WO2021059335A1

WO2021059335A1 - Autonomous movement assistance device and moving body having same

Info

Publication number: WO2021059335A1
Application number: PCT/JP2019/037326
Authority: WO
Inventors: 修一槙
Original assignee: 株式会社日立産機システム
Priority date: 2019-09-24
Filing date: 2019-09-24
Publication date: 2021-04-01

Abstract

According to the present invention, a device reads out a plurality of log data sets acquired during traveling of a moving object equipped with a distance sensor. Each log data set has information indicating a time, information indicating the detection position and detection posture of the moving body at the corresponding time, and a distance dataset representing a plurality of distances acquired by the distance sensor at the corresponding time. For each of the plurality of detection positions, the device calculates the stop distance of the moving body, by using two or more log data sets representing two or more detection positions including the corresponding detection position. The device determines a protection area, for each of a plurality of traveling positions in a traveling path of the moving body, on the basis of the stop distance calculated for the detection position belonging to the traveling position, and a plurality of distances represented by a log data set representing a detection position included in the stop distance, and sets, in the moving body, information representing the determined protection area.

Description

Autonomous movement support device and mobile body equipped with the device

The present invention generally relates to supporting the control of autonomous movement.

For example, according to Patent Document 1 (for example, paragraph 0012), a marker (for example, a barcode) is installed on an indoor floor surface, and an automatic guided vehicle is an automatic guided vehicle by reading the marker on the floor surface. Estimate the current position of. In addition, the automatic guided vehicle receives route information from the control device. The automatic guided vehicle travels along the route information based on the estimated current position.

Japanese Unexamined Patent Publication No. 2016-047744

A protective area is set for an autonomously moving moving object such as an automatic guided vehicle. The "protected area" is an area determined based on the position of a moving body, and is an area where the presence of obstacles or people is prohibited. As the moving body moves, the protected area also moves. During autonomous movement, the moving body decelerates when it detects the presence of an obstacle or a person in the protected area, and stops without colliding with the obstacle or the person.

It is a burden to manually determine and set a protection area suitable for each position on the traveling path of the moving body.

For each marker disclosed in Patent Document 1, in addition to the information indicating the position of the marker, the information indicating the protection area of the moving body may be embedded in the marker itself so that the moving body can read it. As a result, it is expected that the protection area is automatically set on the moving body for each position of the marker.

However, if the marker must be installed on the floor, there is a burden of installing the marker, and the protection area cannot be automatically set in the area where the marker cannot be installed.

The autonomous movement support device reads out log data including a plurality of log data sets acquired during traveling of a moving body equipped with a distance sensor. Each of the plurality of log data sets includes information representing a time, information representing a detection position and a detection posture of a moving object at the time, and a distance data set representing a plurality of distances acquired by a distance sensor at the time. including. The autonomous movement support device calculates the stop distance of the moving body for each of the plurality of detection positions by using two or more log data sets representing two or more detection positions including the detection position. The autonomous movement support device is represented by a stop distance calculated for a detection position belonging to the travel position and a log data set representing the detection position included in the stop distance for each of a plurality of travel positions in the travel path of the moving body. The area of protection is determined based on multiple distances. The autonomous movement support device sets information representing a determined protection area on the moving body for each of the plurality of traveling positions.

According to the present invention, it is possible to automatically set the protection area of the moving body even if there is no marker on the floor surface.

It is a schematic diagram of the appearance of the moving body and the carriage which concerns on embodiment. It is a block diagram which shows the structure of the whole system which concerns on embodiment. It is a figure which shows the structural example of the route data. It is a figure which shows the configuration example of a log data set. It is a figure which shows an example of the protection area. It is a figure which shows another example of the protection area. It is a figure which shows the flow of the protection area automatic setting performed in an embodiment. It is a figure which shows an example of a part of a traveling path. It is a figure which shows the flow of the protection area determination (S702 of FIG. 7). It is a figure which shows an example of the determination of the protection area about the 1st detection position. It is a figure which shows an example of the determination of the protection area about the 2nd detection position. It is a figure which shows an example of the determination of the protection area about the 3rd detection position. It is a figure which shows an example of the determination of the protection area about the 4th detection position. It is a figure which shows an example of the relationship between a plurality of path portions and a plurality of protection area classes.

In the following description, the "interface device" may be one or more communication interface devices. One or more communication interface devices may be one or more communication interface devices of the same type (for example, one or more NICs (Network Interface Cards)) or two or more different types of communication interface devices (for example, NICs). It may be HBA (Host Bus Adapter).

