WO2014049856A1 - 自律移動装置および自律移動システム - Google Patents
自律移動装置および自律移動システム Download PDFInfo
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- WO2014049856A1 WO2014049856A1 PCT/JP2012/075187 JP2012075187W WO2014049856A1 WO 2014049856 A1 WO2014049856 A1 WO 2014049856A1 JP 2012075187 W JP2012075187 W JP 2012075187W WO 2014049856 A1 WO2014049856 A1 WO 2014049856A1
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- autonomous mobile
- mobile device
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- vehicle
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- 238000012545 processing Methods 0.000 claims description 72
- 230000007613 environmental effect Effects 0.000 claims description 7
- 238000011084 recovery Methods 0.000 abstract description 24
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/08—Brake-action initiating means for personal initiation hand actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
- B60T7/18—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle operated by wayside apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
Definitions
- the present invention relates to a technology for an autonomous mobile device and an autonomous mobile system that autonomously move based on a map and a route.
- Patent Document 1 discloses that a non-excited electromagnetic brake locks the rotation of the motor when the vehicle is stopped, but a locking member such as a bolt that transmits the motor torque to the wheels.
- a wheel motor is disclosed in which the wheel is free to rotate with respect to the motor by removing the wheel, and the vehicle can be moved using the wheel.
- torque is transmitted from the motor to the drive wheel via the worm gear.
- the driving wheel is locked when the vehicle is stopped, but the driving wheel is lifted from the grounding surface by an external operation, and instead the rotatable passive wheel is grounded.
- An in-pipe traveling vehicle that enables the vehicle to move is disclosed.
- JP 2001-30772 A Japanese Patent Laid-Open No. 05-131922
- the present invention has been made in view of such a background, and an object of the present invention is to provide an autonomous mobile device and an autonomous mobile system having a configuration in which careless traveling does not occur.
- the present invention includes a wheel lock portion that locks a wheel, an operation portion that can be operated from the outside, and a wheel lock release portion that releases the lock of the wheel when the operation portion is operated. It is characterized by.
- an autonomous mobile device and an autonomous mobile system having a configuration that does not cause inadvertent travel.
- FIG. 1 is a diagram illustrating a configuration example of an autonomous mobile system according to the present embodiment.
- the autonomous mobile system 10 grasps the state of the autonomous mobile device 1 that autonomously travels the passenger to the destination by autonomous traveling, the main facility 2 that has a space where the autonomous mobile device 1 mainly waits, and the vehicle allocation information. And a control device 3 installed in the control station 31 for instructing.
- the autonomous mobile device 1 is, for example, a single person.
- the state of the autonomous mobile device 1 includes the position and speed of the autonomous mobile device 1, the remaining battery level, the presence or absence of a component failure, and the like.
- the vehicle allocation information includes a standby position of each autonomous mobile device 1, a call position of a passenger, a collection position of a failed autonomous mobile device 1 (hereinafter referred to as a failed vehicle), and the like.
- the autonomous mobile device 1 stands by at an appropriate standby location designated by the control device 3, such as the main facility 2, when the passenger does not use it.
- the control device 3 moves the autonomous mobile device 1 to the passenger.
- a passenger gets on the autonomous mobile device 1, sets a destination, and executes a guidance start operation, the autonomous mobile device 1 travels autonomously toward the destination.
- the main facility 2 is assumed to be a facility where demand for the autonomous mobile system 10 is expected to some extent, such as a hospital, an airport, a commercial facility, and an amusement facility, but may be a convenience store or a corner of a parking lot in the city. Depending on how the autonomous mobile device 1 is used, it is possible to newly set up or change a standby place.
- the control device 3 receives information related to the state of the autonomous mobile device 1 from the autonomous mobile device 1, and based on the position of each autonomous mobile device 1 and current dispatch information, the new dispatch information of each autonomous mobile device 1 is It transmits to the autonomous mobile device 1.
- the passenger gets on the autonomous mobile device 1 that is on standby, or moves autonomously with a terminal such as a reservation terminal or a passenger-owned smartphone provided in the main facility 2. Call the device 1 and get on the called autonomous mobile device 1.
- the passenger designates a destination on the display or the like provided in the vehicle of the autonomous mobile device 1 and operates the guidance start button displayed on the display or the like
- the autonomous mobile device 1 is designated from the current position by autonomous traveling. Start moving to the destination. During the movement, the autonomous mobile device 1 guides the passenger to the current location, the time to the destination, the area information around the destination, and the like as appropriate through display or voice.
- the autonomous mobile device 1 autonomously travels to the next dispatch position received from the control device 3.
- FIG. 2 is a diagram illustrating a configuration example of the autonomous mobile device according to the present embodiment.
- a solid line indicates a portion embodied by software and information transmission / reception.
- the broken line indicates the mechanical mechanism and the action of mechanical force.
- the autonomous mobile device 1 includes a wireless communication unit 102, an environment recognition unit 104, a route generation unit 106, a travel processing unit (stop processing unit) 108, a driving unit 110, a braking unit 112, a wheel 114, a wheel lock unit 116, and a wheel lock release.
- the wireless communication unit 102 communicates with the control device 3.
- the environment recognition unit 104 detects the position of the host vehicle and the obstacle based on the environment information.
- the route generation unit 106 receives a vehicle allocation instruction from the control device 3 and generates a route along which the host vehicle moves from the position of the host vehicle and information in the map database 150.
- the route generation unit 106 travels the autonomous mobile device 1 based on information such as obstacle detection acquired from the environment recognition unit 104 and information such as a vehicle allocation position obtained from the control device 3 via the wireless communication unit 102. Generate a trajectory to be used.
- the travel processing unit 108 performs travel control from the position of the generated route and the detected obstacle.
- the travel processing unit 108 causes the autonomous mobile device 1 to follow the route generated by the route generation unit 106 by controlling the motor 410 (FIG. 3) and steering (not shown). Meanwhile, the travel processing unit 108 determines the position and speed of the autonomous mobile device 1 based on information acquired from the environment recognition unit 104, the rotation amount of the motor 410, the state of the electromagnetic clutch 418 (FIG. 3), and the like.
- the state information of the autonomous mobile device 1 is generated. Then, the travel processing unit 108 transmits the state information generated via the wireless communication unit 102 to the control device 3.
- the drive unit 110 drives the wheels 114 according to a command from the travel processing unit 108.
- the braking unit 112 brakes the wheel 114 according to a command from the travel processing unit 108.
- the wheel 114 is attached to the autonomous mobile device 1 and moves the autonomous mobile device 1.
- the wheel 114 is.
- the wheel 114 includes an endless track (crawler).
- the wheel lock unit 116 locks the rotation of the wheel 114 when the autonomous mobile device 1 stops.
- the operation unit 119 is provided in a place where it can be operated from the outside of the autonomous mobile device 1, and when the operation unit 119 is operated, the wheel lock release unit 118 releases the lock of the wheel 114.
- the search processing unit 120 receives a command or the like from the base device 3 via the communication unit 102 and searches the faulty autonomous mobile device 1 by instructing the travel processing unit 108. Further, the search processing unit 120 transmits the search result to the control device 3 and further receives an instruction from the control device 3. Details of the search process will be described later.
- the collection processing unit 122 receives a notification from the search processing unit 120 that a broken vehicle has been found, the collection processing unit 122 detects the broken vehicle via the travel processing unit 106 based on the position of the broken vehicle notified from the search processing unit 120. Process to collect. Details of the collection process will be described later.
