JP6880552B2 - Autonomous mobile system - Google Patents

Description

The present invention relates to an autonomous moving body system composed of a plurality of moving bodies capable of autonomously traveling on a predetermined moving plane.

Conventionally, there is known a system in which a plurality of moving bodies move on a predetermined moving surface without colliding with each other. For example, Patent Document 1 discloses an automatic guided vehicle traveling system in which a plurality of automatic guided vehicles travel along a preset traveling guidance line. In this system, when the detection means detects the transport vehicle that arrives first at the approaching / merging point of the travel guidance line, the travel of the transport vehicle that arrives (after arrival) and the generation of the detection wave from the obstacle detection sensor are temporarily stopped. To do. As a result, the first-come-first-served vehicle does not stop running due to mutual interference of the detection waves, and as a result, each automatic guided vehicle can run smoothly even at the approaching / merging point.

Patent Document 2 describes a robot control device that controls a plurality of mobile robots that output ultrasonic waves or electromagnetic waves as transmitted waves and have an external sensor that detects surrounding obstacles by reflected waves to perform a predetermined task. Is disclosed.
In the robot control device of Patent Document 2, when it is determined that the distance between any two mobile robots is a first predetermined value obtained and set in advance, the outside world of the mobile robot having the lower priority is determined. The output of the sensor is reduced. The first predetermined value described above is calculated based on a level at which the transmitted / received waves of the external world sensors of the two mobile robots do not interfere with each other. As a result, it is possible to avoid erroneous detection of obstacles by the external sensor of each mobile robot.

Japanese Patent No. 2572151 Japanese Patent No. 46166664

In the automatic guided vehicle traveling system disclosed in Patent Documents 1 and 2, whether the automatic guided vehicle arrives first or second at the approaching / merging point is determined by the control unit on the ground side. In addition, the control unit on the ground side outputs a signal to stop the traveling of the rear-arriving carrier.

In addition, in this system, it is necessary to install a detection means to detect the passage of the transport vehicle, and further, it is necessary to install a blocking zone to instruct the transport vehicle of the rear arrival to stop traveling. Is. In this case, if the system becomes complicated and large-scale (for example, the number of approaching / merging points and the number of automatic guided vehicles increase, and / or the moving plane on which the automatic guided vehicle moves becomes complicated), the traveling system becomes , It is necessary to provide a large number of detection means and blocking zones. As a result, for example, when changing the traveling route, a great deal of labor is required to reconstruct the traveling system.

Further, in the above system, the detection means and the blocking zone are installed only at a specific approach / confluence point. Therefore, a plurality of transport vehicles can travel in cooperation with each other only at specific points.

An object of the present invention is to autonomously move each moving body in cooperation with another moving body in an autonomous moving body system composed of a plurality of moving bodies.

Hereinafter, a plurality of aspects will be described as means for solving the problem. These aspects can be arbitrarily combined as needed.
The seemingly autonomous mobile system of the present invention is a system including a plurality of mobiles that move in a mobile environment. Each of the plurality of moving bodies has a self-positioning unit, an obstacle detection sensor, an inter-mobile communication unit, a distance calculation unit, a priority determination unit, and an interference stop unit. The self-positioning unit determines the self-position. The self-position is the position of oneself on the environmental map showing the moving environment. The obstacle detection sensor outputs a detection signal, and receives the reflected signal that is reflected and returned from the detection signal. As a result, the obstacle detection sensor detects whether or not there is an obstacle in the surroundings.

The mobile-to-mobile communication unit executes inter-mobile communication that directly communicates with other mobiles. The inter-mobile communication unit transmits its own position to another moving body and receives the other moving body position from each of the other moving bodies by inter-moving body communication. The position of the other mobile is the position on the environmental map of the other mobile. The distance calculation unit calculates the distance between moving bodies. The distance between moving bodies is the distance between the self position and the position of another moving body. The priority determination unit determines the movement priority. The movement priority is a priority regarding movement to and from a close moving body. A close-range moving body is a moving body in which the distance between moving bodies is less than the interference distance among other moving bodies. The interference stop unit executes the interference stop process when it is determined that the movement priority is lower than that of the proximity moving body. The interference stop process is a process of stopping the movement of the sensor itself and stopping the output of the detection signal from the obstacle detection sensor, or reducing the strength of the detection signal and outputting the signal.

In the above-mentioned autonomous mobile body system, the self-positioning unit of each mobile body determines its own position on the environment map representing the moving environment while moving in the moving environment. In addition, while the mobile inter-mobile communication unit of each mobile body is moving in the mobile environment, the above self-position is transmitted to another mobile body by inter-mobile communication, and the current position on the environment map of the other mobile body is present. The position of the other moving body, which is the position, is received from the other moving body. After sharing the self-position and the position of the other moving body, the distance calculation unit of each moving body calculates the distance between the moving bodies from the self-position and the position of the other moving body.
After that, the priority determination unit of each moving body determines the high or low of the movement priority of the proximity moving body and its own movement priority. After the determination, the interference stop portion of the moving body determined to have a lower movement priority than the proximity moving body executes the interference stop process. That is, the traveling is stopped and the output of the detection signal from the obstacle detection sensor of the moving body is stopped, or the intensity is weakened and the detection signal is output.

As described above, in the above-mentioned autonomous mobile body system, a plurality of moving bodies are not controlled by an external control system, but each of the plurality of moving bodies autonomously has a positional relationship and movement with other moving bodies. Judging the priority of. As a result, each moving body can autonomously determine whether or not to execute the interference stop processing based on the determination, and can autonomously move in the moving environment in cooperation with other moving bodies.
As a result, for example, even when the above-mentioned autonomous mobile system is used in different mobile environments, it is not necessary to significantly reconstruct the autonomous mobile system.

If it is determined that the communication between the mobile bodies is not good or the proximity mobile body does not exist, the interference stop unit may cancel the interference stop process.
As a result, each moving body can perform normal running when no other moving body is nearby.

The environmental map may be composed of a sub-environment map. A sub-environment map is a map that represents at least a portion of the mobile environment. In this case, if it is determined that the non-owned map is owned by another mobile, the inter-mobile communication unit receives the non-owned map from the other mobile. A non-owned map is a sub-environment map that you do not own.
This allows multiple mobiles to share a common subenvironment map. As a result, the distance between moving bodies can be easily calculated.

If it is determined that the possessed map is not owned by another mobile, the inter-mobile communication unit may transmit the possessed map to the other mobile. The possession map is a sub-environment map owned by the owner.
This allows multiple mobiles to share a common subenvironment map. As a result, the distance between moving bodies can be easily calculated.

Each of the plurality of mobiles may be capable of performing either autonomous mode or manual mode. The autonomous mode is a mode in which the mobile environment is autonomously moved. The manual mode is a mode in which the moving environment is moved by the user's operation. In this case, the priority determination unit determines that the movement priority of the moving body executing the manual mode is lower than the moving priority of the moving body executing the autonomous mode.
As a result, it is possible to preferentially move a moving body that is autonomously moving in the moving environment.

The priority determination unit may determine that the movement priority of the moving body that is temporarily stopped is lower than the movement priority of the moving body that is running. As a result, the moving body currently moving can be preferentially moved.

A setting priority may be assigned to each of the plurality of moving objects. The setting priority is a priority set individually by the user. In this case, the priority determination unit determines the movement priority according to the level of the set priority.
As a result, the plurality of moving bodies can efficiently move in the moving environment according to the priority determined by the user (that is, the setting priority).

A mobile identification number may be individually assigned to each of the plurality of mobiles. In this case, the priority determination unit determines the movement priority according to the magnitude of the moving object identification number.
Thereby, the movement priority can be determined based on the magnitude of the individually assigned moving object identification number.

In an autonomous mobile system composed of a plurality of mobiles, each mobile can autonomously travel in cooperation with other mobiles.

The figure which shows the structure of the autonomous mobile body system. The figure which shows the structure of a moving body. The figure which shows the structure of the control part. The figure which shows an example of the time change of the threshold value of the ultrasonic signal to detect. The figure which shows an example of the relationship between the distance between two sensors and the detected signal strength. A flowchart showing the flow of information sharing processing with other moving objects. The flowchart which shows the flow of the process which decides whether or not to execute the interference stop process. The flowchart which shows the flow of the 1st stop check process. The flowchart which shows the flow of the 2nd stop check process. A flowchart showing the flow of the stop release check process.

1. 1. First Embodiment (1) Overall Configuration of Autonomous Mobile System The configuration of the autonomous mobile system 100 according to the present embodiment will be described below with reference to FIG. FIG. 1 is a diagram showing a configuration of an autonomous mobile system. The autonomous mobile system 100 includes a plurality of mobiles 1-1, 1-2, ... 1-5. A plurality of mobile bodies 1-1, 1-2, ... 1-5 move in a mobile environment ME (for example, an environment where many people exist such as a hotel or an airport lobby) in cooperation with each other, for example, an advertisement. It is an advertising robot.
In the autonomous mobile system 100 shown in FIG. 1, the number of mobiles 1-1, 1-2, ... 1-5 is 5, but the number is not limited.

(2) Configuration of Mobile Objects Hereinafter, the mobile bodies 1-1, 1-2, ... 1-5 included in the autonomous mobile body system 100 will be described. The moving bodies 1-1, 1-2, ... 1-5 of the present embodiment are, for example, moving bodies that can autonomously travel while reproducing the route taught by the user.
First, the configuration of the moving bodies 1-1, 1-2, ... 1-5 will be described with reference to FIG. FIG. 2 is a diagram showing a configuration of a moving body. In the following, the configuration of the moving body will be described by taking the moving body 1-1 as an example. The moving bodies 1-2, 1-3, 1-4, and 1-5 also have the same configuration as the moving bodies 1-1.

The moving body 1-1 has a main body portion 11. The main body 11 is, for example, a housing that constitutes the main body of the moving body 1-1. In the present embodiment, the “self-position” described later is defined as the position (coordinates) of the center of the main body 11 on the environment map representing the moving environment ME. Further, the word "self" refers to the main body 11 of the moving body 1-1.
When the moving body 1-1 is an advertising robot, the main body 11 includes, for example, a display that visually shows the advertisement, a speaker that emits the advertisement as a voice, and the like.

