JP7063708B2 - Autonomous mobile device - Google Patents

Description

The present invention relates to an autonomous moving device that autonomously moves from a current position to a target position.

Conventionally, as an autonomous moving device that travels autonomously, an Automatic Guided Vehicle, that is, an automatic guided vehicle, an Automatic Guided Cart, that is, an unmanned transport cart and the like are known (see, for example, Patent Documents 1 and 2). In the following, the automatic guided vehicle will be referred to as AGC. In recent years, not only tracked AGC traveling on a magnetic tape provided on a floor surface or the like, but also trackless AGC that recognizes obstacles by laser detection and autonomously avoids them is known.

Japanese Unexamined Patent Publication No. 5-108156 Japanese Unexamined Patent Publication No. 2013-23208

When the trackless AGC as described above is used, for example, in an application for transporting a parts box in a factory, the following problems may occur. That is, in this case, it is necessary to automatically put the parts box into the shelf or eject the parts box from the shelf in addition to the transportation. Therefore, the accuracy of the stop position at the target position is, for example, ± 20 mm. High accuracy such as degree is required.

In the conventional trackless AGC, the accuracy of the stop position is, for example, about ± 100 mm due to restrictions such as the resolution of the laser radar, that is, LIDAR (Light Detection and Ranging), and the accuracy of the motor, which is sufficient for automatic ejection. It was difficult to ensure accurate accuracy. Therefore, conventionally, the floor near the target position has a special shape, and the accuracy of the stop position is improved by recognizing the shape. As a method for giving the floor a special shape, for example, providing a magnetic tape on the floor, attaching an uneven plate to the floor, and the like can be mentioned.

In the factory, the parts management location where the parts box is placed is not always fixed at the same position, and the place may be moved. When the position of the parts box is changed in this way, it is necessary to move the magnetic tape, the plate, etc. provided on the floor in order to improve the stopping accuracy at the target position, which is troublesome.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an autonomous moving device capable of improving the accuracy of a stop position at a target position without giving the floor a special shape. It is in.

The autonomous moving device according to claim 1 autonomously moves from the current position to the target position, and includes a traveling unit (10) capable of traveling in a passage including the current position and the target position, and the autonomous moving device. A map management unit (51) that can set a map showing a movable range, and a range from an obstacle that is an object that the traveling unit can move on the map and hinders the traveling by the traveling unit to a predetermined distance. The approach area setting unit (58) that can set a certain accessible area, the target position setting unit (52a) that sets the target position on the map, and the marker provided at the target position are identified to detect the position of the marker. A marker detection unit (53), a detection area setting unit (59) that can preset a marker detection area that can be detected by the marker detection unit on a map, and a front position setting unit (52b). A movement control unit (57) that controls the operation of the traveling unit is provided.

When the target position is set by the target position setting unit, the front position setting unit is located within the marker detection area and outside the accessible area, and is connected to the passage from the position to the target position by the traveling unit. Set the front position, which is a position where there are no obstacles that hinder driving.

When the target position is set by the target position setting unit, the movement control unit controls the operation of the traveling unit so as to move to the front position. Then, when the movement control unit reaches the front position, the movement control unit controls the operation of the traveling unit so as to move from the front position to the target position provided with the marker based on the position of the marker detected by the marker detection unit. ..

When moving to the target position, the autonomous moving device having such a configuration does not move toward the target position from the beginning, but first moves toward the front position. Here, since the front position is not the final target position, the accuracy of the stop position at the front position may be relatively low. Therefore, the autonomous moving device having the above configuration can move from the current position to the front position at a relatively high speed. Then, after reaching the front position, the autonomous moving device recognizes the marker and moves toward the target position with relatively high accuracy.

By doing so, the autonomous moving device having the above configuration can reach the target position more quickly and accurately than in the conventional case. Moreover, in this case, it is not necessary to provide a magnetic tape or a plate on the floor in order to improve the stopping accuracy at the target position. Therefore, according to the above configuration, it is possible to obtain an excellent effect that the accuracy of the stop position at the target position can be improved without giving the floor a special shape.