- the failure detection unit 124 When the failure detection unit 124 detects a failure of the host vehicle, the failure detection unit 124 notifies the control device 3 to that effect and also notifies the control device 3 of the failure location.
- the failure detection unit 124 detects the failure of the autonomous mobile device 1 by monitoring the rotation amount of the motor 410, the state of the electromagnetic clutch 418 (FIG. 3), and identifies the failure location.
- the map database 150 holds map information in a range where the autonomous mobile system 10 is operated.
- FIG. 3 is a diagram illustrating a specific configuration example of the autonomous mobile device according to the first embodiment.
- the autonomous mobile device 1 includes a wireless device 402, an environmental sensor 404, a memory 406, a CPU (Central Processing Unit) 408, a motor 410, an electromagnetic clutch 418, a handle 428, a spring 420 for returning the handle 428 to an initial position, and wires 422a and 422b. And a lever mechanism 424 and a gear 426.
- the wireless device 402 performs wireless communication with the control device 3, sends vehicle allocation position information from the control device 3 to the memory 406, information on the self-position calculated based on the environment information acquired by the environment sensor 404, and an autonomous mobile device Information on the state of 1 is transmitted to the control device 3.
- the wireless device 402 corresponds to the wireless communication unit 102 in FIG.
- the environment sensor 404 includes sensors such as a GPS (Global Positioning System), an encoder, a laser range finder, a millimeter wave radar, an ultrasonic sensor, and a camera.
- the environment sensor 404 detects the position of the own vehicle, detects obstacles around the own vehicle, and recognizes the worker and another autonomous mobile device 1.
- a memory 406 such as a ROM (Read Only Memory) includes a wireless communication unit 102, an environment recognition unit 104, a route generation unit 106, a travel processing unit 108, a search processing unit 120, a recovery processing unit 122, and a failure detection unit 124 in FIG. Are stored by the CPU 408, and the wireless communication unit 102, the environment recognition unit 104, the route generation unit 106, the travel processing unit 108, the search processing unit 120, the collection processing unit 122, The failure detection unit 124 and the like are realized.
- the motor 410 is connected to the wheel 114 via the gear 426, generates torque in accordance with a command from the travel processing unit 108 (FIG. 2), and generates driving force on the wheel 114.
- the gear 426 may be anything as long as it can transmit torque from the motor 410 to the wheel 114, and may be a shaft, a belt, a chain, or the like.
- the motor 410 and the gear 426 correspond to the drive unit 110 of FIG.
- the electromagnetic clutch 418 is a non-excited operation device, and when energized, the clutch is released by a solenoid (not shown), and when de-energized, the parts are pressed by a spring 420 to engage the clutch.
- the rotation shaft of the electromagnetic clutch 418 is connected to the shaft of one gear 426 among the gears 426 (consisting of a plurality of gears) that transmit torque. By doing so, the main body of the electromagnetic clutch 418 is fixed to the vehicle body member, and the gear 426 having the shaft connected to the electromagnetic clutch 418 cannot rotate when the electromagnetic clutch 418 is not energized.
- the electromagnetic clutch 418 when it is desired to move the autonomous mobile device 1 by the torque of the motor 410, that is, when the autonomous mobile device 1 releases the lock of the wheel 114 for movement, the electromagnetic clutch 418 is energized by a command of the CPU 408. The wheel 114 is unlocked. Further, when the autonomous mobile device 1 is stopped, the electromagnetic clutch 418 is not energized and the rotation of the wheel 114 is locked. That is, the electromagnetic clutch 418 corresponds to the wheel lock unit 116 in FIG. 2 that prevents the wheel 114 from rotating. The wheel lock unit 116 is not limited to the electromagnetic clutch 418. When the autonomous mobile device 1 is stopped, the wheel lock unit 116 prevents torque transmission from the drive unit 110 (FIG. 2) to the wheel 114 and locks the wheel 114.
- Any mechanism may be used as long as it can be released.
- a mechanism that holds and fixes a gear 426 or a belt torque transmission system (not shown) while the autonomous mobile device 1 is stopped may be used.
- the electromagnetic clutch 418 and the gear 426 correspond to the braking unit 112 of FIG.
- the handle 428 is attached at a position where it can be operated from the outside of the autonomous mobile device 1, and is connected to a solenoid (not shown) of the electromagnetic clutch 418 via a wire 422a, a lever mechanism 424, and a wire 422b. That is, when the handle 428 is pulled from the outside of the vehicle body, a force in the same direction as the solenoid is generated in the electromagnetic clutch 418 by the wire 422b instead of the solenoid. Thereby, the electromagnetic clutch 418 is released. As a result, the wheel 114 can be unlocked even when the electromagnetic clutch 418 is not energized.
- the clutch is engaged again by the force of the spring 420 in the electromagnetic clutch 418, and the wheel 114 is locked so as not to rotate. That is, the wheel 114 is unlocked when the handle 428 is being operated, and the wheel 114 is locked when the handle 428 is not being operated.
- the handle 428 is also pulled by the wires 422a and 422b to return to the original position.
- the handle 428 is preferably attached at a position where force is easily applied in the moving direction so that the handle 428 can easily move when the autonomous mobile device 1 is pulled, such as the same height as the center of gravity of the autonomous mobile device 1. Not limited to this.
- the handle 428 is installed below the front surface of the autonomous mobile device 1, but may be installed behind the autonomous mobile device 1.
- the lever mechanism 424 is located between the wire 422a and the wire 422b connected to the handle 428 and the electromagnetic clutch 418, and changes the direction of the force.
- the handle 428 corresponds to the operation unit 119 shown in FIG. 2
- the wires 422a and 422b and the lever mechanism 424 correspond to the wheel lock release unit 118 shown in FIG.
- FIG. 4 is a diagram illustrating a configuration example of the control device according to the first embodiment.
- the control device 3 includes a wireless communication unit 302, a vehicle allocation position management unit 304, a state management unit 306, and a vehicle allocation information database 350.
- the wireless communication unit 302 communicates with the autonomous mobile device 1.
- the vehicle allocation position management unit 304 calculates a new vehicle allocation position of each autonomous mobile device 1 based on the state of the autonomous mobile device 1 and the current vehicle allocation information. Specifically, the vehicle allocation position management unit 304 receives information from the state management unit 306 and the vehicle allocation information database 350, and the number of demands in each main facility (FIG. 1) 2 included in this information and each autonomous mobile device 1.
- the dispatch information is generated based on the position of the vehicle.
- the vehicle allocation position management unit 304 generates vehicle allocation information by optimizing the vehicle allocation position of each autonomous mobile device 1 so that, for example, the battery consumption of the entire autonomous mobile system 10 is minimized. Then, the vehicle allocation position management unit 304 instructs the vehicle allocation information generated to the autonomous mobile device 1 via the wireless communication unit 302.
- the state management unit 306 stores and manages the state of the autonomous mobile device 1.
- the autonomous mobile device 1 transmits the position and speed of the own vehicle, the battery remaining amount, failure information of the autonomous mobile device 1 and the like to the wireless communication unit 402 of the control device 3 via the wireless communication unit 102.
- the state management unit 306 receives a notification from the failure detection unit 124 of the autonomous mobile device 1 that a failure has occurred, the state management unit 306 identifies the location of the failed vehicle or calculates the existence range of the failed vehicle and collects the failed vehicle Notification is made to the mobile device 1 (hereinafter referred to as a collection vehicle).
