JP6804729B2 - Autonomous movement system and autonomous movement method - Google Patents

Description

The present invention relates to an autonomous movement system and an autonomous movement method for controlling the movement of an automatically moving body.

Conventionally, a technique for controlling the movement of an autonomous moving body such as a mobile robot is known (see, for example, Patent Document 1). Techniques such as SLAM (Simultaneous Localization and Mapping) are used to move such autonomous mobiles in the work space. This is a method of measuring the surrounding shape with an optical sensor such as a laser range finder and estimating the self-position coordinates from the change in the shape, but when actually operating this, the peripheral shape is measured in advance. Need to keep. Further, in order to limit the operating range of the autonomous moving body among the measured peripheral shapes, it is necessary to artificially specify the range for the measured shape.

JP-A-2015-10374

However, in an environment such as a construction site where the surrounding shape changes from moment to moment, there is a problem that it is difficult to set the operating range because the shape measurement in advance does not make sense. Therefore, it has been desired to develop a technique capable of detecting a self-position and autonomously moving without being influenced by a change in the peripheral shape.

The present invention has been made in view of the above, and an autonomous movement system and an autonomous movement method that detect a self-position and autonomously move even in an environment such as a construction site where the peripheral shape changes from moment to moment. The purpose is to provide.

In order to solve the above-mentioned problems and achieve the object, the autonomous mobile system according to the present invention is arranged in a preset compartment, and an autonomous mobile body capable of autonomously moving in the compartment and this autonomous movement A marker position detecting means for detecting the position of a marker provided on the body and arranged at a position defining a section, a self-position estimating means for estimating a self-position in the section based on this detection, and an estimated self-position. It is characterized by providing an autonomous movement control means for controlling the autonomous movement of the autonomous moving body based on the above.

Further, the other autonomous movement system according to the present invention is based on the object position detecting means for detecting the position of an object other than the marker during the initial autonomous movement controlled by the autonomous movement control means in the above-described invention, and the object position detecting means based on this detection. The self-position estimation means further includes a map creation means for creating a map of the section, and the self-position estimating means estimates the self-position in the section based on the created map and the detection by the marker position detecting means.

Further, another autonomous movement system according to the present invention is characterized in that, in the above-described invention, the compartment is a polygonal compartment, and the marker is arranged at the apex of the polygonal compartment.

Further, the autonomous movement method according to the present invention detects the position of a marker arranged at a position defining a section from an autonomous moving body that is arranged in a preset section and can move autonomously in this section. It is provided with a marker position detection step of performing, a self-position estimation step of estimating a self-position in a section based on this detection, and an autonomous movement control step of controlling the autonomous movement of an autonomous moving body based on the estimated self-position. It is characterized by.

Further, another autonomous movement method according to the present invention is based on the object position detection step of detecting the position of an object other than the marker during the initial autonomous movement by controlling the autonomous movement control step in the above-described invention, and the detection. The self-position estimation process further includes a map creation step of creating a map of the section, and the self-position estimation step is characterized in that the self-position in the section is estimated based on the detection by the created map and the marker position detection step.

Further, another autonomous movement method according to the present invention is characterized in that, in the above-described invention, the compartment is a polygonal compartment, and the marker is arranged at the apex of the polygonal compartment.

According to the autonomous mobile system according to the present invention, an autonomous mobile body that is arranged in a preset compartment and can move autonomously in this compartment, and an autonomous mobile body that is provided in the autonomous mobile body and is provided at a position that defines the compartment. The marker position detecting means for detecting the position of the marker, the self-position estimating means for estimating the self-position in the section based on this detection, and the autonomous movement of the autonomous moving body are controlled based on the estimated self-position. Since it is equipped with an autonomous movement control means, the autonomous moving body can move autonomously while detecting its own position in the set section even in an environment such as a construction site where the peripheral shape changes from moment to moment. It plays the effect.

Further, according to another autonomous movement system according to the present invention, an object position detecting means for detecting the position of an object other than a marker during the initial autonomous movement controlled by the autonomous movement control means, and a partition based on this detection. It is further provided with a map creation means for creating a map, and the self-position estimation means estimates the self-position in the compartment based on the detection by the created map and the marker position detection means, so that the self-position estimation means is created during the initial autonomous movement. By using the map, it is possible to move autonomously while accurately estimating the self-position within the set section.