The figure which shows typically the structure of AGC which concerns on 1st Embodiment A perspective view schematically showing the external configuration of the traveling module according to the first embodiment. A block diagram schematically showing the configuration of the traveling module according to the first embodiment. The figure for demonstrating the arrangement and the sensing range of two lidars which concerns on 1st Embodiment. The figure which shows typically the structure of the parts shelf provided with the marker which concerns on 1st Embodiment. The figure which shows typically the control flow when the target position which concerns on 1st Embodiment is set. The figure for demonstrating the specific operation example 1 of AGC which concerns on 1st Embodiment. The figure for demonstrating the specific operation example 2 of AGC which concerns on 1st Embodiment. A diagram schematically showing another arrangement example of two LIDARs. The figure for demonstrating the specific operation example of AGC which concerns on 2nd Embodiment The figure which shows typically the structure of the traveling module which concerns on 3rd Embodiment

Hereinafter, a plurality of embodiments will be described with reference to the drawings. In each embodiment, substantially the same configuration is designated by the same reference numeral, and the description thereof will be omitted.
(First Embodiment)
Hereinafter, the first embodiment will be described with reference to FIGS. 1 to 9.

The AGC 1 of the present embodiment shown in FIG. 1 is used in a facility such as a factory, and is composed of a traveling module 2 corresponding to an autonomous mobile device and a working module 3. The traveling module 2 autonomously moves from the current position to the target position by using SLAM (Simultaneous Localization and Mapping) technology that simultaneously estimates the self-position and creates an environmental map. In the AGC 1, the traveling module 2 is a module responsible for transporting, moving, and the like, and can function as a single unit.

SLAM is suitable for environments where fixed-position objects are placed. In this case, in the factory where AGC1 is used, walls, pillars, fixed equipment and the like whose positions are fixed are arranged. Therefore, the factory where AGC 1 is used is an environment suitable for SLAM, and the traveling module 2 can accurately estimate the self-position and create an environmental map.

Further, in AGC 1, the work module 3 is a module responsible for transfer, change of packing style, etc., and there are various types such as an elevating type, a robot type, a conveyor type, a towing type, and a trolley type. The work module 3 has a configuration that can be easily attached to and detached from the traveling module 2. Therefore, the user can use the AGC 1 for various purposes by appropriately selecting the type of the work module 3 to be combined with the traveling module 2.

As shown in FIGS. 2 and 3, the traveling module 2 includes a traveling unit 10, an environment recognition unit 20, a display unit 30, an operation unit 40, and a control unit 50. The traveling unit 10 has a configuration in which the above-mentioned plurality of types of work modules 3, that is, a plurality of types of mounted objects can be selectively mounted.

The traveling unit 10 has four wheels 11 and a drive source (not shown) for driving the wheels 11, and can travel in a passage in a factory where the AGC 1 is used. The passage includes the current position and the target position of the traveling module 2. The wheel 11 is a Mecanum wheel and includes four or more cylinders 12. The cylinder 12 is barrel-shaped and is provided on the circumference of the wheel 11. Further, the cylinder 12 is provided so that its axis is tilted by 45 degrees with respect to the axis of the wheel 11. Further, the cylinder 12 is freely rotatable with respect to the wheel 11.

The drive source is, for example, a motor, and the drive force of the motor is transmitted to each wheel 11. As a result, each wheel 11 can rotate. By combining the rotation directions of the wheels 11, the traveling unit 10 can freely travel in all directions, that is, 360 degrees. The motor is provided with an encoder or the like, whereby the rotation speed e of the wheel 11 is detected.

The environment recognition unit 20 includes LIDAR 21, 22 and ultrasonic sonar. LIDARs 21 and 22 are two-dimensional LIDARs, and are adapted to perform horizontal sensing. The range in which the LIDARs 21 and 22 can be sensed is 270 degrees. In this case, the LIDARs 21 and 22 are arranged at two corners of the traveling portion 10 facing each other. That is, the LIDARs 21 and 22 are provided diagonally to the traveling portion 10.

According to the above configuration, as shown in FIG. 4, the environment recognition unit 20 can detect other objects such as AGCs and obstacles such as pillars and walls over a range of 360 degrees. In FIG. 4, the detection range A21 in which the object can be detected by the LIDAR 21 is indicated by the alternate long and short dash line, and the detection range A22 in which the object can be detected by the LIDAR 22 is indicated by the alternate long and short dash line.

