JP7283341B2 - cruise control system - Google Patents

Description

The present invention relates to a cruise control system.

BACKGROUND ART As a conventional travel control system, for example, a technique such as that described in Patent Document 1 is known. The travel control system described in Patent Literature 1 is a system that controls travel of a plurality of moving bodies. Each moving body is provided with a detection unit that detects the surrounding conditions of the moving body. Each moving object is controlled to travel based on the detection result and pre-acquired map data while the surrounding conditions are being detected by the detecting unit. The moving object runs so as to avoid other moving objects based on the detection result.

JP 2011-150443 A

By the way, when a certain moving body tries to detect another moving body with the detection unit, there are cases where only part of the other moving body exists within the detection range. When the travel control system performs travel control so that the mobile body avoids the other mobile body based on such detection results, the mobile body comes into contact with an undetected portion of the other mobile body. there is a possibility. Therefore, it has been desired to improve the running performance by avoiding the contact between moving bodies.

SUMMARY OF THE INVENTION An object of the present invention is to provide a travel control system capable of improving the travel performance of a mobile object.

One aspect of the present invention is a travel control system that controls travel of a plurality of mobile bodies, comprising: a detection unit provided in each mobile body for detecting a situation around the mobile body; a detection result of the detection unit; A travel control unit that controls the travel of each mobile object based on previously acquired map data, the outline information of each mobile object, and the detection result by the detection unit are compared to correct the detection result. and

In such a travel control system, each mobile body is provided with a detection unit that detects the surrounding conditions of the mobile body. Further, the travel control unit controls the travel of each moving body based on the detection result by the detection unit and map data acquired in advance. Here, the correcting unit compares the outer shape information of each moving object with the detection result by the detecting unit, and corrects the detection result. In this case, even if the detection unit does not actually detect the outline of the other moving object, the correction unit corrects the detection result so as to reflect the outline information of the other moving object. be able to. The travel control unit can easily perform travel control to avoid interference between moving bodies by using the detection result corrected so as to reflect the external shape information. As described above, it is possible to improve the running performance of the moving body.

The correcting unit corrects the detection result by comparing the distance of the detection part of the other moving object from the detecting unit of the one moving object and the distance of the outer shape of the other moving object from the detecting unit of the one moving object. may be performed. Thereby, the correcting unit can easily correct the detection result only by comparing the distances.

The detection unit uses a laser to detect the surroundings of the moving object, and the travel control unit uses a laser to match the detection results detected by the detection unit with the map data to determine the estimated position of the moving object. may be used to control the running of the moving body. In such a configuration, information on the position and orientation of each moving body can be easily acquired simply by using a self-position estimation technique called SLAM, for example, and the detection unit simply performs detection using a laser.

A plurality of moving bodies may share the outline information of each moving body with each other. In this case, when the correction unit corrects the detection result, the correction can be performed after accurately reflecting the outer shape information of each moving body.

ADVANTAGE OF THE INVENTION According to this invention, the driving performance of a mobile body can be improved.

1 is a schematic configuration diagram showing a travel control system according to one embodiment of the present invention; FIG. 2 is a flow chart showing details of a control processing procedure executed by the controller shown in FIG. 1; FIG. 4 is a diagram showing how laser sensors of two moving bodies detect each other; FIG. 10 is a conceptual diagram showing a procedure for correcting the detection result of the laser sensor of the moving body; FIG. 10 is a conceptual diagram showing a procedure for correcting the detection result of the laser sensor of the moving body; FIG. 10 is a conceptual diagram showing a procedure for correcting the detection result of the laser sensor of the moving body; FIG. 10 is a conceptual diagram showing control contents of a traveling control system according to a comparative example; FIG. 11 is a conceptual diagram showing a procedure for correcting the detection result of the laser sensor of the moving body in the running control system according to the modification;

FIG. 1 is a schematic configuration diagram showing a cruise control system 100 according to one embodiment of the present invention. As shown in FIG. 1 , the cruise control system 100 includes multiple moving bodies 2 and a server 101 . The travel control system 100 is a system that controls travel of a plurality of moving bodies 2 . The moving body 2 automatically travels within structures such as warehouses and factories. The moving body 2 is, for example, a forklift, an unmanned guided vehicle, or the like.

The moving body 2 includes a laser sensor 3 (detection section), a drive section 4 and a controller 5 .

