JP7168211B2 - Mobile object that avoids obstacles and its computer program - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to a moving object that performs an obstacle avoidance operation.

Research and development of mobile objects such as automated guided vehicles and mobile robots are underway. For example, JP-A-2009-223634, JP-A-2009-205652, and JP-A-2005-242489 disclose a system for controlling the movement of each mobile body so that a plurality of autonomous mobile bodies do not collide with each other. ing.

JP 2009-223634 A JP 2009-205652 A JP 2005-242489 A

A non-limiting exemplary embodiment of the present disclosure provides a technique for smoothly avoiding an obstacle by a moving body when the obstacle is present on the movement path.

A mobile body according to an exemplary embodiment of the present disclosure is a mobile body capable of moving autonomously, comprising: a plurality of drive wheels; a plurality of motors respectively connected to the plurality of drive wheels; An obstacle sensor that detects obstacles, an external sensor that repeatedly scans the environment and outputs sensor data for each scan, and position information that indicates an estimated value of the position and orientation of the moving body based on the sensor data. a position estimating device that generates and outputs a position estimating device; a control circuit that rotates the plurality of motors while referring to the position information output from the position estimating device to control movement of the moving object; and a storage device that stores detour route data defining a reference detour route that is a combination of one route and a second route in a second direction different from the first direction, wherein When the output of the obstacle sensor detects the presence of an obstacle in the traveling direction at the first position while moving along the route, the control circuit uses the detour route data. to set a detour route from the first position to the second position on the preset movement route, and move the moving object along the detour route.

According to the embodiment of the present disclosure, the presence of an obstacle in the traveling direction at the first position is detected by the output of the obstacle sensor while the mobile body is moving along the preset movement path. Then, the control circuit uses the detour route data to set a detour route from a first position to a second position on a preset moving route, and moves the moving object along the detour route. A detour route is defined by a reference detour route that is a combination of a first route in a first direction and a second route in a second direction different from the first direction. This facilitates the setting of detour routes.

FIG. 1A is a diagram showing a travel route of an AGV during normal travel. FIG. 1B is a diagram showing the stopping operation when the AGV detects an obstacle. FIG. 1C is a diagram showing an obstacle avoidance operation of the AGV. FIG. 1D is a diagram for explaining a reference detour route. FIG. 2 is a diagram showing an example of a moving space S in which an AGV exists. FIG. 3 is a diagram showing the AGV and towing truck before they are connected. FIG. 4A is a diagram showing the AGV and towing truck before they are connected. FIG. 4B is a diagram showing a connected AGV and tow truck. FIG. 5 is an external view of an exemplary AGV according to this embodiment. FIG. 6A is a diagram showing a first hardware configuration example of the AGV. FIG. 6B is a diagram showing a second hardware configuration example of the AGV. FIG. 7A is a diagram showing an AGV that generates a map while moving. FIG. 7B is a diagram showing an AGV that generates a map while moving. FIG. 7C is a diagram showing an AGV that generates a map while moving. FIG. 7D is a diagram showing an AGV generating a map while moving. FIG. 7E is a diagram showing an AGV generating a map while moving. FIG. 7F is a diagram schematically showing part of the completed map. FIG. 8 is a diagram showing an example in which a map of one floor is composed of a plurality of partial maps. FIG. 9 is a diagram showing a hardware configuration example of an operation management device. FIG. 10 is a diagram schematically showing an example of an AGV movement route determined by the operation management device. FIG. 11A is a diagram showing an example of a detour route B when an obstacle 70 exists on the travel route R. FIG. FIG. 11B is a diagram for explaining notation on the drawing regarding the obstacle detection operation and the detour operation performed by the moving object 10. FIG. FIG. 12 is a diagram showing an example of detour routes when there are a plurality of obstacles 70a. FIG. 13 is a diagram showing an example of detour routes when there are a plurality of obstacles 70a. FIG. 14 is a diagram showing an example of detour routes when there are a plurality of obstacles 70a. 15A and 15B are diagrams showing three examples in which it is impossible to return to the original movement route R. FIG. 16A and 16B are diagrams showing three examples in which it is impossible to return to the original movement route R. FIG. 17A and 17B are diagrams showing three examples in which it is impossible to return to the initial travel route R. FIG. FIG. 18A is a flow chart showing the procedure of processing of the microcomputer 14a according to an exemplary embodiment. FIG. 18B is a flow chart showing the procedure of processing of the microcomputer 14a according to an exemplary embodiment. FIG. 19A is a diagram for explaining an operation example of the moving body 10 according to another example. FIG. 19B is a diagram for explaining an operation example of the moving body 10 according to another example. FIG. 19C is a diagram for explaining an operation example of the moving body 10 according to another example. FIG. 19D is a diagram for explaining an operation example of the moving body 10 according to another example. FIG. 19E is a diagram for explaining an operation example of the moving body 10 according to another example. FIG. 20 is a flow chart showing the procedure of processing of the microcomputer 14a according to another exemplary embodiment.

<Term>
"Automated Guided Vehicle" (AGV) means a trackless vehicle that loads cargo manually or automatically into its main body, travels automatically to a designated location, and unloads manually or automatically. "Automated guided vehicle" includes automated towing vehicles and automated forklifts.

The term "unmanned" means that no person is required to steer the vehicle, and does not exclude that the AGV carries "persons (e.g., those loading and unloading goods)".

An “unmanned tractor” is a trackless vehicle that automatically travels to a designated location by towing a trolley that loads and unloads cargo manually or automatically.

An “unmanned forklift” is a trackless vehicle equipped with a mast that raises and lowers a fork for loading and unloading cargo.

A "trackless vehicle" is a vehicle that has wheels and an electric motor or engine that rotates the wheels.

A “moving body” is a device that moves with a person or load on it, and includes driving devices such as wheels, a bipedal or multipedal walking device, and a propeller that generate a driving force (traction) for movement. The term “mobile” in the present disclosure includes mobile robots, service robots, and drones as well as automated guided vehicles in the narrow sense.

"Automatic driving" includes driving based on commands of a computer operation management system to which the automatic guided vehicle is connected by communication, and autonomous driving by a control device provided in the automatic guided vehicle. Autonomous travel includes not only travel by an automatic guided vehicle toward a destination along a predetermined route, but also travel following a tracking target. Also, the automatic guided vehicle may temporarily travel manually based on instructions from the operator. "Automated driving" generally includes both "guided" driving and "guideless" driving, but in this disclosure means "guideless" driving.

The “guide type” is a system in which derivatives are installed continuously or intermittently, and the guides are used to guide an automatic guided vehicle.

The “guideless type” is a method of guiding without installing a derivative. An automatic guided vehicle according to an embodiment of the present disclosure includes a self-position estimation device and can travel without a guide.

A "self-position estimation device" is a device that estimates a self-position on an environmental map based on sensor data acquired by an external sensor such as a laser range finder.

The "external sensor" is a sensor that senses the state of the exterior of the moving object. External sensors include, for example, laser range finders (also called range sensors), cameras (or image sensors), LIDAR (Light Detection and Ranging), millimeter wave radars, ultrasonic sensors, and magnetic sensors.

An "internal sensor" is a sensor that senses the internal state of a moving object. Internal sensors include, for example, rotary encoders (hereinafter sometimes simply referred to as "encoders"), acceleration sensors, and angular acceleration sensors (eg, gyro sensors).

"SLAM" is an abbreviation for Simultaneous Localization and Mapping, which means performing self-localization and environmental map creation at the same time.