Further, the environment recognition unit 20 includes a gyro sensor, an acceleration sensor, an encoder, a torque sensor, a temperature sensor, a barometric pressure sensor, a gas sensor and the like. As a result, the environment recognition unit 20 can recognize the situation around the traveling module 2 as the environment information Ie. The display unit 30 and the operation unit 40 are integrally configured as, for example, an operation display terminal having a touch panel. The display unit 30 and the operation unit 40 may be separate bodies.

The display unit 30 can display the state of the traveling module 2, the state of the work module 3 which is an on-board object, and the like. Specifically, the display unit 30 can display the operating state of the traveling unit 10, an image showing the environment recognized by the environment recognition unit 20, the type of the work module 3, an abnormality related to the AGC 1, a warning, and the like. The operation unit 40 can be operated by the user, and the control content of the control unit 50 can be changed according to the operation.

The control unit 50 is mainly composed of a microcomputer having, for example, a CPU, a ROM, a RAM, or the like. The control unit 50 includes a map management unit 51, a moving object purpose setting unit 52, a marker detection unit 53, a route planning unit 54, a state management unit 55, a self-position estimation unit 56, a movement control unit 57, an approach area setting unit 58, and a detection unit. The area setting unit 59 is provided. It should be noted that each of these units is realized by the CPU of the control unit 50 executing a program stored in a ROM or the like, that is, by software. In addition, each of these parts may be realized by hardware.

The map management unit 51 can set a map M indicating a range in which the traveling module 2 can move, that is, a map M in a range in which the traveling unit 10 moves. Aisles, equipment, people, other AGCs, etc. are set in detail on the map M, and various information thereof are updated at any time. The moving object purpose setting unit 52 can set the target position Gm on the map M. The target position Gm can be arbitrarily set and will be set according to the purpose. The target position Gm can be set based on a command given from an external management device that manages the operation of the plurality of AGC1s. Further, the target position Gm can be set so that the AGC1 continuously moves on a preset path.

The approach area setting unit 58 can set the approachable area Aa on the map M. The accessible area Aa is an area in the range from an obstacle, which is an object in which the traveling unit 10 is movable and hinders the traveling by the traveling unit 10, to a predetermined distance in the map M. The approach area setting unit 58 sets the approachable area Aa as follows. That is, a predetermined distance from an obstacle existing on the map M is defined as an approach distance La. The approach distance La is set based on the size of the obstacle, the size of the traveling portion 10, and the like. The approach area setting unit 58 sets the range from the obstacle to the approach distance La as the approachable area Aa in the map M where the traveling unit 10 is movable.

The moving body target setting unit 52 includes a target position setting unit 52a for setting the target position Gm and a front position setting unit 52b. When the target position Gm is set by the target position setting unit 52a, the front position setting unit 52b sets the front position Nm. The front position Nm is a position close to the target position Gm, there is a space in which the traveling module 2 can be moved, and there is no obstacle in the passage from that position to the target position Gm. be. More specifically, the front position Nm is a position inside the marker detection area Ad, which will be described later, and outside the accessible area Aa, and is a position where there is no obstacle in the passage from the position to the target position Gm. ..

The marker detection unit 53 identifies a marker provided at the target position Gm and detects the position of the marker. The marker detection unit 53 outputs the marker position Mp, which is the position of the detected marker, to the movement control unit 57. The marker detection unit 53 detects the marker by sensing with the LIDARs 21 and 22 of the environment recognition unit 20. Therefore, the marker has a structure that can be identified by LIDAR 21 and 22. For example, when the AGC1 is used for transporting a parts box, the target position Gm is set on the parts shelf provided in the parts management location. Therefore, the marker is provided on such a parts shelf.

Specifically, as shown in FIG. 5, the marker 60 is attached at a position below the parts shelf 70 and at a position at a height that can be sensed by the LIDARs 21 and 22 provided on the traveling module 2. .. The marker 60 is composed of a rectangular plate whose horizontal dimension is larger than that of the vertical dimension. The surface color of the marker 60 is white, which has a high reflectance of laser light. In this case, the parts shelf 70 is provided with wheels 71 so that the parts shelves 70 can be moved.