- the vehicle allocation information database 350 holds demand information in each main facility 2 of the autonomous mobile device 1 that is statistically calculated from the daily usage status of the autonomous mobile system 10 in the state management unit 306.
- a program is stored in an HD (Hard Disk) not shown, and this program is expanded in a memory 312 such as a RAM (Random Access Memory) and executed by the CPU 314.
- the management unit 306 is embodied.
- FIG. 5 is a flowchart showing an operation procedure when the autonomous mobile device is stopped.
- the “stop” here includes a failure, but also includes a stop such as an emergency stop when an obstacle is blocking the road.
- the wheel lock unit 116 locks the wheel 114 by the mechanism described above (S102).
- the wheel lock release unit 118 releases the lock of the wheel 114 (S104).
- the wheel lock unit 116 locks the wheel 114 again (S102). That is, the wheel lock release unit 118 maintains the lock of the wheel 114 by the wheel lock unit 116.
- the failure detection unit 124 determines whether a failure has occurred based on whether a signal acquired from the environmental sensor 404, the motor 410, or the like indicates an abnormal value. For example, when the failure detection unit 124 monitors the current flowing through the motor 410 and is greatly deviated from the normally output current value (the target current value of the motor 410 and the current value actually supplied to the motor 410 are large). The travel processing unit 108 determines that the motor 410 is abnormal.
- FIG. 6 is a table summarizing the relationship between the failure location / stop position / stop means / recovery method of the autonomous mobile device.
- the environment recognition unit 104 can autonomously travel by detecting an obstacle or a road shoulder. Therefore, the travel processing unit 108 moves the broken vehicle (autonomous mobile device 1) to the shoulder of the road 701 as shown in FIG. 7A (stop position: road shoulder). Thereafter, the travel processing unit 108 stops using the braking unit 112 and the wheel lock unit 116 (stopping means: braking unit / wheel lock unit). By moving to the road shoulder in this way, it can be made difficult to disturb other autonomous mobile devices 1 and passers-by. The recovery method will be described later.
- the travel processing unit 108 stops the autonomous mobile device 1 that has failed as shown in FIG. 7B using the braking unit 112 and the wheel lock unit 116 on the spot (stop position: on the spot, stop means). : Braking part / wheel lock part).
- stop when the drive unit 110 fails, traveling itself is impossible, so the traveling processing unit 108 uses the braking unit 112 and the wheel lock unit 116 on the spot to move the autonomous mobile device 1. Stop (stop position: on the spot, stop means: braking part / wheel lock part). As indicated by reference numeral 604, if the braking unit 112 fails, there is a risk that if the vehicle travels as it is, the traveling processing unit 108 uses the wheel lock unit 118 on the spot to move the autonomous mobile device. 1 is stopped (stop position: on the spot, stop means: wheel lock part). This is because it is not desirable for the autonomous mobile device 1 to travel when the braking unit 112 breaks down, so the travel processing unit 108 stops the autonomous mobile device 1 using the wheel lock unit 116 on the spot.
- the stop on the spot Takes precedence.
- the travel processing unit 108 takes such measures if it can be stopped by the road shoulder. In this way, the stop position is selected according to the failure location of the autonomous mobile device 1, specifically, by determining whether to stop on the spot or move to the shoulder and stop, such as a passerby The vehicle can be stopped with minimal impact on the vehicle.
- the method of collecting the failed autonomous mobile device 1 differs depending on the location of the failure. As indicated by reference numerals 601 and 602, when the wireless device 402, the environment sensor 404, or a battery (not shown) breaks down, collection by traction is performed (collection method: traction). On the other hand, as indicated by reference numerals 603 to 605, when the drive unit 110, the braking unit 112, and the wheel lock unit 116 fail, the wheel 114 may not rotate normally, and collection by traction is impossible. Collect on trucks and other loading platforms (collection method: loading). Here, when the failed autonomous mobile device 1 is pulled and collected, the collection operation is performed by autonomous traveling of another autonomous mobile device 1 in the autonomous mobile system 10. However, when it is necessary or efficient to tow by a manned automobile or by other means, such a treatment may be performed.
- FIG. 8 is a flowchart showing an operation procedure when the autonomous mobile device fails.
- FIG. 8 is a flowchart showing a specific operation procedure when the stop is a stop due to a failure in the flowchart of FIG.
- the autonomous mobile device 1 notifies the control device 3 as shown in the flowchart of FIG. That is, when the failure detection unit 124 detects a failure (S201), the failure detection unit 124 determines whether or not the wireless communication unit 102 can be used (S202). As a result of step S202, when the wireless communication unit 102 is usable (S202 ⁇ Yes), the traveling processing unit 108 transmits the failure waiting place of the own vehicle to the control device 3 (S203), as shown in FIG. Depending on the location of the failure, the vehicle stops on the spot or moves to the shoulder, stops, and waits for the collection vehicle (S204). The transmission of the standby location to the control device 3 may be performed after moving to the standby location.
- step S202 determines whether the wireless communication unit 102 is unusable (S202 ⁇ No). If the result of step S202 is that the wireless communication unit 102 is unusable (S202 ⁇ No), the travel processing unit 108 moves the autonomous mobile device 1 to the spot or road shoulder as it is and waits (S204).
- the management device 3 determines the position of the failed vehicle by the following method.
- the state management unit 306 of the control device 3 always records the position information of the autonomous mobile device 3. If the position from the autonomous mobile device 1 cannot be received for a certain time or longer, the state management unit 306 of the control device 3 receives the last position information and the position information transmitted from the autonomous mobile device 1.
- the existence range of the failed autonomous mobile device 1 is estimated on the basis of the elapsed time from the vehicle and the dispatch information transmitted to the failed autonomous mobile device 1.
- the control device 3 grasps the existence range of the faulty vehicle based on the position information transmitted from the faulty vehicle and the estimated position based on the communication history from the autonomous mobile device 1.
- the autonomous mobile devices 1 that are functioning normally, those that have a low priority for dispatch to the worker are dispatched to the origin of the faulty vehicle as the recovery autonomous mobile device 1 (collected vehicle).
- FIG. 9 is a flowchart showing a procedure until the collection vehicle starts collecting the broken vehicle.
- the autonomous mobile device 1 allocated as a collection vehicle searches for a failed vehicle based on the presence range information of the failed vehicle given from the control device 3.
- the search processing unit 120 of the collection vehicle searches for the autonomous mobile device 1 using the environment recognition unit 104 (S301). At this time, the collection vehicle first searches the autonomous mobile device 1 without distinguishing between normal and failure. As a method of searching for the autonomous mobile device 1, for example, the search unit 120 of the collection vehicle stores camera images from various directions and shapes by the laser measurement device. Then, the retrieval unit 120 of the collection vehicle determines whether or not the object is the autonomous mobile device 1 using a method of matching with a camera or a laser range finder.
- the autonomous mobile device 1 (the reflector is located at a position that is easily visible from the outside, for example, a reflector having a predetermined pattern is installed on the autonomous mobile device 1, and the collection vehicle emits light from the reflector.
- a method of searching by acquiring and discriminating reflected light according to a predetermined pattern is conceivable, etc. If such a method is used, the power source of the searched autonomous mobile device 1 is not required.