The moving body 1-1 has a moving portion 12. The moving unit 12 is, for example, a differential two-wheel type traveling unit that moves the main body portion 11.
Specifically, the moving unit 12 has a pair of motors 121a and 121b. The pair of motors 121a and 121b are electric motors such as a servo motor and a brushless motor provided at the bottom of the main body 11. The pair of motors 121a and 121b are electrically connected to the control unit 16 (described later), and independently rotate their output rotation shafts at an arbitrary rotation speed and torque based on a command from the control unit 16. ..

The moving portion 12 has a pair of main wheels 123a and 123b. A part of each of the pair of main wheels 123a and 123b is in contact with the floor surface of the moving environment ME, and is connected to the output rotation shafts of the pair of motors 121a and 121b. As a result, the main wheels 123a and 123b are independently rotated by the motors 121a and 121b, respectively, to move the main body portion 11.
Since the independent rotation is possible as described above, the posture of the main body 11 can be changed by causing a difference in the rotation speeds of the main wheels 123a and 123b. On the other hand, if the rotation speeds of the pair of main wheels 123a and 123b are the same, the main body 11 can go straight.

The moving body 1-1 has a laser range sensor 13. The laser range sensor 13 uses, for example, a laser beam pulse-oscillated by a laser oscillator to be applied to a structure O (for example, a pillar or a shelf arranged in the moving environment ME) (FIG. 1) or a wall W (FIG. 1) in the moving environment ME. A laser range finder (LRF) that acquires information on the structure O and the wall W by irradiating FIG. 1) radially and receiving the reflected light reflected from the structure O and / or the wall W by a laser receiver. : Laser Range Finder). In the present embodiment, the laser range sensor 13 includes a first laser range sensor 131 arranged at the front portion of the main body portion 11 and a second laser range sensor 133 arranged at the rear portion of the main body portion 11.

The first laser range sensor 131 radially generates laser light in the left-right direction in front of the main body 11, so that the first laser range sensor 131 is formed within a circle having a radius of about 20 m in front of the main body 11 centered on the first laser range sensor 131. Obtain information about the included structure O and wall W. The first laser range sensor 131 outputs the acquired information about the structure O and the wall W to the control unit 16.
On the other hand, the second laser range sensor 133 radially generates laser light in the left-right direction behind the main body 11, so that a circle having a radius of about 5 m behind the main body 11 centered on the second laser range sensor 133. Obtain information about the structure O and the wall W contained in the structure. The second laser range sensor 133 outputs the acquired information on the structure O and the wall W to the control unit 16.
The detectable distance of the laser range sensor is not limited to the above value, and can be appropriately changed according to the application of the autonomous mobile system 100 and the like.

The mobile body 1-1 has an inter-mobile body communication antenna 14. The mobile-to-mobile communication antenna 14 is a device that enables mobiles to directly communicate with each other. Specifically, the inter-mobile communication antenna 14 is, for example, a communication antenna for wireless communication provided above the main body 11. The inter-mobile communication antenna 14 receives a communication signal from another mobile inter-mobile communication antenna and outputs the communication signal to the control unit 16. Further, the inter-mobile communication antenna 14 outputs a communication signal to another mobile body.

The moving body 1-1 has an obstacle detection sensor 15. The obstacle detection sensor 15 radially outputs an ultrasonic signal (an example of a detection signal), and moves the moving environment ME, not limited to the obstacle (for example, the above-mentioned structure O or wall W) among the ultrasonic signals. It is, for example, an ultrasonic sensor that receives an ultrasonic signal (an example of a reflected signal) that is reflected and returned by another moving body (including a moving body, a person, an animal, etc.).
In addition, as the obstacle detection sensor 15, for example, a laser range finder (LRF) may be used.

In the present embodiment, the obstacle detection sensor 15 includes a first obstacle detection sensor 151 arranged at the front portion of the main body portion 11 and a second obstacle detection sensor 153 arranged at the rear portion of the main body portion 11. Have.
The first obstacle detection sensor 151 outputs an ultrasonic signal in front of the main body 11, and receives an ultrasonic signal reflected by an obstacle existing in front of the main body 11. On the other hand, the second obstacle detection sensor 153 outputs an ultrasonic signal behind the main body 11, and receives the ultrasonic signal reflected by an obstacle existing behind the main body 11. The received ultrasonic signal is output to the control unit 16.
In this embodiment, the number and position of obstacle detection sensors are not particularly limited. For example, if it is desired to move the main body 11 only in the forward direction, the second obstacle detection sensor 153 may be omitted.

The mobile body 1-1 has a control unit 16. The control unit 16 controls each unit of the moving body 1-1. The configuration of the control unit 16 will be described in detail later.

The moving body 1-1 may further have the training wheel portion 17. The training wheel portion 17 has two training wheels 17a and 17b. The two auxiliary wheels 17a and 17b are attached so that they can rotate independently of each other. By providing the training wheel portion 17, the moving body 1-1 can move stably and smoothly.

(3) Configuration of Control Unit Next, the configuration of the control unit 16 that controls the moving body 1-1 will be described with reference to FIG. FIG. 3 is a diagram showing a configuration of a control unit. The control unit 16 includes a CPU (Central Processing Unit), a hard disk device, a ROM (Read Only Memory), a RAM (Random Access Memory), a storage device such as a storage medium reading device, a microcomputer system including an interface for signal conversion, and the like. Can be realized by.
Further, a part or all of the functions of each part of the control unit 16 may be realized as a program. Further, the program may be stored in the storage device of the microcomputer board. Alternatively, a part or all of the above functions may be realized by a custom IC or the like.

The control unit 16 has a storage unit 161. The storage unit 161 is a part of the storage area of the storage device of the computer system that constitutes the control unit 16. The storage unit 161 stores various information used for controlling the moving body 1-1.
Specifically, the storage unit 161 stores a sub-environment map. The sub-environment map is, for example, a collection of coordinate value data indicating the positions of the structure O and / or the wall W on the coordinate plane representing the moving environment ME, and is a map representing at least a part of the moving environment ME. Therefore, the environment map representing the mobile environment ME can typically be composed of a plurality of sub-environment maps.

The sub-environment map is associated with a map identification number and map content information indicating the content of the sub-environment map (for example, CRC (Cyclic Redundancy Check) information of the sub-environment map). Which map identification number is assigned to the created sub-environment map is determined, for example, by the user who operates the moving body 1-1 while executing the manual mode.

The stored map information is stored in the storage unit 161. The possessed map information is information about the possessed map which is a sub-environment map currently stored in the storage unit 161 (that is, possessed by the moving body 1-1). Specifically, the possessed map information is information stored in association with the map identification number of the possessed map and the map content information of the possessed map.

The storage unit 161 stores mobile information and other mobile information. The moving body information is information about the moving body 1-1, for example, an operation mode flag indicating the operation mode of the moving body 1-1, a traveling flag indicating a temporary stop or traveling (running state) of the main body 11, and a traveling flag. The interference stop processing execution flag indicating whether or not the interference stop processing is being executed, the coordinate values and attitude angles indicating the current self-position (described later) of the moving body 1-1, and the moving body 1-1 are currently moving. The map identification number of the sub-environment map inside, the information for identifying the moving body 1-1 (the moving body identification number of the moving body 1-1), the setting priority set for the moving body 1-1, and including.
On the other hand, the other moving body information is information about each of the other moving bodies 1-2, 1-3, 1-4, and 1-5. For example, the operation mode flag and the traveling flag of each of the other moving bodies. , The interference stop processing execution flag, the coordinate value and attitude angle (referred to as "other moving body position") indicating the current self-position of each of the other moving bodies, and each of the other moving bodies is now. Includes the map identification number of the moving sub-environment map, the respective mobile identification numbers of the other mobiles, and the setting priority set for each of the other mobiles.

In addition, the above-mentioned moving body information and other moving body information may include information on the width of the route through which the moving body 1-1 and the other moving body are passing, respectively. The width of the passage through which each moving body is passing can be obtained, for example, by calculating the distance between the coordinate value data constituting the structure O forming the passage and the wall W in the sub-environment map.
Further, the storage unit 161 may further store a travel schedule indicating a route on which the moving body 1-1 autonomously travels.

The control unit 16 has a laser range sensor control unit 162. The laser range sensor control unit 162 controls the laser range sensor 13. Further, the laser range sensor control unit 162 calculates the relative position of the structure O and / or the wall W from the main body portion 11. Specifically, from the time difference between the timing of irradiating the laser beam from the laser range sensor 13 and the timing of receiving the reflected light by the laser range sensor 13 (laser receiver), the laser range sensor 13 and the structure O and / Alternatively, the distance to the wall W is calculated. Further, for example, the direction in which the structure O and / or the wall W as seen from the main body 11 is present is calculated from the angle of the light receiving surface of the laser receiver when the reflected light is received.

The laser range sensor control unit 162 converts information on the relative distance and direction in which the structure O and / or the wall W as seen from the main body 11 exists into coordinate values on a coordinate plane representing the moving environment ME.

The control unit 16 has a self-positioning unit 163. The self-positioning unit 163 determines the position (self-position) of the main body 11 on the environment map while moving the moving environment ME. Specifically, the self-positioning unit 163 provides information (local map) regarding the positions (coordinate values) of the structure O and / or the wall W existing around the main body 11 acquired by the laser range sensor control unit 162. The position of the main body 11 is estimated based on the rotation amounts of the motors 121a and 121b acquired from the encoders 125a and 125b that measure the rotation amounts of the output rotation shafts of the motors 121a and 121b, respectively. More specifically, for example, the self-positioning unit 163 estimates the position of the main body 11 as follows.

First, the movement distance of the main body 11 and the change in posture angle are calculated from the amount of rotation of the motors 121a and 121b. Next, the current self-position is estimated by adding the calculated movement distance and the change in posture angle to the self-position previously estimated by the self-position determination unit 163 (position estimation by dead reckoning). At this time, "candidates" for a plurality of positions and attitude angles are estimated in consideration of slippage between the main wheels 123a and 123b and the traveling surface of the moving environment ME.
The probability that the main body 11 will reach each of the positions and posture angles of the "candidates" may be associated with each of the plurality of positions and the "candidates" of the estimated angles.