A laser sensor 3 is provided on each mobile body 2 to detect the surrounding conditions of the mobile body 2 . Also, the laser sensor 3 measures the positional relationship with the detected object. The laser sensor 3 irradiates a laser around the moving body 2 and receives the reflected light of the laser, thereby detecting an object around the moving body 2 from the laser sensor 3 and measuring the distance and direction to the object. do. As the laser sensor 3, for example, a laser range finder is used. A 2D laser is used as the laser to be used.

The laser sensor 3 is provided at a portion of the moving body 2 where the surrounding conditions can be easily detected. For example, as shown in FIG. 3, the laser sensor 3 is provided on the ceiling of the mobile body 2 . In addition, the laser sensor 3 irradiates the moving body 2 with a laser in a fan shape toward the front. Specifically, the laser sensor 3 irradiates a laser in a prescribed angular range centered on the forward straight traveling direction of the moving body 2 . As a result, the laser sensor 3 can perform detection using a predetermined angular range in front of the moving body 2 as the detection range E. As shown in FIG.

The driving unit 4 has a traveling motor that rotates the traveling wheels of the moving body 2 and a steering motor that steers the steering wheels of the moving body 2 (not shown).

The controller 5 is composed of a CPU, a RAM, a ROM, an input/output interface, and the like. The controller 5 has an information processing section 11 , a correction section 12 , a travel control section 13 and a storage section 14 .

The information processing section 11 acquires various types of information and performs various types of information processing. The information processing section 11 acquires the detection result by the laser sensor 3 and performs various information processing based on the detection result. Further, the information processing section 11 acquires information from the server 101 and performs various information processing based on the information. The information processing section 11 also transmits the obtained information to the server 101 . The information processing section 11 estimates the self-position of the moving body 2 based on the detection result by the laser sensor 3 and map data acquired in advance. The information processing unit 11 estimates the self-position (position coordinates in the map data) of the moving body 2 using, for example, SLAM (simultaneous localization and mapping) technique. SLAM is a self-position estimation technique that performs self-position estimation by matching detection results from the laser sensor 3 with map data. SLAM simultaneously performs self-localization and environmental mapping. Specifically, the information processing unit 11 matches the distance data to the object detected by the laser sensor 3 with the map data of the surrounding environment of the moving body 2, and performs an estimation calculation of the self position of the moving body 2. . Further, the information processing section 11 can acquire information from the server 101 and also acquire the position of the other moving body 2 .

The correction unit 12 compares the outer shape information of each moving body 2 with the detection result by the laser sensor 3, and corrects the detection result. The outer shape information is information indicating the shape and size of the outer shape of the base of the moving body 2, the positional relationship with the laser sensor 3, and the like. It is preferable that the outer shape information be the outermost shape in a plane parallel to the moving direction of the machine base. The correction unit 12 calculates the distance of the detection point (laser point) of the other moving body 2 with respect to the laser sensor 3 of the one moving body 2 and the distance of the outer shape of the other moving body 2 with respect to the laser sensor 3 of the one moving body 2. and are compared to correct the detection result. Details of the correction of the detection result by the correction unit 12 will be described later in the description of the processing content.

The traveling control unit 13 controls the traveling of the moving body 2 based on the detection result by the laser sensor 3 and map data acquired in advance. The travel control unit 13 calculates the moving direction and the moving distance of the moving body 2 by comparing the self-position and the target position. Further, the traveling control unit 13 outputs a control signal to the driving unit 4 so that the moving body 2 moves to the target position based on the calculation result. Further, the travel control unit 13 grasps the position of the other moving body 2 from the detection result by the laser sensor 3 and performs avoidance control to avoid the other moving body 2 . The storage unit 14 stores various data. The storage unit 14 stores map data.

The server 101 is a device that acquires various information used in the travel control system 100 and performs various calculations. The server 101 acquires the position of each mobile body 2 and transmits the position information to each mobile body 2 . Server 101 may be located anywhere in the structure where the work is performed. Note that the server 101 may be installed in any one of the plurality of mobile bodies 2 .

Next, with reference to FIGS. 2 to 6, the contents of the control processing of the travel control system 100 will be described. FIG. 2 is a flow chart showing the details of the control processing of the cruise control system 100. As shown in FIG. FIG. 3 is a diagram showing how the laser sensors 3 of the two moving bodies 2 detect each other. 4 to 6 are conceptual diagrams showing procedures for correcting the detection result of the laser sensor 3A of the moving object 2A. Here, a situation where the mobile bodies 2B and 2C and the wall W exist around the mobile body 2A and the mobile body 2A runs so as to avoid the other mobile bodies 2B and 2C will be described. Further, as shown in FIG. 3, only the laser sensor 3B on the ceiling of the moving body 2B exists within the detection range E of the laser sensor 3A of the moving body 2A, and the base of the moving body 2B itself is within the detection range E. shall not be included. Similarly, it is assumed that only the laser sensor 3C of the moving body 2C exists in the detection range E of the laser sensor 3A, and the detection range E does not include the base of the moving body 2C itself.