- the search processing unit 120 for the recovered vehicle determines whether or not the found autonomous mobile device 1 is a broken vehicle (S302). For example, a method in which a green lamp is lit on the front of the autonomous mobile device 1 that is operating normally, a red lamp is lit on a failed vehicle, and the search processing unit 120 of the collection vehicle recognizes the color with a camera. and so on. If the electric system is faulty, the red lamp is also extinguished, but if the lamp is extinguished, the collection vehicle search processing unit 120 may determine that it is a faulty car.
- normality / failure is displayed on an electric bulletin board, display, etc., and the search processing unit 120 of the collection vehicle recognizes normality / failure based on these. For example, if the display shows “being out of order,” not only recovered vehicles but also general passers-by can recognize that the failed vehicle is out of order and improve safety when passing the broken vehicle. There is an advantage that can be made.
- step S302 is a broken vehicle (S302 ⁇ Yes)
- the search processing unit 120 notifies the collection processing unit 122 that the broken vehicle has been found and the location of the broken vehicle, and the collection processing unit 122 fails.
- Car collection work is performed (S303).
- FIG. 10 is a diagram showing a state of the collection work.
- a traction device (traction unit) 430 is attached to the autonomous mobile device 1. Although not shown in FIG. 3, the traction device 430 is installed at the rear of the autonomous mobile device 1 as shown in FIG. The traction device 430 is configured to be hooked when the tip of the traction device 430 is inserted into the handle 428 of the autonomous mobile device 1 so that the broken vehicle 1b (autonomous mobile device 1) can be pulled.
- the recovery processing unit 122 of the recovery vehicle 1a In order for the recovery vehicle 1a (autonomous mobile device 1) to be automatically connected to the failed vehicle 1b by the traction device 430, the recovery processing unit 122 of the recovery vehicle 1a first detects the front surface of the failed vehicle 1b with a camera (not shown) or the like. . Thereafter, the collection processing unit 122 of the collection vehicle 1a arranges the own vehicle in the same direction as the failure vehicle 1b in front of the failure vehicle 1b. Then, the collection processing unit 122 of the collection vehicle 1a brings the own vehicle toward the front of the broken vehicle 1b and approaches backward, extends the traction device 430, and connects the traction device 430 to the handle 428 of the broken vehicle 1b. .
- the “force necessary to move the autonomous mobile device 1” on the right side is determined by the rolling resistance force and frictional force of the autonomous mobile device 1.
- the recovery processing unit 122 stops the own vehicle with a certain interval in front of the failed vehicle 5, and uses the actuator such as the motor 410 to move the traction device 430 to the rear of the recovery vehicle 1 a. And is connected to the handle 428 of the broken vehicle 1b.
- step S302 If the result of step S302 is that the vehicle is not a broken vehicle (S302 ⁇ No), the collection vehicle transmits information to the control device 3 that the broken vehicle 1b cannot be found.
- the control device 3 determines whether or not the search has been completed in all existing ranges (S304). When the search is not completed for all the existing ranges (S304 ⁇ No), the state management unit 316 of the control device 3 recognizes the range where the search is completed based on the position information of the collected vehicle transmitted from the collected vehicle. Then, while performing the search, the range of the faulty vehicle is gradually limited (S305), and the autonomous mobile system 10 returns the process to step S301. That is, the state management unit 316 of the control device 3 continues to send the existing range information excluding the searched range to the collection vehicle.
- the control device 3 instructs the recovery vehicle to search again based on the existence range of the first failed vehicle again (S306).
- the state management unit 316 of the control device 3 may extend the presence range and cause the recovery vehicle to perform a re-search. .
- the autonomous mobile device 1 can be used as the collection vehicle, and without using human hands.
- the car can be recovered.
- the vehicle when the wheel lock unit 116 that locks the wheel 114 and the wheel lock release unit 118 that unlocks the wheel 114 when the operation unit 119 (the handle 428) is operated, the vehicle is stopped.
- the wheel 114 is unlocked when a predetermined force or more is applied to the operation unit 119.
- the force applied to the operation unit 119 is less than the predetermined value, the wheel 114 is not unlocked (the lock is maintained).
- the autonomous mobile device 1 can be prevented from moving carelessly.
- the wheel 114 is unlocked.
- the force applied to the operation unit 119 is less than a predetermined value, the wheel 114 is not unlocked, thereby
- the brake is applied, the force applied to the wheel lock portion 116 is loosened, so that the wheel 114 of the failed vehicle is naturally locked, and appropriate traction is performed.
- the autonomous mobile device 1 autonomously travels alone, when the vehicle is stopped due to a failure, it is necessary for the worker to go to the failure / stop location. According to this embodiment, since the collection
- FIG. 11 is a diagram illustrating a specific configuration example of the autonomous mobile device according to the second embodiment.
- the same components as those in FIG. 3 are denoted by the same reference numerals and description thereof is omitted.
- the autonomous mobile device 1A according to the second embodiment is provided with a button 432 behind the autonomous mobile device 1A as the operation unit 119 (FIG. 2).
- the button 432 there are a lever mechanism 424b and a wire 422c. That is, the handle 428 corresponds to the operation unit 119 (FIG. 2), the wires 422a and 422b, and the lever mechanism 424 correspond to the wheel lock release unit 118 (FIG. 2), and the button 432 corresponds to the operation unit 119.
- the lever mechanism 424b and the wire 422c correspond to the wheel lock release unit 118.
- the button 432 is installed at a position where it can be operated from the outside behind the autonomous mobile device 1A.
- the button 432 is connected to a component in which the electromagnetic clutch 418 is operated by a solenoid (not shown) via a lever mechanism 424b and a wire 422c. That is, when the button 432 is pressed from the outside of the autonomous mobile device 1A, even if the electromagnetic clutch 418 is not energized, a force in the same direction as the solenoid is generated in the electromagnetic clutch 418 by the wire 424c instead of the solenoid, and the clutch is released. can do. Accordingly, the wheel 114 can be unlocked by the operator pressing the button 432.
- the clutch is engaged again by the force of the spring (not shown) in the electromagnetic clutch 418, and the wheel 114 is locked so as not to rotate.
- the button 432 is also returned to the original position by the wire 422c. It is desirable that the button 432 is attached at a position where force is easily applied in the moving direction of the autonomous mobile device 1A, such as the same height as the center of gravity of the autonomous mobile device 1A.
- the autonomous mobile device 1A stops after moving to the road shoulder if it can autonomously travel when stopping due to failure, and stops on the spot if it cannot. At this time, depending on where the vehicle stops, whether it is on the spot or on the shoulder, it may be an obstacle for passers-by and other autonomous mobile devices 1A, and there are cases where it is desired to move the autonomous mobile device 1A by just a few meters. At this time, the vehicle cannot move when the wheel 114 is locked.
- the force for unlocking the wheel 114 and the force necessary for moving the autonomous mobile device 1A are set to have the relationship of the following formula (2).
- the force necessary to move the autonomous mobile device 1A is determined in the same manner as in the first embodiment.
- the wheel 114 is locked again by the structure described above.
- the autonomous mobile device 1A does not inadvertently run away from the operator 4's hand.
- the autonomous mobile device 1 ⁇ / b> A accelerates regardless of the intention of the worker 4 by going downhill, the wheel 114 is locked at the moment when the hand of the worker 4 leaves the button 432. Therefore, since the autonomous mobile device 1A stops, safety can be improved.
- the handle 428, the wire 422a, the lever mechanism 424, and the wire 422b in FIG. 11 may be omitted.