Next, a local map tilted by an angle corresponding to the posture angle of the "candidate" of the position is arranged in each of the "candidates" of the above-mentioned plurality of positions on the currently moving sub-environment map. After that, the local map placed in the "candidate" of the above position and the sub-environment map currently moving (or the sub-environment map currently moving and the sub-environment map adjacent to the sub-environment map are combined. ), For example, perform map matching by executing "probability calculation", and select the "candidate" of the position and attitude angle where the local map that best matches the sub-environment map (or combined map) is placed. It is estimated to be the final position and attitude angle of 11 (position estimation by map matching).
When the probability that the main body 11 reaches the position and the posture angle of each of the "candidates" is associated with the "candidates" of the plurality of positions and the posture angles, the local map and the sub-environment map (or the combined map) are used. Of the several "candidates" for the position and attitude angle that are relatively well matched, the one with the highest probability may be estimated as the current final position and attitude angle.

In the present embodiment, when calculating the distance between moving bodies, the self-positioning unit 163 is a sub-environment map used for self-positioning by another moving body whose target is to measure the distance between moving bodies. Determine your own position using the same subenvironment map. As a result, when measuring the distance between moving bodies, the distance between moving bodies can be easily calculated without performing processing such as converting the coordinate value of any position into the coordinate value of another coordinate.
In order to determine the self-position using the same sub-environment map as other mobiles, as will be described later, in the autonomous mobile system 100 according to the present embodiment, a plurality of mobiles 1-1, 1-2 , ... 1-5 share the sub-environment map possessed by each mobile body 1-1, 1-2, ... 1-5.

As described above, the self-positioning unit 163 estimates the position and attitude angle (self-position) of the main body 11 by using the position estimation by dead reckoning and the position estimation by map matching, so that the position and the position in dead reckoning By offsetting the estimation error of the attitude angle and the estimation error of the position and attitude angle in map matching (mainly due to the error included in the data acquired by the laser range sensor 13), the self-position can be obtained more accurately. Can be decided.

The control unit 16 has a travel control unit 164. The travel control unit 164 controls the motors 121a and 121b. The travel control unit 164 is, for example, a motor driver that calculates the control amounts of the motors 121a and 121b and outputs the drive power based on the control amounts to the motors 121a and 121b, respectively. The travel control unit 164 calculates the control amount of the motors 121a and 121b so that the rotation amount (rotational speed) per unit time of the motors 121a and 121b input from the encoders 125a and 125b becomes a desired rotation speed. Yes (feedback control).

The travel control unit 164 can execute either the autonomous mode or the manual mode by switching by the user or the like. When the autonomous mode is executed, the travel control unit 164 uses, for example, each passing position (for example, coordinate values on the environment map) stored in the storage unit 161 in the travel schedule and the self-positioning unit 163. Based on the difference from the determined self-position, the control amounts of the motors 121a and 121b are calculated, and the drive power based on the calculated control amounts is output to these motors.
As a result, the travel control unit 164 can autonomously move the main body unit 11 according to the above travel schedule when the autonomous mode is executed.

On the other hand, when the manual mode is executed, the travel control unit 164 is, for example, a controller or computer system capable of wirelessly or wiredly communicating with the mobile body 1-1, or an operation handle provided on the mobile body 1-1. It accepts a user's operation using (not shown) or the like, and controls the motors 121a and 121b based on the operation amount of the user's operation. As a result, the moving body 1-1 can be moved by the operation of the user.

The travel control unit 164 changes the travel flag stored in the storage unit 161 according to the movement or stop of the main body unit 11. For example, when it is determined that the rotation amount of the motors 121a and 121b is not 0 and the main body 11 is moving, the travel control unit 164 sets the travel flag to ON (for example, "1" (sets a bit)). .. On the other hand, when the rotation amount of the motors 121a and 121b is 0 and it is determined that the main body 11 is stopped, the travel control unit 164 sets the travel flag to OFF (for example, "0" (lowers the bit)). ..
Further, the travel control unit 164 changes the operation mode flag stored in the storage unit 161 according to the operation mode being executed. For example, when the autonomous mode is being executed, the travel control unit 164 turns on the operation mode flag. On the other hand, when the manual mode is being executed, the travel control unit 164 turns off the operation mode flag.

The control unit 16 has an obstacle detection unit 165. The obstacle detection unit 165 detects an obstacle in the vicinity of the main body unit 11 while moving the moving environment ME.
Specifically, the obstacle detection unit 165 commands the obstacle detection sensor 15 to output an ultrasonic signal while moving in the moving environment ME, and returns to the obstacle detection sensor 15 due to reflection or the like. Receive ultrasonic signals. The obstacle detection unit 165 receives an obstacle from the obstacle detection sensor 15 due to a time difference between the timing when the output of the ultrasonic signal is commanded and the timing when the ultrasonic signal returned to the obstacle detection sensor 15 due to reflection or the like is received. Calculate the distance to.
In the present embodiment, when the obstacle detection unit 165 determines that the distance from the obstacle detection sensor 15 to the obstacle is equal to or less than a predetermined distance and an obstacle exists in the vicinity of the main body portion 11, the traveling control unit 164 is notified. On the other hand, it is instructed to stop the movement of the main body portion 11. As a result, the moving body 1-1 can safely stop before colliding with an obstacle.

The control unit 16 has an inter-mobile communication unit 166. The inter-mobile communication unit 166 is, for example, a wireless communication (wireless LAN, Wi-Fi, etc.) module for directly communicating with other mobile bodies (inter-mobile communication) using the inter-mobile communication antenna 14. .. The inter-mobile communication unit 166 uses, for example, communication protocols such as UDP (User Datagram Protocol) and TCP / IP (Transmission Control Protocol / Internet Protocol) in ad hoc communication, and is an inter-mobile communication unit of another mobile body. Communicate with.
As a result, the mobile-to-mobile communication unit 166 can share information between mobiles capable of inter-mobile communication. The sharing of information between mobiles by the mobile communication unit 166 will be described in detail later.

The control unit 16 has a distance calculation unit 167. The distance calculation unit 167 calculates the distance between the self position and the position of another moving body as the distance between moving bodies.

The control unit 16 has a priority determination unit 168. The priority determination unit 168 determines the movement priority regarding the movement with the proximity moving body (described later). The method of determining the movement priority in the priority determination unit 168 will be described in detail later.

The control unit 16 has an interference stop unit 169. The interference stop unit 169 is a moving body (1) among the other moving bodies 1-2, 1-2, ... 1-5, in which the moving body whose distance between the moving bodies is less than the interference distance is brought closer to the main body portion 11. We will call it a "proximity mobile"). As for the interference distance of the present embodiment, the obstacle detection unit 165 erroneously detects an ultrasonic signal from another moving body, or conversely, the other moving body erroneously detects an ultrasonic signal from the obstacle detection sensor 15. It is defined as the maximum distance between moving objects to be detected. The method for determining the interference distance in this embodiment will be described in detail later.

The interference stop unit 169 determines that the proximity mobile body does not exist when the mobile inter-mobile communication in the mobile inter-mobile communication unit 166 is malfunctioning. Here, "the inter-mobile communication is not good" means, for example, a state in which the inter-mobile communication unit of another mobile body cannot be recognized (for example, an IP address for identifying the inter-mobile communication unit of another mobile body). , SSID (Service Set Editor), MAC (Media Access Control) address, etc.), and / or a state in which the inter-mobile communication unit of another mobile body can be recognized but a communication error has occurred (for example). , A state in which the probability that a communication packet cannot be received exceeds a predetermined value, or a state in which communication has timed out).
In general, the above-mentioned malfunction of mobile communication is such that the distance between the main body 11 and other mobiles cannot be wirelessly communicated (this distance is generally larger than the interference distance). Also large) occurs frequently. Therefore, when the communication between mobiles is poor, it can be determined that the distance between the main body 11 and the other mobiles is larger than the interference distance, and it can be determined that the close mobiles do not exist.

When the priority determination unit 168 determines that the movement priority of the interference stop unit 169 is lower than that of the proximity moving body, the interference stop unit 169 executes the interference stop process. The interference stop process is a process for preventing the main body 11 from collaborating with another moving body and traveling in a coordinated manner, and preventing erroneous detection of an obstacle in the obstacle detecting part of the other moving body. The specific interference stop processing in this embodiment will be described later.

The control unit 16 has a travel schedule creation unit 1610. The travel schedule creation unit 1610 stores the movement of the moving body 1-1 by the user's operation in the storage unit 161 as a travel schedule.
Specifically, the travel schedule creation unit 1610 inputs the self-position determined by the self-position determination unit 163 at predetermined time intervals while the moving body 1-1 is being moved by the user's operation. After that, the travel schedule creation unit 1610 creates a travel schedule in association with the input self-position and the time at which the self-position is determined, and stores the travel schedule in the storage unit 161. The travel schedule creation unit 1610 may receive the operation amount of the user's operation at the time when the self-position is determined, and store the operation amount in the travel schedule in association with the time.

For example, while the main body 11 is being moved in the manual mode, the travel schedule creation unit 1610 displays a sub-environment map centered on the position on the moving environment ME designated by the user as a structure centered on the designated position. It is created as a set of coordinate values indicating the existence positions of O and / or the wall W, and is stored in the storage unit 161.
Specifically, for example, the travel schedule creation unit 1610 moves the laser range sensor control unit 162 with respect to the designated position when the user issues a sub-environment map creation command (designation of the above-mentioned designated position). A sub-environment map is created by instructing the acquisition of coordinate value data indicating the relative position of the structure O and / or the wall W on the environment ME and using the coordinate value data acquired by the laser range sensor control unit 162. To do.
After that, the travel schedule creation unit 1610 assigns the created sub-environment map to the map identification number that is not currently used, generates map content information from the created sub-environment map, and assigns the assigned map identification number and the generated map content information. Is associated with and stored in the possessed map information.

Since the control unit 16 of the mobile body 1-1 has the above configuration, the mobile body 1-1, 1-2, ... 1-5 are not provided with an external control system to control the mobile body 1-1. 1-1 itself determines the positional relationship with other moving bodies 1-2, 1-3, 1-4, 1-5 and the priority regarding movement, and controls the movement of the main body 11 based on the judgment. it can. This eliminates the need to significantly reconstruct the autonomous mobile system 100, for example, even when the autonomous mobile system 100 is used in different mobile environments.