<Exemplary embodiment>
An example of a cartographic device and a cartographic system according to the present disclosure will now be described with reference to the accompanying drawings. Note that more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially the same configurations may be omitted. This is to avoid unnecessary verbosity in the following description and to facilitate understanding by those skilled in the art. The inventors provide the accompanying drawings and the following description for a full understanding of the present disclosure by those skilled in the art. They are not intended to limit the claimed subject matter.

1A-1C illustrate basic example operations of a vehicle 10 according to an exemplary embodiment of the present disclosure. 1A to 1C show a travel route R connecting a start point S and an end point G. FIG. In this specification, an "automatic guided vehicle" (AGV) is exemplified as an example of a mobile object. In this case, the moving route may also be referred to as a "running route". In the illustrated example, the travel route R is a straight line. As will be described later, the moving body 10 has at least an obstacle sensor that detects obstacles in the traveling direction of the moving body 10 .

FIG. 1A shows a mobile object 10 traveling along a travel route R. FIG.

FIG. 1B shows the moving body 10 that stops traveling when an obstacle 70 exists on the traveling route R detected by an obstacle sensor. The moving body 10 resumes running when the obstacle 70 is removed.

FIG. 1C shows the moving object 10 traveling by setting a detour route for avoiding the obstacle 70 when the obstacle 70 exists on the travel route R detected by the obstacle sensor. FIG. 1C shows a detour route B _right and a detour route B _left where the avoidance direction of the obstacle 70 is on the right side and left side of the travel route R with respect to the traveling direction. Whether the avoidance direction is the right side or the left side can be set in the moving body 10 in advance.

In the present disclosure, detour B is set using a "reference detour."

FIG. 1D shows an example of a typical reference detour route. A "reference detour route" is a route defined by a combination of routes in at least two directions. That is, the reference detour route is a route defined by a combination of a first route in a first direction and a second route in a second direction different from the first direction. In the example of FIG. 1C, the first direction is the direction perpendicular to the route R (vertical direction on the paper surface), and the second direction is the direction parallel to the travel route R.

When the detour route is set to avoid the obstacle 70, the moving body 10 moves in the first direction with the first route as one unit, and moves in the second direction with the second route as one unit.

As shown in FIG. 1D, the first and second directions of the reference detour are orthogonal to each other in the preferred embodiment, but need not be orthogonal. If not orthogonal, it may have paths in one or more additional directions different from the first and second directions. Therefore, in the example shown in FIG. 1D, the detour route is U-shaped, but it may be a shape whose path is the perimeter of a hexagon, for example, bisected by a straight line passing through its center.

Also, in the example of FIG. 1D, both the distance of the first route and the distance of the second route are fixed values and are equal. However, both need not be the same value. In the embodiment described later, an example will be given in which the distance of the second route is not a fixed value for the second route.

For convenience of explanation, an example of detouring to the right side will be described in this specification, but it is clear that a person skilled in the art can set a detouring route for the left side in exactly the same way as for the right side. In the following description, the suffix "right" indicating the right side of the reference sign B _right of the detour route is omitted.

A more specific example in which the mobile body is an automatic guided vehicle will be described below. In this specification, an abbreviation is sometimes used to describe an automatic guided vehicle as an "AGV." It should be noted that the following description can be similarly applied to mobile objects other than AGVs, such as mobile robots, drones, and manned vehicles, unless inconsistent.

(1) Basic Configuration of System FIG. 2 shows an example of the basic configuration of an exemplary mobile management system 100 according to the present disclosure. The mobile management system 100 includes at least one AGV 10 and an operation management device 50 that manages operation of the AGV 10 . Also shown in FIG. 2 is a terminal device 20 operated by the user 1 .

The AGV 10 is an unmanned guided vehicle capable of "guideless" travel that does not require a dielectric such as a magnetic tape for travel. The AGV 10 can estimate its own position and transmit the estimation result to the terminal device 20 and the operation management device 50 . The AGV 10 can automatically travel within the moving space S according to a command from the operation management device 50 . The AGV 10 can also operate in a "tracking mode" in which it moves following a person or other moving object.

The operation management device 50 is a computer system that tracks the position of each AGV 10 and manages the running of each AGV 10 . The traffic management device 50 can be a desktop PC, a notebook PC, and/or a server computer. The operation management device 50 communicates with each AGV 10 via multiple access points 2 . For example, the operation management device 50 transmits to each AGV 10 the coordinate data of the position to which each AGV 10 should go next. Each AGV 10 periodically transmits data indicating its own position and orientation to the operation management device 50, for example, every 100 milliseconds. When the AGV 10 reaches the instructed position, the operation management device 50 further transmits coordinate data of the position to which the vehicle should go next. The AGV 10 can also travel within the moving space S according to the user's 1 operation input to the terminal device 20 . An example of the terminal device 20 is a tablet computer. Typically, the AGV 10 runs using the terminal device 20 when the map is created, and the AGV 10 runs using the operation control device 50 after the map is created.

FIG. 3 shows an example of a moving space S in which three AGVs 10a, 10b and 10c are present. It is assumed that both AGVs are running in the depth direction in the figure. The AGVs 10a and 10b are in the process of transporting loads placed on the top plate. The AGV 10c is running following the AGV 10b in front. For convenience of explanation, reference numerals 10a, 10b, and 10c are given in FIG. 3, but are described as "AGV 10" below.

The AGV 10 can also transport a load by using a towing truck connected to itself, in addition to the method of transporting the load placed on the top board. FIG. 4A shows the AGV 10 and towing truck 5 before being connected. Each leg of the tow truck 5 is provided with a caster. The AGV 10 is mechanically connected with the towing truck 5 . FIG. 4B shows the AGV 10 and tow truck 5 connected. When the AGV 10 travels, the tow truck 5 is towed by the AGV 10. - 特許庁By towing the tow truck 5, the AGV 10 can transport the load placed on the tow truck 5. - 特許庁

The connection method between the AGV 10 and the towing truck 5 is arbitrary. An example is described here. A plate 6 is fixed to the top plate of the AGV 10 . The towing carriage 5 is provided with a guide 7 having a slit. The AGV 10 approaches the tow truck 5 and inserts the plate 6 into the slit in the guide 7. When the insertion is completed, the AGV 10 causes an electromagnetic locking pin (not shown) to pass through the plate 6 and the guide 7 to apply an electromagnetic lock. As a result, the AGV 10 and the towing truck 5 are physically connected.

Refer to FIG. 2 again. Each AGV 10 and the terminal device 20 are connected, for example, one-to-one, and can perform communication conforming to the Bluetooth (registered trademark) standard. Each AGV 10 and terminal device 20 can also perform Wi-Fi (registered trademark) compliant communication using one or a plurality of access points 2 . A plurality of access points 2 are connected to each other via a switching hub 3, for example. Two access points 2a and 2b are shown in FIG. The AGV 10 is wirelessly connected to the access point 2a. The terminal device 20 is wirelessly connected to the access point 2b. The data transmitted by the AGV 10 is received by the access point 2a, transferred to the access point 2b via the switching hub 3, and transmitted to the terminal device 20 from the access point 2b. Data transmitted by the terminal device 20 is received by the access point 2b, transferred to the access point 2a via the switching hub 3, and transmitted from the access point 2a to the AGV 10. FIG. Thereby, bidirectional communication between the AGV 10 and the terminal device 20 is realized. A plurality of access points 2 are also connected to an operation management device 50 via a switching hub 3 . Thereby, two-way communication is also realized between the operation management device 50 and each AGV 10 .

(2) Creation of environment map A map of the moving space S is created so that the AGV 10 can travel while estimating its own position. The AGV 10 is equipped with a position estimation device and a laser range finder, and the output of the laser range finder can be used to create a map.