- the autonomous mobile device 1A is stopped near the center of the road or at the entrance / exit of a building on the shoulder of the road. Can move.
- FIG. 13 is a diagram showing a security part according to the third embodiment.
- Fig.13 (a) is the figure which looked at the autonomous mobile device which concerns on 3rd Embodiment from back.
- a door 440 with a dial lock is provided beside the button 432.
- FIG.13 (b) is the perspective view which looked at the rear part of the autonomous mobile apparatus 1B from the top.
- a slide pin 444 that can be manually operated is provided therein. The slide pin 444 meshes with a part of the button 432 and prevents the button 432 from moving.
- the operator By turning a dial 446 provided outside the door 440 with dial lock, the operator inputs a password. When the passwords match, the door with dial lock 440 is unlocked. After the lock is released, the operator opens the dial-lock door 440 and moves the slide pin 444 to a position that does not hinder the movement of the button 432, whereby the button 432 can be operated.
- the door with dial lock 440, the slide pin 444, and the dial 446 correspond to the security unit.
- the configuration and processing of the autonomous mobile system 10 other than the dial lock door 440, the slide pin 444, and the dial 446 are the same as those in the second embodiment, and thus the drawings and description are omitted.
- the button 432 cannot be operated unless the correct password is input to the door 440 with dial lock and the slide pin 444 is moved. Therefore, no one can easily move the autonomous mobile device 1B. That is, security is improved.
- the personal identification number can be taught relatively easily by contacting the telephone number of the call center recorded on the autonomous mobile device 1B, for example. At this time, the theft may be prevented by guiding the personal identification number in exchange for the identity and contact information of the inquired person.
- the security unit is configured by the door with dial lock 440, the slide pin 444, and the dial 446.
- the present invention is not limited to this.
- a mobile phone, a smartphone, etc. A configuration may be adopted in which the button 432 can be operated by holding a device that emits electromagnetic waves.
- FIG. 14 is a diagram illustrating a method for stopping a broken vehicle according to the fourth embodiment.
- a reflector (notification unit) 450 having a predetermined pattern is attached, for example, at the top.
- the reflector 450 faces forward during normal travel.
- the failure detection part 124 FIG. 2
- the reflector 450 of the autonomous mobile device 1 is also facing forward.
- the traveling processing unit 108 of the autonomous mobile device 1 points the reflector 450 in the direction of the position where the failure is detected.
- the travel processing unit 108 of the autonomous mobile device 1 may point the reflector 450 in the direction of the point where the position of the host vehicle is finally transmitted to the control device 3.
- the retrieval processing unit 120 of the collection vehicle emits light from the light emitting unit (not shown) to the surroundings, and searches for a reflection pattern by the reflecting plate 450 with a camera (not shown). By doing so, the recovered vehicle searches for a broken vehicle.
- the failure vehicle cannot transmit the failure standby position to the control device 3 due to the failure of the wireless communication unit 402, and the recovered vehicle is the last of the failed vehicles given from the control device 3. Even when a search is performed based on the position information, since the reflecting plate 450 is directed as a mark in a direction in which the broken vehicle is easily recognized from the collected vehicle, the collected vehicle can easily find the broken vehicle.
- the reflecting plate 450 is used.
- the present invention is not limited to this.
- a light that blinks in a certain pattern such as an electric bulletin board, may be used.
- FIG. 15 is a diagram for explaining the operation when the failed vehicle according to the fifth embodiment is towed and collected.
- the control device 3 detects a failure of the autonomous mobile device 1
- at least two of the recovery vehicle 1 a (autonomous mobile device 1) and the safety confirmation vehicle 1 c (autonomous mobile device 1) are recovered for the recovery operation.
- the recovery vehicle 1a finds the broken vehicle 1b
- the recovery vehicle 1a connects and pulls the failed vehicle 1b by the method described in the first embodiment.
- the safety confirmation vehicle 1c travels behind the broken vehicle 1b.
- the collection vehicle 1a monitors a collision with an obstacle in front of the broken vehicle 1b and in front of the side surface by an environment recognition unit 104 (FIG. 2) such as a camera.
- the safety confirmation vehicle 1c monitors a collision with an obstacle behind the failed vehicle 1b and behind the side surface.
- the travel processing unit 108 (FIG. 2) of the collection vehicle 1 stops and transmits a stop command to the safety confirmation vehicle 1c via the control device 3.
- the travel processing unit 108 (FIG. 2) of the safety confirmation vehicle 1c transmits a stop command to the collection vehicle 1a via the control device 3 and is safe.
- the confirmation vehicle 1c also stops.
- the fifth embodiment it is possible to prevent a collision with the surroundings of the failed vehicle 1b during the collection work. By doing in this way, the safety
- this invention is not limited to above-described embodiment, Various modifications are included.
- the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to having all the configurations described.
- a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment.
- Some or all of them may be implemented in hardware, for example by designing with an integrated circuit.
- each of the above-described configurations, functions, etc. is realized by software by interpreting and executing a program in which a processor such as CPU 408, 314 realizes each function. May be.
- Information such as programs, tables, and files for realizing each function is stored in the memories 406 and 312 as shown in FIGS.
- control lines and information lines are those that are considered necessary for explanation, and not all control lines and information lines are necessarily shown on the product. In practice, it can be considered that almost all configurations are connected to each other.
