in the storage unit 206.

Further, the movement control unit 213 stores map information representing the current position of the unmanned aerial vehicle 2 detected by the position sensor 202 and the current position of another unmanned aerial vehicle obtained from the radio signal on a map. You may memorize it in.

Further, the movement control unit 213 has position information indicating the current position of the unmanned aerial vehicle 2 whose certainty calculated by the certainty calculation unit 211 is equal to or higher than a predetermined value, and the certainty obtained from the radio signal is equal to or higher than the predetermined value. The storage unit 206 may store position information indicating the current position of another unmanned aerial vehicle.

Next, in step S210, the movement control unit 213 determines whether or not the distance | P (i) -P | between the unmanned aerial vehicle 2 and another unmanned aerial vehicle 2 is shorter than a predetermined distance. Here, when it is determined that the distance | P (i) -P | between the unmanned aerial vehicle 2 and another unmanned aerial vehicle 2 is shorter than a predetermined distance (YES in step S210), the movement control is performed in step S211. Part 213 changes the direction of the unmanned aerial vehicle 2 in a direction of avoiding other unmanned aerial vehicles, and moves the unmanned aerial vehicle 2. After that, the process returns to step S201.

On the other hand, when it is determined that the distance | P (i) -P | between the unmanned aerial vehicle 2 and another unmanned aerial vehicle 2 is equal to or greater than a predetermined distance (NO in step S210), the movement control is performed in step S212. The unit 213 determines whether or not a predetermined time has elapsed since the unmanned aerial vehicle 2 started operating. Here, when it is determined that the predetermined time has elapsed (YES in step S212), the movement control unit 115 ends the operation. At this time, the movement control unit 213 may move the unmanned aerial vehicle 2 so as to return to the position (charging position) where the unmanned aerial vehicle 2 starts operating, for example. On the other hand, when it is determined that the predetermined time has not elapsed (NO in step S212), the process returns to the process of step S201.

In the second embodiment, the movement control unit 213 determines whether or not a predetermined time has elapsed since the unmanned aerial vehicle 2 started operation, but the present disclosure is particularly limited to this. Instead, the movement control unit 213 may determine whether or not the search within a predetermined predetermined area has been completed.

By the above operation, in the autonomous movement control system in which a plurality of autonomous mobile robots cooperate to execute a predetermined task, the tasks can be performed more efficiently in the entire system by using the positions of other autonomous mobile robots and the information on the tasks. Can be executed. In particular, by transmitting and receiving a certainty degree indicating the degree to which the current position is a suitable position for executing a task between a plurality of autonomous mobile robots, each autonomous mobile robot can perform a task in a more suitable position. You can move in the direction of and perform a predetermined task. This makes it possible to execute tasks more efficiently throughout the system.

In the second embodiment, the autonomous movement control system includes a plurality of unmanned aerial vehicles, but the present disclosure is not particularly limited to this, and the autonomous movement control system includes a plurality of unmanned aerial vehicles and a plurality of unmanned aerial vehicles. It may include at least one of the unmanned aerial vehicles and a communicable connected server.

In this case, the unmanned aerial vehicle includes a motion sensor 201, a position sensor 202, a drive unit 203, a reception unit 204, a transmission unit 205, a storage unit 206, and a control unit 21. The control unit 11 of the unmanned aerial vehicle includes a certainty calculation unit 211 and a movement control unit 213. The server includes a communication unit and a control unit. The control unit of the server includes a movement vector calculation unit 212. The transmission unit 205 of the unmanned aerial vehicle transmits the certainty of the other unmanned aerial vehicle and the position information of the other unmanned aerial vehicle to the server. Further, the receiving unit 204 of the unmanned aerial vehicle receives the calculated movement vector from the server. The communication unit of the server receives the certainty of the other unmanned aerial vehicle and the position information of the other unmanned aerial vehicle from the unmanned aerial vehicle. In addition, the communication unit of the server transmits the calculated movement vector to the unmanned aerial vehicle.

Further, the transmission unit 205 of the unmanned aerial vehicle may transmit the position information indicating its current position detected by the position sensor 202 to the server. In this case, the server stores the position information of the plurality of unmanned aerial vehicles, identifies the movement path of the plurality of unmanned aerial vehicles, and moves each unmanned aerial vehicle so as not to search the position already searched by each unmanned aerial vehicle. May be controlled.

In the present disclosure, all or part of a unit, device, member or part, or all or part of a functional block in the block diagram shown in FIGS. 2 and 6, is a semiconductor device, a semiconductor integrated circuit (IC), or an LSI ( It may be executed by one or more electronic circuits including the Large Scale Integration). The LSI or IC may be integrated on one chip, or may be configured by combining a plurality of chips. For example, functional blocks other than the storage element may be integrated on one chip. Here, it is called an LSI or an IC, but the name changes depending on the degree of integration, and it may be called a system LSI, a VLSI (Very Large Scale Integration), or a ULSI (Ultra Large Scale Integration). A Field Programmable Gate Array (FPGA), which is programmed after the LSI is manufactured, or a Reconfigurable Logic Device, which can reconfigure the junction relationship inside the LSI or set up the circuit partition inside the LSI, can also be used for the same purpose.