The detection area setting unit 59 can set an area on the map M where the marker can be detected by the marker detection unit 53 as the marker detection area Ad. The marker detection area Ad may be set automatically according to the type of marker, or may be arbitrarily set by the user for each marker.

The route planning unit 54 can set a route Rm for the traveling unit 10 to move from the current position to the front position Nm based on the current position and the front position Nm of the traveling module 2 on the map M. In the present embodiment, the route planning unit 54 sets the route Rm by using, for example, an A * search algorithm.

The state management unit 55 can detect the angular velocity ω and the acceleration a of the traveling unit 10, the rotation speed e of the wheel 11, and the like via the environment recognition unit 20. The state management unit 55 outputs the detected angular velocities ω, acceleration a, rotation speed e, etc. to the self-position estimation unit 56 and the movement control unit 57. The self-position estimation unit 56 estimates the position and orientation (posture) of the traveling module 2 on the map M based on the environmental information Ie, the map M, the route Rm, the angular velocity ω, the acceleration a, and the rotation speed e. The self-position estimation unit 56 outputs the estimated position Ep, which is the estimated position, and the estimated direction Ed, which is the estimated direction, to the movement control unit 57.

The movement control unit 57 controls the operation of the traveling unit 10, and controls the movement of the traveling module 2 by controlling the wheels 11 and the motor which is the drive source. The movement control unit 57 is a traveling unit based on the environmental information Ie, the map M, the target position Gm, the front position Nm, the route Rm, the estimated position Ep, the estimated direction Ed, the marker position Mp, the angular velocity ω, the acceleration a, and the rotation speed e. 10 controls the operation. As a result, the traveling module 2 can move autonomously.

Specifically, the movement control unit 57 controls the operation of the traveling unit 10 so as to move to the front position Nm when the target position Gm is set by the target position setting unit 52a. Further, when the movement control unit 57 reaches the front position Nm, the movement control unit 57 controls the operation of the traveling unit 10 so as to move from the front position Nm to the target position Gm based on the position of the marker detected by the marker detection unit 53. do. Further, when the position of a plurality of markers is detected by the marker detection unit 53 at the front position Nm, the movement control unit 57 moves to the target position Gm provided with the marker at the position closest to the front position Nm. The operation of the traveling unit 10 is controlled.

Next, the operation of the above configuration will be described.
[1] Control flow when the target position is set When the target position Gm is set, the control unit 50 of the traveling module 2 controls the contents as shown in FIG. First, in step S100, the movement to the target position Gm is started.

In step S200, the direction of the traveling module 2 is changed in order to face the traveling direction, that is, the traveling module 2 is rotated. In step S300, the operation of the traveling unit 10 is controlled so as to move from the current position to the front position Nm based on the path Rm set by using the A * search algorithm.

In step S400, the marker detection unit 53 detects the marker. In step S500, the operation of the traveling unit 10 is controlled so that the traveling module 2 moves from the front position Nm to the target position Gm. At this time, in the coordinate system of the marker obtained from the position of the detected marker, the posture is controlled so that the traveling module 2 has the target direction, that is, the target posture, and the traveling module 2 has a desired position. The operation of the traveling unit 10 is controlled so as to move finely to (target position Gm).

After that, when the AGC1 finishes executing the predetermined work at the target position Gm, the process proceeds to step S600. In step S600, the operation of the traveling unit 10 is controlled so that the traveling module 2 returns from the target position Gm to the front position Nm. After the execution of step S600, this control flow ends. After that, when the next target position Gm is set, the control of the content shown in FIG. 6 is executed again.

[2] Specific operation example 1 of AGC1
Hereinafter, with reference to FIG. 7, an operation example 1 showing a specific operation of the AGC 1 when the parts box is moved to a position where the parts box can be automatically discharged from the parts shelf 101 provided in the parts management location 100 will be described. do. In FIG. 7, both the accessible region Aa and the marker detection region Ad are shown by a alternate long and short dash line. In this case, the parts management location 100 is provided with only one parts shelf 101, and the parts shelf 101 is provided with a marker M1. In addition to the parts management location 100, there are fixed equipments 200 and 300 such as assembly equipment and processing equipment around the AGC1. The current position Pp of AGC1 is located in the vicinity of the fixed equipment 200.