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Abstract
Description
このような自律移動システムは、自律移動装置が人間の生活環境を走行するため、周囲の安全を確保する必要がある。特に、坂道での停車時において車輪が回転できないように、電磁ブレーキなどを用いた車輪ロック装置が一般的に備えられている。
このような問題への対応の一例として、特許文献1には、無励磁作動の電磁ブレーキによって車両停止時にモータの回転がロックされるが、モータのトルクを車輪に伝達するボルトなどの係止部材を外すことで車輪がモータに対して回転フリーとなり、車輪を用いて車両を移動可能にする車輪モータが開示されている。また特許文献2に記載の技術はモータからウォームギアを介して駆動輪にトルクを伝達している。そして、特許文献2に記載の技術において、車両停止時には駆動輪がロックされた状態となるが、外部からの操作で駆動輪を接地面から浮かせ、代わりに回転可能な受動輪を接地させることで車両を移動可能にする管内走行車が開示されている。
なお、本実施形態では、自律移動装置を用いた自律移動システムの概要と、そのシステム内で自律移動装置が故障した場合の処理の例を説明する。
図1は、本実施形態に係る自律移動システムの構成例を示す図である。
自律移動システム10は自律走行によって搭乗者を目的地まで搬送する自律移動装置1と、自律移動装置1が主に待機するスペースを有する主要施設2と、自律移動装置1の状態を把握し配車情報を指示する管制局31に設置されている管制装置3とを有する。なお、自律移動装置1は、例えば一人乗りである。
ここで自律移動装置1の状態は、自律移動装置1の位置や速度、バッテリ残量、部品の故障有無などである。また、配車情報は各自律移動装置1の待機位置や搭乗者の呼出し位置、故障した自律移動装置1(以降、故障車と称する)の回収位置などである。
図2は、本実施形態に係る自律移動装置の構成例を示す図である。なお、図2において、実線がソフトウェアによって具現化する部分と、情報の送受信を示している。また、破線が機械的機構と、力学的な力の作用を示している。
自律移動装置1は、無線通信部102、環境認識部104、経路生成部106、走行処理部(停車処理部)108、駆動部110、制動部112、車輪114、車輪ロック部116、車輪ロック解除部118、操作部119、探索処理部120、回収処理部122、故障検知部124および地図データベース150を有している。
無線通信部102は、管制装置3との通信を行う。
環境認識部104は、環境情報を基に、自車位置の検出や障害物の検出を行う。
経路生成部106は、管制装置3からの配車指示を受け、自車の位置と地図データベース150の情報とから自車が移動する経路を生成する。また、経路生成部106は、環境認識部104から取得された障害物検出などの情報や、無線通信部102を介して管制装置3から得られる配車位置などの情報から、自律移動装置1が走行すべき軌道を生成する。
駆動部110は、走行処理部108の指令によって車輪114を駆動する。
制動部112は、走行処理部108の指令によって車輪114を制動する。
車輪114は、自律移動装置1に取り付けられ、自律移動装置1を移動させる。なお、車輪114は。モータ410(図3)による駆動力が伝達される駆動輪と、駆動力が伝達されない従動輪とがある。なお、車輪114は、無限軌道(クローラ)などを含むものとする。
車輪ロック部116は、自律移動装置1が停止した場合に車輪114の回転をロックする。
操作部119は、自律移動装置1の外部から操作できる場所に設けられており、この操作部119が操作されると、車輪ロック解除部118が車輪114のロックを解除する。
回収処理部122は、探索処理部120から故障車を発見した旨の通知を受けると、探索処理部120から通知された故障車の位置を基に、走行処理部106を介して、故障車を回収するための処理を行う。回収処理の詳細は後記する。
故障検知部124は、自車の故障を検知すると、その旨を管制装置3へ通知するとともに、故障箇所を管制装置3へ通知する。故障検知部124は、モータ410の回転量や、電磁クラッチ418(図3)の状態などを監視することで、自律移動装置1の故障を検知し、故障箇所を特定する。
地図データベース150は、自律移動システム10が運用される範囲の地図情報を保持している。
自律移動装置1は無線装置402、環境センサ404、メモリ406、CPU(Central Processing Unit)408、モータ410、電磁クラッチ418、取手428、取手428を初期位置へ戻すためのばね420、ワイヤ422a,422b、てこ機構424およびギヤ426を有している。
無線装置402は管制装置3と無線通信を行い、管制装置3から配車位置情報をメモリ406へ送ったり、環境センサ404で取得した環境情報を基に算出される自己位置の情報や、自律移動装置1の状態に関する情報を管制装置3へ送信したりする。なお、無線装置402は、図2の無線通信部102に該当する。
ROM(Read Only memory)などのメモリ406には、図2の無線通信部102、環境認識部104、経路生成部106、走行処理部108、探索処理部120、回収処理部122、故障検知部124などのプログラムが格納されており、これらのプログラムがCPU408によって実行されることによって無線通信部102、環境認識部104、経路生成部106、走行処理部108、探索処理部120、回収処理部122、故障検知部124などが具現化する。
ここで、電磁クラッチ418と、ギヤ426が図2の制動部112に相当する。
本実施形態では、取手428は自律移動装置1の前面下方に設置されているものとするが、後方などに設置されてもよい。
なお、てこ機構424は、取手428と電磁クラッチ418に接続されたワイヤ422a、ワイヤ422bの間にあり、力の方向を変化させる。
ここで、取手428が図2の操作部119に相当し、ワイヤ422a,422b、てこ機構424が、図2の車輪ロック解除部118に該当する。
管制装置3は、無線通信部302、配車位置管理部304、状態管理部306および配車情報データベース350を有する。
無線通信部302は、自律移動装置1との通信を行う。
配車位置管理部304は、自律移動装置1状態と、現在の配車情報に基づき各自律移動装置1の新たな配車位置を算出する。具体的には、配車位置管理部304は、状態管理部306と配車情報データベース350から情報を受け取り、この情報に含まれている各主要施設(図1)2における需要台数と各自律移動装置1の位置に基づき、配車情報を生成する。配車位置管理部304は、例えば自律移動システム10全体としてバッテリ消費量が最も少なくなるように各自律移動装置1の配車位置を最適化することによって、配車情報を生成する。そして、配車位置管理部304は、無線通信部302を介して自律移動装置1に生成した配車情報を指示する。
配車情報データベース350は、状態管理部306において、日々の自律移動システム10の利用状況から統計的に算出された自律移動装置1の各主要施設2における需要情報を保持している。
次に、図1~図4を参照しつつ、図5~図10を用いて自律移動装置1の停車時における動作手順およびその回収方法について説明する。
図5は、自律移動装置の停止時における動作手順を示すフローチャートである。
ここでの「停止」とは、故障時を含むが、故障時だけでなく、障害物が道路をふさいでいる場合における緊急停止などの停止も含む。
まず自律移動装置1が停止する(S101)と、車輪ロック部116が前記した機構により車輪114をロックする(S102)。
車輪114がロックされた状態で、操作部119(取手428)が操作されると(S103→Yes)と、車輪ロック解除部118が車輪114のロックを解除する(S104)。
操作部119の操作がやめられると(S103→No)、再び車輪ロック部116が車輪114をロックする(S102)。つまり、車輪ロック解除部118は、車輪ロック部116による車輪114のロックを維持する。
図6は、自律移動装置の故障箇所・停止位置・停止手段・回収方法の関係をまとめた表である。
例えば、符号601に示すように、無線装置402が故障した場合、環境認識部104が障害物や路肩を検知することによって、自律走行することが可能である。そこで、走行処理部108は、図7(a)に示すように故障車(自律移動装置1)を道路701の路肩に移動させる(停止位置:路肩)。その後、走行処理部108は、制動部112および車輪ロック部116を用いて停止する(停止手段:制動部/車輪ロック部)。このように路肩に移動させることで、他の自律移動装置1や通行者の邪魔になりにくくすることができる。なお、回収方法については、後記して説明する。