Further, in the following description, the "memory" is one or more memory devices which are an example of one or more storage devices, and may be typically a main storage device. At least one memory device in the memory may be a volatile memory device or a non-volatile memory device.

Further, in the following description, the "permanent storage device" may be one or more permanent storage devices which are an example of one or more storage devices. The persistent storage device is typically a non-volatile storage device (for example, an auxiliary storage device), specifically, for example, HDD (Hard Disk Drive), SSD (Solid State Drive), NVMe (Non-Volatile). It may be a Memory Express) drive or an SCM (Storage Class Memory).

Further, in the following description, the "storage device" may be at least a memory of a memory and a persistent storage device.

Further, in the following description, the "processor" may be one or more processor devices. The at least one processor device is typically a microprocessor device such as a CPU (Central Processing Unit), but may be another type of processor device such as a GPU (Graphics Processing Unit). At least one processor device may be single-core or multi-core. At least one processor device may be a processor core. At least one processor device may be a processor device in a broad sense such as a hardware circuit (for example, FPGA (Field-Programmable Gate Array) or ASIC (Application Specific Integrated Circuit)) that performs a part or all of the processing.

Further, in the following description, the function may be described by the expression of "yy part", but the function may be realized by executing one or more computer programs by the processor, or one. It may be realized by the above hardware circuit (for example, FPGA or ASIC), or may be realized by a combination thereof. When a function is realized by executing a program by a processor, the specified processing is appropriately performed using a storage device and / or an interface device, so that the function may be at least a part of the processor. Good. The process described with the function as the subject may be a process performed by a processor or a device having the processor. The program may be installed from the program source. The program source may be, for example, a program distribution computer or a computer-readable recording medium (eg, a non-temporary recording medium). The description of each function is an example, and a plurality of functions may be combined into one function, or one function may be divided into a plurality of functions.

Further, in the following description, a common code among reference codes may be used when explaining without distinguishing elements of the same type, and a reference code may be used when distinguishing elements of the same type. For example, when the protected area is not distinguished, it is referred to as "protected area 500", and when the protected area is distinguished, it is referred to as "protected area 500A" and "protected area 500B".

Further, in the following description, a "data set" is a logical mass of electronic data viewed from a program such as an application program, and is, for example, any of a record, a file, a key-value pair, and a tuple. But it may be.

Hereinafter, one embodiment will be described. In the following embodiment, the transported object carried by the moving body is a trolley, but the transported object may be a transported object other than the trolley. Also, there may be no dolly towed or pushed by the moving body. Further, in the following description, the "traveling body" may be only a moving body, or may be a combination of a moving body and a transported object (a trolley in the following example).

FIG. 1 is a schematic view of the appearance of the moving body and the trolley.

The dolly 201 has a plurality of wheels 702 and a protrusion 701 extending toward the floor surface. The connecting device 104 of the moving body 103 includes a connecting portion 711 extending rearward and having a through hole 713. The insertion of the protrusion 701 of the carriage 201 into the through hole 713 of the connecting portion 711 is an example of connecting the carriage to the moving body 103. The inclination (angle) of the connecting portion 711 may be input to the position detecting device 105 through the connecting device 104 and the moving controller 109, and may be controlled by the position detecting device 105 through the moving controller 109 and the connecting device 104.

FIG. 2 is a block diagram showing the configuration of the entire system according to the embodiment.

The mobile body 103 is typically an AGV (Automatic Guided Vehicle). The moving body 103 includes a laser distance sensor 101 (an example of a distance sensor), a position detecting device 105, a moving controller 109, a moving mechanism 125, and a connecting device 104 (an example of a connecting device connected to a carriage). The laser distance sensor 101 is connected to the position detection device 105. The laser distance sensor 101 may be a component of the position detection device 105.

The laser distance sensor 101 measures the distance from the sensor 101 to an object within the measurement range of the laser using a laser, and outputs a distance data set which is a data set indicating the measured distance. The distance data set is input to the position detector 105. One distance data set represents a plurality of measured distances (a plurality of distances corresponding to a plurality of parts within the measurement range).

Although not shown, the position detection device 105 includes an interface device, a storage device, and a processor connected to them.

A laser distance sensor 101 is connected to the interface device. In addition, it is possible to communicate with the higher-level PC (personal computer) 251 described later via the interface device.