(4) Method for determining the interference distance Hereinafter, a method for determining the interference distance used when determining whether or not a nearby moving body exists will be described. The interference distance is experimentally determined by measuring the distance at which false positives are actually made as follows.

As shown in FIG. 4, the obstacle detection unit 165 of the present embodiment sets a threshold value for the detected ultrasonic signal according to the time after the ultrasonic signal is output from the obstacle detection sensor 15. ing. FIG. 4 is a diagram showing an example of a time change of the threshold value of the ultrasonic signal to be detected.
Specifically, the obstacle detection unit 165 outputs an ultrasonic signal having a signal strength of s1 or more from the obstacle detection sensor 15 until the time t1 elapses after the obstacle detection sensor 15 outputs the ultrasonic signal. When it receives, it determines that there is an obstacle.
After that, from time t1 to time t2, when the obstacle detection sensor 15 receives an ultrasonic signal having a signal strength of s2 or more, it is determined that an obstacle exists. Further, from time t2 to time t3, when the obstacle detection sensor 15 receives an ultrasonic signal having a signal strength of s3 or more, it is determined that an obstacle exists. Further, after the time t3, when the obstacle detection sensor 15 receives an ultrasonic signal having a signal strength of s4 or more, it is determined that an obstacle exists.

Of these, the obstacle detection unit 165 of the present embodiment has a signal strength of s1 or more (output from the obstacle detection sensor 15 and reflected by the obstacle) by the time t1 when the ultrasonic signal is output. When the sound wave signal is received, it is determined that an obstacle exists in the vicinity of the main body 11. That is, when the distance between the obstacle detection sensor 15 and the obstacle becomes c * t1 / 2 (c: sound velocity) or less, the obstacle detection unit 165 has an obstacle in the vicinity of the main body portion 11. Then judge.

Therefore, in the present embodiment, when an ultrasonic signal is output from one obstacle detection sensor while changing the distance between the two obstacle detection sensors used in the moving body, the other obstacle detection sensor is used. The intensity of the ultrasonic signal received is actually measured, and the interference distance is determined using the measurement result.
When the measurement result is plotted on the coordinates with the distance between the two sensors on the horizontal axis and the signal strength detected by the other obstacle detection sensor on the vertical axis, for example, the relationship shown by the solid line in FIG. Is obtained. FIG. 5 is a diagram showing an example of the relationship between the distance between two sensors and the detected signal strength.

Next, in the plot showing the relationship between the distance between the two sensors and the detected signal strength, when the signal value of the ultrasonic signal detected by the other obstacle detection sensor is s1. The distance between the two sensors is determined as the interference reference distance. After determining the interference reference distance, for example, by adding a value twice the distance between the installation position of the obstacle detection sensor 15 in the main body 11 and the center position of the main body 11 to the interference reference distance, interference occurs. Determine the distance.
When calculating the interference distance, the reason why the value twice the distance between the installation position of the obstacle detection sensor 15 and the center position of the main body 11 is added to the interference reference distance is that the self position and the position of the other moving body are used. This is because it is defined as the coordinate value of the center position of the main body.

By determining the interference distance as described above, it is possible to avoid erroneous detection in which the ultrasonic signal output from another moving body is detected by the obstacle detection sensor 15 with a signal strength of s1 or more. That is, the ultrasonic signal output from another moving body having a signal strength of s1 or more is erroneously detected, and the obstacle (other moving body) and the main body are sufficiently separated (distance c * t1 / 2 or more). Despite this, it is possible to avoid determining that an obstacle exists in the vicinity of the main body 11.

(5) Movement of the moving body in the autonomous moving body system (5-1) Moving movement of the moving body The moving movement of the moving body in the autonomous moving body system 100 will be described below. In the following, the moving operation of the moving body 1-1 will be described as an example.
When the power of the mobile body 1-1 is turned on and the mobile body 1-1 is started, the user can use, for example, a changeover switch (for example, an electric switch, a touch panel, etc.) provided on the main body 11 or the mobile body 1-. By operating the controller that operates 1, the operation mode of the moving body 1-1 is switched between the manual mode and the autonomous mode.
The travel control unit 164 updates the operation mode flag of the moving body information to ON when the autonomous mode is selected as the operation mode, and updates the operation mode flag to OFF when the manual mode is selected.

During the execution of the autonomous mode, the moving body 1-1 autonomously moves in the moving environment ME according to, for example, the traveling schedule stored in the storage unit 161.
On the other hand, during the execution of the manual mode, the mobile body 1-1 can be wirelessly or wiredly communicated with the mobile body 1-1 from a controller or computer system, or from an operation handle provided on the mobile body 1-3. Accepts operations by the user. As a result, the moving body 1-1 moves the moving environment ME by the operation of the user.

During the above movement, the moving body 1-1 determines the positional relationship with other moving bodies and the high or low of the movement priority, and based on the judgment, determines whether or not to execute the interference stop processing. To do. Further, during the above movement, the moving body 1-1 shares information with other moving bodies by inter-mobile communication.

(5-2) Information Sharing Process with Other Mobile Objects The information sharing process with other mobile objects executed while the mobile environment ME is moving will be described below with reference to FIG. FIG. 6 is a flowchart showing the flow of information sharing processing with other moving bodies.
When the information sharing process is started, the inter-mobile communication unit 166 determines whether or not a communicable mobile body (hereinafter, may be referred to as a communicable mobile body) exists (step S11). Specifically, for example, when the inter-mobile communication unit 166 can recognize the inter-mobile communication unit of another mobile body, it is determined that the communicable mobile body exists. If a communication error occurs in the inter-mobile communication during the information sharing process, the communication with the inter-mobile communication unit of another mobile is stopped.

When it is determined that the communicable mobile body does not exist (in the case of "No" in step S11), the inter-mobile communication unit 166 waits until the communicable mobile body appears.
On the other hand, when it is determined that the communicable mobile body exists (in the case of "Yes" in step S11), the inter-mobile body communication unit 166 transfers the mobile body information currently stored in the storage unit 161 to the communicable mobile body. It is transmitted to each (step S12). The inter-mobile communication unit of another mobile that has received the transmitted mobile information stores the received mobile information in the storage unit of the other mobile as other mobile information in the other mobile. To do. As a result, the information about the moving body 1-1 is shared with other moving bodies.

After transmitting the mobile information, the inter-mobile communication unit 166 receives the mobile information of the other mobile from each of the communicable mobiles (step S13). Upon receiving the mobile information of another mobile, the inter-mobile communication unit 166 stores the received mobile information in the storage unit 161 as the other mobile information. As a result, information about the other moving body is shared in the moving body 1-1.

After sharing the mobile information and the other mobile information, the inter-mobile communication unit 166 is a non-possessed map which is a sub-environment map that is not stored in the storage unit 161 (that is, not owned by the mobile 1-1). Is determined by the communicable mobile body (step S14).
Specifically, first, the inter-mobile communication unit 166 receives the possessed map information currently stored in the storage unit of the communicable mobile from the other mobile. Next, in the inter-mobile communication unit 166, the map content information that does not match the map content information included in the possessed map information stored in the storage unit 161 is included in the possessed map information of the other moving body that has been received. If so, it is determined that the non-owned map is owned by another moving object.

When it is determined that the non-possessed map is possessed by the communicable mobile body (in the case of "Yes" in step S14), the inter-mobile communication unit 166 receives the non-possessed map from the other mobile body (step). S15).
Specifically, the inter-mobile communication unit 166 first transmits the map identification number associated with the above-mentioned non-possessed map in the possessed map information of the other mobile to the other mobile. The inter-mobile communication unit of another mobile unit that has received the map identification number transmits a sub-environment map associated with the received map identification number to the inter-mobile communication unit 166.
Depending on the timing of inter-mobile communication, the non-owned map desired to be received may be transmitted from the communicable mobile without transmitting the map identification number of the non-owned map to another mobile.

The inter-mobile communication unit 166, which has received the sub-environment map (non-owned map) from another mobile body, stores the sub-environment map in the storage unit 161. After that, the inter-mobile communication unit 166 assigns a map identification number to the received sub-environment map, and assigns the map content information of the sub-environment map received from the other mobile to the map assigned to the sub-environment map. It is stored in the possession map information in association with the identification number.
As a result, the sub-environment map (non-possessed map) that was not stored in the storage unit 161 is shared with other moving objects.

On the other hand, if it is determined that the non-possessed map is not possessed by the communicable mobile body (in the case of "No" in step S14), the information sharing process proceeds to step S16.

After sharing the non-possessed map, the inter-mobile communication unit 166 determines whether or not the communicable mobile does not possess the possessed map which is the sub-environment map stored in the storage unit 161 (step S16). ).
Specifically, the inter-mobile communication unit 166 receives the map content information that matches the map content information included in the possessed map information stored in the storage unit 161 from the other moving body in step S14 above. If it is not included in the possessed map information, it is determined that the possessed map is not possessed by the other moving object.
Depending on the timing of inter-mobile communication, possession that should be transmitted from another mobile to the other mobile before the completion of determination of whether or not there is a possession map that is not possessed by the other mobile. The map identification number of the map may be sent. Even in such a case, the inter-mobile communication unit 166 determines that the communicable mobile does not have the possessed map.

When it is determined that the possessed map is not possessed by the communicable mobile (in the case of "Yes" in step S16), the inter-mobile communication unit 166 transmits the possessed map to the other mobile (step S17). ..
Specifically, the inter-mobile communication unit 166 is first included in the possessed map information stored in the storage unit 161 but is not included in the possessed map information received from another mobile body. Identify the map identification number associated with. When the map identification number desired to be transmitted is received from another mobile body, it is not necessary to specify the map identification number of the owned map to be transmitted.
Next, the inter-mobile communication unit 166 uses the specified possession map as a sub-environment map (possessed map) assigned to the map identification number specified as described above or the map identification number received from another mobile body. It is transmitted to another mobile body to be transmitted or the map identification number desired to be transmitted to the other mobile body that has transmitted the map identification number.

