WO2011064821A1 - 自律移動体及びその制御方法 - Google Patents
自律移動体及びその制御方法 Download PDFInfo
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- WO2011064821A1 WO2011064821A1 PCT/JP2009/006429 JP2009006429W WO2011064821A1 WO 2011064821 A1 WO2011064821 A1 WO 2011064821A1 JP 2009006429 W JP2009006429 W JP 2009006429W WO 2011064821 A1 WO2011064821 A1 WO 2011064821A1
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- dangerous
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- mobile body
- autonomous mobile
- distance
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- 238000000034 method Methods 0.000 title claims description 26
- 238000005259 measurement Methods 0.000 claims abstract description 92
- 238000000605 extraction Methods 0.000 claims abstract description 25
- 239000000284 extract Substances 0.000 claims abstract description 8
- 238000013459 approach Methods 0.000 claims description 7
- 231100001261 hazardous Toxicity 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 17
- 238000012545 processing Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 230000009191 jumping Effects 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 5
- 230000001174 ascending effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Definitions
- the present invention relates to an autonomous mobile body that autonomously moves in an environment where there is a dangerous place where, for example, a jump is expected, and a control method thereof.
- a robot that moves autonomously in the environment has been developed.
- the environment where the robot moves there are dangerous places where a person such as an intersection or a moving obstacle is expected to jump out.
- a person or a moving obstacle is detected by an external sensor mounted on the robot itself, and after the detection, a deceleration to avoid a collision is started.
- the autonomous mobile robot is required to perform safe movement control for avoiding a collision at a dangerous place where a jump is expected.
- Patent Document 1 discloses a technique for preventing the vehicle from decelerating due to a surrounding wall while moving in a narrow passage.
- the sensor monitoring range for determining the necessity of deceleration is dynamically changed based on infrastructure information that is installed in advance at a portion that approaches an intersection.
- Patent Documents 2 to 5 disclose an obstacle avoidance device that detects the danger level of an obstacle at every predetermined prediction time and proceeds to a destination while avoiding the danger according to the danger level.
- Patent Document 3 it is determined whether or not position data of other unmanned self-propelled bodies is included in the area, and when the position data is included in the stop area, the unmanned self-propelled bodies are stopped.
- a collision-preventing driving method for an unmanned self-propelled body that controls traveling so as to decelerate the unmanned self-propelled body when included in the deceleration area is disclosed.
- JP 2009-042845 A Japanese Patent Laid-Open No. 06-138941 Japanese Patent Laid-Open No. 05-127747 JP 2002-287824 A Japanese Patent Laid-Open No. 06-265637
- Patent Document 1 an infrastructure such as a marker is installed in the environment in advance to detect a dangerous location such as an intersection, and the dangerous location is recognized using the infrastructure information. It was. That is, it is not necessary to detect a dangerous place where the autonomous mobile robot itself is expected to jump out, and it is necessary to install an infrastructure such as a marker in the environment in advance. For this reason, there has been a problem that a large amount of cost is required for infrastructure installation in practical use.
- An object of the present invention is to provide an autonomous mobile body and a control method thereof that enable stable collision avoidance operation without requiring installation of infrastructure or the like even in a dangerous place where a person or a moving obstacle is expected to jump out. It is to provide.
- An autonomous mobile body is an autonomous mobile body that autonomously moves in an environment from a movement start point to a movement end point, and a distance measuring sensor that measures a distance to an object existing in the environment;
- a distance information acquisition unit that acquires the distance measurement value of the distance measuring sensor as distance information of the measurement point, and the measurement points that are close to each other are classified as the same object according to the distance difference between the measurement points, and the classified object itself Is the size of a predetermined threshold or more, and the opening formed between the end points of the object has a width of the predetermined threshold value or more, the end point of the object is extracted as a dangerous location
- a dangerous part extracting unit that moves so as to avoid a collision at the extracted dangerous part.
- collision avoidance operations such as predicting a jumping out dangerous point using the measurement value of the distance measuring sensor and reducing the speed when entering the dangerous point or creating a route to avoid the dangerous point and moving
- collision avoidance operations such as predicting a jumping out dangerous point using the measurement value of the distance measuring sensor and reducing the speed when entering the dangerous point or creating a route to avoid the dangerous point and moving
- the dangerous point extraction unit determines whether or not a difference in distance between measurement points that are close to each other is equal to or greater than a threshold that increases according to a distance from the autonomous mobile body, and the difference in distance is greater than the threshold.