The AGV 10 transitions to the data acquisition mode by user's operation. In data acquisition mode, the AGV 10 begins acquiring sensor data using the laser range finder. The laser range finder periodically scans the surrounding space S by radiating, for example, an infrared or visible laser beam to the surroundings. The laser beam is reflected by surfaces such as walls, structures such as pillars, and objects placed on the floor. The laser range finder receives the reflected light of the laser beam, calculates the distance to each reflection point, and outputs measurement result data indicating the position of each reflection point. The position of each reflection point reflects the arrival direction and distance of the reflected light. The measurement result data obtained by one scan is sometimes called "measurement data" or "sensor data".

The position estimation device accumulates sensor data in a storage device. When the acquisition of the sensor data in the movement space S is completed, the sensor data accumulated in the storage device are transmitted to the external device. The external device is, for example, a computer having a signal processor and having a mapping program installed.

A signal processor in the external device superimposes the sensor data obtained for each scan. A map of the space S can be created by repeating the process of superimposition by the signal processor. The external device transmits the created map data to the AGV 10 . The AGV 10 saves the created map data in an internal storage device. The external device may be the operation management device 50 or may be another device.

The AGV 10 may create the map instead of the external device. A circuit such as a microcontroller unit (microcomputer) of the AGV 10 may perform the processing performed by the signal processing processor of the external device described above. When creating a map within the AGV 10, there is no need to transmit the accumulated sensor data to an external device. The data volume of sensor data is generally considered to be large. Since there is no need to transmit sensor data to an external device, occupation of communication lines can be avoided.

It should be noted that the movement within the movement space S for acquiring the sensor data can be realized by the AGV 10 running according to the user's operation. For example, the AGV 10 wirelessly receives a travel command from the user via the terminal device 20 to move in the front, back, left, and right directions. The AGV 10 travels forward, backward, leftward, and rightward in the moving space S according to the travel command to create a map. When the AGV 10 is wired to a control device such as a joystick, the AGV 10 may move forward, backward, left and right in the moving space S according to control signals from the control device to create a map. Sensor data may be acquired by a person pushing a measurement trolley equipped with a laser range finder.

Although a plurality of AGVs 10 are shown in FIGS. 2 and 3, the number of AGVs may be one. When a plurality of AGVs 10 exist, the user 1 can use the terminal device 20 to select one AGV 10 from among the plurality of registered AGVs and create a map of the moving space S.

After the map is created, each AGV 10 can automatically travel while estimating its own position using the map. A description of the process of estimating the self-position will be given later.

(3) Configuration of AGV FIG. 5 is an external view of an exemplary AGV 10 according to this embodiment. The AGV 10 has two driving wheels 11a and 11b, four casters 11c, 11d, 11e and 11f, a frame 12, a carrier table 13, a travel control device 14, and a laser range finder 15. Two drive wheels 11a and 11b are provided on the right and left sides of the AGV 10, respectively. Four casters 11c, 11d, 11e and 11f are arranged at the four corners of the AGV 10. As shown in FIG. Note that the AGV 10 also has motors connected to the two drive wheels 11a and 11b, but the motors are not shown in FIG. 5 also shows one drive wheel 11a and two casters 11c and 11e located on the right side of the AGV 10, and a caster 11f located on the left rear, but the left drive wheel 11b and the left front The caster 11d is hidden behind the frame 12 and is not shown. The four casters 11c, 11d, 11e and 11f are freely swivelable. In the following description, the drive wheels 11a and 11b are also referred to as wheels 11a and 11b, respectively.

The travel control device 14 is a device that controls the operation of the AGV 10, and mainly includes an integrated circuit including a microcomputer (described later), electronic components, and a board on which they are mounted. The traveling control device 14 performs data transmission/reception with the terminal device 20 and preprocessing calculations as described above.

The laser range finder 15 is an optical device that measures the distance to a reflection point by emitting an infrared or visible laser beam 15a and detecting the reflected light of the laser beam 15a. In this embodiment, the laser range finder 15 of the AGV 10 emits a pulsed laser beam in a space within a range of 135 degrees to the left and right (270 degrees in total) with respect to the front of the AGV 10, for example, while changing the direction every 0.25 degrees. 15a and detects the reflected light of each laser beam 15a. As a result, it is possible to obtain data on the distance to the reflection point in the direction determined by the angles of 1081 steps in total, every 0.25 degrees. In this embodiment, the scanning of the surrounding space performed by the laser range finder 15 is substantially parallel to the floor surface and planar (two-dimensional). However, the laser range finder 15 may scan in the height direction.

The AGV 10 can create a map of the space S based on the position and orientation (orientation) of the AGV 10 and the scanning result of the laser range finder 15 . The map may reflect the placement of the walls around the AGV, structures such as pillars, and objects placed on the floor. Map data is stored in a storage device provided in the AGV 10 .

Generally, the position and posture of a moving object are called poses. The position and orientation of a moving object in a two-dimensional plane are represented by position coordinates (x, y) in an XY orthogonal coordinate system and an angle θ with respect to the X axis. The position and orientation of the AGV 10, ie pose (x, y, θ), may hereinafter be simply referred to as "position".

The position of the reflection point as seen from the emission position of the laser beam 15a can be expressed using polar coordinates determined by angles and distances. In this embodiment, the laser range finder 15 outputs sensor data expressed in polar coordinates. However, the laser range finder 15 may convert the position expressed in polar coordinates into rectangular coordinates and output the same.

Since the structure and operating principle of laser range finders are well known, no further detailed description is provided herein. Examples of objects that can be detected by the laser range finder 15 are people, luggage, shelves, walls.

The laser range finder 15 is an example of an external sensor for sensing the surrounding space and acquiring sensor data. Image sensors and ultrasonic sensors can be considered as other examples of such external sensors.

The traveling control device 14 can estimate its own current position by comparing the measurement result of the laser range finder 15 and the map data it holds. Note that the stored map data may be map data created by another AGV 10 .

FIG. 6A shows a first hardware configuration example of the AGV 10. As shown in FIG. FIG. 6A also shows a specific configuration of the travel control device 14. As shown in FIG.

The AGV 10 includes a travel control device 14, a laser range finder 15, two motors 16a and 16b, a driving device 17, wheels 11a and 11b, and two rotary encoders 18a and 18b.

The travel control device 14 has a microcomputer 14a, a memory 14b, a storage device 14c, a communication circuit 14d, a position estimation device 14e, and an obstacle sensor 14j. The microcomputer 14a, the memory 14b, the storage device 14c, the communication circuit 14d, and the position estimation device 14e are connected by a communication bus 14f, and can exchange data with each other. The laser range finder 15 is also connected to the communication bus 14f via a communication interface (not shown), and transmits measurement data, which are measurement results, to the microcomputer 14a, the position estimation device 14e and/or the memory 14b.

The microcomputer 14a is a processor or control circuit (computer) that performs calculations for controlling the entire AGV 10 including the travel control device 14. FIG. The microcomputer 14a is typically a semiconductor integrated circuit. The microcomputer 14a transmits a PWM (Pulse Width Modulation) signal, which is a control signal, to the driving device 17 to control the driving device 17 and adjust the voltage applied to the motor. This causes each of the motors 16a and 16b to rotate at the desired rotational speed.

One or more control circuits (for example, microcomputers) for controlling the driving of the left and right motors 16a and 16b may be provided independently of the microcomputer 14a. For example, the motor driving device 17 may include two microcomputers that respectively control the driving of the motors 16a and 16b. These two microcomputers may perform coordinate calculations using encoder information output from encoders 18a and 18b, respectively, to estimate the movement distance of AGV 10 from a given initial position. Also, the two microcomputers may control the motor drive circuits 17a and 17b using the encoder information.