As shown in FIG. 2, the information processing section 11 first acquires the coordinates of the moving bodies 2A, 2B, and 2C (step S100). In step S100, coordinates calculated based on map coordinates used in SLAM or the like are used. The coordinates include position information in the horizontal direction represented by the X-axis direction and the Y-axis direction, and information on the angles of the bases of the moving bodies 2A, 2B, and 2C. Specifically, as shown in FIG. 4A, the information processing unit 11 sets the coordinates (xa, ya, θa) of the base of the moving body 2A and the coordinates (xb, yb) of the base of the moving body 2B. , θb) and the coordinates (xc, yb, θb) of the base of the moving body 2C. The coordinates of the mobile bodies 2A, 2B and 2C indicate the positions of the coordinate points PA, PB and PC of the mobile bodies 2A, 2B and 2C. The coordinate points PA, PB, and PC are set at the center positions of the laser sensors 3A, 3B, and 3C (see FIG. 5, etc.).

Next, the information processing section 11 acquires the detection result of the laser sensor 3A of the moving body 2A (step S110). As shown in FIG. 4B, the detection result of the laser sensor 3A is indicated by a laser point group centered on the laser sensor 3A. When an object exists within the detection range E of the laser sensor 3A, a laser point group is formed by irradiating the outer edge of the object with the laser. A laser point cloud is formed at the outer edge of the detection range E for locations where no object exists. Specifically, the detection results of the laser sensor 3A are the laser point group LW along the wall W, the laser point group LB along the outer edge of the laser sensor 3B of the moving body 2B, and the laser sensor 3C of the moving body 2C. It has a laser point cloud LC along the outer edge and a laser point cloud LE along the outer edge of the detection area E.

Next, the correction unit 12 sets outline information of the moving bodies 2B and 2C (step S120). As shown in FIG. 5(a), the correction unit 12 virtually sets the outer shape 20B of the moving body 2B based on the coordinates of the moving body 2B, and also determines the shape of the moving body 2C based on the coordinates of the moving body 2C. 20C is virtually set. Since the outer shapes of the bases of the moving bodies 2A, 2B, and 2C are all the same, the correction unit 12 adopts the outer shape of the base of the moving body 2A itself as the outer shapes 20B and 20C of the moving bodies 2B and 2C. Here, it is assumed that the moving bodies 2A, 2B, and 2C have rectangular outlines. The correction unit 12 sets the virtual outlines 20B and 20C such that the coordinate points PB and PC match the center positions of the outlines 20B and 20C. The coordinates of the bases of the mobile bodies 2B and 2C also include angle information of the bases. Therefore, the correction unit 12 reflects the angle information of each machine base on the postures of the outlines 20B and 20C. Here, the outer shape 20B of the base of the moving body 2B is set so as not to tilt with respect to the Y-axis direction. The outer shape 20C of the base of the moving body 2C is set to be inclined by an angle of θc with respect to the Y-axis direction.

Next, the correction unit 12 corrects the detection result based on the outer shape information of the moving bodies 2B and 2C set in step S120 (step S130). The correction unit 12 calculates the distances of the actually measured laser points (detection points) of the other moving bodies 2B and 2C with respect to the laser sensor 3A of the moving body 2A and the distances of the other moving bodies 2B and 2C with respect to the laser sensor 3A of the moving body 2A. The detection result is corrected by comparing the distances of the contours 20B and 20C. The correction unit 12 calculates the intersection points with the outlines 20B and 20C of the machine base for each laser data. This intersection point is a point where a line segment connecting the laser sensor 3A of the moving body 2A and a predetermined laser point intersects with a line segment forming the four sides of the contours 20B and 20C. Then, when there is an intersection with the outlines 20B and 20C, the correction unit 12 calculates the distance from the laser sensor 3A to the intersection. The correction unit 12 adopts the distance closest to the center of the machine base of the moving body 2A as the corrected laser point, out of the calculated distance and the actually measured laser point distance.