The inter-mobile communication unit of another mobile that has received the above-mentioned sub-environment map (possessed map) stores the received sub-environment map in the storage unit as a possessed map of the other moving body. After that, the inter-mobile communication unit of the other mobile body assigns the map content information of the sub-environment map received from the inter-mobile communication unit 166 to the received sub-environment map in the other mobile body. It is stored in the possession map information of the other mobile body in association with the identification number.
As a result, the sub-environment map (possessed map) stored in the storage unit 161 is shared with other moving objects.

On the other hand, when it is determined that the possessed map is possessed by the communicable mobile body (in the case of "No" in step S16), the information sharing process proceeds to step S18.

After executing the above steps S11 to S17, the inter-mobile communication unit 166 determines whether or not to stop the information sharing process (step S18). For example, when the moving body 1-1 completes the movement and it is no longer necessary to share information with another moving body, it is determined that the information sharing process is stopped.
When it is determined that the information sharing process is not stopped (in the case of "No" in step S18), the information sharing process returns to step S11. That is, the information sharing process is continued.
On the other hand, when it is determined to stop the information sharing process (in the case of "Yes" in step S18), the inter-mobile communication unit 166 stops the information sharing process.

By executing the above steps S11 to S18 while the mobile environment ME is moving, the moving body 1-1 shares information with other moving bodies 1-2, 1-3, 1-4, and 1-5. it can.
It should be noted that the information is updated or added by updating or adding the information of the other mobile bodies 1-2, 1-3, 1-4, 1-5 with reference to the information stored in the storage unit 161 of the mobile body 1-1. The information of the mobile body 1-1 is shared or vice versa, based on the information stored in the storage unit of any of the other mobile bodies 1-2, 1-3, 1-4, and 1-5. Whether to share information by updating or adding can be appropriately determined depending on the start timing of inter-mobile communication (for example, which mobile body started the inter-mobile communication earlier).

(5-3) Process for determining whether or not to execute the interference stop process Next, a process for determining the execution of the interference stop process in the moving body 1-1 while the mobile environment ME is moving (hereinafter, referred to as a determination process). ) Will be described with reference to FIG. FIG. 7 is a flowchart showing a flow of processing for determining whether or not to execute the interference stop processing.

When the determination process is started, the interference stop unit 169 determines whether or not the interference stop process is currently being executed (step S1). Therefore, the interference stop unit 169 refers to the state of the interference stop processing execution flag of the moving body information currently stored in the storage unit 161.

For example, when the interference stop processing execution flag is OFF and it is determined that the interference stop processing is not currently executed in the moving body 1-1 (when "No" in step S1), the determination process proceeds to step S2. .. That is, it is determined whether or not the interference stop processing should be executed, and if it is determined that the interference stop processing should be executed, the interference stop processing is executed.
On the other hand, for example, when the interference stop processing execution flag is ON and it is determined that the interference stop processing is currently being executed in the moving body 1-1 (in the case of "Yes" in step S1), the determination process is performed in step S7. Proceed to. That is, it is determined whether or not the interference stop processing currently being executed should be canceled, and if it is determined that the interference stop processing should be canceled, the interference stop processing is stopped.

In step S2, the interference stop unit 169 determines whether the operation mode being executed in the moving body 1-1 is the autonomous mode or the manual mode. Specifically, the interference stop unit 169 refers to the state of the operation mode flag of the moving body information currently stored in the storage unit 161. In addition, the interference stop unit 169 may detect the state of the changeover switch for switching the operation mode.

For example, when the operation mode flag is ON and it is determined that the moving body 1-1 is executing the autonomous mode (in the case of "autonomous" in step S2), the determination process proceeds to step S3. That is, the control unit 16 determines whether or not to execute the interference stop process during the execution of the autonomous mode. This process is hereinafter referred to as "first stop check process".
On the other hand, for example, when the operation mode flag is OFF and it is determined that the moving body 1-1 is executing the manual mode (in the case of "manual" in step S2), the determination process proceeds to step S4. That is, the control unit 16 determines whether or not to execute the interference stop process during the execution of the manual mode. This process will be referred to as "second stop check process" below.
The above-mentioned first stop check process and second stop check process will be described in detail later.

When it is determined that the interference stop process is to be executed in the first stop check process or the second stop check process after executing step S3 (first stop check process) or S4 (second stop check process) (“Yes” in step S5). In the case of), the interference stop unit 169 turns on the interference stop processing execution flag and executes the interference stop processing (step S6).
Specifically, the interference stop unit 169 commands the travel control unit 164 to stop the movement of the main body unit 11 (during the execution of the manual mode, the travel control unit 164 is operated by the user. To stop the output of the ultrasonic signal from the obstacle detection sensor 15 to the obstacle detection unit 165, or to weaken the intensity of the ultrasonic signal and output it (for example, a signal). The strength is made smaller than the above signal strength s1 and output).
Further, the interference stop portion 169 lights an LED lamp (not shown) provided in the main body portion 11.

When the interference stop unit 169 executes the above process as the interference stop process, the moving body 1-1 can travel in cooperation without colliding with another moving body. Further, when the obstacle detection unit of another moving body erroneously detects the ultrasonic signal output from the obstacle detection sensor 15 of the moving body 1-1, and there is an obstacle in the vicinity of the other moving body. You can avoid making a wrong decision.
After executing the interference stop process, the determination process proceeds to step S10.

On the other hand, when it is determined that the interference stop processing is not executed in the first stop check process or the second stop check process (in the case of "No" in step S5), the determination process is performed in step S10 without executing the interference stop process. Proceed to.

When it is determined in step S1 above that the interference stop processing is currently being executed, the interference stop unit 169 determines whether or not the interference stop processing currently being executed should be canceled (step S7). This process will be referred to as "stop release check process" below. The stop release check process will be described later.
If it is determined in step S7 that the interference stop processing currently being executed is not canceled (in the case of "No" in step S8), the determination processing returns to step S1. That is, the interference stop unit 169 continues the interference stop process currently being executed.

On the other hand, when it is determined in the stop release check process of step S7 that the interference stop process currently being executed is canceled (in the case of "Yes" in step S8), the interference stop unit 169 turns off the interference stop process execution flag and sets the interference stop process execution flag to OFF. The interference stop processing currently being executed is canceled (step S9).
Specifically, the interference stop unit 169 commands the travel control unit 164 to restart the movement of the main body unit 11 (during the execution of the manual mode, the travel control unit 164 receives an operation by the user. ), Command the obstacle detection unit 165 to output an ultrasonic signal having normal intensity from the obstacle detection sensor 15. Further, the interference stop unit 169 turns off the LED lamp provided in the main body unit 11.

After executing the above steps S1 to S9, the control unit 16 determines whether or not to end the determination process (step S10). For example, when it is determined that the movement of the moving body 1-1 is completed (when the autonomous mode is executed, all the traveling schedules are completed, and when the manual mode is executed, the operation by the user cannot be received for a certain period of time, so the movement is performed. When it is determined that the determination process is completed), the control unit 16 determines that the determination process is completed.

When it is determined that the determination process is not completed (in the case of "No" in step S10), the determination process returns to step S1 and continues the process.
On the other hand, when it is determined that the determination process is finished (in the case of "Yes" in step S10), the decision process ends.

By executing the above steps S1 to S10, the control unit 16 determines whether or not to execute the interference stop processing, and the control unit 16 can execute or cancel the interference stop processing based on the determination. .. That is, it is possible to determine whether or not each moving body 1-1, 1-2, ... 1-5 autonomously executes the interference stop processing, and the interference stop processing can be autonomously executed or canceled.
As a result, each of the moving bodies 1-1, 1-2, ... 1-3 can move autonomously and cooperatively in the moving environment ME without being controlled by an external control system.

(5-4) First Stop Check Process Next, the first stop check process executed in step S3 will be described with reference to FIG. FIG. 8 is a flowchart showing the flow of the first stop check process.
When the operation mode being executed in step S2 is determined to be the autonomous mode and the first stop check process is started, the interference stop unit 169 determines whether or not a communicable mobile body exists (step). S3-1). In the interference stop unit 169, for example, the inter-mobile communication unit 166 cannot recognize the inter-mobile communication unit of another mobile body at all, or the inter-mobile communication unit between the mobile inter-mobile communication unit of another mobile body is not recognized at all. When a communication error occurs in communication, it is determined that there is no communicable mobile.

When it is determined that the communicable mobile body does not exist (in the case of "No" in step S3-1), the interference stop unit 169 determines that the proximity mobile body does not exist in the vicinity of the mobile body 1-1. It is determined that the interference stop process is not executed (step S3-12). After that, the first stop check process is terminated.
On the other hand, when a communicable mobile body exists (in the case of “Yes” in step S3-1), there is a possibility that a proximity mobile body exists in the communicable mobile body, so that the interference stop unit 169 , It is determined whether or not there is a proximity mobile body among the communicable mobile bodies (step S3-2).

Specifically, the interference stop unit 169 first instructs the distance calculation unit 167 to calculate the distance between the moving body 1-1 and each of the communicable moving bodies. The distance calculation unit 167 that received the command uses the coordinate value of the self-position included in the moving body information stored in the storage unit 161 and the coordinate value of the other moving body position included in the other moving body information. The distance between the center of the main body 11 of the moving body 1-1 and the center of the main body of another moving body is calculated as the inter-moving body distance.

When there is no other moving body whose distance between the moving bodies is less than the above interference distance (when "No" in step S3-2), the interference stop unit 169 determines that the proximity moving body does not exist and interferes. It is determined that the stop process is not executed (step S3-12). After that, the first stop check process is terminated.
On the other hand, when there is another moving body whose distance between the moving bodies is less than the above-mentioned interference distance (in the case of "Yes" in step S3-2), the interference stop unit 169 determines that the proximity moving body exists. After identifying another moving body (for example, the moving body identification number of the close moving body), the interference stop unit 169 sets the movement priority of the moving body 1-1 with respect to the priority determination unit 168. Command to notify the comparison result with the movement priority of the proximity mover.

Upon receiving the above command, the priority determination unit 168 first determines whether or not the proximity moving body is executing the autonomous mode (step S3-3). The following steps S3-3 to S3-10 are executed as a comparison of the movement priorities of one proximity moving body and the moving body 1-1, and exist when a plurality of proximity moving bodies exist. It is repeatedly executed for the proximity moving body. The priority determination unit 168 determines, for example, the operation mode executed in the proximity moving body by referring to the operation mode flag included in the other moving body information of the proximity moving body.
When the operation mode flag included in the other moving body information of the close moving body to be compared is OFF, and it is determined that the close moving body to be compared is executing the manual mode ("No" in step S3-3). (Case), the priority determination unit 168 determines that the movement priority of the moving body 1-1 is higher than the moving priority of the close moving body to be compared, and the first stop check process proceeds to step S3-10. ..