Further, according to another autonomous movement system according to the present invention, the section is a polygonal section, and the marker is arranged at the apex of the polygonal section, so that the section in which the autonomous moving body moves is convenient. It has the effect of being able to be set to.

Further, according to the autonomous movement method according to the present invention, the positions of markers arranged in a preset compartment and arranged at a position defining the compartment from an autonomous mobile body capable of autonomously moving in the compartment. A marker position detection process for detecting the above, a self-position estimation process for estimating the self-position in the section based on this detection, and an autonomous movement control process for controlling the autonomous movement of the autonomous moving body based on the estimated self-position. Therefore, even in an environment such as a construction site where the peripheral shape changes from moment to moment, the autonomous moving body has the effect of being able to autonomously move while detecting its own position in the set section.

Further, according to another autonomous movement method according to the present invention, there is an object position detection step of detecting the position of an object other than the marker during the initial autonomous movement under the control of the autonomous movement control process, and a section based on this detection. The self-position estimation process further includes a map creation process for creating a map, and since the self-position estimation process estimates the self-position in the section based on the detection by the created map and the marker position detection process, it was created during the initial autonomous movement. By using the map, it is possible to move autonomously while accurately estimating the self-position within the set section.

Further, according to another autonomous movement method according to the present invention, the section is a polygonal section, and the marker is arranged at the apex of the polygonal section, so that the section in which the autonomous moving body moves is convenient. It has the effect of being able to be set to.

FIG. 1 is a schematic configuration diagram showing an embodiment of an autonomous movement system and an autonomous movement method according to the present invention. FIG. 2 is a schematic plan view showing a work section. FIG. 3 is a diagram showing a marker installation status. FIG. 4 is a diagram showing a marker search status. FIG. 5 is a diagram showing a marker position detection status. FIG. 6 is a diagram showing an autonomous movement situation by capturing a marker. FIG. 7 is a diagram showing a measurement status of the outer peripheral portion.

Hereinafter, embodiments of the autonomous movement system and the autonomous movement method according to the present invention will be described in detail with reference to the drawings. In the following description, an autonomous mobile body having wheels will be described as an example, but the present invention can also be applied to an autonomous mobile body having a crawler, a robot having legs, and the like, and the present invention is based on the present embodiment. It is not limited.

(Autonomous mobile system)
First, an embodiment of the autonomous mobile system according to the present invention will be described.

As shown in FIG. 1, the autonomous mobile system 10 according to the present invention is provided in an autonomous mobile body 14 arranged in a polygonal section 12 set as an operating range in a construction site, and in the autonomous mobile body 14. The peripheral shape measuring means 16, the self-position estimating means 18, the autonomous movement control means 20, and the map creating means 22 are provided.

The autonomous moving body 14 is a moving body having wheels that can move autonomously in the compartment 12, and is provided with peripheral shape measuring means 16, self-position estimation means 18, autonomous movement control means 20, and map creating means 22. A calculation processing device (for example, a CPU) (not shown) for executing various control programs and a storage device 24 (for example, ROM, RAM, HDD, flash memory) for storing various data including the control program are provided. There is.

The peripheral shape measuring means 16 includes an optical sensor such as a laser range finder capable of measuring the shape of a stationary object such as an object (for example, a wall of a building or a marker) existing around the autonomous moving body 14. The shape of the peripheral object measured by the peripheral shape measuring means 16 is input to the storage device 24 together with the measurement time, and is stored as shape data. Further, the peripheral shape measuring means 16 includes a marker position detecting means 26 and an object position detecting means 28.

The marker position detecting means 26 detects the positions of a plurality of markers M arranged at the apex of the polygonal section 12 by using the measurement of the peripheral shape by the optical sensor or the image recognition by the camera. Is what you do. More specifically, the marker position detecting means 26 pattern-matches (superimposes) the shape measured by the peripheral shape measuring means 16 with the shape pattern of the known marker M stored in advance in the storage device 24. By doing so, the position of each marker M is detected. A known method can be used as a specific method of pattern matching. Further, the object position detecting means 28 utilizes the measurement of the peripheral shape by the optical sensor to perform an object other than the marker M (for example, a building) during the initial movement (for example, during the initial autonomous movement controlled by the autonomous movement control means 20). It detects the position of the wall).