The memory 14b is a volatile storage device that stores computer programs executed by the microcomputer 14a. The memory 14b can also be used as a work memory when the microcomputer 14a and the position estimation device 14e perform calculations.

The storage device 14c is a non-volatile semiconductor memory device. However, the storage device 14c may be a magnetic recording medium typified by a hard disk, or an optical recording medium typified by an optical disc. Further, the storage device 14c may include a head device for writing data to and/or reading data from any recording medium and a control device for the head device.

The storage device 14c stores map data M of the traveling space S, data of one or more travel routes (travel route data) R, and detour route data Bd. The map data M are created by the AGV 10 operating in the map creation mode and stored in the storage device 14c. The travel route data R is transmitted from the outside after the map data M is created. The detour route data Bd is prepared in advance and stored in the storage device 14c to define the reference detour route. A reference detour route may be defined as a combination of a first route in a first direction and a second route in a second direction different from the first direction. In this embodiment, the map data M, the travel route data R, and the detour route data Bd are stored in the same storage device 14c, but may be stored in different storage devices.

An example of travel route data R will be described.

If the terminal device 20 is a tablet computer, the AGV 10 receives travel route data R indicating a travel route from the tablet computer. The travel route data R at this time includes marker data indicating the positions of a plurality of markers. A "marker" indicates a passing position (way point) of the traveling AGV 10. FIG. The travel route data R includes at least position information of a start marker indicating a travel start position and an end marker indicating a travel end position. The travel route data R may further include position information of markers of one or more intermediate waypoints. When the travel route includes one or more intermediate waypoints, the route from the start marker to the end marker via the travel waypoints in order is defined as the travel route. The data of each marker can include the direction (angle) and travel speed data of the AGV 10 until it moves to the next marker, in addition to the coordinate data of that marker. When the AGV 10 temporarily stops at the position of each marker and performs self-position estimation and notification to the terminal device 20, etc., the data of each marker is the acceleration time required for acceleration to reach the running speed, and / or , data of the deceleration time required to decelerate from the current running speed to stop at the position of the next marker.

The movement of the AGV 10 may be controlled by the operation management device 50 (eg, PC and/or server computer) instead of the terminal device 20 . In that case, the operation management device 50 may instruct the AGV 10 to move to the next marker each time the AGV 10 reaches the marker. For example, the AGV 10 receives, from the operation control device 50, the coordinate data of the next target position, or the data of the distance to the target position and the angle to be traveled, as the travel route data R indicating the travel route.

The AGV 10 can travel along the stored travel route while estimating its own position using the created map and the sensor data output by the laser range finder 15 acquired during travel.

The communication circuit 14d is, for example, a wireless communication circuit that performs wireless communication conforming to the Bluetooth (registered trademark) and/or Wi-Fi (registered trademark) standards. Both standards include wireless communication standards using frequencies in the 2.4 GHz band. For example, in a mode in which the AGV 10 is driven to create a map, the communication circuit 14d performs wireless communication conforming to the Bluetooth (registered trademark) standard and communicates with the terminal device 20 on a one-to-one basis.

The position estimation device 14e performs map creation processing and self-position estimation processing during travel. The position estimation device 14e creates a map of the moving space S based on the position and orientation of the AGV 10 and the scan result of the laser range finder. During traveling, the position estimation device 14e receives sensor data from the laser range finder 15, and reads map data M stored in the storage device 14c. By matching the local map data (sensor data) created from the scanning result of the laser range finder 15 with the wider map data M, the self-position (x, y, θ) on the map data M is determined. identify. The position estimator 14e generates "reliability" data representing the extent to which the local map data matches the map data M. FIG. Self-position (x, y, θ) and reliability data can be transmitted from the AGV 10 to the terminal device 20 or the operation management device 50 . The terminal device 20 or the operation management device 50 can receive the self-position (x, y, θ) and reliability data and display them on a built-in or connected display device.

In this embodiment, the microcomputer 14a and the position estimation device 14e are separate components, but this is just an example. A single chip circuit or a semiconductor integrated circuit capable of independently performing each operation of the microcomputer 14a and the position estimation device 14e may be used. FIG. 6A shows chip circuitry 14g that encompasses microcomputer 14a and position estimator 14e. An example in which the microcomputer 14a and the position estimation device 14e are provided independently will be described below.

The obstacle sensor 14j is, for example, an infrared sensor that detects obstacles by emitting infrared rays and detecting reflected light.

Two motors 16a and 16b are attached to the two wheels 11a and 11b respectively to rotate each wheel. That is, the two wheels 11a and 11b are drive wheels respectively. Motors 16a and 16b are described herein as being motors that drive the right and left wheels of AGV 10, respectively.

The moving body 10 further comprises an encoder unit 18 for measuring the rotational positions or rotational speeds of the wheels 11a and 11b. The encoder unit 18 includes a first rotary encoder 18a and a second rotary encoder 18b. The first rotary encoder 18a measures rotation at any position of the power transmission mechanism from the motor 16a to the wheels 11a. The second rotary encoder 18b measures rotation at any position of the power transmission mechanism from the motor 16b to the wheels 11b. The encoder unit 18 transmits signals obtained by the rotary encoders 18a and 18b to the microcomputer 14a. The microcomputer 14a may control the movement of the moving body 10 using not only the signal received from the position estimation device 14e but also the signal received from the encoder unit 18. FIG.

The drive device 17 has motor drive circuits 17a and 17b for adjusting the voltage applied to each of the two motors 16a and 16b. Each of motor drive circuits 17a and 17b includes a so-called inverter circuit. The motor drive circuits 17a and 17b turn on or off the current flowing through each motor according to the PWM signal sent from the microcomputer 14a or the microcomputer in the motor drive circuit 17a, thereby adjusting the voltage applied to the motor.

FIG. 6B shows a second hardware configuration example of the AGV 10. As shown in FIG. The second hardware configuration example differs from the first hardware configuration example (FIG. 6A) in that it has a laser positioning system 14h and that the microcomputer 14a is connected to each component on a one-to-one basis. do.

The laser positioning system 14 h has a position estimation device 14 e and a laser range finder 15 . The position estimation device 14e and the laser range finder 15 are connected, for example, by an Ethernet (registered trademark) cable. Each operation of the position estimation device 14e and the laser range finder 15 is as described above. The laser positioning system 14h outputs information indicating the pose (x, y, θ) of the AGV 10 to the microcomputer 14a.

The microcomputer 14a has various general-purpose I/O interfaces or general-purpose input/output ports (not shown). The microcomputer 14a is directly connected to other components in the travel control device 14, such as the communication circuit 14d and the laser positioning system 14h, via the general-purpose input/output port.

The configuration is common to that of FIG. 6A except for the configuration described above with respect to FIG. 6B. Therefore, the description of the common configuration is omitted.

The AGV 10 in embodiments of the present disclosure may include safety sensors, such as bumper switches, not shown. The AGV 10 may be equipped with an inertial measurement device such as a gyro sensor. Using data measured by internal sensors such as rotary encoders 18a and 18b or an inertial measurement device, it is possible to estimate the movement distance and attitude change amount (angle) of the AGV 10 . These range and angle estimates are referred to as odometry data and may serve to supplement the position and attitude information obtained by the position estimator 14e.