In this case, when the position where the parts box can be automatically discharged from the parts shelf 101 is set as the target position Gm1, the position in front of the parts management location 100 is set as the front position Nm1. Normally, a relatively large space is secured at a position in front of the parts management location, such as the front position Nm1, for loading and unloading parts boxes.

Therefore, the front position Nm1 has a space where the AGC1 can be moved, and there is no obstacle in the passage from that position to the target position Gm1. Further, the front position Nm1 is a position where the marker detection unit 53 can identify the marker M1 provided on the parts shelf 101. That is, the front position Nm1 is located inside the marker detection area Ad and outside the accessible area Aa.

When the front position Nm1 is set, the AGC1 once moves to the front position Nm1. Then, when the AGC1 reaches the front position Nm1, it identifies the marker M1 and detects the position of the marker M1. After that, the AGC1 moves from the front position Nm1 to the target position Gm1 so as to be guided by the marker M1 based on the detected position of the marker M1. In this way, the AGC1 can be accurately moved from the current position Pp to the target position Gm1 where the parts box can be automatically discharged from the parts shelf 101.

[3] Specific operation example 2 of AGC1
Hereinafter, with reference to FIG. 8, an operation example 2 showing a specific operation of the AGC 1 when the parts box is moved to a position where the parts box can be automatically discharged to the parts shelf 102 provided in the parts management location 100 will be described. do. In this case, the parts management location 100 is provided with three parts shelves 101 to 103, and the parts shelves 101 to 103 are provided with markers M1 to M3, respectively.

In this case, when the position where the parts box can be automatically discharged from the parts shelf 102 is set as the target position Gm2, the position in front of the parts management location 100 is set as the front position Nm2. The front position Nm2 is a position where there is a space in which the AGC1 can be moved and there is no obstacle in the passage from that position to the target position Gm2, as in the case of the front position Nm1 described in the operation example 1. The position is such that the marker M2 provided on the 102 can be identified.

When the front position Nm2 is set, the AGC1 once moves to the front position Nm2. Then, when the AGC1 reaches the front position Nm2, it identifies the marker M2 and detects the position of the marker M2. However, in this case, when the AGC1 reaches the front position Nm2, it detects not only the position of the marker M2 but also the positions of the markers M1 and M3 provided on the parts shelves 101 and 103.

In this way, when the positions of the plurality of markers M1 to M3 are detected at the front position Nm2, the AGC1 has the marker M2 at the position closest to the front position Nm1 among the detected plurality of markers M1 to M3. It moves to the target position Gm2 corresponding to the provided parts shelf 102. In this way, the AGC1 can be accurately moved from the current position Pp to the target position Gm2 where the parts box can be automatically discharged from the parts shelf 102.

According to the present embodiment described above, the following effects can be obtained.
In the traveling module 2 having the above configuration, the front position setting unit 52b is located close to the target position so that the marker detection unit 53 can identify the marker when the target position is set by the target position setting unit 52a. There is a space in which the traveling module 2 can be moved, and there is no obstacle in the passage from the position to the target position, that is, an area within the marker detection area Ad and an accessible area. Set the front position outside Aa.

Further, the movement control unit 57 controls the operation of the traveling unit 10 so as to move to the front position when the target position is set by the target position setting unit 52a. Then, when the traveling module 2 reaches the front position, the movement control unit 57 travels so as to move from the front position to the target position provided with the marker based on the position of the marker detected by the marker detection unit 53. The operation of the unit 10 is controlled.

With such a configuration, when the traveling module 2 and thus the AGC1 of the present embodiment move to the target position, they do not move toward the target position from the beginning, but first move toward the front position. Become. Here, since the front position is not the final target position, the accuracy of the stop position at the front position may be relatively low. Therefore, the AGC1 can move from the current position to the front position at a relatively high speed. Then, after reaching the front position, the AGC1 moves toward the target position with relatively high accuracy by recognizing the marker.