符号604に示すように、制動部112が故障した場合、そのまま走行すると下り坂などにかかってしまうおそれがあるので、走行処理部108は、その場で車輪ロック部118を用いて、自律移動装置1を停止させる(停止位置:その場、停止手段:車輪ロック部)。これは、制動部112が故障した場合、自律移動装置1が走行することは望ましくないため、走行処理部108は、その場で車輪ロック部116を用いて自律移動装置1を停止させる。
このように、自律移動装置1の故障箇所に応じて、停車位置を選択する、具体的には、その場で停車するか、路肩に移動して停車するかを判定することで、通行人などへの影響を最小限に抑えた停車を行うことができる。
故障した自律移動装置1の回収方法は故障箇所に応じて異なる。
符号601,602に示すように、無線装置402、あるいは環境センサ404やバッテリ(不図示)が故障した場合、牽引による回収が行われる(回収方法:牽引)。一方、符号603~605に示すように、駆動部110、制動部112、車輪ロック部116が故障した場合は車輪114が正常に回らない可能性があり、牽引による回収は不可能であるため、トラックなどの荷台に積み込んで回収を行う(回収方法:積込)。ここで故障した自律移動装置1を牽引して回収を行う場合、自律移動システム10における別の自律移動装置1の自律走行により回収作業を行う。ただし、有人の自動車による牽引や、他の手段によって牽引を行うことが必要あるいは効率的である場合には、そのような処置をしてもよい。
図8は、図6のフローチャートにおいて、停止が故障による停止であった場合における具体的な動作手順を示すフローチャートである。
故障発生時には、図8に示すフローチャートに示すように、自律移動装置1が管制装置3に通知を行う。すなわち、故障検知部124が故障を検知すると(S201)、故障検知部124は、無線通信部102が使用可能か否かを判定する(S202)。
ステップS202の結果、無線通信部102が使用可能である場合(S202→Yes)、走行処理部108は、管制装置3に自車の故障待機場所を送信し(S203)、図6に示すように、故障箇所に応じて、その場で停止または路肩に移動して停止し、回収車を待機する(S204)。管制装置3への待機場所の送信は、待機場所に移動してから行ってもよい。
まず、回収車として配車された自律移動装置1は管制装置3から与えられる故障車の存在範囲情報を基に故障車を探索する。
図10は、回収作業の様子を示す図である。
自律移動装置1には牽引装置(牽引部)430が取り付けられている。この牽引装置430は図3には図示していないが、図10に示すように自律移動装置1の後部に設置されている。牽引装置430は、故障車1b(自律移動装置1)を牽引できるよう、自律移動装置1の取手428に牽引装置430の先端が差し込まれると引っかかる構造になっている。牽引装置430により回収車1a(自律移動装置1)が故障車1bに自動的に接続するために、回収車1aの回収処理部122は、まず故障車1bの前面を図示しないカメラなどで検出する。その後、回収車1aの回収処理部122は、自車を故障車1bの前方で、故障車1bと同じ向きに並ばせる。そして、回収車1aの回収処理部122は、自車を故障車1bの前面に向って、後ろ向きに接近させ、牽引装置430を伸展させて、牽引装置430を故障車1bの取手428に接続する。その状態で回収車1aが前進して、故障車1bをゆっくりと牽引し始めると、取手428が引っ張られることによって、故障車1bの車輪114のロックが外れる。これにより、回収車1aは、故障車1bを牽引することができる。このような動作を実現するために、車輪114のロックが外れる力と、自律移動装置1(故障車1b)を移動するのに必要な力が、以下の式(1)の関係となるようにする。
このような牽引装置430を有することで、人手を使用することなく、故障車1bの回収が可能となる。
ステップS302の結果、故障車ではない場合(S302→No)、回収車は、故障車1bを発見できない旨の情報を管制装置3へ送信する。
すべての存在範囲で探索が終了していない場合(S304→No)、管制装置3の状態管理部316は、回収車から送信される回収車の位置情報を基に、探索が終了した範囲を認識し、探索を行っている間に故障車の存在範囲を次第に限定し(S305)、自律移動システム10は、ステップS301に処理を戻す。つまり、管制装置3の状態管理部316は、一度探索した範囲を除外した存在範囲情報を回収車に送り続ける。
さらに、操作部119に所定以上の力が加わったときに車輪114のロックを解除し、操作部119に加わっている力が所定未満のときは、車輪114のロックを解除しない(ロックを維持する)ことで、不用意に自律移動装置1が移動してしまうのを防止することができる。
また、操作部119に所定以上の力が加わったときに車輪114のロックを解除し、操作部119に加わっている力が所定未満のときは、車輪114のロックを解除しないことで、回収車がブレーキをかけたとき、車輪ロック部116にかかる力が緩むので、おのずと故障車の車輪114がロックされ、適切な牽引がなされる。
本実施形態によれば、他の自律移動装置1を利用した回収が可能となるため、作業員の負担が軽減されるという効果も有する。
次に、図11、図12を参照して、本発明に係る第2実施形態を説明する。
第2実施形態では、自律移動装置1が故障停止した際、道の中央付近や、路肩でも建物の出入り口などで停止したため、すぐ移動が必要な場合に、人の手で簡単に故障車を移動することができる構成を有する。なお、自律走行装置の具体的な構成以外の自律移動システム10の構成および処理は、第1実施形態と同様であるので、図面および説明を省略する。
なお、図11において、図3と同様の構成要素については、同一の符号を付して説明を省略する。
第2実施形態に係る自律移動装置1Aは、第1実施形態に係る自律移動装置1の構成に加え、操作部119(図2)として、自律移動装置1A後方のボタン432が設置されている。そして、ボタン432に関連した構成として、てこ機構424bと、ワイヤ422cがある。つまり、取手428が操作部119(図2)に相当し、ワイヤ422a,422b、てこ機構424が車輪ロック解除部118(図2)に相当するのに加えて、ボタン432が操作部119に相当し、てこ機構424b、ワイヤ422cが車輪ロック解除部118に相当している。
自律移動装置1Aの移動を終了する際は、作業者4がボタン432を放すと、前記した構造により、車輪114のロックが再びかかる。このような構造にすることにより、自律移動装置1Aが作業者4の手を離れて不用意に走行してしまうことはない。また、下り坂に差し掛かるなどして自律移動装置1Aが作業者4の意思と無関係に加速してしまった場合などでも、作業者4の手がボタン432から離れた瞬間、車輪114のロックがかかり、自律移動装置1Aが停止するので安全性を向上させることができる。
次に、図13を参照して、本発明に係る第3実施形態を説明する。
自律移動装置1A後部のボタン432を押すことで、誰でも自律移動装置1Aの移動が簡単にできてしまうと、盗難などのおそれがある。そのため、第3実施形態ではボタン432の操作にセキュリティを設ける場合を考える。
図13(a)は第3実施形態に係る自律移動装置を後方から見た図である。図13(a)に示すように、ボタン432の横に、ダイヤルロック付扉440が設けられている。また、図13(b)は自律移動装置1Bの後部を上から見た透視図である。作業者がダイヤルロック付扉440を開くと、その中には手動で操作可能なスライドピン444が備えられている。スライドピン444はボタン432の一部に噛み合っており、ボタン432の移動を妨げる。
なお、ダイヤルロック付扉440、スライドピン444およびダイヤル446がセキュリティ部に相当する。
また、ダイヤルロック付扉440、スライドピン444およびダイヤル446以外の自律移動システム10の構成および処理は、第2実施形態と同様であるので、図面および説明を省略する。
次に、図14を参照して、本発明に係る第4実施形態を説明する。
本実施形態では、第1~第3実施形態の自律移動システム10において故障車の故障箇所が無線通信部402(図2)であった場合に、回収車による故障車の探索を容易にするための手法である。なお、第4実施形態において、自律移動システム10の構成および処理は、第1実施形態と同様であるため、説明を省略する。
図14は、第4実施形態に係る故障車の停止方法を示す図である。