- the measurement points close to each other may be classified as the same object. As a result, it is possible to better sort the objects, and thus it is possible to suppress the occurrence of unnecessary avoidance operations and to move more stably.
- the dangerous point extraction unit uses the end point of the object extracted as the dangerous point as a dangerous candidate point, the straight line connecting the other end point of the same object with the dangerous candidate point as a base point, and the progress of the autonomous mobile body It may be determined whether the angle formed by the direction is equal to or greater than a predetermined threshold, and when the angle is equal to or greater than the predetermined threshold, the risk candidate location may be extracted as a risk location. Thereby, since a dangerous part can be determined more favorably, generation
- a safe speed selection that selects a moving speed that decelerates according to the relative distance between the dangerous place and the position of the autonomous mobile body May be further provided to enter the dangerous place according to the moving speed selected by the safe speed selecting section.
- the route planning unit further includes a route planning unit that creates a route from the movement start point to the movement end point, and the route planning unit moves while avoiding the dangerous point extracted by the dangerous point extraction unit by the autonomous mobile body.
- a route that avoids the dangerous part may be created using map information reflecting the dangerous part, and the route may be moved along the created route. Thereby, a dangerous location can be avoided and it can move more safely and efficiently.
- a safe speed selecting unit that selects a moving speed that decelerates according to a relative distance between the dangerous point extracted by the dangerous point extracting unit and the position of the autonomous mobile body; and a route from the moving start point to the moving end point.
- An autonomous mobile body control method is an autonomous mobile body control method including a distance measuring sensor that measures a distance to an object existing in an environment, and measures a distance measurement value of the distance measuring sensor. Acquired as point distance information, classifying the measurement points close to each other as the same object according to the distance difference between the measurement points, the sorted object itself has a size greater than or equal to a predetermined threshold, In addition, when the opening formed between the end points of the object has a width equal to or greater than a predetermined threshold, the end points of the object are extracted as a dangerous point, and a collision is avoided at the extracted dangerous point. It performs movement control.
- collision avoidance operations such as predicting a jumping out dangerous point using the measurement value of the distance measuring sensor and reducing the speed when entering the dangerous point or creating a route to avoid the dangerous point and moving
- collision avoidance operations such as predicting a jumping out dangerous point using the measurement value of the distance measuring sensor and reducing the speed when entering the dangerous point or creating a route to avoid the dangerous point and moving
- an autonomous mobile body and a control method thereof capable of performing a stable collision avoidance operation without requiring installation of an infrastructure or the like even in a dangerous place where a person or a moving obstacle is expected to jump out. Can be provided.
- FIG. 3 is a side view of the autonomous mobile body according to Embodiment 1.
- FIG. 3 is a block diagram illustrating a functional configuration of a control unit according to Embodiment 1.
- FIG. It is a figure which shows the state of the measurement of the environment (distance measurement) by the distance measuring sensor 16 which concerns on Embodiment 1.
- FIG. It is a figure which shows the measurement point acquired by the distance measuring sensor 16 which concerns on Embodiment 1.
- FIG. 6 is a diagram illustrating categorization of measurement points according to Embodiment 1.
- FIG. It is a figure which shows the change of the threshold value used for the categorization of the measurement point which concerns on Embodiment 1.
- FIG. 3 is a diagram showing a determination of a dangerous place according to the first embodiment. It is a figure explaining the specific example of the dangerous location determination which concerns on Embodiment 1.
- FIG. It is a figure which shows the extracted dangerous location which concerns on Embodiment 1.
- FIG. It is a figure explaining the recognition process of the dangerous location from the reverse direction which concerns on Embodiment 1.
- FIG. 4 is a graph showing a deceleration table used for selection of a safe speed according to the first embodiment.
- FIG. It is a figure which sets potential in the dangerous place which concerns on Embodiment 1.
- FIG. It is a figure which shows the path
- FIG. It is a figure which shows the path
- FIG. It is a figure which shows the structure of the autonomous mobile body which concerns on other embodiment. It is a figure which shows the state which limited the monitoring range of the dangerous location which concerns on other embodiment.
