WO2023047476A1 - 移動体およびその制御方法 - Google Patents
移動体およびその制御方法 Download PDFInfo
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- WO2023047476A1 WO2023047476A1 PCT/JP2021/034666 JP2021034666W WO2023047476A1 WO 2023047476 A1 WO2023047476 A1 WO 2023047476A1 JP 2021034666 W JP2021034666 W JP 2021034666W WO 2023047476 A1 WO2023047476 A1 WO 2023047476A1
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- 238000000034 method Methods 0.000 title claims description 15
- 238000003860 storage Methods 0.000 claims abstract description 41
- 238000003384 imaging method Methods 0.000 claims description 136
- 230000035945 sensitivity Effects 0.000 claims description 9
- 230000032258 transport Effects 0.000 description 71
- 238000012545 processing Methods 0.000 description 44
- 239000003550 marker Substances 0.000 description 43
- 238000007726 management method Methods 0.000 description 40
- 238000004891 communication Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000012546 transfer Methods 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Definitions
- the present disclosure relates to a moving object that recognizes a recognition target based on imaging data of an imaging device and a control method thereof.
- a robot device mounted on an automatic guided vehicle there is known one that includes a camera that is provided in a hand portion and that photographs a work set on a workbench (see, for example, Patent Document 1).
- this robot device learns the optimum aperture value corresponding to the illumination by sequentially changing the aperture value of the aperture adjustment device provided in the camera while photographing the master work. do.
- the robot apparatus changes the parameter values while the optimum aperture value is set as the aperture value, thereby obtaining the optimum parameter value corresponding to the illuminance when the feature quantity of the masterwork is closest to the target value. Store in memory.
- the robot device adjusts the aperture adjustment device to the optimum aperture value corresponding to the current illuminance, sets the optimum parameter value corresponding to the current illuminance as a parameter for feature amount extraction, and uses the camera
- the workpiece is recognized based on the image signal from the As a result, even if the brightness of the work position where the work is set changes, the work can be recognized.
- moving objects such as AMR (Autonomous Mobile Robot) and AGV (Automatic Guides Vehicle) can recognize recognition targets such as markers and transport targets based on imaging data (image data) of imaging devices, thereby enabling transportation of goods, etc.
- Efficiency can be improved.
- the surrounding environment of a moving object changes depending on the time of day and the position of the moving object. put away.
- it is practically impossible to fully learn the imaging conditions of the imaging apparatus in advance because the locations and movement ranges of the mobile bodies are diverse.
- the main purpose of the present disclosure is to ensure smooth operation of the moving body by allowing the moving body to recognize the recognition target based on the imaging data of the imaging device even if the surrounding environment or the like changes.
- a mobile object includes an imaging device that captures an image of a recognition target, and a recognition unit that recognizes the recognition target based on image data captured by the imaging device, and based on the recognition target recognized by the recognition unit: stepwise changing the imaging condition of the imaging device so that the recognition target is recognized by the recognition unit when the recognition target is not recognized by the recognition unit in a moving body that performs a predetermined action; storing the imaging conditions when the recognition target is recognized by the recognition unit in a storage device, and storing the imaging conditions when the imaging device captures the recognition target or another recognition target under the same or similar situation; It includes an imaging control unit that applies the imaging conditions stored in the device.
- the imaging conditions of the imaging device are changed stepwise so that the recognition target is recognized by the recognition unit, and the recognition target is recognized by the recognition unit.
- the imaging conditions at that time are stored in the storage device.
- the imaging conditions stored in the storage device are applied. As a result, even if the surrounding environment changes, for example, the moving object can be made to recognize the recognition target based on the imaging data of the imaging device. It is possible to ensure smooth operation of the moving body.
- a method for controlling a moving object includes an imaging device that captures an image of a recognition target, and a recognition unit that recognizes the recognition target based on image data captured by the imaging device, wherein the recognition unit
- the imaging conditions of the imaging device are changed stepwise so that the recognition unit recognizes the recognition target, and when the recognition unit recognizes the recognition target, the imaging is performed.
- Conditions are stored in a storage device, and the imaging conditions stored in the storage device are applied when imaging the recognition target or another recognition target with the imaging device under the same or similar circumstances.