By doing so, the AGC1 of the present embodiment can reach the target position more quickly and accurately than the conventional AGC. Moreover, in this case, it is not necessary to provide a magnetic tape or a plate on the floor in order to improve the stopping accuracy at the target position. Therefore, according to the present embodiment, it is possible to obtain an excellent effect that the accuracy of the stop position at the target position can be improved without giving the floor a special shape.

Further, in the above configuration, the traveling unit 10 of the traveling module 2 is configured so that a plurality of types of work modules 3 can be selectively mounted. According to such a configuration, the user can use the AGC 1 for various purposes by appropriately selecting the type of the work module 3 to be combined with the traveling module 2.

Further, when the position of a plurality of markers is detected by the marker detection unit 53 at the front position, the movement control unit 57 moves to the target position provided with the marker at the position closest to the front position. It is designed to control the operation of. By doing so, even when a plurality of target positions (for example, parts shelves for loading and unloading parts boxes) are adjacent to each other, as shown in FIG. 8, the positions in the vicinity facing the corresponding target positions are set. If it is set as the front position, the AGC1 can be reliably moved to a desired target position among a plurality of target positions.

The target position setting unit 52a can set the target position based on a command given from an external management device. By doing so, for example, in a system in which the operation of a plurality of AGCs including AGC1 used in a factory is collectively managed by a management device (management PC), it is possible to realize the allocation of each AGC by the management device. .. Further, the target position setting unit 52a can set the target position so as to continuously move on the preset route. In this way, it is most suitable for applications in which the AGC1 continuously travels on a fixed route (route).

As shown in FIG. 5, the parts shelf 70 provided in the parts management location has wheels 71 and is configured to be movable. This is to make it easy to respond to changes in the layout of each facility in the factory. It is difficult to accurately stop the parts shelf 70 having such a movable configuration at a predetermined predetermined position, and the position may vary from the predetermined position.

Therefore, when the position where the parts box can be automatically discharged from the parts shelf 70 having the above configuration is set as the target position for moving the AGC1, even if the AGC1 can be moved to the target position with high accuracy, the parts shelf can be moved for the above-mentioned reason. If the 70 itself moves so as to deviate from a predetermined position, it may not be possible to accurately stop the AGC 1 at a position where the parts box can be automatically ejected.

However, according to the present embodiment, the AGC 1 recognizes the marker 60 provided on the parts shelf 70 and is positioned so as to be closer to the marker 60, so that the parts shelf 70 itself deviates from a predetermined position. Even when the AGC1 is moved to, the AGC1 can be accurately stopped at a position where the parts box can be automatically ejected. That is, according to the present embodiment, it is possible to improve the stopping accuracy at the target position, particularly in the application of transporting the parts box.

In the above configuration, as shown in FIG. 4, the LIDARs 21 and 22 for detecting the marker are provided diagonally to the traveling portion 10. According to such a configuration, AGC1 can detect an object including a marker over a range of 360 degrees. Further, according to such a configuration, the following effects can be obtained.

That is, as shown in FIG. 9, the AGC1 can detect an object over a range of 360 degrees even in a configuration in which LIDARs 21 and 22 are provided at the centers of two opposing sides of the four sides of the traveling unit 10. However, in such a configuration, the mounted object (upper object) cannot be arranged in the hatched range in FIG. 9 in the traveling unit 10. Therefore, in such a configuration, the shape of the work module 3 mounted on the traveling unit 10 is restricted.

On the other hand, in the configuration of the present embodiment, the mounted object can be arranged in the entire range of the traveling unit 10. Therefore, according to the present embodiment, the AGC 1 can detect an object including a marker over a range of 360 degrees without limiting the shape of the work module 3 mounted on the traveling unit 10.

(Second Embodiment)
Hereinafter, the second embodiment will be described with reference to FIG.
In the second embodiment, the control content by the control unit 50 is different from that in the first embodiment. The configuration is the same as that of the first embodiment.

In the present embodiment, when setting the front position, the front position setting unit 52b also sets the marker relative position representing the relative position of the marker provided at the target position with respect to the front position. Then, when the position of a plurality of markers is detected by the marker detection unit 53 at the front position, the movement control unit 57 moves the detected position to the target position corresponding to the marker closest to the marker relative position. The operation of the traveling unit 10 is controlled.