- FIG. 1A and 1B show a vehicle as an autonomous mobile body according to the present embodiment.
- FIG. 1A is a diagram illustrating a schematic functional configuration of the vehicle 10
- FIG. 1B is a side view of the vehicle 10.
- the vehicle 10 is an opposed two-wheel vehicle including a box-shaped vehicle body 10a, a pair of opposed left and right drive wheels 11 and a caster 12, and these left and right drive wheels 11,
- the auxiliary body 12 supports the vehicle body 10a horizontally.
- a drive unit (motor) 13 for driving the left and right drive wheels 11, an encoder 14 for detecting the rotation speed of the drive wheels, and a control signal for driving the drive wheels.
- a control unit 15 that creates and transmits the control signal to the drive unit 13 is provided.
- a control program for controlling the moving speed, moving direction, moving distance, etc.
- a storage area 15a such as a memory as a storage unit provided in the control unit 15. ing.
- the moving speed, the moving distance, etc. described above are obtained based on the number of rotations of the left and right drive wheels 11 detected by the encoder 14.
- a non-contact type distance measuring sensor 16 for recognizing an obstacle or the like appearing in the moving direction is fixed on the front surface of the vehicle main body 10a, and information such as an object recognized by the distance measuring sensor 16 is provided. Is input to the control unit 15, the moving direction and speed of the vehicle 10 are determined according to the control program.
- the distance measuring sensor 16 can be configured by, for example, an optical scanning sensor (laser range finder or the like) that detects a laser beam reflected by an obstacle or the like.
- the distance measuring sensor 16 is not limited to the laser range finder, and a non-contact type sensor such as an infrared sensor or an ultrasonic sensor may be used.
- a laser range finder as a distance measuring sensor 16 is provided above the front surface of the vehicle body 10a.
- the distance measuring sensor 16 is arranged so that the direction of the laser beam L1 to be irradiated is substantially horizontal.
- the distance measuring sensor 16 measures the distance between an object existing in a detection region around the vehicle 10 and the vehicle 10.
- the distance measuring sensor 16 radiates laser light radially to the detection area in front of the vehicle 10 and receives the reflected light from the object in the detection area, thereby measuring the distance to the object.
- the vehicle 10 configured in this manner independently controls the drive amount of the pair of left and right drive wheels 11 so that the vehicle travels straight, moves in a curve (turns), moves backward, and rotates in place (the middle point of both drive wheels It is possible to perform moving operations such as turning around the center. Then, the vehicle 10 creates a movement route to a designated destination in the movement environment in accordance with a command from the control unit 15 that designates a movement location from the outside, and moves so as to follow the movement route. In order to reach the destination.
- map information is stored in the storage area 15a provided inside the control unit 15.
- map information here, a grid map obtained by virtually depicting grid lines connecting lattice points arranged at substantially constant intervals d (for example, 10 cm) is stored in the shape of the entire moving environment on the floor.
- Obstacle information indicating the presence or absence of an obstacle is set for each grid in advance or in real time.
- the control unit 15 creates a movement route from the self-position specified on the grid map to the movement start point to the movement end point that is the destination, and moves according to the created movement route.
- FIG. 2 is a block diagram showing a functional configuration of the control unit.
- the control unit 15 includes a distance information acquisition unit 21, a dangerous spot extraction unit 22, a safe speed selection unit 23, a route plan unit 24, and a wheel speed output unit 25.
- the distance information acquisition unit 21 acquires a distance measurement value to the object measured by the distance measuring sensor 16 as distance information of each measurement point.
- the dangerous spot extraction unit 22 extracts a dangerous spot based on the distance information acquired by the distance information acquisition unit 21. More specifically, the measurement points that are close to each other are classified as the same object according to the distance difference between the measurement points.
- the object of interest itself has a size greater than or equal to a predetermined threshold, and the opening formed between the end point of the object of interest and the end point of another object has a width greater than or equal to the predetermined threshold. In such a case, the end point of the object of interest is extracted as a dangerous point.
- dangerous places include indoor doorways, shadows of opened doors, places that cannot be seen from the vehicle 10 behind the corner, and are expected to jump out due to moving obstacles such as people. Is a place to be. Details of the dangerous spot extraction process will be described later.