The self-position estimating means 18 estimates the self-position of the autonomous moving body 14 in the compartment based on the measurement result by the peripheral shape measuring means 16. A known method can be used as a method for estimating the self-position by measuring the peripheral shape. Further, as will be described later, the self-position estimating means 18 can estimate the self-position in the section based on the map created by the map creating means 22 and the detection by the marker position detecting means 26.

The autonomous movement control means 20 controls the autonomous movement of the autonomous moving body 14 based on the estimated self-position. For example, the autonomous moving body 14 reaches the target position along a preset path in the section 12. The wheels of the autonomous moving body 14 and the like are driven by using the estimation result of the self-position estimation means 18 to control the autonomous traveling so as to travel.

The map creating means 22 creates a map of the section based on the detection of the object position detecting means 28. As described above, the self-position estimating means 18 estimates the self-position in the section 12 based on the created map and the detection by the marker position detecting means 26. In this way, by using the map created during the initial autonomous movement, the autonomous moving body 14 can autonomously move while accurately estimating its own position within the set section 12.

According to the above configuration, the autonomous moving body 14 can autonomously move in the set section 12 while detecting its own position even in an environment such as a construction site where the peripheral shape changes from moment to moment. .. Further, by installing the marker M at the apex of the compartment 12, the compartment 12 which is the movement range of the autonomous moving body 14 can be easily set, and the compartment 12 can be easily detected by the optical sensor even during the autonomous movement. can do. In addition, by using the map created during the initial autonomous movement, it is possible to autonomously move while accurately estimating the self-position within the set section 12.

In the above embodiment, for example, a management device is provided in the management room outside the compartment 12, and the autonomous mobile body 14 and the management device are connected via a wireless network, and the management device turns the autonomous mobile body 14 on and off. Operations such as initial movement may be remotely controlled.

(Autonomous movement method)
Next, an embodiment of the autonomous movement method according to the present invention will be described.

In the autonomous movement method according to the present invention, using the above-mentioned autonomous movement system 10, an autonomous moving body 14 such as a work robot changes its peripheral shape while estimating its own position within a preset work area 12. It is a method of autonomous movement without being influenced.

First, as shown in FIG. 2, a polygonal section composed of a plurality of straight lines is considered as a work section 12 in a construction site 32 in which a pillar 30 is erected around it.

Next, as shown in FIG. 3, an object serving as a marker M such as a pylon or a pole is installed at the apex of the polygonal work compartment 12 to define the work compartment 12.

Next, as shown in FIG. 4, an autonomous moving body 14 is installed in the work section 12, and the peripheral shape is measured by the optical sensor of the peripheral shape measuring means 16 provided therein to search for the marker M. Arrows radiating from the autonomous mobile body 14 in the figure indicate the scanning direction of the optical sensor. Subsequently, as shown in FIG. 5, the position of the marker M is detected by pattern matching from the measurement result (marker position detection step), and the self-positions in the work section 12 and the work section 12 are estimated (self-position estimation step). ..

As shown in FIG. 6, by constantly capturing the position of the marker M from the optical sensor of the autonomous mobile body 14, it autonomously moves along a preset path (autonomous movement control step).

Here, the estimation accuracy of the self-position may be low only from the marker position. Therefore, as shown in FIG. 7, while performing the initial movement (for example, the outer peripheral path in the work section indicated by the arrow Y), the shape of surrounding objects such as the wall 34 of the building other than the marker M is measured (object position). Detection process), and the map is created by the map creation means 22 (map creation process).

After that, it moves autonomously while estimating its own position based on the detection of the marker position and the created map. In this way, highly accurate self-position estimation becomes possible, and the accuracy of autonomous movement can be improved.

As described above, according to the autonomous mobile system according to the present invention, an autonomous mobile body that is arranged in a preset compartment and can move autonomously in this compartment, and an autonomous mobile body that is provided in the autonomous mobile body and is provided in the compartment. A marker position detecting means for detecting the position of a marker arranged at a position defining the above, a self-position estimating means for estimating a self-position in a section based on this detection, and an autonomous moving body based on the estimated self-position. Since it is equipped with an autonomous movement control means for controlling the autonomous movement of the mobile body, the autonomous mobile body detects its own position in the set section even in an environment where the peripheral shape changes from moment to moment, such as at a construction site. Can move autonomously.