(4) Map data FIGS. 7A to 7F schematically show the AGV 10 moving while acquiring sensor data. The user 1 may manually move the AGV 10 while operating the terminal device 20 . Alternatively, the sensor data may be obtained by placing the unit including the travel control device 14 shown in FIGS. 6A and 6B or the AGV 10 itself on a cart and pushing or pulling the cart by the user 1.

FIG. 7A shows AGV 10 scanning the surrounding space using laser range finder 15 . A laser beam is emitted at each predetermined step angle to perform scanning. It should be noted that the illustrated scan range is an example schematically shown, and is different from the total scan range of 270 degrees described above.

In each of FIGS. 7A-7F, the positions of the reflection points of the laser beam are schematically indicated using a plurality of black dots 4 represented by the symbol "·". The scanning of the laser beam is performed at short intervals while the position and posture of the laser range finder 15 are changed. Therefore, the actual number of reflection points is much larger than the number of reflection points 4 shown. The position estimating device 14e accumulates the positions of the black spots 4 obtained as the vehicle travels, for example, in the memory 14b. Map data is gradually completed by continuously scanning while the AGV 10 is traveling. Only the scan range is shown in FIGS. 7B-7E for simplicity. The scan range is an example, and differs from the total 270 degree example described above.

A map may be created using the microcomputer 14a in the AGV 10 or an external computer based on the sensor data obtained after acquiring the necessary amount of sensor data for creating the map. Alternatively, a map may be created in real time based on sensor data acquired by the AGV 10 while it is moving.

FIG. 7F schematically shows a portion of the completed map 40. FIG. In the map shown in FIG. 7F, free space is partitioned by point clouds corresponding to collections of reflection points of laser beams. Another example of a map is an occupancy grid map that distinguishes between space occupied by objects and free space by grid units. The position estimation device 14e accumulates map data (map data M) in the memory 14b or the storage device 14c. Note that the illustrated number or density of black dots is an example.

The map data thus obtained can be shared by multiple AGVs 10 .

A typical example of an algorithm by which the AGV 10 estimates its own position based on map data is ICP (Iterative Closest Point) matching. As described above, the local map data (sensor data) created from the scanning results of the laser range finder 15 is matched with the wider map data M to obtain the self-position (x, y, θ) can be estimated.

When the area in which the AGV 10 travels is large, the data amount of the map data M increases. Therefore, there is a possibility that problems such as an increase in map creation time and a long time required for self-position estimation may occur. If such an inconvenience occurs, the map data M may be created and recorded by dividing it into a plurality of partial map data.

FIG. 8 shows an example in which a combination of four partial map data M1, M2, M3, and M4 covers an entire floor of one factory. In this example, one piece of partial map data covers an area of 50m x 50m. A rectangular overlapping area with a width of 5 m is provided at the boundary between two adjacent maps in each of the X and Y directions. This overlapping area is called a "map switching area". When the AGV 10 traveling while referring to one partial map reaches a map switching area, the AGV 10 switches to traveling while referring to another adjacent partial map. The number of partial maps is not limited to four, and may be set as appropriate according to the area of the floor on which the AGV 10 runs, and the performance of the computer that executes map creation and self-position estimation. The size of the partial map data and the width of the overlapping area are also not limited to the above examples, and may be set arbitrarily.

(5) Configuration Example of Operation Control Device FIG. 9 shows an example of the hardware configuration of the operation control device 50. As shown in FIG. The operation management device 50 has a CPU 51 , a memory 52 , a position database (position DB) 53 , a communication circuit 54 , a map database (map DB) 55 and an image processing circuit 56 .

The CPU 51, memory 52, position DB 53, communication circuit 54, map DB 55, and image processing circuit 56 are connected by a communication bus 57, and can exchange data with each other.

The CPU 51 is a signal processing circuit (computer) that controls the operation of the operation management device 50 . The CPU 51 is typically a semiconductor integrated circuit.

The memory 52 is a volatile storage device that stores computer programs executed by the CPU 51 . The memory 52 can also be used as a work memory when the CPU 51 performs calculations.

The position DB 53 stores position data indicating each potential destination of each AGV 10 . The position data may be represented by coordinates set virtually within the factory by an administrator, for example. Location data is determined by an administrator.

Communication circuit 54 performs wired communication conforming to the Ethernet (registered trademark) standard, for example. The communication circuit 54 is connected to the access point 2 ( FIG. 1 ) by wire, and can communicate with the AGV 10 via the access point 2 . The communication circuit 54 receives data to be transmitted to the AGV 10 from the CPU 51 via the bus 57 . The communication circuit 54 also transmits data (notification) received from the AGV 10 to the CPU 51 and/or the memory 52 via the bus 57 .

The map DB 55 stores map data of the inside of a factory or the like where the AGV 10 travels. The map may be the same as map 40 (FIG. 7F) or may be different. The data format does not matter as long as the map has a one-to-one correspondence with the position of each AGV 10 . For example, the map stored in the map DB 55 may be a map created by CAD.

The position DB 53 and the map DB 55 may be constructed on a non-volatile semiconductor memory, or may be constructed on a magnetic recording medium typified by a hard disk, or an optical recording medium typified by an optical disc.

The image processing circuit 56 is a circuit that generates image data to be displayed on the monitor 58 . The image processing circuit 56 operates exclusively when the manager operates the operation management device 50 . In this embodiment, a more detailed description is omitted. Note that the monitor 59 may be integrated with the operation management device 50 . Alternatively, the processing of the image processing circuit 56 may be performed by the CPU 51 .

(6) Operation of operation management device An outline of operation of the operation management device 50 will be described with reference to FIG. FIG. 10 is a diagram schematically showing an example of the moving route of the AGV 10 determined by the operation management device 50. As shown in FIG.

An overview of the operations of the AGV 10 and the operation management device 50 is as follows. In the following, an example in which an AGV 10 is currently at position M1, passes through several positions, and travels to the final destination, position _{Mn+1 (} where n is a positive integer equal to or greater than 1). explain. The position DB 53 records coordinate data indicating each position such as the position M ₂ to be passed next to the position M ₁ and the position M ₃ to be passed next to the position M ₂ .

The CPU 51 of the operation management device 50 refers to the position DB 53, reads out the coordinate data of the position _M2 , and generates a travel command for heading to the position _M2 . A communication circuit 54 transmits a travel command to the AGV 10 via the access point 2 .

The CPU 51 periodically receives data indicating the current position and orientation from the AGV 10 via the access point 2 . In this way, the operation management device 50 can track the position of each AGV 10 . When the CPU 51 determines that the current position of the AGV 10 coincides with the position M ₂ , the CPU 51 reads out the coordinate data of the position M ₃ , generates a travel command to the position M ₃ , and transmits it to the AGV 10 . That is, when the operation management device 50 determines that the AGV 10 has reached a certain position, it transmits a travel command to direct the AGV 10 to the position to be passed next. This allows the AGV 10 to reach the final target position _Mn+1 . The above-described passing position and target position of the AGV 10 are sometimes called "markers".

(7) Obstacle avoidance operation by the moving body 10 according to the first example Below, various examples of the avoidance operation of the moving body 10 when it is detected that an obstacle exists on the travel route R will be described.

FIG. 11A shows an example of a detour route B when an obstacle 70 exists on the travel route R. FIG.

Now, consider a case where the presence of an obstacle 70 in the traveling direction at position P1 is detected while the moving body 10 is moving from the starting point S along the preset moving route R. At this time, the microcomputer 14a uses the detour route data Bd to set the detour route B from the position P1 to the position P4 on the movement route, and moves the mobile body 10 along the detour route B. FIG.