- the moving object can be made to recognize the recognition target based on the imaging data of the imaging device.
- FIG. 1 is a schematic configuration diagram showing a distribution center to which mobile bodies of the present disclosure are applied;
- FIG. 2 is a block diagram showing a physical distribution management system of the distribution center of FIG. 1;
- FIG. FIG. 2 is a perspective view showing a truck used in the distribution center of FIG. 1;
- 1 is a perspective view showing a moving body of the present disclosure;
- FIG. 3 is a control block diagram of the mobile body of the present disclosure;
- FIG. 4 is a flowchart for explaining a recognition target recognition procedure in a mobile body of the present disclosure;
- FIG. 4 is a schematic diagram showing a modified mode of the moving body of the present disclosure;
- FIG. 1 is a schematic configuration diagram showing a distribution center 1 to which an autonomous mobile robot (AMR) 50, which is a mobile body of the present disclosure, is applied, and FIG. 1 is a block diagram of system 10.
- AMR autonomous mobile robot
- FIG. 1 is a facility for storing, transporting, handling, packaging, and distributing goods (products).
- the distribution center 1 includes an entrance 2 for delivery vehicles T such as trucks, and a plurality of shipping gates 3a, 3b, 3c, 3d, 3e, 3f, 3g, 3h, A shipping area 3 having 3i, 3j, 3k, and 3l (hereinafter, the shipping gates are collectively referred to as "shipping gates 3x"), and a large number of packaged packages P are transported from a warehouse (not shown) to the shipping area 3. It includes a conveying conveyor 4 and a plurality of carriages 5 . In the distribution center 1 , the packages P are conveyed to the shipping area 3 by the conveyor 4 and transferred to the trolley 5 .
- the trolley 5 as a material handling device carrying the load P is transported by the transport robot 50 to the corresponding shipping gate 3x. Then, the trolley 5 carrying the cargo P is loaded onto the corresponding delivery vehicle T at the shipping gate 3x, and transported by the delivery vehicle T to the shipping destination.
- the entrance management device 25 is a computer including a CPU, a ROM, a RAM, a storage device, a communication module, etc., and acquires the ID of the delivery vehicle T that has arrived at the entrance 2 based on the imaging data (image data) of the entrance camera 20. . That is, the entrance camera 20 and the entrance management device 25 function as an ID acquisition device for the entrance 2 .
- the ID of the delivery vehicle T is, for example, a number assigned in advance to the delivery vehicle T by the distribution center 1, and the ID is indicated on the delivery vehicle T so that it can be recognized from the entrance camera 20. No markers are affixed.
- the ID of the delivery vehicle T may be the vehicle registration number of the delivery vehicle T, or may be the number of an in-vehicle device such as an ETC acquired via a communication device (not shown).
- the entrance control device 25 causes the monitor 21 to display information to be provided to the driver.
- each shipping gate 3a-3l is provided with a camera 30 for imaging the delivery vehicle T that has arrived at the shipping gate 3a-3l, and a truck detector 31 capable of imaging the truck 5 that passes when the delivery vehicle T is loaded.
- the shipping gate management device 35 is a computer including a CPU, a ROM, a RAM, a storage device, a communication module, etc., and based on the image data (image data) of the camera 30, the delivery arrived at the shipping gates 3a, 3b, . . . or 3l. Get the ID of the car T. That is, the camera 30 and the shipping gate management device 35 function as a delivery vehicle ID acquisition device for each of the shipping gates 3a-3l.
- the shipping gate management device 35 acquires the ID of the truck 5 loaded onto the delivery vehicle T based on the imaging data (image data) of the truck detector 31 . That is, the truck detector 31 and the shipping gate management device 35 function as a truck ID acquisition device for each of the shipping gates 3a-3l.