A storage device stores data and one or more computer programs. The data stored in the storage device includes route data 138, map data 135, and log data 134.

By executing one or more computer programs stored in the storage device in the processor, the collection unit 131, the position / orientation estimation unit 133, and the mobile output unit 151 are realized.

The collecting unit 131 outputs the distance data set from the laser distance sensor 101 to the receiving position / attitude estimation unit 133 periodically or irregularly.

The position / orientation estimation unit 133 calculates the position and orientation (direction) of the moving body 103 based on the distance data set and the map data 135 each time the distance data set is received from the laser distance sensor 101. Each time the position / orientation estimation unit 133 estimates the position / orientation of the moving body 103, the position / orientation estimation unit 133 adds a log data set, which is a data set representing the estimated position / orientation, to the log data 134, or adds an estimated position / orientation to the log data 134. Is notified to the mobile output unit 151. The log data 134 is a set of one or more log data sets. In addition, instead of using the distance data set, or in addition to using the distance data set, the position and orientation of the moving body 103 are the integrated value of the values acquired by the acceleration sensor and the gyro sensor, and the integrated value of the wheel rotation speed of the moving body 103. It may be estimated from. Further, the map data 135 may be data prepared in advance, or may be data generated based on a plurality of distance data sets received from the collection unit 131. The map data 135 is data showing an indoor map on which the moving body 103 travels.

The movement output unit 151 outputs information on autonomous movement control based on the position and posture of the moving body 103 and the target position and target posture. "Information on autonomous movement control" includes, for example, at least one of the following. The position and posture of the moving body 103 are estimated by the position / posture estimation unit 133. The target position and the target posture are acquired from the route data 138.
Information indicating the position and posture of the moving body 103.
-Information representing the target position and target posture of the moving body 103.
A movement instruction in which a movement direction, speed, etc. determined based on the position and posture of the moving body 103 and the target position and target posture of the moving body 103 are specified.

The mobile controller 109 controls the moving mechanism 125 so that the position and posture of the moving body 103 satisfy the target position and target posture of the moving body 103 based on the information from the moving output unit 151.

The moving mechanism 125 includes a traveling device (for example, wheels and wheel sets) of the moving body 103 and a driving device (for example, a motor) for driving the traveling device.

The connecting device 104 is a device that connects to a trolley.

In FIG. 2, a function corresponding to the mobile output unit 151 may be provided in the mobile controller 109. The movement controller 109 may control the movement mechanism 125 based on the output from the position / orientation estimation unit 133.

The mobile body 103 can communicate with the upper PC (personal computer) 251. The upper PC 251 has an interface device, a storage device, and a processor connected to the interface device (not shown). The interface device communicates with the mobile body 103. A storage device stores data and one or more computer programs. The data stored in the storage device includes parameter data 239 and route data 238.

Parameter data 239 includes one or more parameter data sets referenced for determining the protected area. The parameter dataset contains parameter items and parameter values. As the parameter items, items that affect at least one of the shape and size of the protected area (for example, items that affect the stopping distance), for example, at least one of the following may be adopted.
The size of the moving body 103 in the horizontal direction (length in the front-rear direction (depth) and length in the left-right direction (width)).
-Weight of the moving body 103.
-The size of the trolley 201 (an example of a transported object) in the horizontal direction.
-The weight of the dolly 201.
-Noise of the laser distance sensor 101.
-Control error of autonomous movement of the moving body 103.

The configuration of the route data 238 is the same as the configuration of the route data 138 in the moving body 103.

In the upper PC 251, one or more computer programs stored in the storage device are executed by the processor, so that the autonomous movement support unit 260 that supports the autonomous movement of the mobile body 103 is realized. The autonomous movement support unit 260 includes a log reading unit 261 and a protection area determination unit 262.

The log reading unit 261 reads the log data 134 from the mobile body 103.

Based on the read log data 134, parameter data 239, and route data 238, the protection area determination unit 262 of the moving body 103 for each of the plurality of traveling positions (plural positions in the traveling route) represented by the route data 238. The protection area is determined, and the plurality of protection areas determined for the plurality of traveling positions are set in the

route data

238 and 138. Setting a protective area in the route data 138 of the moving body 103 for each of the plurality of traveling positions means setting a protective area in the moving body 103.