Further, all or part of the function or operation of the unit, device, member or part can be performed by software processing. In this case, the software is recorded on a non-temporary recording medium such as one or more ROMs, optical discs, hard disk drives, and is identified by the software when it is executed by a processor. Functions are performed by the processor and peripherals. The system or device may include one or more non-temporary recording media on which the software is recorded, a processor, and the required hardware device, such as an interface.

In the movement control method, the autonomous movement control system, the autonomous mobile robot, and the autonomous movement control program according to the present disclosure, each of the plurality of autonomous mobile robots can execute a task more efficiently, and a plurality of tasks are executed. A movement control method in an autonomous movement control system equipped with an autonomous mobile robot, an autonomous movement control system equipped with a plurality of autonomous mobile robots that execute a predetermined task, and a predetermined task for communicating with a communication target autonomous mobile robot to be communicated. It is useful as an autonomous mobile robot to be executed and an autonomous movement control program of the autonomous mobile robot.

1 Cleaning robot 2 Unmanned flying object 11 Control unit 12 Dust suction port 13 Drive wheel 14 Light emitting unit 21 Control unit 22 Rotor 101 Dust sensor 102 Approach sensor 103 Contact sensor 104 Driving unit 105 Light receiving unit 106 Light emitting unit 111 Confidence calculation unit 112 Direction calculation unit 113 Distance calculation unit 114 Movement vector calculation unit 115 Movement control unit 201 Motion sensor 202 Position sensor 203 Drive unit 204 Reception unit 205 Transmission unit 206 Storage unit 211 Confidence calculation unit 212 Movement vector calculation unit 213 Movement control unit

Claims (11)