- Conveyor 4 comprises a main transport line 40 and a plurality of shipping lines 4a, 4b, 4c, 4d, 4e, 4f, 4f, 4f, 4b, 4b, 4f, 4f, 4b, 4c, 4f, 4f, 4b, 4c, 4f, 4f, 4b, 4c, 4d, 4d, 4c, 4d, 4d, 4c, 4d, 4d, 4d, 4c, 4d, 4d, 4d, 4d, 4c, 4d, 4d, 4d, 4d, 4d, 4d, 4c, 4d, 4d, 4d, 4c, 4d, 4d, 4d, 4c, 4d, 4d, 4d, 4c, 4d, 4d, 4d, 4c, 4d, 4d, 4c, 4d, 4d, 4c, 4d, 4d, 4c, 4d, 4d, 4c, 4d, 4d, 4c, 4d, 4d, 4c,
- the conveyor 4 is controlled by a conveyor control device 14 (see FIG. 2), which is a computer including a CPU, ROM, RAM, storage device, communication module, and the like.
- a package P handled in the distribution center 1 is affixed with a bar code sticker indicating its ID. That is, the conveyor control device 14 acquires the ID of the package P on the main transfer line 40 via a barcode reader (not shown), and based on the acquired ID, the package P conveyed to the shipping area 3 by the main transfer line 40. to the corresponding shipping line 4x.
- the trolley 5 is a so-called basket trolley as shown in FIG. 3, and includes markers 5m as recognition targets such as AR markers, QR codes, and barcodes that indicate the ID of the trolley 5.
- the marker 5m is provided at least one location (two locations in the example of FIG. 3) on the carriage 5 so that it can be recognized by the transport robot 50 and the carriage detector 31.
- FIG. Further, in the distribution center 1, as shown in FIG. Unused trucks 5 are arranged in line at the storage location 6, and the trucks 5 to be used are identified by the transport robot 50 and transported from the storage location 6 to a designated location. Furthermore, a plurality of markers 3m as recognition targets such as AR markers and QR codes for allowing each transport robot 50 to autonomously travel are attached to the floor and pillars of the shipping area 3 inside the building of the distribution center 1.
- the physical distribution management system 10 includes a management server 11 as a management device and a storage device 12.
- the management server 11 is a computer having a CPU, ROM, RAM, communication modules, and the like.
- the management server 11 acquires various kinds of information from the entrance management device 25 and the shipping gate management devices 35 of the respective shipping gates 3a to 3l, and also receives information and command signals requested from the entrance management device 25 and the respective shipping gate management devices 35. to send. Furthermore, the management server 11 transmits information necessary for sorting the packages P, such as the ID of the packages P, to the conveyor control device 14 and exchanges information with the AMR management device 15 .
- the AMR management device 15 is a computer including a CPU, a ROM, a RAM, a storage device, a communication module, etc., and manages the plurality of transfer robots 50 by exchanging information with the plurality of transfer robots 50 via wireless communication. is.
- the storage device 12 of the physical distribution management system 10 stores a delivery database in which information related to the delivery of the package P is stored for each of a plurality of delivery vehicles T to which IDs have been assigned from the distribution center 1.
- the delivery database contains the ID of the delivery vehicle T, the ID of the package P loaded on the delivery vehicle T, the destination of the package P, and the shipping gate 3x (hereinafter referred to as It is appropriately referred to as "loading gate 3z".) ID is linked (associated) and stored.
- the storage device 12 includes the movable area and prohibited area for the transport robot 50 in the shipping area 3 (distribution center 1), identification sign information for each area, position information for the marker 3m, time zone during which movement is prohibited, and the like. Store area information.
- FIG. 4 is a perspective view showing the transport robot 50
- FIG. 5 is a control block diagram of the transport robot 50.
- the transport robot 50 includes a plurality (four) of mecanum wheels 51, a plurality of (four) electric motors 52 that rotationally drive the corresponding mecanum wheels 51, and a carriage. It includes an elevating unit 53 for elevating the carriage 5 and is configured to be movable back and forth below the carriage 5 .
- Each mecanum wheel 51 has a pair of support plates 51p and a plurality of wheels rotatable around an axis tilted at 45° with respect to the axle while being supported by the pair of support plates 51p so as to be arranged in a ring. and a roller 51r.
- the elevating unit 53 includes a support member that supports the carriage 5 and lifts the support member with respect to the main body of the transport robot 50 so that each wheel of the carriage 5 is separated from the traveling road surface and grounded on the traveling road surface. and a drive that causes the
- the transport robot 50 includes a camera 54 as an imaging device, a control device 55, a communication module 56 used for communication (wireless communication) with the AMR management device 15 and other transport robots 50, and a storage device 57.