Since the upper PC 251 includes such an autonomous movement support unit 260 (log reading unit 261 and protection area determination unit 262), the upper PC 251 is an example of the autonomous movement support device. The autonomous movement support unit 260 may be provided in the mobile body 103 (for example, the position detection device 105) instead of the upper PC 251.

FIG. 3 is a diagram showing a configuration example of route data 138.

The route data 138 has a section data set for each of a plurality of route sections constituting the traveling route. Each interval dataset contains information such as [ID], [target point], [maximum velocity], [minimum turning radius of curvature], [target point type], and [protection area]. Hereinafter, one route section will be taken as an example (“attention section” in the description of FIG. 3).

[ID] is the ID of the section data set of the section of interest. [Target point] represents a position and a posture corresponding to the target point of the section of interest. [Maximum speed] represents the maximum speed of the moving body 103 in the section of interest. [Minimum turning radius of curvature] represents the minimum turning radius of curvature (minimum turning radius) in the section of interest of the moving body 103. [Target point type] represents the type of target point (for example, passing point, pause point).

[Protected area] is information on the protected area set for the section of interest, and includes, for example, information representing the class of the protected area. Each protected area class corresponds to a set of protective area shapes and sizes. Information representing the shape and size pair of the protected area may be included in the [protected area] or may be managed in a table (not shown).

In the present embodiment, the route section is an example of the traveling position. For example, the head position of the route section may be the target point or the traveling position. The "traveling position" is a position on the traveling path, whereas the "detection position" is a position detected by the position detecting device 105. The “path section to which the detection position belongs” may be a path section having the target point closest to the detection position.

FIG. 4 is a diagram showing a configuration example of a log data set.

The log data set includes information such as [time], [detection position and detection attitude], [distance data set], and [section data set ID]. [Time] represents the time when the position and the posture are detected (estimated), or the acquisition time of the distance data set. [Detected position and detected posture] represents the detected position and posture. The [distance data set] is a distance data set corresponding to the time represented by the [time]. [Section data set ID] is the ID of the section data set corresponding to the route section to which the detected position belongs.

FIG. 5 is a diagram showing an example of a protected area. FIG. 6 is a diagram showing another example of the protected area. Both FIGS. 5 and 6 are an outline of a plan view of the moving body 103 when viewed from above.

The shape and size of the protection region 500 are the reference position in the horizontal direction of the moving body 103 (for example, the center in the front-back and left-right directions) and the size of the moving body 103 (for example, the length in the front-back direction and the length in the left-right direction). ) And the stopping distance 510 of the moving body 103. Specifically, the shape and size of the protection region 500 corresponding to a certain position is the moving body 103 when the moving body 103 starts the stop operation at the certain position and then travels the stop distance 510 and stops. Covers the position of and the range occupied by the moving body 103. Therefore, when the moving body 103 starts decelerating at the certain position, the moving body 103 stops without exceeding the protection area 500. Therefore, when the laser distance sensor 101 detects that there is an obstacle 530 in the protection area 500 at the certain position, the moving body 103 collides with the obstacle 530 by starting the stop operation. You can stop without doing anything.

The shape and size of the protection region differ depending on the length (that is, the stop distance 510) and the shape of the locus (for example, the locus of the reference position of the moving body 103) from the deceleration of the moving body 103 to the stop. For example, as shown in FIG. 5, if the locus is a straight line, a rectangular protection region 500A is determined as an example. Further, as shown in FIG. 6, if the locus is a curved line, a pentagonal protection region 500B is determined as an example.

The position and orientation of the protection area 500 are uniquely determined from the traveling direction and the reference position of the moving body 103.

FIG. 7 is a diagram showing a flow of automatic setting of the protected area performed in the embodiment.

A test run of the moving body 103 is performed (S701). The test run is a run for determining the protection area 500 for each running position. The moving body 103 travels on the traveling route represented by the route data 138 based on the map data 135 and the route data 138. In the running, the following is performed regularly or irregularly. As a result, a plurality of log data sets are included in the log data 134 for the entire traveling route.
-The collection unit 131 acquires the distance data set from the laser distance sensor 101.
The position / orientation estimation unit 133 estimates the position and orientation of the moving body 103 based on the map data 135 and the route data 138 and the acquired distance data set, and the information [detection] representing the estimated position and attitude. A log data set including [position and detection posture] is added to the log data 134. The log data set includes the distance data set and the ID of the section data set corresponding to the traveling section to which the position represented by [detection position and detection posture] belongs.