A movement control method in an autonomous movement control system including a plurality of autonomous mobile robots that execute a predetermined task.
The plurality of autonomous mobile robots include a first autonomous mobile robot and a second autonomous mobile robot that communicates with the first autonomous mobile robot.
The degree of certainty that the first autonomous mobile robot calculates a first certainty that indicates a value that increases or decreases depending on whether or not the current position of the first autonomous mobile robot is a position suitable for performing the task. Calculation steps and
The second degree of certainty indicating that the first autonomous mobile robot increases or decreases depending on whether or not the current position of the second autonomous mobile robot is a position suitable for performing the task. The receiving step received from the autonomous mobile robot and
The first autonomous mobile robot has the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the present state of the second autonomous mobile robot. A vector calculation step of calculating a movement vector to be moved by the first autonomous mobile robot based on the position and
A movement control step in which the first autonomous mobile robot controls the movement of the first autonomous mobile robot based on the movement vector.
Movement control method including. The vector calculation step
A direction calculation step in which the first autonomous mobile robot calculates a direction from the current position of the first autonomous mobile robot to the current position of the second autonomous mobile robot.
A distance calculation step in which the first autonomous mobile robot calculates the distance between the first autonomous mobile robot and the second autonomous mobile robot.
The first autonomous mobile robot has the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the second autonomous mobile robot. A movement vector calculation step for calculating the movement vector of the first autonomous mobile robot based on the direction and the distance of the second autonomous mobile robot.
including,
The movement control method according to claim 1. In the receiving step, the first autonomous mobile robot receives the optical signal including the second certainty emitted from the second autonomous mobile robot by the optical sensor.
In the direction calculation step, the first autonomous mobile robot moves from the current position of the first autonomous mobile robot based on the direction in which the optical signal received by the optical sensor is emitted. Calculate the direction of the robot toward the current position and
In the distance calculation step, the first autonomous mobile robot between the first autonomous mobile robot and the second autonomous mobile robot based on the signal strength of the optical signal received by the optical sensor. Calculate the distance,
The movement control method according to claim 2. In the receiving step, the first autonomous mobile robot receives the position information indicating the current position of the second autonomous mobile robot together with the second certainty from the second autonomous mobile robot.
In the vector calculation step, the first autonomous mobile robot has the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the second. The movement vector of the first autonomous mobile robot is calculated based on the current position indicated by the position information of the autonomous mobile robot.
The movement control method according to claim 1. Further including a transmission step in which the first autonomous mobile robot transmits the calculated first certainty to the second autonomous mobile robot.
The movement control method according to any one of claims 1 to 4. The first autonomous mobile robot further includes a detection step of detecting the amount of dust at the current position of the first autonomous mobile robot.
In the certainty calculation step, the first autonomous mobile robot determines the first certainty of the first autonomous mobile robot based on the amount of dust at the current position of the first autonomous mobile robot. Calculate and
The second certainty is calculated based on the amount of the dust at the current position of the second autonomous mobile robot.
The value of the first certainty and the value of the second certainty increase as the amount of the garbage increases.
The movement control method according to claim 5. The first autonomous mobile robot further includes a detection step of detecting the likelihood that a person is at the current position of the first autonomous mobile robot.
In the certainty calculation step, the first autonomous mobile robot calculates the first certainty of the first autonomous mobile robot based on the likelihood.
The second certainty is calculated based on the likelihood that a person is at the current position of the second autonomous mobile robot.
The value of the first certainty and the value of the second certainty increase as the likelihood increases.
The movement control method according to claim 5. The plurality of autonomous mobile robots further include a third autonomous mobile robot that communicates with the first autonomous mobile robot.
In the receiving step, the third certainty degree indicating a value that the first autonomous mobile robot increases or decreases depending on whether or not the current position of the third autonomous mobile robot is a position suitable for performing the task. Is received from the third autonomous mobile robot,
In the vector calculation step, the first autonomous mobile robot has the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the second. The first individual vector to be moved by the first autonomous mobile robot is calculated based on the current position of the autonomous mobile robot, and the first certainty of the first autonomous mobile robot and the first certainty. Based on the third certainty of the third autonomous mobile robot and the current position of the third autonomous mobile robot, the second individual vector to be moved by the first autonomous mobile robot is calculated, and the second individual vector to be moved is calculated. The sum of the first individual vector and the second individual vector is calculated as the movement vector.
The magnitude of the first individual vector increases as the degree of certainty of the second of the second autonomous mobile robot increases, and the size of the first autonomous mobile robot and the second autonomous mobile robot becomes larger. The larger the distance, the smaller
The magnitude of the second individual vector increases as the degree of certainty of the third of the third autonomous mobile robot increases, and the size of the first autonomous mobile robot and the third autonomous mobile robot becomes larger. The larger the distance, the smaller
The direction of the first individual vector is a direction from the current position of the first autonomous mobile robot toward the second autonomous mobile robot.
The direction of the second individual vector is a direction from the current position of the first autonomous mobile robot toward the third autonomous mobile robot.
The movement control method according to claim 1. An autonomous movement control system equipped with a plurality of autonomous mobile robots that perform a predetermined task.
The first autonomous mobile robot and
It is provided with a second autonomous mobile robot that communicates with the first autonomous mobile robot.
The second autonomous mobile robot is
A certainty calculation unit that calculates a certainty indicating a value that increases or decreases depending on whether or not the current position of the second autonomous mobile robot is a position suitable for executing the task.
A transmission unit that transmits the certainty of the second autonomous mobile robot to the first autonomous mobile robot, and
With
The first autonomous mobile robot is
A certainty calculation unit that calculates a first certainty that indicates a value that increases or decreases depending on whether or not the current position of the first autonomous mobile robot is a position suitable for executing the task.
A receiving unit that receives the certainty degree transmitted by the second autonomous mobile robot as the second certainty degree, and
The first is based on the first certainty of the first autonomous mobile robot, the second certainty of the second autonomous mobile robot, and the current position of the second autonomous mobile robot. Vector calculation unit that calculates the movement vector to be moved by the autonomous mobile robot,
A movement control unit that controls the movement of the first autonomous mobile robot based on the movement vector,
An autonomous movement control system equipped with. An autonomous mobile robot that performs a predetermined task and communicates with the communication target autonomous mobile robot that is the communication target.
A certainty calculation unit that calculates a first certainty that indicates a value that increases or decreases depending on whether or not the current position of the autonomous mobile robot is a position suitable for executing the task.
A receiving unit that receives from the communication target autonomous mobile robot a second certainty indicating a value that increases or decreases depending on whether or not the current position of the communication target autonomous mobile robot is a position suitable for executing the task.
The autonomous mobile robot should move based on the first certainty of the autonomous mobile robot, the second certainty of the communication target autonomous mobile robot, and the current position of the communication target autonomous mobile robot. A calculation unit that calculates the movement vector,
A movement control unit that controls the movement of the autonomous mobile robot based on the movement vector,
An autonomous mobile robot equipped with. It is an autonomous movement control program of an autonomous mobile robot that executes a predetermined task and communicates with the communication target autonomous mobile robot that is the communication target.
The computer included in the autonomous mobile robot
A certainty calculation unit that calculates a first certainty that indicates a value that increases or decreases depending on whether or not the current position of the autonomous mobile robot is a position suitable for executing the task.
A receiving unit that receives from the communication target autonomous mobile robot a second certainty indicating a value that increases or decreases depending on whether or not the current position of the communication target autonomous mobile robot is a position suitable for executing the task.
The autonomous mobile robot should move based on the first certainty of the autonomous mobile robot, the second certainty of the communication target autonomous mobile robot, and the current position of the communication target autonomous mobile robot. A calculation unit that calculates the movement vector,
It functions as a movement control unit that controls the movement of the autonomous mobile robot based on the movement vector.
Autonomous movement control program.

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