- the camera 54 captures an image of the surroundings of the transport robot 50 and transmits image data (image data) to the control device 55 .
- the control device 55 is a computer including a CPU, ROM, RAM and the like.
- an arithmetic processing unit 55G, a travel control unit 55D and an elevation control unit 55L are constructed by cooperation of hardware such as a CPU, ROM, and RAM and various pre-installed programs. be done.
- the arithmetic processing unit 55G of the control device 55 utilizes VSLAM technology (self-localization technology), and while the transport robot 50 is running, at predetermined time intervals (minute time intervals), based on the imaging data of the camera 54, the relevant The self-position (three-dimensional coordinates) of the transport robot 50 in the shipping area 3 (distribution center 1 ) and the environment map are acquired and stored in the storage device 57 . Further, the arithmetic processing unit 55G recognizes (identifies) the marker 3m of the shipping area 3 and the marker 5m of the truck 5 (ID of the truck 5) from the imaging data of the camera 54, and also recognizes (identifies) the object itself such as the truck 5. identification).
- VSLAM technology self-localization technology
- the arithmetic processing unit 55G recognizes the marker 3m arranged in the shipping area 3 while the transport robot 50 is running, and corrects the estimated self-position and the environment map based on the previously known position of the marker 3m. do. Further, the arithmetic processing unit 55G can adjust the sensitivity of the camera 54 (gain of the imaging device) and the exposure time (shutter speed). Further, the arithmetic processing unit 55G determines the imaging conditions of the camera 54 when the recognition targets such as the markers 3m and 5m can be normally recognized from the imaging data of the camera 54, that is, the sensitivity and the exposure time of the situation information, that is, the marker 3m and the like. The location (ID), the time zone and the season in which the marker 3m or the like was imaged are associated with each other and stored in the storage device 57 .
- the traveling control unit 55D of the control device 55 controls the plurality of electric motors 52 based on the self-position (current position) and the environment map obtained by the arithmetic processing unit 55G. Further, the elevation control section 55L controls the elevation unit 53 so as to raise or lower the carriage 5 when the transport robot 50 is positioned below the carriage 5 in question.
- the arithmetic processing unit 55G of the control device 55 may be configured to acquire the self-position and the environment map by SLAM technology using 2D or 3D LiDAR (laser sensor) or the like, and based only on the position of the marker It may be configured to estimate its own position, or it may be configured to acquire its own position and an environment map by indoor positioning technology using beacons or the like.
- the transport robot 50 may include wheels other than mecanum wheels, such as wheels including general rubber tires.
- the shipping area 3 of the distribution center 1 where the transport robot 50 is used has a large area, and the amount of sunlight that enters differs depending on the location. Therefore, the surrounding environment of the transport robot 50 changes according to the time zone, the position of the transport robot 50 in the shipping area 3, and the like, and due to the change in the surrounding environment, the transport robot 50 recognizes the markers 3m, 5m, etc. as recognition objects. This may hinder the work of estimating the self-position and transporting the trolley 5 using the estimation result of the self-position.
- the transfer robot 50 has a wide range of movement, and it is practically impossible to sufficiently learn the imaging conditions of the camera 54 as an imaging device in advance. Based on these, the transport robot 50 recognizes the markers 3m, 5m, etc.
- the management server 11 determines the shipping gate 3x to be the loading gate 3z, and transmits necessary information such as the ID of the shipping gate 3x to the AMR management device 15. do.
- the AMR management device 15 transmits necessary information including the ID of the shipping gate 3x serving as the loading gate 3z to the corresponding transport robot 50, and reflects the shipping gate 3x serving as the target point on the travel route of the transport robot 50. .
- the transport robot 50 After receiving the information from the AMR management device 15, the transport robot 50 recognizes (identifies) the carriage 5 having the corresponding ID from the imaging data of the camera 54, and travels based on its own position estimated by the arithmetic processing unit 55G. to transport the cart 5 to the shipping gate 3x.
- the arithmetic processing unit 55G of the control device 55 of the transport robot 50 estimates the self-position of the transport robot 50 based on the imaging data of the camera 54.
- the imaging conditions (sensitivity and exposure time) of the camera 54 stored in the storage device 57 are read out (step S100).