In the upper PC 251 the log reading unit 261 of the autonomous movement support unit 260 reads the log data 134 including the plurality of log data sets accumulated in the test run from the moving body 103. The protection area determination unit 262 determines the protection area for each of the plurality of traveling positions based on the read log data 134 and the parameter data 239 (S702).

Information representing a plurality of protected areas determined by the protected area determination unit 262 for a plurality of traveling positions is set in the

route data

238 and 138.

The details of determining and setting the protection area will be explained below.

FIG. 8 is a diagram showing an example of a part of the traveling route.

According to FIG. 8, in a part of the traveling route 800, it is necessary to go straight → turn right → go straight → turn left. The black dot 801 in the figure means the detection of the moving body 103 by the laser distance sensor 101. In FIGS. 10 to 13, the display of the reference code is omitted, but the black dot means the detection by the laser distance sensor 101. In the illustrated example, there are continuous walls 802 on both the left and right sides of the traveling path 800.

FIG. 9 is a diagram showing the flow of determining the protected area (S702 in FIG. 7).

The protection area determination unit 262 calculates the stop distance for each of the plurality of detection positions based on the log data 134 (S901).

The protection area determination unit 262 initializes. “0” is set in t, which means the detection position, and “0” is set in c, which means the number of classes (the number of classes in the protected area) (S902). Consecutive numbers (integers) starting with "0" are labeled at the plurality of detection positions in ascending order (oldest order) of [time]. The number labeled at the detection position is referred to as a "detection position number" in the description of FIG.

The protection area determination unit 262 specifies all the detection positions included in the stop distance of the detection position t (S903).

The protection area determination unit 262 determines whether or not the corresponding class (class of the protection area covering the one or more detection positions) exists (S904).

When the determination result of S904 is true (S904: Yes), the protection area determination unit 262 determines the protection area of the corresponding class as the protection area for the route section to which the detection position t belongs (S905).

When the determination result of S904 is false (S904: No), the protection area determination unit 262 sets the protection area covering one or more detection positions included in the stop distance of the detection position t and the class of the protection area. It is determined and the number of classes c is incremented by 1 (S906).

After S905 or S906, the protection area determination unit 262 determines whether or not the detection position t is the final number (S907). When the determination result of S907 is true (S907: Yes), the protection area determination is completed. When the determination result of S907 is false (S907: No), the protection area determination unit 262 increments the detection position t by 1 (S908) and executes S903.

FIG. 10 is a diagram showing an example of determining the protection region for the first detection position.

For each detection position, S901 in FIG. 9 is as follows. That is, for example, for the first detection position, the protection area determination unit 262 calculates the traveling speed (and angular velocity) of the moving body 103 based on the log data 134, and the stop distance is calculated from the calculated traveling speed (and angular velocity). Is calculated. The stop distance may be determined based on the parameter values that affect the stop distance (for example, the weights of the moving body 103 and the carriage 201) among the one or more parameter values represented by the parameter data 239. The traveling speed (and angular velocity) for the first detection position is calculated as follows. That is, the protection area determination unit 262 sets the [time] and [detection position and detection posture] represented by each of the two or more log data sets corresponding to the two or more consecutive detection positions including the first detection position. Based on this, the traveling speed (and angular velocity) at the first detection position is calculated.

For each detection position, S903 in FIG. 9 is as follows. That is, for example, for the first detection position, the protection area determination unit 262 specifies all the detection positions included in the stop distance of the first detection position. Here, when the first detection position is the position X and the position different from the position X is the position Y, if the time as the difference between the time x and the time y is equal to or less than the stop time for the position X. , Position Y is a detection position included in the stop distance of position X. The time x is the time represented by the log data set representing the position X. The time y is the time represented by the log data set representing the position Y. The stop time is a time calculated from the stop distance calculated for the position X and the traveling speed calculated for the position X.