On the other hand, when the proximity moving body to be compared is executing the autonomous mode (that is, when the operation mode flag is ON) (when “Yes” in step S3-3), the priority determination unit 168 determines the operation mode in comparison. It is determined that the high or low of the movement priority cannot be determined, and the process of determining the high or low of the movement priority is executed.

After the above determination, the priority determination unit 168 determines the high or low of the movement priority by comparing the traveling state of the moving body 1-1 with the traveling state of the proximity moving body.
The priority determination unit 168 determines, for example, the traveling state of the moving body 1-1 with reference to the traveling flag of the moving body information. On the other hand, the traveling state of the proximity moving body is determined by referring to, for example, the traveling flag of the other moving body information of the proximity moving body and the interference stop processing execution flag.

As described above, the reason for referring to the traveling flag and the interference stop processing execution flag in the other moving body information of the proximity moving body is that the proximity moving body is temporarily stopped in the normal movement only by the information of the traveling flag. This is because it is not possible to distinguish whether it is just a pause or a pause due to the execution of the interference stop process. In the present embodiment, the traveling state of the proximity mobile body that has not executed the interference stop processing (that is, the interference stop processing execution flag is OFF) is compared with the traveling state of the moving body 1-1.
On the other hand, the reason why only the travel flag information needs to be referred to in the moving body information of the moving body 1-1 is that the first stop check process is executed, that is, the moving body 1-1 executes the interference stop process. This is because it means that it is not.

The traveling flag of the moving body information is ON (moving body 1-1 is running), and the traveling flag of the other moving body information of the proximity moving object to be compared is OFF (the traveling object of the comparison target is temporarily in the autonomous mode). In the case of (stopped) (when "Yes" in step S3-4 and "No" in step S3-5), the priority determination unit 168 compares the movement priority of the moving body 1-1. It is determined that the priority is higher than the movement priority of the close-moving body of the above, and the first stop check process proceeds to step S3-10.

On the other hand, the traveling flag of the moving body information is OFF (moving body 1-1 is temporarily stopped), and the traveling flag of the other moving body information of the proximity moving body to be compared is ON (the proximity moving body to be compared is in the autonomous mode). In the case of (in the case of "No" in step S3-4 and "Yes" in step S3-6), the priority determination unit 168 has a movement priority of the moving body 1-1. It is determined that the movement priority is lower than that of the proximity moving body to be compared, and the result is notified to the interference stop unit 169. The interference stop unit 169 determines that the interference stop process is to be executed (step S3-11), and ends the first stop check process.

Further, the traveling flag of the moving body information is ON (moving body 1-1 is traveling), and the traveling flag of the other moving body information of the proximity moving body to be compared is ON (the proximity moving body to be compared is autonomous). In the case of running in the mode (when "Yes" in step S3-4 and "Yes" in step S3-5), the priority determination unit 168 determines the movement priority in the running state of the moving body. It is determined that the high or low cannot be determined, and further movement priority determination processing is executed.

Further, the traveling flag of the moving body information is OFF (moving body 1-1 is temporarily stopped), and the traveling flag of the other moving body information of the proximity moving body to be compared is OFF (the traveling body of the comparison target is close to the moving body). Even in the case of (pausing in the autonomous mode) (when "No" in step S3-4 and "No" in step S3-6), the priority determination unit 168 is in the traveling state of the moving body. It is determined that the high or low of the movement priority cannot be determined, and further movement priority determination processing is executed.

When the height of the movement priorities cannot be determined by comparing the operating mode and the running state during execution, the priority determination unit 168 determines the width of the passage through which the moving body 1-1 is passing and the width of the passage through which the moving body 1-1 is passing. The movement priority is determined by comparing with the width of the passage of (step S3-7). The width of the passing passage may be calculated using the sub-environment map as described above, or may be acquired by referring to the moving body information and the other moving body information.

When the width of the passage through which the moving body 1-1 is passing is narrower than the width of the passage through which the proximity moving body to be compared is passing (when it is "narrow" in step S3-7), the priority determination unit 168 , It is determined that the movement priority of the moving body 1-1 is higher than the moving priority of the close moving body to be compared, and the first stop check process proceeds to step S3-10.
On the other hand, when the width of the passage through which the moving body 1-1 is passing is wider than the width of the passage through which the proximity moving body to be compared is passing (when it is "wide" in step S3-7), the priority determination unit. 168 determines that the movement priority of the moving body 1-1 is lower than the moving priority of the close moving body to be compared, and notifies the interference stop unit 169 of the result. Upon receiving the notification, the interference stop unit 169 determines that the interference stop process is to be executed (step S3-11), and ends the first stop check process.

As described above, by increasing the movement priority of the moving body passing through the narrower passage, for example, after escaping the moving body currently passing through the narrow passage from the narrow passage, another The moving body can enter the narrow passage. As a result, a plurality of moving bodies can efficiently and coordinately pass through a narrow passage.

Further, when the width of the passage through which the moving body 1-1 is passing is the same as the width of the passage through which the proximity moving body to be compared is passing (when it is "same" in step S3-7), the priority determination unit 168 determines that the high or low of the movement priority cannot be determined by the width of the passing passage, and further executes the movement priority determination process.

As described above, when the height of the movement priorities cannot be determined based on the width of the passage being passed, the priority determination unit 168 sets the priority set in the moving body 1-1 and the proximity movement. The movement priority is determined by comparing with the setting priority set on the body (step S3-8).
The priority determination unit 168 can acquire the setting priority of the moving body 1-1 and the proximity moving body by referring to the moving body information and the other moving body information of the proximity moving body.

When the setting priority of the moving body 1-1 is higher than the setting priority of the close moving body to be compared (when it is "high" in step S3-8), the priority determination unit 168 determines the moving body 1-1. It is determined that the movement priority of the above is higher than the movement priority of the close moving body to be compared, and the first stop check process proceeds to step S3-10.
On the other hand, when the setting priority of the moving body 1-1 is lower than the setting priority of the close moving body to be compared (when it is "low" in step S3-8), the priority determination unit 168 determines the moving body 1 It is determined that the movement priority of -1 is lower than the movement priority of the close moving body to be compared, and the result is notified to the interference stop unit 169. Upon receiving the notification, the interference stop unit 169 determines that the interference stop process is to be executed (step S3-11), and ends the first stop check process.
As a result, the moving body having a higher setting priority determined by the user is preferentially moved, and the plurality of moving bodies 1-1, 1-2, ... 1-5 efficiently move the moving environment ME. You can move to.

Further, when the setting priority of the moving body 1-1 is the same as the setting priority of the proximity moving body to be compared (when it is "same" in step S3-8), the priority determination unit 168 sets the setting priority. Then, it is determined that the high or low of the movement priority cannot be determined, and further movement priority determination processing is executed.
Even when the setting priority is not set in the plurality of moving bodies 1-1, 1-2, ... 1-5, the priority determination unit 168 cannot determine the movement priority by the setting priority. Judge.

When the height of each movement priority cannot be determined by comparing the operating mode during execution, the running state, the width of the passage, and the set priority, the priority determination unit 168 is assigned to the moving body 1-1. The movement priority is determined by comparing the magnitude of the identification number with the moving object identification number assigned to the proximity moving object (step S3-9).
The priority determination unit 168 can acquire the moving body identification numbers of the moving body 1-1 and the approaching moving body by referring to the moving body information and the other moving body information of the proximity moving body.

When the moving body identification number of the moving body 1-1 is smaller than the moving body identification number of the close moving body to be compared (when "No" in step S3-9), the priority determination unit 168 determines the moving body 1 It is determined that the movement priority of -1 is higher than the movement priority of the close moving body to be compared, and the first stop check process proceeds to step S3-10.
On the other hand, when the moving body identification number of the moving body 1-1 is larger than the moving body identification number of the close moving body to be compared (when “Yes” in step S3-9), the priority determination unit 168 moves. It is determined that the movement priority of the body 1-1 is lower than the movement priority of the close moving body to be compared, and the result is notified to the interference stop unit 169. Upon receiving the notification, the interference stop unit 169 determines that the interference stop process is to be executed (step S3-11), and ends the first stop check process.
As a result, it is possible to preferentially move a mobile body having a smaller individually assigned mobile body identification number.

As a result of executing the above steps S3-3 to S3-9, when it is determined that the movement priority of the moving body 1-1 is higher than the moving priority of the proximity moving body to be compared this time, the priority determination unit. 168 determines whether or not the determination of steps S3-3 to S3-9 has been executed for all the proximity moving objects (step S3-10). Whether or not the determination of the high or low movement priority is executed for all the proximity moving bodies is determined, for example, for all the identification numbers of the moving bodies that are regarded as the proximity moving bodies, in steps S3-3 to S3 described above. It can be judged by confirming whether -9 has been executed.

When there is a proximity moving body for which the movement priority determination should be executed (when "No" in step S3-10), the first stop check process returns to step S3-3 and compares other proximity moving bodies. As a target, the determination of the high or low of the movement priority is executed.
On the other hand, when the determination of the movement priority is executed for all the proximity moving bodies (in the case of "Yes" in step S3-10), the priority determination unit 168 determines the movement priority of the moving body 1-1. It is determined that the height is higher than that of the proximity moving body, and the result is notified to the interference stop unit 169. Upon receiving the notification, the interference stop unit 169 determines that the interference stop process is not executed (step S3-12), and ends the first stop check process.

By executing the above steps S3-1 to S3-12, the moving body having the highest moving priority can be preferentially moved among the plurality of moving bodies existing within the range less than the interference distance.

(5-5) Second Stop Check Process Next, the second stop check process executed in step S4 described above will be described with reference to FIG. FIG. 9 is a flowchart showing the flow of the second stop check process.
When the operation mode being executed in step S2 is determined to be the manual mode and the second stop check process is started, the interference stop unit 169 determines whether or not a communicable mobile body exists (step). S4-1).