- the arithmetic processing unit 55G selects, among the read imaging conditions, the imaging conditions (hereinafter referred to as "preferred imaging conditions ) is included (step S110).
- the arithmetic processing unit 55G determines that the preferred imaging conditions are not included in the imaging conditions stored in the storage device 57 (step S110: YES), the other transport robot 50 and the AMR management device 15 (other (step S120), and determines whether or not the suitable imaging conditions have been received from other transport robots 50 or the like (step S130). Further, when the arithmetic processing unit 55G determines that it has not received suitable imaging conditions from other transport robots 50 or the like (step S130: YES), it sets predetermined initial conditions as the imaging conditions of the camera 54 ( step S140). In this embodiment, the initial conditions set in step S140 are, for example, the minimum values of the sensitivity and exposure time of the camera 54, respectively. Further, the arithmetic processing unit 55G causes the camera 54 to image the marker 3m (step S150), acquires the imaging data of the camera 54, and determines whether or not the marker 3m can be normally recognized from the imaging data ( step S160).
- the imaging conditions set in step S140 are changed from the situation information (place, time zone and season ) and stored in the storage device 57, and the imaging conditions (those linked to the location, time zone, etc.) are transmitted to the AMR management device 15 (step S165), and the series of processes in FIG. terminate.
- the AMR management device 15 stores the imaging conditions from the transport robot 50 in the storage device of the AMR management device 15, and the preferred imaging conditions according to the request in step S120 are included in the imaging conditions stored in the storage device. exists, the suitable imaging condition is transmitted to the corresponding transport robot 50 .
- step S160 when the arithmetic processing unit 55G determines that the marker 3m could not be normally recognized from the imaging data of the camera 54 (step S160: YES), it changes the imaging conditions of the camera 54 (step S170).
- step S170 of the present embodiment if the initial conditions are set as the imaging conditions in step S140, the arithmetic processing unit 55G increases the sensitivity and the exposure time by predetermined values, respectively.
- the arithmetic processing unit 55G causes the camera 54 to image the marker 3m again (step S180), acquires the imaged data of the camera 54, and determines whether the marker 3m can be normally recognized from the imaged data. It is determined whether or not (step S190).
- step S190 If it is determined that the marker 3m could not be normally recognized from the imaging data of the camera 54 even though the imaging conditions were changed in step S170 (step S190: YES), the arithmetic processing unit 55G increments the counter C. After that (step S200), it is determined whether or not the counter C is equal to or greater than a predetermined threshold value Cref (relatively large positive value) (step S210). When the arithmetic processing unit 55G determines that the counter C is less than the threshold value Cref (step S210: NO), it repeatedly executes the processing of steps S170 to S210. As a result, the imaging conditions of the camera 54 are changed step by step until it is determined in step S190 that the marker 3m has been successfully recognized from the imaging data of the camera 54.
- the arithmetic processing unit 55G stores the imaging conditions set in the most recent step S170 in the storage device 57. 6 to the AMR management device 15 (step S165), and the series of processing in FIG. 6 is once terminated.
- the arithmetic processing unit 55G transmits a signal to the effect that an error has occurred to the AMR management device 15 (step S220), the series of processes in FIG. 6 is once terminated, and the travel of the transport robot 50 (transport of the carriage 5) is stopped.
- step S110 determines whether the imaging conditions stored in the storage device 57 include the preferable imaging conditions.
- step S110: NO determines whether the imaging conditions stored in the storage device 57 include the preferable imaging conditions.
- step S115 stores the preferable imaging conditions in the camera 54.
- step S150 is executed.
- step S130: NO determines whether the suitable imaging conditions have been received from other transport robots 50 or the like.
- step S130: NO determines whether the arithmetic processing unit 55G sets the suitable imaging conditions as the imaging conditions of the camera 54.
- Step S115 the process after step S150 is executed.
- step S115 determines that the marker 3m has been successfully recognized from the imaging data of the camera 54 after the processing of step S115 (step S160: NO)
- the imaging condition set in step S115 is changed to the situation information ( location, time zone and season) and stored in the storage device 57, and transmitted to the AMR management device 15 (step S165), and the series of processing in FIG. 6 is temporarily terminated.