For each detection position, S904 in FIG. 9 is as follows, taking the first detection position as an example.
(S904-1) The protection area determination unit 262 traces the entire locus of the traveling body (the entire area of the traveling body in the horizontal direction) from the first detection position to the last detection position included in the stop distance of the first detection position. Identify. In the present embodiment, the "running body" is a combination of the moving body 103 and the carriage 201.
(S904-2) The protection area determination unit 262 has determined the target protection area for the first travel position to which the first detection position belongs (for example, the [target point] corresponding to the first travel section). Judge whether or not. Specifically, the determination of (S904-2) is as follows, for example.
(2-1) The protection area determination unit 262 determines whether or not one or more protection areas have been determined for one or more traveling positions other than the first traveling position. When the determination result of (2-1) is false, the determination result of (S904-2) is false, and as a result, the determination result of (S904) is false.
(2-2) When the determination result of (2-1) is true, the protection area determination unit 262 determines whether or not there is a target protection area in one or more determined protection areas. For each travel position, the "target protection area" covers the stop distance calculated for the detection position belonging to the travel position (specifically, covers the locus calculated in (S904-1)). Moreover, it is a protection area within a plurality of distances represented by a log data set representing a detection position included in the stop distance. When the determination result of (2-2) is true, the determination result of (S904-2) is true, and as a result, the determination result of (S904) is true. On the other hand, when the determination result of (2-2) is false, the determination result of (S904-2) is false, and as a result, the determination result of (S904) is false.

The example shown in FIG. 10 is an example in which the determination result of (2-1) is false because there is no determined protection area, and therefore the determination result of (S904) is false. In this case, the protection area determination unit 262 determines the protection area 500A as the target protection area for the first detection position. The protected area 500A covers, for example, a linear locus and has an N log data set (N in the N log data set) representing the N detection position included in the stop distance corresponding to the first detection position. It fits in a plurality of distances represented by (distance data set of) (N is a natural number (for example, N = 3)). It is desirable that the protection area 500 is as narrow as possible along the direction orthogonal to the traveling direction of the moving body 103 as long as it covers the trajectory of the traveling body and satisfies the condition that it is contained in a plurality of distances.

The protection area determination unit 262 associates the protection area class A with the protection area 500A (for example, the shape and size of the protection area 500A (for example, the coordinates of each vertex of the protection area 500A), and the first detection position belongs to the first. Protected area class A is associated with the running position of.

FIG. 11 is a diagram showing an example of determining the protection region for the second detection position.

The differences from the explanation with reference to FIG. 10 are as follows. According to the example of FIG. 11, there is a protected area class A. Therefore, the above-mentioned determination result (2-1) is true. Further, the protection area 500A associated with the protection area class A covers the locus corresponding to the second detection position, and is contained in a plurality of distances specified for the second detection position. Therefore, the above-mentioned determination result (2-2) is also true. Therefore, the protection area determination unit 262 associates the protection area class A with the second traveling position to which the second detection position belongs.

FIG. 12 is a diagram showing an example of determining the protection region for the third detection position.

The differences from the explanation with reference to FIG. 11 are as follows. According to the example of FIG. 12, there is a protected area class A. Therefore, the above-mentioned determination result (2-1) is true. However, the protection area 500A associated with the protection area class A does not cover the locus corresponding to the third detection position. Specifically, the locus is a locus that accompanies a right turn of the traveling body and is not covered by the protection area 500A. Therefore, the above-mentioned determination result (2-2) is false. Therefore, for the third detection position, the protection area determination unit 262 determines the protection area 500B as the target protection area. The protected area 500B covers, for example, a curved locus and is contained in a plurality of distances represented by an N log data set representing an N detection position included in a stop distance corresponding to a third detection position. ..

The protection area determination unit 262 associates the protection area class B with the protection area 500B, and associates the protection area class B with the third traveling position to which the third detection position belongs.

FIG. 13 is a diagram showing an example of determining the protection region for the fourth detection position.

The differences from the explanation with reference to FIG. 12 are as follows. According to the example of FIG. 13, there are a protected area class A and a protected area class B. Therefore, the above-mentioned determination result (2-1) is true. However, neither of the protected

areas

500A and 500B associated with the protected area classes A and B covers the locus corresponding to the fourth detection position. Specifically, the locus is a locus that accompanies a left turn of the traveling body, and is not covered by either the

protection areas

500A and 500B. Therefore, the above-mentioned determination result (2-2) is false. Therefore, for the fourth detection position, the protection area determination unit 262 determines the protection area 500C as the target protection area. The protected area 500C covers a curved locus and is contained within a plurality of distances represented by the N log data set representing the N detection position included in the stop distance corresponding to the third detection position.

The protection area determination unit 262 associates the protection area class C with the protection area 500C, and associates the protection area class C with the fourth traveling position to which the fourth detection position belongs.