Hereinafter, with reference to FIG. 10, a specific operation of the AGC 1 when moving the parts box to a position where the parts box can be automatically discharged with respect to the parts shelves 101 to 103 provided in the parts management location 100 will be described. In this case, a wall is projected at a position facing the parts shelves 101 and 102, so that the front positions Nm1 and Nm2 as in the first embodiment cannot be set.

Therefore, in this case, when the position where the parts box can be automatically discharged from the parts shelf 101 is set as the target position Gm1, the position where the parts box can be automatically discharged from the parts shelf 102 is set as the target position Gm2. In either case or when the position where the parts box can be automatically ejected with respect to the parts shelf 103 is set as the target position Gm3, the position in front of the parts shelf 103 is set as the front position Nm3. ..

However, in this case, when the target position Gm1 is set, the relative position of the marker M1 with respect to the front position Nm3 is set as the marker relative position Pr1, and when the target position Gm2 is set, the front position Nm3 is set. The relative position of the marker M2 as a reference is set as the marker relative position Pr2, and when the target position Gm3 is set, the relative position of the marker M3 with respect to the front position Nm3 is set as the marker relative position Pr3.

Here, when the position where the parts box can be automatically discharged from the parts shelf 101 is set as the target position Gm1, the AGC1 temporarily moves to the front position Nm3. Then, when the AGC1 reaches the front position Nm3, it identifies the markers M1 to M3 and detects the positions of the markers M1 to M3. In this case, among the plurality of detected markers M1 to M3, the AGC1 is the marker closest to the marker relative position Pr1 in which the detected position is set, that is, the target position corresponding to the parts shelf 101 provided with the marker M1. Move to Gm1.

Further, even when the position where the parts box can be automatically discharged from the parts shelf 102 is set as the target position Gm2, the AGC1 temporarily moves to the front position Nm3. Then, when the AGC1 reaches the front position Nm3, it identifies the markers M1 to M3 and detects the positions of the markers M1 to M3. In this case, the AGC1 is the target position corresponding to the part shelf 102 provided with the marker M2, that is, the marker closest to the marker relative position Pr2 in which the detected position is set among the plurality of detected markers M1 to M3. Move to Gm2.

Further, even when the position where the parts box can be automatically discharged from the parts shelf 103 is set as the target position Gm3, the AGC1 temporarily moves to the front position Nm3. Then, when the AGC1 reaches the front position Nm3, it identifies the markers M1 to M3 and detects the positions of the markers M1 to M3. In this case, the AGC1 is the target position corresponding to the part shelf 103 provided with the marker M3, that is, the marker closest to the marker relative position Pr3 in which the detected position is set among the plurality of detected markers M1 to M3. Move to Gm2.

According to the present embodiment described above, when a plurality of target positions (for example, parts shelves for loading and unloading parts boxes) are adjacent to each other, an optimum front position corresponding to at least one target position is set. Even in a situation where this is not possible, the AGC1 can be reliably moved to the desired target position among the plurality of target positions.

(Third Embodiment)
Hereinafter, the third embodiment will be described with reference to FIG.
As shown in FIG. 11, the traveling module 32 of the present embodiment includes a reading unit 80 in addition to the configuration provided in the traveling module 2. The reading unit 80 is for reading the target position information representing the target position provided on the conveyed object which is an object conveyed by the AGC1. The target position information can be provided by, for example, a two-dimensional code (for example, a bar code) attached to a parts box which is a transported object. When the target position information is based on a two-dimensional code, the reading unit 80 is configured by a two-dimensional code reader or the like.

In this case, the target position setting unit 52a can set the target position based on the target position information read by the reading unit 80. By doing so, when the AGC1 receives the parts box at a predetermined target position, the next target position is set by reading the two-dimensional code attached to the parts box, and the set next target is set. It is possible to move to a position, that is, to select a route by ID or the like.

(Other embodiments)
It should be noted that the present invention is not limited to the embodiments described above and shown in the drawings, and can be arbitrarily modified, combined, or extended without departing from the gist thereof.
The numerical values and the like shown in each of the above embodiments are examples and are not limited thereto.