- the arithmetic processing unit 55G changes the imaging conditions of the camera 54 (step S170).
- the arithmetic processing unit 55G increases, for example, the sensitivity and the exposure time by predetermined values from the values in the suitable imaging conditions in step S170, If the marker 3m is still unrecognizable, the sensitivity and exposure time are decreased by predetermined values from the values under the suitable imaging conditions.
- step S190: NO the arithmetic processing unit 55G determines that the marker 3m was successfully recognized from the imaging data of the camera 54 after the process of step S115 (step S190: NO).
- the conditions are stored in the storage device 57 and transmitted to the AMR management device 15 (step S165), and the series of processing in FIG. 6 is once terminated.
- the image pickup control unit 50 is configured to recognize the marker 3m or the like.
- the arithmetic processing unit 55G changes stepwise the imaging conditions of the camera 54 as an imaging device (steps S150-S210). Further, the arithmetic processing unit 55G causes the storage device 57 to store the imaging conditions when the marker 3m or the like is recognized (step S165). Furthermore, in the transport robot 50, when the same marker 3m or the like is imaged by the camera 54 at the same location and at the same time period, that is, under the same or similar circumstances, the imaging conditions (preferred imaging conditions) stored in the storage device 57 are used. is applied (steps S100-S115).
- the arithmetic processing unit 55G of the transport robot 50 can recognize the marker 3m or the like as a recognition target based on the imaging data (image data) of the camera 54.
- the above-described preferred imaging conditions are such that the camera 54 captures another recognition target (eg, a structure marked with the marker 3m) different from the previous recognition target (eg, the marker 3m) at the same location and in the same time period. It goes without saying that it may be applied when
- the arithmetic processing unit 55G as the imaging control unit etc. are recognized (steps S115, S150-S210), and the imaging conditions when the marker 3m etc. are recognized are stored in the storage device 57 (step S165).
- the imaging condition preferred imaging condition
- the arithmetic processing section 55G of the control device 55 estimates the self-position of the transport robot 50 based on the recognized marker 3m.
- the transfer robot 50 including the control device 55 can be operated from any shipping line 4x (departure point) to any shipping data. It is possible to smoothly move to 3x (target point).
- the object to be recognized by the transport robot 50 is not limited to the marker 3m arranged in the shipping area 3 (movable area of the transport robot 50), but may be a structure (stationary object) or the like placed in the shipping area 3. It goes without saying that it is possible.
- the imaging conditions of the camera 54 include at least the sensitivity and exposure time of the camera 54 .
- the imaging conditions can be changed stepwise to allow the arithmetic processing section 55G to recognize the marker 3m or the like.
- the imaging conditions of the camera 54 may include the settings (on/off, light emission timing) of the light emitting device.
- the imaging condition (preferred imaging condition) when the marker 3m as the recognition target is recognized by the arithmetic processing unit 55G as the recognition unit of any one of the transport robots 50 is (Steps S120-S130, S115). As a result, it is possible to efficiently perform work using a plurality of transport robots 50 .
- the transport robot 50 recognizes the marker 5m as a recognition target attached to the cart 5, and supports and transports the cart 5. Therefore, the transport robot 50 may be used not only in the distribution center 1 but also in the backyard of a retail store such as a shopping center to transport an empty trolley or a trolley carrying a load, or transport the load itself. may be used to
- the transport robot 50 travels the route to the target point while recognizing the plurality of markers 3m arranged inside the building of the distribution center 1. Therefore, the transport robot 50 may be used in a shopping center other than the distribution center 1, for example.
- a transport robot 50 carrying featured products, bargain items, etc. may autonomously travel at a low speed along a predetermined route while recognizing a plurality of markers 3m arranged in the store.
- the transport robot 50 on which bargain items and the like are placed may autonomously travel, for example, to the front of the cash register when the timing for carrying out a time sale arrives.
- the plurality of markers 3m are not limited to being placed inside the building of the distribution center 1, and may be placed outside the building of the distribution center 1 (or on the boundary between inside and outside).
- the transport robot 50 recognizes a marker M as a recognition target attached to the worker's clothing or the other transport robot 50, and recognizes the worker or the other transport robot 50. It may be configured to follow and move.