A detour B shown in FIG. 11A is composed of one reference detour, which is the most basic. A "reference detour route" is defined by a combination of the first movement route and the second movement route. Using the positions P1, P2, P3 and P4 shown in FIG. 11A, the reference detour route is defined as follows in this embodiment. First, the first direction and the second direction are orthogonal to each other. The reference detour route is defined by a first route from position P1 to position P2, a second route from position P2 to position P3, and a first route from position P3 to position P4.

The first route from the position P1 to the position P2 is a route parallel to the first direction and moving the moving body 10 in a direction away from the movement route R by a distance D1. Upon reaching the position P2, the moving body 10 rotates counterclockwise and changes its attitude from the first direction to the second direction. The second route from the position P2 to the position P3 is a route that moves the mobile body 10 by a distance D2 parallel to the second direction. When reaching the position P3, the moving body 10 rotates counterclockwise and changes its posture from the second direction to the first direction. The first route from the position P3 to the position P4 is a route that is parallel to the first direction and moves the moving body 10 in a direction approaching the movement route R by a distance D1. When reaching the position P4, the moving body 10 rotates clockwise and changes its posture from the first direction to the second direction. As a result, it is possible to bypass the obstacle 70, return to the initial movement route R, and move along the movement route R thereafter.

FIG. 11A shows a first maximum allowable distance Dmax1 for the first direction and a second maximum allowable distance Dmax2 for the second direction. The detour route B is set so that the distance in the first direction from the travel route R is within the first maximum allowable distance Dmax1 and the travel distance in the second direction is within the second maximum allowable distance Dmax2. Each data of the first maximum allowable distance Dmax1 and the second maximum allowable distance Dmax2 is stored in advance in the storage device 14c by the administrator of the mobile body 10, for example. In an environment where a plurality of mobile bodies 10 are used, each data of the reference detour route, the first maximum allowable distance Dmax1 and the second maximum allowable distance Dmax2 may be set independently for each mobile body 10 .

Here, referring to FIG. 11B, notation on the drawing regarding the obstacle detection operation and detour operation performed by the moving body 10 will be described. FIG. 11B shows the meaning of each operation of symbols a to c as a legend. That is, as legends, an obstacle determination operation a, a movement operation b, and a direction change operation c between the first route and the second route are described. In this specification, the distance moved by the moving motion b may be referred to as "minimum avoidance distance". "Minimum avoidance distance" means the minimum distance away from the original path. In FIG. 12 and subsequent figures, the same reference numerals are given to each operation, and the explanation of each operation of the operations a to c is omitted. Note that, for convenience of explanation, the actions a to c of particular interest may be referred to as "action a1" or the like.

12, 13, and 14 show examples of detour routes when there are a plurality of obstacles 70a. Since the obstacle 70a is detected by the first obstacle determination operation a, the microcomputer 14a sets the reference detour route.

In FIG. 12, the microcomputer 14a performs the first movement b for detour. After moving the distance D1, the microcomputer 14a detects a further obstacle 70b on the detour route in the second direction, which is the traveling direction, by the obstacle determination operation a1. As a result, the microcomputer 14a continues the movement b1 along the first direction. The operation after moving the further distance D1 is the same as the example after position P2 in FIG. 11A. However, the moving distance by the last moving operation b2 is D2*2.

In FIG. 13, the microcomputer 14a performs the first moving operation b for detouring, and then performs the direction changing operation c after moving the distance D1. When the microcomputer 14a performs the movement action b1 on the detour route in the second direction, which is the direction of travel, the microcomputer 14a detects another obstacle 70b on the detour route in the second direction, which is the direction of travel, by the obstacle determination action a1. to detect As a result, the microcomputer 14a further performs the movement operation b2 in the direction away from the initial movement route R along the first direction. After moving a further distance D1, the example is the same as in FIG.

Although a plurality of obstacles 70a and 70b are shown in FIGS. 12 and 13, this is an example. The above process can also be performed when the elongated object is arranged to traverse a plurality of detour paths along the second direction.

FIG. 14 shows the motion of the moving body 10 when an obstacle is detected during a plurality of moving motions b. The operation when each obstacle is detected conforms to the example of FIGS. 12 and 13. FIG.

The obstacle determination operation a1 will be particularly described. The position where the obstacle determination operation a1 is performed corresponds to a position moved by a distance D2 from the position where the first determination operation a0 is performed when viewed in the second direction. The microcomputer 14a determines whether or not it is possible to return (return) in the direction of the moving route R in units of the distance D2 from the position where the first determination operation a0 was performed. In this example, an obstacle is detected by the determination operation a1, so the movement operation b1 in the second direction is continued. It should be noted that the direction change operation c1 is an operation performed because an obstacle does not exist as a result of the determination operation. As a result, the microcomputer 14a moves the moving body 10 in a direction approaching the moving route R along the first direction.

Figures 15 to 17 show three examples in which a return to the original travel route R is not possible. When the detour route cannot be set within the first maximum allowable distance Dmax1 in the first direction from the first determination operation a0 (FIG. 15), the microcomputer 14a returns to the movement route R. is determined to be impossible, and the moving body 10 is stopped. Further, in the second direction, the microcomputer 14a also stops the moving body 10 when the detour route cannot be set within the second maximum allowable distance Dmax2 (FIG. 16). Furthermore, as shown in FIG. 17, the microcomputer 14a also stops the moving body 10 when the presence of obstacles is detected in all of the returning directions to the moving path R. FIG.

After the mobile unit 10 is stopped, for example, the administrator can transport the mobile unit 10 to a different location and restart the mobile unit 10 .

18A and 18B are flowcharts showing the procedure of processing of the microcomputer 14a according to this embodiment.

In step S10, the microcomputer 14a starts normal running. The state of traveling on the moving route R is described as "normal operation" in FIG. 18BA.

In step S12, the microcomputer 14a determines whether or not an obstacle is detected from the output of the obstacle sensor 14j. If no obstacle is detected, normal operation in step S10 is continued, and if an obstacle is detected, the process proceeds to step S14.

In step S14, the microcomputer 14a determines whether or not the first maximum allowable distance Dmax1 has been reached. In this process, for example, the position at the time of deviating from the moving route R is stored using the position information output by the position estimation device 14e, and the microcomputer 14a calculates the position and the current position in the first direction. This is achieved by computing the difference between If it is determined that it has not reached, the process proceeds to step S16, and if it is determined that it has reached, the process proceeds to step S26.

In step S16, the microcomputer 14a controls the moving direction so that the moving body 10 travels away from the moving route R along the first direction. The process then proceeds to step S18.

The process of step S18 is started immediately before the moving body 10 starts moving. In step S18, the microcomputer 14a again determines whether or not an obstacle is detected by the same process as in step S12. If no obstacle is detected, the process proceeds to step S20, and if an obstacle is detected, the process proceeds to step S22.

In step S20, the microcomputer 14a determines whether the movement along the first direction by the minimum avoidance distance has been completed. Information on the movement distance is the same as the method described in step S14.

In step S22, the microcomputer 14a determines whether or not the second maximum allowable distance Dmax2 has been reached. This process is also realized by the same process as step S14. That is, the position at the time of deviating from the moving route R is stored using the position information output from the position estimation device 14e, and the microcomputer 14a calculates the difference between that position and the current position in the second direction. It is realized by If it is determined that it has not reached, the process proceeds to step S24, and if it is determined that it has reached, the process proceeds to step S26.

In step S24, the microcomputer 14a controls the moving direction so that the moving body 10 runs along the second direction. The process then proceeds to step S20 (FIG. 18B). It should be noted that the process of step S18 is started immediately before the moving body 10 starts moving.