By determining the protected area as described above, the relationship between the plurality of protected area classes and the plurality of route portions in the traveling route is as shown in FIG. 14, for example. That is, the protection region class A is associated with the traveling position belonging to the linear traveling portion. The protection area class B is associated with the traveling position belonging to the traveling portion of the right turn. The protection area class C is associated with the traveling position belonging to the traveling portion of the left turn.

The above description of the embodiment can be summarized as follows, for example.

An autonomous movement support device including a log reading unit 261 and a protection area determination unit 262 is constructed. The log reading unit 261 reads out the log data 134 including a plurality of log data sets acquired during the traveling of the moving body 103 equipped with the laser distance sensor 101 (an example of the distance sensor). The protection area determination unit 262 determines the protection area 500 of the moving body 103 for each of the plurality of traveling positions in the traveling path 800 of the moving body 103 using the log data 134. An example of an autonomous movement support device is an external device (for example, a calculator) capable of communicating with the mobile body 103, such as the upper PC 251. Instead of the device, the mobile body 103 (for example, the position detection device 105) may be an example of the autonomous movement support device.

Each of the plurality of log data sets includes [time] (information representing the time), [detection position and detection posture] (information representing the detection position and detection posture of the moving body 103 at the time), and [distance data. Set] (a distance data set representing a plurality of distances acquired by a distance sensor with respect to the time).

For each of the plurality of detection positions, the protection area determination unit 262 uses two or more log data sets representing two or more detection positions (for example, two or more consecutive detection positions) including the detection position. The stopping distance of the moving body 103 is calculated. For each of the plurality of traveling positions, the protection area determination unit 262 determines the stop distance calculated for the detection position belonging to the travel position and the plurality of distances represented by the log data set representing the detection position included in the stop distance. Based on this, the protection area is determined. The protection area determination unit 262 sets the moving body 103 with information representing the protection area determined for the traveling position for each of the plurality of traveling positions.

As a result, once the moving body 103 travels on the traveling path, the protection area 500 of the moving body 103 is automatically set even if there is no marker on the floor on which the moving body 103 travels. In the subsequent autonomous travel of the moving body 103, the moving body 103 can stop within the protection area 500 of the traveling position for each traveling position.

For each of the plurality of travel positions, the determined protection area 500 covers the stop distance calculated for the detection position belonging to the travel position and is represented by a log data set representing the detection position included in the stop distance. It fits in multiple distances. Therefore, for each of the plurality of traveling positions, the determined protection region 500 is the locus of the traveling body from the detection position belonging to the traveling position to the last detection position included in the stop distance calculated for the detection position. It covers a plurality of distances represented by a log data set representing a detection position included in the stop distance. In this way, the appropriate protection area 500 can be determined from the stopping distance and the distance data set. The locus covered by the determined protection region 500 is the locus of the traveling body from the target detection position to the detection position next to the last detection position included in the stop distance calculated for the detection position. May be good. Further, according to the above example, for each detection position, two or more log data sets representing two or more detection positions including the detection position are used to calculate the stop distance, but instead or In addition, the maximum speed of the detection position (the maximum speed represented by the section data set of the travel section to which the detection position belongs) may be used.

For each of the plurality of traveling positions, the protection area determination unit 262 determines the stopping distance for the detection position belonging to the traveling position by the weight of the traveling body including the moving body 103 or the carriage 201 of the moving body 103 (an example of a transported object). The protection area 500 may be determined based on the size of the traveling body or the carriage 201 in the horizontal direction. Thereby, the appropriateness of the automatically set protection area 500 can be improved.

For each of the plurality of traveling positions, the protection area determination unit 262 may determine the protection area 500 based on the noise of the laser distance sensor 101 and the control error of the autonomous movement of the moving body 103. Thereby, the appropriateness of the automatically set protection area 500 can be improved.

The protection area determination unit 262 determines whether or not a protection area suitable for the traveling position has been determined for each of the plurality of traveling positions, and if the result of the determination is true, the determined corresponding item. The protected area may be determined as the protected area for the traveling position. As a result, one protected area can be set for two or more traveling positions. Therefore, it is expected that the number of protected areas will be reduced. Therefore, it is expected that the storage capacity consumed and the calculation load for determining the protection area will be reduced.

Although one embodiment has been described above, this is an example for explaining the present invention, and the scope of the present invention is not limited to this embodiment. The present invention can also be practiced in various other forms. For example, when the number of determined protection areas 500 reaches a certain number (when the number of classes c reaches a certain value), the protection area determination unit 262 has two or more having the same shape but different stopping distances. If there is a protection area, the protection area other than the protection area having the longest stop distance among the two or more protection areas may be replaced with the protection area having the longest stop distance. Thereby, the protection area 500 can be set for all the traveling positions while suppressing the number of the protection areas 500 to the upper limit or less.