- the transport robot 50 includes a plurality of mecanum wheels 51 that are rotationally driven by corresponding electric motors 52 . This makes it possible to increase the degree of freedom of movement of the transport robot 50 .
- the transport robot 50 may include wheels other than mecanum wheels, such as wheels including general rubber tires.
- the invention of the present disclosure can be used in industries such as the manufacturing of moving objects that recognize recognition targets based on imaging data of imaging devices.
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Abstract
Description
Claims (10)
- 認識対象を撮像する撮像装置と、前記撮像装置の撮像データに基づいて前記認識対象を認識する認識部とを含み、前記認識部により認識された前記認識対象に基づいて予め定められた動作を行う移動体において、
前記認識部により前記認識対象が認識されないときに、前記認識部により前記認識対象が認識されるように前記撮像装置の撮像条件を段階的に変化させ、前記認識部により前記認識対象が認識されたときの前記撮像条件を記憶装置に記憶させると共に、同一または類似した状況下で前記撮像装置により前記認識対象または他の認識対象を撮像する際に前記記憶装置に記憶された前記撮像条件を適用する撮像制御部を備える移動体。 - 請求項1に記載の移動体において、
前記撮像制御部は、前記記憶装置に記憶された前記撮像条件を適用しても前記認識部により前記認識対象が認識されなかったときに、前記認識部により前記認識対象が認識されるように前記撮像装置の撮像条件を変化させ、前記認識部により前記認識対象が認識されたときの前記撮像条件を記憶装置に記憶させる移動体。 - 請求項1または2に記載の移動体において、前記認識部により認識された前記認識対象に基づいて自己位置を推定する移動体。
- 請求項1から3の何れか一項に記載の移動体において、前記撮像条件は、少なくとも前記撮像装置の感度および露光時間を含む移動体。
- 請求項1から4の何れか一項に記載の移動体において、前記認識部により前記認識対象が認識されたときの前記撮像条件は、他の移動体により共用される移動体。
- 請求項1から5の何れか一項に記載の移動体において、台車に付された前記認識対象を認識すると共に、前記台車を支持して搬送する移動体。
- 請求項1から5の何れか一項に記載の移動体において、建屋内および/または建屋外に配設された複数の認識対象を認識しながら目標地点までのルートを走行する移動体。
- 請求項1から5の何れか一項に記載の移動体において、
作業者または他の移動体に付された前記認識対象を認識して前記作業者または前記他の移動体に追従して移動する移動体。 - 請求項1から8の何れか一項に記載の移動体において、
それぞれ対応する電動モータにより回転駆動される複数のメカナムホイールを含む移動体。 - 認識対象を撮像する撮像装置と、前記撮像装置の撮像データに基づいて前記認識対象を認識する認識部とを含む移動体の制御方法において、
前記認識部により前記認識対象が認識されないときに、前記認識部により前記認識対象が認識されるように前記撮像装置の撮像条件を段階的に変化させ、前記認識部により前記認識対象が認識されたときの前記撮像条件を記憶装置に記憶させると共に、同一または類似した状況下で前記撮像装置により前記認識対象または他の認識対象を撮像する際に前記記憶装置に記憶された前記撮像条件を適用する移動体の制御方法。
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WO2019031168A1 (ja) * | 2017-08-07 | 2019-02-14 | パナソニック株式会社 | 移動体および移動体の制御方法 |
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JP2020027589A (ja) * | 2018-08-17 | 2020-02-20 | 東芝テック株式会社 | コードシンボル読取装置及びプログラム |
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JPH09185414A (ja) * | 1995-12-28 | 1997-07-15 | Shinko Electric Co Ltd | ワゴン台車の配送システム |
JPH11272845A (ja) | 1998-03-23 | 1999-10-08 | Denso Corp | 画像認識装置 |
JP2001134318A (ja) * | 1999-11-05 | 2001-05-18 | Murata Mach Ltd | 無人搬送車システム |
WO2013183338A1 (ja) * | 2012-06-07 | 2013-12-12 | ソニー株式会社 | 情報処理装置および記憶媒体 |
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JP2020027589A (ja) * | 2018-08-17 | 2020-02-20 | 東芝テック株式会社 | コードシンボル読取装置及びプログラム |
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