In step S<b>26 , the microcomputer 14 a stops the moving operation of the moving body 10 . The reason is that the avoidance of the obstacle 70 has failed. As a result, after the decision to stop the operation is made, for example, the obstacle detection is stopped until the mobile unit 10 is restarted by the administrator, thereby suppressing power consumption.

In step S28 of FIG. 18B, the microcomputer 14a again determines whether or not an obstacle is detected by the same process as in step S12. If no obstacle is detected, the process proceeds to step S30, and if an obstacle is detected, the process returns to step S14.

In step S30, the microcomputer 14a determines whether the movement along the second direction by the minimum avoidance distance has been completed. Information on the movement distance is obtained by the same method as described in steps S14 and S20.

In step S32, the microcomputer 14a controls the moving direction so that the moving body 10 travels in the direction approaching the moving route R along the first direction. The process then proceeds to step S34.

In step S34, the microcomputer 14a again determines whether or not an obstacle is detected by the same process as in step S12. If no obstacle is detected, the process proceeds to step S36, and if an obstacle is detected, the process returns to step S22.

In step S36, the microcomputer 14a determines whether the movement along the first direction by the minimum avoidance distance has been completed. Information on the distance traveled is obtained by a method similar to that described in steps S14, S20, and S30. If the movement has not been completed, the process returns to step S32 to continue the movement. If the movement is completed, the process proceeds to step S38.

In step S38, the microcomputer 14a determines whether or not the moving body 10 has reached the moving route R. Also at this time, the microcomputer 14a may compare whether the current position output by the position estimating device 14e is the same as the position at the time of deviating from the movement route R in the first direction. If the moving object 10 has reached the moving route R, the process proceeds to step S40.

In step S40, the microcomputer 14a determines that the movement route R has been restored and the avoidance operation has been completed. As a result, the movement (normal operation) on the movement route R can be resumed.

The above-described operations of FIGS. 12 to 14 are an example of setting a detour route. It is not essential that the moving body 10 always moves away from the moving route R when it is determined that an obstacle exists for the first time and then determines that an obstacle still exists. It is merely an example of selecting that the moving body 10 moves away from the movement route R under the condition that a plurality of detour routes can be set. Further, even when the vehicle moves toward the moving route R, it may be selected to move away from the moving route R again. In addition, the movement in the second direction may not only proceed from the start point S to the end point G, but may also proceed from the end point G back to the start point S.

(8) Obstacle avoidance operation by the moving body 10 according to the second example The inventor observed the situation after the obstacle was placed on the movement path R of the moving body 10 . As a result, the inventors have found that the placement of the obstacle is temporary, and that the obstacle is often removed after a certain period of time has passed. If a detour route is set several times, the travel distance becomes long and the travel takes a long time. Therefore, the problem was found that the moving body 10 continued to travel on the detour route even though the obstacle had actually been removed.

19A to 19E are diagrams for explaining different operation examples of the moving body 10. FIG. The operations described below are examples of different operations of the moving body 10 in the situation shown in FIG.

As shown in FIG. 19A, while the moving object 10 is traveling on the moving route R, the microcomputer 14a detects an obstacle 70p by the action a1 at the position P1. As a result, a detour route is set and movement operation b is performed. Next, the microcomputer 14a detects the obstacle 70q in the traveling direction by the determination operation a2 at the position P2. In the example of FIG. 12, the microcomputer 14a moves the moving object 10 along the further detour route b1. However, in reality, the moving body 10 can select the detour route b2, and can also select another detour route b3. In addition, it may be possible to select detour routes in other directions as well as in two directions (the first direction and the second direction).

In this example, the microcomputer 14a selects, as a detour route, the route for moving the moving body 10 from the position P2 to the position P1 again from among the plurality of detour routes. FIG. 19C shows mobile 10 returning to position P1 along path b2.

A position P1 is a position where the obstacle 70p is detected on the moving route R. The microcomputer 14a of the moving object 10 that has returned to the position P1 determines again whether or not the obstacle 70p exists on the original moving route R at the position P1. According to the above findings, it is highly likely that the obstacle 70p has been removed. Even if the obstacle 70p still exists, it is quite conceivable that it may be removed after waiting for a certain period of time.

At position P1, if the obstacle 70p has been removed, the microcomputer 14a of the moving body 10 moves the moving body 10 along the initial movement path R. FIG. If the obstacle 70p has not been removed, the microcomputer 14a of the moving body 10 causes the moving body 10 to wait at the position P1 for a predetermined time until the obstacle 70p is removed. After that, when the obstacle 70p is removed, the microcomputer 14a moves the moving body 10 along the original movement route R.

According to the operation described above, the moving object 10 travels on the detour route once, and if there is no obstacle on the detour route, the moving body 10 can relatively quickly return to the moving route R by using the detour route. can.

If there is an obstacle on the detour route, it is determined whether or not the obstacle has been removed by returning to the original position. If it has been removed, travel along the moving route R can be started quickly. On the other hand, even if it waits for a certain period of time until it is removed, it may be possible to travel the moving route R more quickly than setting a detour route repeatedly.

FIG. 20 is a flow chart showing the procedure of the processing from FIGS. 19A to 19E. The flowchart shown in FIG. 20 is an alternative process to FIG. 18B. In principle, the processing shown in FIG. 18A is commonly performed. However, when the process shown in FIG. 20 is executed, the process indicated by the circled "B" in FIG. 18A is not included. This is because FIG. 20 does not include the process of returning from step S28 to step S14 included in FIG. 18B.

The processing in FIG. 20 differs from the processing in FIG. 18B in that steps S50, S52, and S54 are provided in FIG. In FIG. 20, the same numbers are given to the same processes (steps) as in FIG. 18B, and the description thereof will be omitted. In this example, it is assumed that the obstacle detection in step S28 is performed immediately before moving in the second direction. In other words, it is assumed that the obstacle 70 exists in the direction of travel in the second direction, and the moving body 10 has not yet moved in the second direction.

In step S50, the microcomputer 14a selects a return route from a plurality of available detour routes. A return route is a route in which the route traveled so far is reversed. After that, the process proceeds to step S32.

In step S52, the microcomputer 14a determines whether or not an obstacle has been detected. The obstacle at this time means the obstacle 70 that caused the need to set a detour route while traveling on the movement route R. FIG. If the obstacle continues to be detected, for example, the microcomputer 14a waits until the obstacle is no longer detected. If no obstacle is detected, the process proceeds to step S54. As described above, according to the findings of the present inventor, obstacles are often removed in a short period of time, so in many cases in step S52, it is assumed that the time until the obstacle is no longer detected is short. .

In step S54, the microcomputer 14a resumes running along the moving route R.

The configuration and operation of the mobile body 10 according to the embodiment of the present disclosure have been described above.

Any of the general or specific aspects described above may be implemented by a system, method, integrated circuit, computer program, or recording medium. Alternatively, it may be implemented by any combination of systems, devices, methods, integrated circuits, computer programs, and recording media. Specifically, the processes of FIGS. 18A, 18B, and 20 described above can be implemented as a computer program executed by the microcomputer 14a, which is a computer. The computer program can be distributed by being recorded on a recording medium such as an optical disk such as a CD-ROM, a magnetic disk such as a hard disk, or a semiconductor memory such as a flash memory. Alternatively, computer programs may be transmitted and received using telecommunications lines for commercial transactions.

The mobile body and mobile body management system of the present disclosure can be suitably used for moving and transporting goods such as packages, parts, and finished products in factories, warehouses, construction sites, logistics, hospitals, and the like.