103: Mobile body 105: Position detection device 260: Autonomous movement support unit 261: Log reading unit 262: Protected area determination unit

Claims

A log reading unit that reads log data including a plurality of log data sets acquired during traveling of a moving body equipped with a distance sensor, and a log reading unit.
A protection area determination unit for determining a protection area of the moving body for each of a plurality of traveling positions in the traveling path of the moving body using the log data is provided.
Each of the plurality of log data sets includes information representing a time, information representing a detection position and a detection posture of a moving object at the time, and distance data representing a plurality of distances acquired by the distance sensor at the time. Including set
The protection area determination unit
For each of the plurality of detection positions, the stop distance of the moving body is calculated using two or more log data sets representing two or more detection positions including the detection position.
For each of the plurality of traveling positions, the protection area is determined based on the stop distance calculated for the detection position belonging to the travel position and the plurality of distances represented by the log data set representing the detection position included in the stop distance. Decide and
For each of the plurality of traveling positions, information representing the determined protection region is set in the moving body.
Autonomous movement support device.
For each of the plurality of travel positions, the determined protection area covers the stop distance calculated for the detection position belonging to the travel position, and a log data set representing the detection position included in the stop distance is provided. It fits in multiple distances to represent
The autonomous movement support device according to claim 1.
For each of the plurality of traveling positions, the protection area determination unit
The stopping distance for the detection position belonging to the traveling position is calculated based on the weight of the traveling body including the moving body or the weight of the transported object of the moving body.
The protected area is determined based on the horizontal size of the traveling object or the transported object.
The autonomous movement support device according to claim 2.
For each of the plurality of traveling positions, the protection area determination unit
The protection area is determined based on the noise of the distance sensor and the control error of the autonomous movement of the moving body.
The autonomous movement support device according to claim 2.
The protection area determination unit determines each of the plurality of traveling positions.
Judge whether the target protection area has been decided,
If the result of the determination is true, the target protection area is determined as the protection area for the traveling position.
If the result of the determination is false, the protection area is determined based on the stop distance calculated for the travel route and the plurality of distances represented by the log data set representing the detection position included in the stop distance.
For each of the plurality of travel positions, the target protection area covers the stop distance calculated for the detection position belonging to the travel position, and is represented by a log data set representing the detection position included in the stop distance. A protective area within distance,
The autonomous movement support device according to claim 1.
When the number of determined protection areas reaches a certain number, the protection area determination unit is out of the two or more protection areas if there are two or more protection areas having the same shape but different stopping distances. Replacing the protection area other than the protection area with the longest stop distance with the protection area with the longest stop distance,
The autonomous movement support device according to claim 5.
Reads log data including multiple log data sets acquired during traveling of a moving object equipped with a distance sensor.
Each of the plurality of log data sets includes information representing a time, information representing a detection position and a detection posture of a moving object at the time, and distance data representing a plurality of distances acquired by the distance sensor at the time. Including set
For each of the plurality of detection positions, the stop distance of the moving body is calculated using two or more log data sets representing two or more detection positions including the detection position.
For each of the plurality of travel positions in the travel path of the moving body, the stop distance calculated for the detection position belonging to the travel position and the plurality of distances represented by the log data set representing the detection position included in the stop distance are obtained. Based on, determine the protection area,
For each of the plurality of traveling positions, information representing the determined protection region is set in the moving body.
Autonomous movement support method.
Reads log data including multiple log data sets acquired during traveling of a moving object equipped with a distance sensor.
Each of the plurality of log data sets includes information representing a time, information representing a detection position and a detection posture of a moving object at the time, and distance data representing a plurality of distances acquired by the distance sensor at the time. Including set
For each of the plurality of detection positions, the stop distance of the moving body is calculated using two or more log data sets representing two or more detection positions including the detection position.
For each of the plurality of travel positions in the travel path of the moving body, the stop distance calculated for the detection position belonging to the travel position and the plurality of distances represented by the log data set representing the detection position included in the stop distance are obtained. Based on, determine the protection area,
For each of the plurality of traveling positions, information representing the determined protection region is set in the moving body.
A computer program that lets a computer do things.