Specifically, a line segment connecting the laser point of the laser point group LB related to the actual measurement along the laser sensor 3B and the laser sensor 3A of the moving body 2A intersects the outline 20B at the intersection point CP1. The intersection point CP1 is closer to the laser sensor 3A than the laser point and the intersection point CP1 according to the actual measurement. Therefore, the intersection point CP1 is set as the corrected laser point. A line segment connecting the laser points of the laser point group LE according to the actual measurement along the outer edge of the detection range E and the laser sensor 3A intersects the outer shape 20B at intersection points CP2 and CP3. Among the measured laser points and intersection points CP2 and CP3, the intersection point CP2 is closest to the laser sensor 3A. Therefore, the intersection point CP2 is set as the corrected laser point. By performing such correction processing, the correction unit 12 acquires detection results as shown in FIG. The corrected detection result is the laser point group LBa along the long side of the virtual outline 20B of the moving body 2B and the virtual outline 20B of the moving body 2B instead of the LB along the outer edge of the laser sensor 3B. and a laser point cloud LBb along the short side of . In addition, instead of the LC along the outer edge of the laser sensor 3C, the corrected detection result includes the laser point group LCa along the long side of the virtual outline 20C of the moving body 2C and the virtual and a laser point cloud LCb along the short side of the outline 20C.

Next, the travel control unit 13 performs travel control of the moving body 2A based on the detection result corrected in step S130 (step S140). The traveling control unit 13 controls the base of the moving body 2A to perform the laser point groups LBa and LBb along the outline 20B of the moving body 2B and the laser point groups LCa and LCb along the outline 20C of the moving body 2C without interfering with each other. Run control to avoid it. Note that when performing avoidance control for avoiding the laser point group indicating the object present in the detection range E, the travel control unit 13 uses a known method for avoiding the detected object using the laser point group. Avoidance control is performed using the calculation method. Thus, the flowchart shown in FIG. 2 ends.

Next, the actions and effects of the cruise control system 100 according to this embodiment will be described.

First, a travel control system according to a comparative example will be described. In the travel control system according to the comparative example, each moving body does not have the correction unit 12 described above. In this case, the travel control unit performs travel control based on the detection result actually detected by the laser sensor 3A. For example, as shown in FIG. 7B, when the laser sensor 3A can actually detect the outer shape 20B of the moving body 2B, it is possible to obtain a detection result reflecting the outer shape 20B. In this case, the travel control unit can perform control so that the contour 20A of the mobile body 2A avoids interference with the contour 20B of the mobile body 2B when the mobile body 2A is caused to travel to the target position GP. On the other hand, if the laser sensor 3A cannot actually detect the outer shape 20B of the moving body 2B and detects only the laser sensor 3B, the traveling control unit, based on the detection result that does not reflect the outer shape 20B, You have to control the running. In this case, the travel control unit performs control to avoid interference between the outer shape 20A of the moving body 2A and the laser sensor 3B of the moving body 2B, but performs travel control without considering the positional relationship with the outer shape 20B. , the outer shape 20A of the moving body 2A and the outer shape 20B of the moving body 2B may interfere with each other. When the travel control unit attempts to perform control processing that can avoid the interference, it will be necessary to perform special avoidance control processing for incorporating the outer shape 20B into the calculation.

On the other hand, in the travel control system 100 according to the present embodiment, laser sensors 3A, 3B, 3C for detecting the surrounding conditions of the moving bodies 2A, 2B, 2C are provided on the respective moving bodies 2A, 2B, 2C. is provided. Further, the travel control unit 13 controls the travel of each of the moving bodies 2A, 2B, and 2C based on the detection results of the laser sensors 3A, 3B, and 3C and previously acquired map data. Here, the correction unit 12 compares the outer shape information of each moving body 2A, 2B, 2C with the detection results by the laser sensors 3A, 3B, 3C, and corrects the detection results. In this case, even if the laser sensor 3A does not actually detect the outer shapes 20B and 20C of the other moving bodies 2B and 2C, the correcting unit 12 detects the outer shape information of the other moving bodies 2B and 2C. The detection result can be corrected to reflect The travel control unit 13 can easily perform travel control to avoid interference between the moving bodies 2A, 2B, and 2C by using the detection result corrected to reflect the outer shape information. As described above, it is possible to improve the running performance of the moving bodies 2A, 2B, and 2C.