1 User 2a, 2b Access Point 10 AGV (Mobile)
11a, 11b driving wheels (wheels)
11c, 11d, 11e, 11f Caster 12 Frame 13 Conveying table 14 Travel control device 14a Microcomputer 14b Memory 14c Storage device 14d Communication circuit 14e Position estimation device 16a, 16b Motor 15 Laser range finder 17a, 17b Motor drive circuit 20 Terminal device (tablet mobile computers, such as computers)
50 operation management device 51 CPU
52 memory 53 position database (position DB)
54 communication circuit 55 map database (map DB)
56 Image processing circuit 100 Mobile object management system

Claims (14)

A mobile body that can move autonomously,
a plurality of drive wheels;
a plurality of motors respectively connected to the plurality of drive wheels;
an obstacle sensor that detects obstacles;
an external sensor that repeatedly scans the environment and outputs sensor data for each scan;
a position estimation device that sequentially generates and outputs position information indicating estimated values of the position and orientation of the moving object based on the sensor data;
a control circuit that rotates the plurality of motors while referring to the position information output from the position estimation device to control movement of the moving body;
a storage device that stores detour route data defining a reference detour route that is a combination of a first route in a first direction and a second route in a second direction different from the first direction, and map data of the environment; with
While the mobile body is moving along a preset movement route in the environment indicated by the map data, the presence of an obstacle in the traveling direction at the first position is detected from the output of the obstacle sensor. when
The control circuit uses the detour route data to set a detour route from the first position to the second position on the preset movement route, and moves the mobile object along the detour route. let
The moving body, wherein the detour route data is data different from the map data. the first direction and the second direction are orthogonal to each other;
The detour route is for the moving body to
Move in a direction parallel to the first direction and away from the preset movement path;
moving parallel to the second direction;
2. The moving body according to claim 1, wherein the path is parallel to the first direction and moves in a direction approaching the preset movement path. the first path has a first predetermined distance;
the second path has a second predetermined distance;
When the detour route is called the first detour route,
After the moving object moves along the first detour route by the first predetermined distance and reaches the third position, the output of the obstacle sensor indicates that an obstacle exists in the traveling direction of the second direction. When detected, the control circuit uses the detour route data to set a second detour route from the third position to the fourth position on the first detour route, 3. The moving body of claim 2, moving the moving body along. the first path has a first predetermined distance;
the second path has a second predetermined distance;
When the detour route is called the first detour route,
At a fourth position while the moving body moves along the first detour path by the first predetermined distance, reaches a third position, and is moving along a direction parallel to the second direction, When the output of the obstacle sensor detects the presence of an obstacle in the traveling direction, the control circuit selects a second detour route from the fourth position to the fifth position on the first detour route. to move the moving object along the second detour route;
The second detour route moves the moving body from the fourth position in order by:
parallel to the first direction and moving the first predetermined distance in a direction away from the preset movement path;
Move a distance parallel to the second direction and shorter than the second predetermined distance;
3. The moving body according to claim 2, wherein the path is parallel to the first direction and is moved by the first predetermined distance in a direction approaching the preset movement path. When the direction of travel is a direction parallel to the second direction and the presence of an obstacle in the direction of travel is detected by the output of the obstacle sensor,
The control circuit sets a new detour route for moving the moving body in a direction parallel to the first direction and away from the preset movement route from the position where the obstacle is detected. The moving object according to claim 2. When the moving direction is a direction parallel to the second direction and the moving body has traveled the second predetermined distance or more, the control circuit 6. The moving body according to claim 2, wherein a route is set for moving in a direction approaching the set movement route. The storage device holds first distance data indicating a first maximum allowable distance in the first direction and second distance data indicating a second maximum allowable distance in the second direction,
The control circuit refers to the first distance data and the second distance data so that the distance in the first direction from the preset movement route is within the first maximum allowable distance, and 6. The moving body according to any one of claims 2 to 5, wherein a route whose travel distance in the second direction is within said second maximum allowable distance is set as said detour route. When the distance in the first direction from the preset movement path exceeds the first maximum allowable distance, when the movement distance in the second direction exceeds the second maximum allowable distance, or when the preset 8. The moving body according to claim 7, wherein the control circuit stops the moving body when one or more obstacles are present both in a direction approaching the determined movement path and in the second direction. A computer program for controlling the operation of a mobile body that can move autonomously,
The moving body is
a plurality of drive wheels;
a plurality of motors respectively connected to the plurality of drive wheels;
an obstacle sensor that detects obstacles;
an external sensor that repeatedly scans the environment and outputs sensor data for each scan;
a position estimation device that sequentially generates and outputs position information indicating estimated values of the position and orientation of the moving object based on the sensor data;
a control circuit that is a computer that rotates the plurality of motors while referring to the position information output from the position estimation device and controls the movement of the moving body;
detour route data defining a reference detour route, which is a combination of a first route in a first direction and a second route in a second direction different from the first direction, and a storage device for storing map data;
While the mobile body is moving along a preset movement route in the environment indicated by the map data, the presence of an obstacle in the traveling direction at the first position is detected from the output of the obstacle sensor. when
The computer program instructs the control circuit to:
using the detour route data to set a detour route from the first position to the second position on the preset movement route;
moving the moving body along the detour route;
The detour route data is data different from the map data,
said computer program. A mobile body that can move autonomously,
a plurality of drive wheels;
a plurality of motors respectively connected to the plurality of drive wheels;
an obstacle sensor that detects obstacles;
an external sensor that repeatedly scans the environment and outputs sensor data for each scan;
a position estimation device that sequentially generates and outputs position information indicating estimated values of the position and orientation of the moving object based on the sensor data;
a control circuit that rotates the plurality of motors while referring to the position information output from the position estimation device to control movement of the moving body;
When it is detected from the output of the obstacle sensor that an obstacle exists in the traveling direction at the first position during movement along a preset movement path, the control circuit moves from the first position. moving the moving body by setting a detour route of
When it is detected from the output of the obstacle sensor during movement along the detour route that there is another obstacle in the traveling direction at the second position, the control circuit moves the moving body to the second position. A moving body that is moved from a position to the first position again. A plurality of detour routes that can avoid the obstacle detected at the second position are present at the second position,
11. The moving body according to claim 10, wherein said control circuit selects, as a detour route, a route for moving from said second position to said first position again from said plurality of detour routes. After moving from the second position to the first position again, if the obstacle sensor does not detect an obstacle in the direction of travel , the control circuit causes the moving body to move to the preset position again. 12. The moving object according to claim 11, which moves along a moving path. After moving from the second position to the first position again, when the obstacle sensor detects an obstacle in the traveling direction, the control circuit controls the moving body until the obstacle is removed. 12. The moving body according to claim 11, wherein when the obstacle is removed, the control circuit causes the moving body to move again along the preset movement path. A computer program for controlling the operation of a mobile body that can move autonomously,
The moving body is
a plurality of drive wheels;
a plurality of motors respectively connected to the plurality of drive wheels;
an obstacle sensor that detects obstacles;
an external sensor that repeatedly scans the environment and outputs sensor data for each scan;
a position estimation device that sequentially generates and outputs position information indicating estimated values of the position and orientation of the moving object based on the sensor data;
a control circuit that rotates the plurality of motors while referring to the position information output from the position estimation device to control movement of the moving body;
When it is detected by the output of the obstacle sensor that an obstacle exists in the traveling direction at the first position during movement along a preset movement route,
The computer program instructs the control circuit to:
moving the moving body by setting a detour route from the first position;
When it is detected by the output of the obstacle sensor that there is another obstacle in the traveling direction at the second position during the movement along the detour route, the moving body is moved again from the second position, moving to the first position;
said computer program.

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