Further, according to another autonomous movement system according to the present invention, an object position detecting means for detecting the position of an object other than a marker during the initial autonomous movement controlled by the autonomous movement control means, and a partition based on this detection. It is further provided with a map creation means for creating a map, and the self-position estimation means estimates the self-position in the compartment based on the detection by the created map and the marker position detection means, so that the self-position estimation means is created during the initial autonomous movement. By using the map, it is possible to move autonomously while accurately estimating the self-position within the set section.

Further, according to another autonomous movement system according to the present invention, the section is a polygonal section, and the marker is arranged at the apex of the polygonal section, so that the section in which the autonomous moving body moves is convenient. Can be set to.

Further, according to the autonomous movement method according to the present invention, the positions of markers arranged in a preset compartment and arranged at a position defining the compartment from an autonomous mobile body capable of autonomously moving in the compartment. A marker position detection process for detecting the above, a self-position estimation process for estimating the self-position in the section based on this detection, and an autonomous movement control process for controlling the autonomous movement of the autonomous moving body based on the estimated self-position. Therefore, even in an environment such as a construction site where the peripheral shape changes from moment to moment, the autonomous moving body can autonomously move while detecting its own position in the set section.

Further, according to another autonomous movement method according to the present invention, there is an object position detection step of detecting the position of an object other than the marker during the initial autonomous movement under the control of the autonomous movement control process, and a section based on this detection. The self-position estimation process further includes a map creation process for creating a map, and since the self-position estimation process estimates the self-position in the section based on the detection by the created map and the marker position detection process, it was created during the initial autonomous movement. By using the map, it is possible to move autonomously while accurately estimating the self-position within the set section.

Further, according to another autonomous movement method according to the present invention, the section is a polygonal section, and the marker is arranged at the apex of the polygonal section, so that the section in which the autonomous moving body moves is convenient. Can be set to.

As described above, the autonomous movement system and the autonomous movement method according to the present invention are useful for a technique for controlling the movement of an autonomous moving body such as a mobile robot, and in particular, the peripheral shape changes from moment to moment as in a construction site. Even in the environment, it is suitable for detecting its own position and moving autonomously.

10 Autonomous movement system 12 compartments, work compartment 14 Autonomous mobile body 16 Peripheral shape measuring means 18 Self-position estimation means 20 Autonomous movement control means 22 Map creation means 24 Storage device 26 Marker position detection means 28 Object position detection means 30 Pillars 32 Construction site 34 wall M marker

Claims (4)

An autonomous moving body that is arranged in a preset section and can move autonomously in this section, and a peripheral shape measuring means that measures the shape of an object provided in the autonomous moving body and existing around the autonomous moving body. Based on the marker position detecting means for detecting the position of the marker arranged at the position defining the section, the self-position estimating means for estimating the self-position in the section based on this detection, and the estimated self-position. It is equipped with an autonomous movement control means for controlling the autonomous movement of the autonomous moving body.
The compartment is a polygonal compartment, and markers are placed at the apex of this polygonal compartment.
The marker position detecting means is an autonomous movement characterized by detecting the position of a marker by pattern matching the shape measured by the peripheral shape measuring means with the shape pattern of the marker stored in advance in the storage device. system. Self-position estimation with an object position detection means that detects the position of an object other than a marker during the initial autonomous movement under the control of the autonomous movement control means, and a map creation means that creates a map of the section based on this detection. The autonomous movement system according to claim 1, wherein the means is to estimate a self-position in a section based on a created map and detection by a marker position detecting means. By using the peripheral shape measuring means provided in the autonomous moving body that is arranged in the preset section and can move autonomously in this section, the shape of the object existing around the autonomous moving body is measured. A marker position detection process that detects the position of a marker placed at a position that defines a section, a self-position estimation process that estimates a self-position in the section based on this detection, and autonomous movement based on the estimated self-position. It is equipped with an autonomous movement control process that controls the autonomous movement of the body.
The compartment is a polygonal compartment, and markers are placed at the apex of this polygonal compartment.
The marker position detection step is an autonomous movement characterized in that the position of the marker is detected by pattern matching the shape measured by the peripheral shape measuring means with the shape pattern of the marker stored in advance in the storage device. Method. Self-position estimation with an object position detection process that detects the position of an object other than a marker during the initial autonomous movement under the control of the autonomous movement control process, and a map creation process that creates a map of the section based on this detection. The autonomous movement method according to claim 3 , wherein the process estimates its own position in the section based on the created map and the detection by the marker position detection process.

Images