自律移動装置1には、所定パターンの反射板(通知部)450が、例えば上部に取り付けられている。反射板450は通常走行時には前方を向いている。そして、故障検知部124(図2)が故障を検知し、路肩に移動を開始する際においても自律移動装置1の反射板450も前方を向いている。自律移動装置1が路肩へ移動すると、自律移動装置1の走行処理部108は故障を検知した位置の方向へ反射板450を向ける。または、自律移動装置1の走行処理部108は、最後に自車の位置を管制装置3に送信した地点の方向へ反射板450を向けるようにしてもよい。これに対し回収車の探索処理部120は発光部(不図示)から光を周囲に発光し、カメラ(不図示)で反射板450による反射パターンを探索する。このようにすることで、回収車は故障車を探索する。
次に、図15を参照して、本発明の第5実施形態について説明する。
第5実施形態では、第1~第4実施形態の自律移動システム10において故障車が牽引回収される場合に、周囲に衝突することを防止するための方法を説明する。
図15は、第5実施形態に係る故障車が牽引回収される際の動作を説明する図である。
まず、管制装置3は自律移動装置1の故障を検知すると、回収作業のために回収車1a(自律移動装置1)と安全確認車1c(自律移動装置1)の少なくとも2台を故障車1b(自律移動装置1)のところへ配車する。そして、回収車1aが故障車1bを発見すると、回収車1aは第1実施形態で記載した方法で故障車1bを接続し、牽引する。牽引中、安全確認車1cは故障車1bの後ろについて走行する。回収作業中、回収車1aはカメラなどの環境認識部104(図2)によって故障車1bの前方、および、側面前方における障害物との衝突を監視する。一方、安全確認車1cは故障車1bの後方、および、側面後方の障害物との衝突を監視する。
また、各実施形態において、制御線や情報線は説明上必要と考えられるものを示しており、製品上必ずしもすべての制御線や情報線を示しているとは限らない。実際には、ほとんどすべての構成が相互に接続されていると考えてよい。
2 主要施設
3 管制装置
10 自律移動システム
31 管制局
102 無線通信部(自律移動装置)
104 環境認識部
106 経路生成部
108 走行処理部(停車処理部)
110 駆動部
112 制動部
114 車輪
116 車輪ロック部
118 車輪ロック解除部
119 操作部
120 探索処理部
122 回収処理部
124 故障通知部
150 地図データベース
302 無線通信部(管制装置)
304 配車位置管理部
306 状態管理部
350 配車データベース
402 無線装置
404 環境センサ
406 メモリ(自律移動装置)
408 CPU(自律移動装置)
410 モータ
418 電磁クラッチ
420 ばね
422a,422b,422c ワイヤ(車輪ロック解除部)
426 ギヤ
428 取手(操作部)
424,424b てこ機構(車輪ロック解除部)
430 牽引装置(牽引部)
432 ボタン(操作部)
440 ダイヤルロック付扉(セキュリティ部)
444 スライドピン(セキュリティ部)
446 ダイヤル(セキュリティ部)
450 反射板(通知部)
Claims (14)
- 停車時に車輪をロックする車輪ロック部と、
自律移動装置の本体の外部から操作できる場所に設けられている操作部と、
外部からの力により前記操作部が操作されるときに前記車輪のロックを解除する車輪ロック解除部と、
を有することを特徴とする自律移動装置。 - 前記車輪ロック解除部は、前記操作部に所定以上の力が加わったときに前記車輪のロックを解除し、前記操作部に加わる力が所定未満のときは、前記車輪のロックを維持する
ことを特徴とする請求の範囲第1項に記載の自律移動装置。 - 引かれている間、前記車輪ロック解除部が前記車輪のロックを解除し、引かれるのがやめられると、引かれる前の状態に戻ることで、前記車輪ロック解除部が前記車輪のロックを維持する取手を前記操作部として有しており、
前記車輪のロックが解除されるときに前記取手にかかる力より、前記自律移動装置を移動させる力の方が大きい
ことを特徴とする請求の範囲第2項に記載の自律移動装置。 - 他の自律移動装置における前記取手に取り付けられることで、当該他の自律移動装置を牽引可能な牽引部を有する
ことを特徴とする請求の範囲第3項に記載の自律移動装置。 - 押されている間、前記車輪ロック解除部が前記車輪のロックを解除し、押されるのがやめられると、押される前の状態に戻ることで、前記車輪ロック解除部が前記車輪のロックを維持するボタンを前記操作部として有しており、
前記車輪のロックが解除されるときに前記ボタンにかかる力より、前記自律移動装置を移動させる力の方が大きい
ことを特徴とする請求の範囲第2項に記載の自律移動装置。 - 所定の操作を行うことによって、前記ボタンを操作可能となるセキュリティ部を
さらに有することを特徴とする請求の範囲第4項に記載の自律移動装置。 - 自律移動を行う自律移動装置と、
前記自律移動装置の状態を監視し、前記自律移動装置に指示を送信する管制装置と、
を有する自律移動システムであって、
前記自律移動装置は、
停車時に車輪をロックする車輪ロック部と、
自律移動装置の本体の外部から操作できる場所に設けられている操作部と、
外部からの力により前記操作部が操作されるときに前記車輪のロックを解除する車輪ロック解除部と、
を有することを特徴とする自律移動システム。 - 前記車輪ロック解除部は、前記操作部に所定以上の力が加わったときに前記車輪のロックを解除し、前記操作部に加わる力が所定未満のときは、前記車輪ロック部による車輪のロックを維持する
ことを特徴とする請求の範囲第7項に記載の自律移動システム。 - 前記自律移動装置は、
前記自律移動装置自身における故障を検知したとき、前記故障箇所に応じて停車位置を選択する停車処理部を有する
ことを特徴とする請求の範囲第7項に記載の自律移動システム。 - 前記自律移動装置は、
周囲の環境情報を取得する環境認識を有し、
前記停車処理部が、前記停車位置の選択の結果、路肩へ移動して停車することを選択したとき、
前記停車処理部は、
前記環境認識部が取得した環境情報を基に、自律移動装置自身を路肩へ移動させて、停車させる
ことを特徴とする請求の範囲第9項に記載の自律移動システム。 - 前記自律移動装置は、
故障して停車している他の自律移動装置を探索する探索処理部を有し、
前記管制装置は、
前記故障して停車している自律移動装置から、故障して停車している旨の通知を受けると、
前記故障して停車している自律移動装置の位置に関する情報を、前記探索処理部へ送信する
ことを特徴とする請求の範囲第7項に記載の自律移動システム。 - 前記自律移動装置は、
周囲に対して、自律移動装置自身が故障中であることを示す通知部を有し、
前記探索処理部は、
前記通知部からの通知を基に、前記故障して停車している他の自律移動装置を探索する
ことを特徴とする請求の範囲第11項に記載の自律移動システム。 - 前記自律移動装置は、
引かれている間、前記車輪ロック解除部が前記車輪のロックを解除する取手を前記操作部として有しており、
周囲の環境情報を取得する環境認識部と、
他の自律移動装置における前記取手に取り付けられることで、当該他の自律移動装置を牽引可能な牽引部と、
を有し、
前記探索処理部は、
前記牽引部によって、前記他の自律移動装置を牽引しつつ走行しているとき、前記環境認識部によって、取得した前記環境情報を基に、障害物を検知する
ことを特徴とする請求の範囲第7項に記載の自律移動システム。 - 前記自律移動装置は、
周囲の環境情報を取得する環境認識部を有し、
他の自律移動装置が、故障している自律移動装置を牽引しているとき、前記故障している自律移動装置の後方を、前記環境認識部によって、取得した前記環境情報を基に、障害物を検知しつつ走行する
ことを特徴とする請求の範囲第13項に記載の自律移動システム。
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Also Published As
Publication number | Publication date |
---|---|
US9586563B2 (en) | 2017-03-07 |
EP2902863A4 (en) | 2016-05-25 |
CN104583888A (zh) | 2015-04-29 |
EP2902863B1 (en) | 2019-07-03 |
CN104583888B (zh) | 2016-12-21 |
JP5920743B2 (ja) | 2016-05-18 |
US20150239436A1 (en) | 2015-08-27 |
EP2902863A1 (en) | 2015-08-05 |
JPWO2014049856A1 (ja) | 2016-08-22 |
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