The wheel 11 of the traveling portion 10 is not limited to the Mecanum wheel, and may be an omni wheel.
The arrangement of LIDARs 21 and 22 for detecting the marker is not limited to that shown in each of the above embodiments, and can be appropriately changed. Further, the shape of the marker, the color of the surface, and the like are not limited to those shown in each of the above embodiments, and can be changed as appropriate.

The marker detection unit 53 is not limited to the one that detects the marker by sensing by LIDAR 21 and 22, and may be configured to detect the marker by using a two-dimensional camera, a three-dimensional camera, a radar, a switch, a sonar, a bumper, or the like. In this case, the marker may be configured to have an identifiable feature corresponding to each sensor used in the marker detection unit 53.
In each of the above embodiments, an example in which the present invention is applied to an AGC used in a factory or the like has been described, but the present invention can be applied to all autonomous mobile devices that autonomously move from a current position to a target position. ..

The present disclosure has been described in accordance with the examples, but it is understood that the present disclosure is not limited to the examples and structures. The present disclosure also includes various variations and variations within a uniform range. In addition, various combinations and forms, as well as other combinations and forms that include only one element, more, or less, are within the scope and scope of the present disclosure.

2, 32 ... Travel module, 10 ... Travel unit, 51 ... Map management unit, 52a ... Target position setting unit, 52b ... Front position setting unit, 53 ... Marker detection unit, 57 ... Movement control unit, 58 ... Approach area setting unit , 59 ... Detection area setting unit, 80 ... Reading unit.

Claims (7)

An autonomous moving device that autonomously moves from the current position to the target position.
A traveling unit (10) capable of traveling in a passage including the current position and the target position, and
A map management unit (51) capable of setting a map showing a range in which the autonomous mobile device can move, and a map management unit (51).
In the map, the approach area setting unit (58) capable of setting an accessible area within a range from an obstacle which is an object that is movable and hinders the travel by the traveling unit to a predetermined distance. ,
A target position setting unit (52a) for setting the target position on the map, and a target position setting unit (52a).
A marker detection unit (53) that identifies a marker provided at the target position and detects the position of the marker.
In the map, a detection area setting unit (59) that can preset a marker detection area, which is a region that can be detected by the marker detection unit with respect to the marker,
When the target position is set by the target position setting unit, the obstacle does not exist in the passage within the marker detection area and outside the accessible area and from the position to the target position. The front position setting unit (52b) that sets the front position, which is the position, and
A movement control unit (57) that controls the operation of the traveling unit,
Equipped with
The movement control unit
When the target position is set by the target position setting unit, the operation of the traveling unit is controlled so as to move to the front position.
Upon reaching the front position, the operation of the traveling unit is controlled so as to move from the front position to the target position provided with the marker based on the position of the marker detected by the marker detection unit. Autonomous mobile device. The autonomous mobile device according to claim 1, wherein the traveling unit is configured to be capable of selectively mounting a plurality of types of mounted objects. When the marker detection unit detects the positions of a plurality of the markers at the front position, the movement control unit moves to the target position provided with the markers at the position closest to the front position. The autonomous mobile device according to claim 1 or 2, which controls the operation of the traveling unit. When setting the front position, the front position setting unit also sets a marker relative position representing the relative position of the marker provided at the target position with respect to the front position.
When the marker detection unit detects the positions of a plurality of the markers at the front position, the movement control unit moves to the target position corresponding to the marker whose detected position is closest to the marker relative position. The autonomous mobile device according to claim 1 or 2, wherein the operation of the traveling unit is controlled so as to be performed. The autonomous mobile device according to any one of claims 1 to 4, wherein the target position setting unit sets the target position based on a command given from an external management device. The autonomous movement device according to any one of claims 1 to 4, wherein the target position setting unit sets the target position so as to continuously move on a preset route. Further, a reading unit (80) for reading target position information representing the target position provided on the transported object, which is an object transported by the autonomous moving device, is provided.
The autonomous moving device according to any one of claims 1 to 4, wherein the target position setting unit sets the target position based on the target position information read by the reading unit.

Images