When it is determined that the communicable mobile body does not exist (in the case of "No" in step S4-1), the interference stop unit 169 determines that the proximity mobile body does not exist in the vicinity of the mobile body 1-1. It is determined that the interference stop process is not executed (step S4-10). After that, the second stop check process is terminated.
On the other hand, when a communicable mobile body exists (in the case of "Yes" in step S4-1), there is a possibility that a proximity mobile body exists in the communicable mobile body, so that the interference stop unit 169 , It is determined whether or not there is a proximity mobile body among the communicable mobile bodies (step S4-2).

When there is no other moving body whose distance between the moving bodies is less than the interference distance (when "No" in step S4-2), the interference stop unit 169 determines that the proximity moving body does not exist, and performs the interference stop process. Is determined not to be executed (step S4-10). After that, the second stop check process is terminated.
On the other hand, when there is another moving body whose distance between the moving bodies is less than the interference distance (in the case of "Yes" in step S4-2), the interference stop unit 169 determines that the proximity moving body exists. In this case, the interference stop unit 169 instructs the priority determination unit 168 to notify the comparison result between the movement priorities after specifying the moving body identification number of the proximity moving body.
In the determination of the high or low of the movement priority described below, the comparison of the movement priority for each proximity moving object is repeatedly executed for all the specified proximity moving objects, as in the case of the first stop check process described above. It is done by doing.

Upon receiving the above command, the priority determination unit 168 first determines whether or not the proximity moving body is executing the manual mode (step S4-3).
When the operation mode flag of the proximity moving body to be compared is ON and it is determined that the proximity moving body to be compared is executing the autonomous mode (when "No" in step S4-3), the priority is determined. The unit 168 determines that the movement priority of the moving body 1-1 is lower than the moving priority of the close moving body to be compared, and notifies the interference stop unit 169 of the result. Upon receiving the notification, the interference stop unit 169 determines that the interference stop process is to be executed (step S4-11), and ends the second stop check process. As a result, the proximity moving body that is executing the autonomous mode can be moved preferentially.

On the other hand, when the operation mode flag of the proximity moving body to be compared is OFF and it is determined that the proximity moving body is executing the manual mode (in the case of "Yes" in step S4-3), the priority determination unit 168 determines that the high or low of the movement priority cannot be determined by comparing the operation modes, and further executes a process of determining the high or low of the movement priority.

When it is determined that the high or low of the movement priority cannot be determined by the comparison of the operation modes, the priority determination unit 168 then compares the traveling state of the moving body 1-1 with the traveling state of the proximity moving body to determine the movement priority. Determine the height of.
The traveling flag of the moving body information is OFF (moving body 1-1 is temporarily stopped), and the traveling flag of the other moving body information of the proximity moving body to be compared is ON (the proximity moving body to be compared is in the manual mode). In the case of (running) (when "Yes" in step S4-4 and "No" in step S4-5), the priority determination unit 168 compares the movement priority of the moving body 1-1. It is determined that the priority is lower than the movement priority of the close moving body, and the result is notified to the interference stop unit 169. Upon receiving the notification, the interference stop unit 169 determines that the interference stop process is to be executed (step S4-11), and ends the second stop check process. As a result, the proximity moving body currently moving can be preferentially moved.

On the other hand, the running flag of the moving body information is ON (moving body 1-1 is running), and the running flag of the proximity moving body to be compared is OFF (the moving body to be compared is temporarily stopped in the manual mode). (In the case of "No" in step S4-4 and "Yes" in step S4-6), the priority determination unit 168 moves the moving body 1-1 in close proximity to the comparison target. It is determined that the priority is higher than the movement priority of the body, and the second stop check process proceeds to step S4-9.

Further, the traveling flag of the moving body information is OFF (moving body 1-1 is temporarily stopped), and the traveling flag of the proximity moving body to be compared is OFF (the moving body to be compared is temporarily in the manual mode). In the case of (stopped) (in the case of "Yes" in step S4-4 and "Yes" in step S4-5), the priority determination unit 168 determines the high or low of the movement priority in the traveling state of the moving body. It is determined that it cannot be performed, and further movement priority determination processing is executed.

In addition, the traveling flag of the moving body information is ON (moving body 1-1 is running), and the running flag of the proximity moving body to be compared is ON (the moving body to be compared is running in the manual mode execution). (In the case of "No" in step S4-4 and "No" in step S4-6), the priority determination unit 168 determines the high or low of the movement priority in the traveling state of the moving body. It is determined that it cannot be performed, and further movement priority determination processing is executed.

When the high and low of the movement priorities cannot be determined by comparing the operating mode and the running state during execution, the priority determination unit 168 is set to the set priority set for the moving body 1-1 and the proximity moving body. The movement priority is determined by comparison with the setting priority (step S4-7).

When the setting priority of the moving body 1-1 is higher than the setting priority of the close moving body to be compared (when it is "high" in step S4-7), the priority determination unit 168 determines the moving body 1-1. It is determined that the movement priority of is higher than the movement priority of the close moving body to be compared, and the second stop check process proceeds to step S4-9.
On the other hand, when the setting priority of the moving body 1-1 is lower than the setting priority of the proximity moving body to be compared (when it is "low" in step S4-7), the priority determination unit 168 determines the moving body 1 It is determined that the movement priority of -1 is lower than the movement priority of the close moving body to be compared, and the result is notified to the interference stop unit 169. Upon receiving the notification, the interference stop unit 169 determines that the interference stop process is to be executed (step S4-11), and ends the second stop check process.
As a result, the moving body having a high setting priority determined by the user is preferentially moved, and the plurality of moving bodies 1-1, 1-2, ... 1-5 efficiently move the moving environment ME. You can move.

Further, when the setting priority of the moving body 1-1 is the same as the setting priority of the proximity moving body to be compared (when it is "same" in step S4-7), the priority determination unit 168 gives the setting priority. It is determined that the high or low of the movement priority cannot be determined by the degree, and further movement priority determination processing is executed.
Even when the setting priority is not set in the plurality of moving bodies 1-1, 1-2, ... 1-5, the priority determination unit 168 cannot determine the movement priority by the setting priority. Judge.

When the high or low of the movement priority of the moving body 1-1 and the moving priority of the proximity moving body cannot be determined by the set priority, the priority determination unit 168 sets the moving body identification number assigned to the moving body 1-1. , The movement priority is determined by comparing the magnitude with the movement identification number assigned to the proximity movement (step S4-8).

When the moving body identification number of the moving body 1-1 is smaller than the moving body identification number of the close moving body to be compared (when "No" in step S4-8), the priority determination unit 168 determines the moving body 1 It is determined that the movement priority of -1 is higher than the movement priority of the close moving body to be compared, and the second stop check process proceeds to step S4-9.
On the other hand, when the moving body identification number of the moving body 1-1 is larger than the moving body identification number of the close moving body to be compared (when “Yes” in step S4-8), the priority determination unit 168 moves. It is determined that the movement priority of the body 1-1 is lower than the movement priority of the close moving body to be compared, and the result is notified to the interference stop unit 169. Upon receiving the notification, the interference stop unit 169 determines that the interference stop process is to be executed (step S4-11), and ends the second stop check process.
As a result, it is possible to preferentially move a mobile body having a small individually assigned mobile body identification number.

As a result of executing the above steps S4-3 to S4-8, when it is determined that the movement priority of the moving body 1-1 is higher than the moving priority of the proximity moving body to be compared this time, the priority determination unit. 168 determines whether or not the determination of steps S4-3 to S4-8 has been executed for all the proximity moving bodies (step S4-9).

When there is a proximity mobile body for which the movement priority determination should be executed (when "No" in step S4-9), the second stop check process returns to step S4-3 and compares other proximity mobile bodies. As a target, the determination of the high or low of the movement priority is executed.
On the other hand, when the determination of the movement priority is executed for all the proximity moving bodies (in the case of "Yes" in step S4-9), the priority determination unit 168 determines the movement priority of the moving body 1-1. It is determined that the height is higher than that of the proximity moving body, and the result is notified to the interference stop unit 169. Upon receiving the notification, the interference stop unit 169 determines that the interference stop process is not executed (step S4-10), and ends the second stop check process.

By executing the above steps S4-1 to S4-11, the moving body having the highest moving priority can be preferentially moved among the plurality of moving bodies existing within the range less than the interference distance.

As described above, in the autonomous moving body system 100, each of the plurality of moving bodies 1-1, 1-2, ... 1-5 autonomously sets the positional relationship with other moving bodies and the priority regarding movement. Deciding. As a result, each of the moving bodies 1-1, 1-2, ... 1-5 autonomously decides whether or not to execute the interference stop processing based on the determination, and cooperates with other moving bodies. However, it can move autonomously in the mobile environment. As a result, for example, even when the autonomous mobile system 100 is used in different mobile environment MEs, it is not necessary to significantly reconstruct the autonomous mobile system 100.

(5-6) Stop Release Check Process Next, the stop release check process executed in step S7 will be described with reference to FIG. FIG. 10 is a flowchart showing the flow of the stop release check process.
When it is determined in step S1 above that the interference stop process is being executed and the stop release check process is started, the interference stop unit 169 determines whether or not a communicable mobile body exists (step S7-1). ).

When it is determined that the communicable mobile body does not exist (in the case of "No" in step S7-1), the interference stop unit 169 determines that the proximity mobile body does not exist in the vicinity of the mobile body 1-1. It is determined that the interference stop process is released (step S7-3). After that, the stop release check process is terminated.
On the other hand, when a communicable mobile body exists (in the case of “Yes” in step S7-1), there is a possibility that a proximity mobile body exists in the communicable mobile body, so that the interference stop unit 169 , It is determined whether or not there is a proximity mobile body among the communicable mobile bodies (step S7-2).

When there is no other moving body whose distance between the moving bodies is less than the interference distance (when "No" in step S7-2), the interference stop unit 169 determines that the proximity moving body does not exist, and performs the interference stop process. Is determined to be released (step S7-3). After that, the stop release check process is terminated.
On the other hand, when there is another moving body whose distance between the moving bodies is less than the interference distance (in the case of "Yes" in step S7-2), the interference stop unit 169 determines that the proximity moving body exists and stops the interference. It is determined that the process is continued without being released (step S7-4). After that, the stop release check process is terminated.