The correction unit 12 calculates the distances of the detection points (laser points) of the other moving bodies 2B and 2C from the laser sensor 3A of the one moving body 2A and the distances of the detection points (laser points) of the other moving bodies 2B and 2C from the laser sensor 3A of the one moving body 2A. The detection result may be corrected by comparing the distances of the outlines 20B and 20C of the . Accordingly, the correction unit 12 can easily correct the detection result by simply comparing the distances.

The laser sensors 3A, 3B, 3C use lasers to detect the surrounding conditions of the moving body, and the travel control unit 13 uses lasers to match the detection results detected by the laser sensors 3A, 3B, 3C with the map data. The positions of the moving bodies 2A, 2B, and 2C estimated by doing so may be used to control the running of the moving bodies 2A, 2B, and 2C. In such a configuration, for example, using a self-position estimation technique called SLAM, the position and orientation information of each moving body 2A, 2B, 2C can be obtained only by the laser sensors 3A, 3B, 3C performing detection using lasers. can be obtained easily.

The invention is not limited to the embodiments described above.

For example, in the above-described embodiment, since the moving bodies 2A, 2B, and 2C have the same outer shape, the correction unit 12 sets the outer shapes 20B and 20C of the moving bodies 2B and 2C to the outer shape of the own moving body 2A. I assumed it and made a correction. Alternatively, the plurality of moving bodies 2A, 2B, 2C may share the outline information of each of the moving bodies 2A, 2B, 2C. In this case, when the correction unit 12 corrects the detection result, the correction can be performed after accurately reflecting the outer shape information of each of the moving bodies 2A, 2B, and 2C.

Specifically, as shown in FIG. 8(a), even if the moving bodies 2B and 2C have different outlines 20B and 20C from their own moving body 2A, the correction unit 12 uses the shared outline information , a unique outline 20B (here a triangle) of the moving body 2B can be virtually set, and a unique outline 20C (here a hexagon) of the moving body 2C can be virtually set. As a result, as shown in FIG. 8B, the correction unit 12 can correct the detection result in a manner reflecting the contours 20B and 20C unique to the moving bodies 2B and 2C.

In the above-described embodiment, a laser sensor was exemplified as the detection unit that detects objects around the moving body 2, but the specific configuration of the detection unit is not particularly limited. For example, a camera may be employed as the detection unit. By performing image processing on the acquired image, the camera can detect an object and information such as the distance to the object. For example, the object can be detected by detecting the edge of the object captured in the image. Also, the detection unit may be configured by a combination of a laser sensor and a camera. For example, the detection unit may detect the object based on the camera image and measure the distance to the object using the result of the laser sensor. Alternatively, the detection unit may be configured by a sensor such as a millimeter wave radar.

In the above-described embodiment, the coordinate points PA, PB, and PC as the coordinates of the moving bodies 2A, 2B, and 2C are set at the center positions of the laser sensors 3A, 3B, and 3C. It is sufficient that the mounting position of is reflected in the acquired information of the laser point, and is not limited to being set at the central position.

DESCRIPTION OF SYMBOLS 2... Moving body 3... Laser sensor (detection part) 12... Correction part 13... Traveling control part 100... Traveling control system.

Claims (3)

In a travel control system that controls the travel of multiple moving bodies,
a detection unit that is provided in each of the moving bodies and that detects a situation around the moving body;
a travel control unit that controls travel of each of the moving bodies based on the detection result of the detection unit and previously acquired map data;
a correction unit that compares the outer shape information of each moving object with the detection result obtained by the detection unit and corrects the detection result;
means for obtaining the position of another mobile object from a server ;
The correction unit compares a distance of a detection location of the one moving object with respect to the detection unit of the other moving object and a distance of an outer shape of the other moving object with respect to the detection unit of the one moving object. to correct the detection result by
The detection unit uses a laser to detect the surrounding situation of the moving body,
The travel control unit controls travel of the mobile object using the position of the mobile object estimated by matching the detection result detected by the detection unit using the laser with the map data. ,
The traveling control system , wherein the correcting unit sets the outer shape of the other moving body with respect to the position of the other moving body . The correcting unit compares a distance of a detection location of the one moving body with respect to the detecting unit of the other moving body and a distance of an outline of the one moving body with respect to the detecting unit of the other moving body. When the distance of the outer shape of the one moving body to the detection unit is short, the detection result obtained by the detection unit indicates the outer shape of the one moving body to the detection unit. 2. The traveling control system according to claim 1, wherein the detection result is corrected so that the distance is . 3. The travel control system according to claim 1 , wherein a plurality of said moving bodies share said outline information of each of said moving bodies with each other.

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