By executing the above steps S7-1 to S7-4 as the stop release check process, there is no other mobile body capable of inter-mobile communication (communication between mobile bodies is malfunctioning), or close movement. If it is determined that the body does not exist, the interference stop unit 169 can cancel the interference stop process. As a result, each of the moving bodies 1-1, 1-2, ... 1-5 can execute normal traveling when other moving bodies are not nearby.

(6) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described herein can be arbitrarily combined as needed.
(A) Other Embodiments Regarding the Order of Processes for Determining Movement Priority In the first stop check process and the second stop check process in the above first embodiment, (i) the presence or absence of a proximity moving object is determined. Judgment based on, (ii) Judgment based on the operating mode being executed, (iii) Judgment based on the current driving state, (iv) Judgment based on the passage width (only the first stop check process), (v) Setting priority The high and low movement priorities were determined in the order of judgment based on (vi) judgment based on the moving object identification number.
However, the judgment for determining the high or low of the movement priority is not limited to the above order (particularly, the order of (ii) to (vi) above), and depends on which criterion is prioritized (for example, priority is given). The reference is placed earlier in the stop check process), and the order can be changed as appropriate.

(B) Another Embodiment of the Obstacle Detection Unit (Part 1)
In the first embodiment described above, the obstacle detection unit 165 has a signal strength of s1 or more by the time t1 when the ultrasonic signal is output (output from the obstacle detection sensor 15 and reflected by the obstacle). When the ultrasonic signal was received, it was determined that an obstacle existed in the vicinity of the main body 11, and the movement of the main body 11 was stopped. That is, the obstacle detection unit 165 of the first embodiment detects only the presence or absence of obstacles in a relatively narrow range. However, the present invention is not limited to this, and the obstacle detection unit 165 may detect obstacles in a wider range.

Specifically, the obstacle detection unit 165 outputs not only the case where the ultrasonic signal is output and the ultrasonic signal having a signal intensity of s1 or more by the time t1 is received, but also (I) the ultrasonic signal is output. When an ultrasonic signal having a signal strength of s2 (FIG. 4) or more is received between the times t1 and t2 (FIG. 4), (II) the ultrasonic signal is output and the time is from t2 to t3 (FIG. 4). When an ultrasonic signal having a signal strength of s3 (FIG. 4) or more is received, and / or an ultrasonic signal having a signal intensity of s4 (FIG. 4) or more after the time t3 after the (III) ultrasonic signal is output. When the signal is received, it may be determined that an obstacle exists in the vicinity of the main body 11.

When using the reference up to (I) above, the interference reference distance is, for example, the other obstacle in the plot showing the relationship between the distance between the two sensors shown in FIG. 5 and the detected signal strength. It can be the distance between the two sensors when the signal value of the ultrasonic signal detected by the detection sensor becomes s2. In this case, the intensity of the ultrasonic signal output from the obstacle detection sensor 15 in the interference stop processing is set to s2 or less.
When the criteria up to (I) and (II) above are used, the interference reference distance is the other in the plot showing the relationship between the distance between the two sensors shown in FIG. 5 and the detected signal strength. It can be the distance between the two sensors when the signal value of the ultrasonic signal detected by the obstacle detection sensor becomes s3. In this case, the intensity of the ultrasonic signal output from the obstacle detection sensor 15 in the interference stop processing is set to s3 or less.
When the criteria (I) to (III) above are used, the interference reference distance is the other in the plot showing the relationship between the distance between the two sensors shown in FIG. 5 and the detected signal strength. It can be the distance between the two sensors when the signal value of the ultrasonic signal detected by the obstacle detection sensor becomes s4. In this case, the intensity of the ultrasonic signal output from the obstacle detection sensor 15 in the interference stop processing is set to s4 or less.

When the obstacle detection unit 165 detects an obstacle existing in a wide range as described above, the process executed by the obstacle detection unit 165 when the obstacle is detected is limited to stopping the movement of the main body unit 11. I can't. The obstacle detection unit 165 may instruct the traveling control unit 164 to reduce the moving speed of the main body unit 11 according to the distance between the main body unit 11 and the obstacle, for example.
As a result, for example, when the main body 11 and the obstacle are sufficiently separated from each other, the moving body 1-1 waits while slowly moving until the obstacle deviates from the moving path of the moving body 1-1. it can.

(C) Other Embodiments of Obstacle Detection Unit (Part 2)
When the obstacle detection unit 165 detects an obstacle in a wide range as in (B) above, each moving body moves in the moving bodies 1-1, 1-2, ... 1-5. An index indicating the size of the area inside may be included in the moving body information and shared by each moving body.
In this case, the detection threshold value of the signal strength when the obstacle detection unit 165 determines that an obstacle exists in the vicinity of the main body portion 11 may be changed according to the size of the moving region. For example, when the area being moved is wide, the moving objects 1-1, 1-2, ... 1-5 can move the wide area at high speed by increasing the detection threshold value and the interference distance. Can be moved to.
Further, in this case, the above movement priority comparison is executed between the moving bodies having the same interference distance and the index indicating the size of the area included in the moving body information (other moving body information). You may. As a result, even if the moving bodies 1-1, 1-2, ... 1-5 are moving at high speed, erroneous detection of the obstacle detection unit 165 can be avoided.

(D) Other Embodiments of Mobile Objects In the first embodiment described above, as an example of a plurality of mobile objects 1-1, 1-2, ... 1-5, many people such as hotels and airport lobbies Advertising robots that move in the existing environment were mentioned. However, the above-mentioned mobile body can be applied to various mobile bodies and robots in addition to the advertising robot. For example, the moving bodies 1-1, 1-2, ... 1-5 may be used as an autonomous cleaning robot that autonomously moves and cleans the moving environment.
Further, the control unit 16 of the first embodiment (and a laser range sensor, an ultrasonic sensor, or the like may be attached if necessary) is a moving body control module for controlling a general-purpose moving body. May be used as.

The present invention can be widely applied to an autonomous mobile system composed of a plurality of mobiles capable of autonomously traveling on a predetermined moving plane.

100 Autonomous moving body system 1-1, 1-2, 1-3, 1-4, 1-5 Moving body 11 Main body 12 Moving part 121a, 121b Motor 123a, 123b Main wheel 125a, 125b Encoder 13 Laser range sensor 131 1st laser range sensor 133 2nd laser range sensor 14 Mobile communication antenna 15 Obstacle detection sensor 151 1st obstacle detection sensor 153 2nd obstacle detection sensor 16 Control unit 161 Storage unit 162 Laser range sensor Control unit 163 Self Position determination unit 164 Travel control unit 165 Obstacle detection unit 166 Mobile inter-body communication unit 167 Distance calculation unit 168 Priority determination unit 169 Interference stop unit 1610 Travel schedule creation unit 17 Auxiliary wheel units 17a, 17b Auxiliary wheel ME Moving environment O structure Thing W wall

Claims (6)

An autonomous mobile system that includes multiple mobiles that move in a mobile environment.
Each of the plurality of moving bodies
A self-positioning unit that determines the self-position on the environment map representing the moving environment, and
An obstacle detection sensor that detects whether or not there is an obstacle around itself by outputting a detection signal and receiving the reflected signal that is reflected and returned from the detection signal.
By inter-mobile communication that communicates directly with other mobiles, the self-position is transmitted to the other mobile, and the position of the other mobile, which is the position of the other mobile on the environment map, is transmitted to the other mobile. The inter-mobile communication unit that receives from each of the mobiles in
A distance calculation unit that calculates the distance between moving bodies between the self-position and the position of the other moving body,
A priority determination unit that determines a movement priority for movement with a proximity moving body whose distance between moving bodies is less than the interference distance.
If it is determined that the movement priority is lower than that of the proximity moving body, the movement of the own body is stopped and the output of the detection signal from the obstacle detection sensor is stopped, or the strength of the detection signal is reduced. The interference stop part that executes the interference stop processing that outputs weakly,
Have,
When the interference stop unit determines that the inter-mobile communication is malfunctioning, the interference stop process cancels the interference stop process.
Autonomous mobile system. An autonomous mobile system that includes multiple mobiles that move in a mobile environment.
Each of the plurality of moving bodies
A self-positioning unit that determines the self-position on the environment map representing the moving environment, and
An obstacle detection sensor that detects whether or not there is an obstacle around itself by outputting a detection signal and receiving the reflected signal that is reflected and returned from the detection signal.
By inter-mobile communication that communicates directly with other mobiles, the self-position is transmitted to the other mobile, and the position of the other mobile, which is the position of the other mobile on the environment map, is transmitted to the other mobile. The inter-mobile communication unit that receives from each of the mobiles in
A distance calculation unit that calculates the distance between moving bodies between the self-position and the position of the other moving body,
A priority determination unit that determines a movement priority for movement with a proximity moving body whose distance between moving bodies is less than the interference distance.
If it is determined that the movement priority is lower than that of the proximity moving body, the movement of the own body is stopped and the output of the detection signal from the obstacle detection sensor is stopped, or the strength of the detection signal is reduced. The interference stop part that executes the interference stop processing that outputs weakly,
Have,
Each of the plurality of moving bodies can execute either an autonomous mode in which the moving environment is autonomously moved or a manual mode in which the moving environment is moved by a user's operation.
The priority determination unit determines that the movement priority of the moving body executing the manual mode is lower than the moving priority of the moving body executing the autonomous mode.
Autonomous mobile system. The environmental map is composed of a sub-environment map representing at least a part of the mobile environment.
If it is determined that the other mobile body owns the non-owned map which is the sub-environment map that it does not own, the inter-mobile communication unit receives the non-owned map from the other mobile body. The autonomous mobile system according to claim 1 or 2. If it is determined that the possessed map, which is the sub-environment map owned by itself, is not owned by the other mobile, the inter-mobile communication unit transmits the possessed map to the other mobile. The autonomous mobile system according to claim 3. Each of the plurality of moving objects is assigned a setting priority individually set by the user.
The autonomous mobile system according to any one of claims 1 to 4, wherein the priority determination unit determines the movement priority according to the high or low of the setting priority. A mobile identification number is individually assigned to each of the plurality of mobiles.
The autonomous mobile system according to any one of claims 1 to 5, wherein the priority determination unit determines the movement priority according to the magnitude of the mobile identification number.

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