- the safe speed selection unit 23 selects a safe moving speed when the vehicle 10 enters the dangerous point extracted by the dangerous point extraction unit 22. As will be described later, as the safe moving speed, a moving speed that decelerates according to the relative distance between the dangerous place and the position of the vehicle 10 is selected.
- the route planning unit 24 creates a route from the movement start point to the movement end point. Further, as will be described later, when the route planning unit 24 avoids the dangerous location extracted by the dangerous location extraction unit 22, the route planning unit 24 reflects the dangerous location in the map information and moves from the movement start point to the movement end point. Create avoidance routes for
- the wheel speed output unit 25 controls the driving of the left and right drive wheels 11 based on the speed selected by the safe speed selection unit 23 and the route created by the route plan unit 24.
- the vehicle 10 when the vehicle 10 extracts a dangerous point on the way to the movement end point on the created route, the vehicle 10 decelerates as it approaches the dangerous point, thereby causing a collision at the dangerous point. To avoid.
- the vehicle 10 may create a route that avoids the dangerous part and move on the route. Furthermore, these may be combined to create an avoidance route and then be accelerated or decelerated.
- FIG. 3 is a diagram showing an environment measurement (distance measurement) by the distance measuring sensor 16.
- FIG. 4 is a diagram illustrating distance measurement points acquired by the distance measuring sensor 16.
- the vehicle 10 measures the environment using the distance measuring sensor 16.
- FIG. 3 shows how the environment is measured, and a region 30 indicated by diagonal lines indicates a detection region by the distance measuring sensor 16.
- the vehicle 10 acquires a measurement value obtained from the distance measuring sensor 16 with reference to the position of the vehicle 10 as distance information of each measurement point. Thereby, each measurement point on an obstacle such as a wall has distance data based on the vehicle 10.
- Fig. 4 shows each measurement point.
- the positions of the measurement points 41, 42, 43,... Indicate the distance from the vehicle 10 in a specific plane in the traveling direction of the vehicle 10.
- Each measurement point has an angular resolution of about 1 degree.
- FIG. 5 is a diagram for explaining categorization of measurement points.
- FIG. 6 is a diagram illustrating changes in threshold values used for categorization of measurement points.
- FIG. 7 is a diagram illustrating a start point and an end point of an object.
- FIG. 8 is a diagram illustrating the determination of the dangerous place.
- FIG. 9 is a diagram for explaining a specific example of risk location determination.
- FIG. 10 is a diagram showing the extracted dangerous spots.
- FIG. 11A and FIG. 11B are diagrams for explaining the dangerous point recognition processing from the reverse direction.
- the vehicle 10 performs categorization (object classification) based on the measurement values for each measurement point acquired from the distance measuring sensor 16. Specifically, it is determined whether or not each measurement point acquired from the distance measuring sensor 16 is continuously measured for the same object, and when it is measured for the same object.
- the set of measurement points is discriminated as one object.
- the distances between the measurement points adjacent to each other are sequentially determined along the object discrimination processing direction 50, and the same when the distance between the measurement points is equal to or less than a predetermined threshold value. It is determined that the object is a measurement point. For each measurement point, the same object number is assigned to the measurement point for the same object.
- object number 1 a set of measurement points to which object number 1 is assigned is collectively referred to by reference numeral 51.
- object number 2, object number 3, object number 4, and object number 5 are collectively referred to by reference numerals 52, 53, 54, and 55, respectively.
- the predetermined threshold related to the distance between the measurement points may be a fixed value, or may be a value changed according to the distance from the vehicle 10 (measurement distance).
- the threshold value Lth (m) is used for measurement points near the vehicle 10 and the threshold value Lth (m) is used for remote measurement points. It is set larger than the threshold value Lth (n).
- the predetermined threshold may be a value that is simply proportional to the distance to the measurement point, or the threshold is a value that is proportional to the distance to the measurement point until a certain distance from the vehicle 10 is exceeded. When the distance is exceeded, the threshold value may be set to a constant value without further change.
- the distance between adjacent measurement points increases as the measurement point of a distant object increases.
- the predetermined threshold value used for categorization is a fixed value, it is possible to erroneously determine that it is a measurement point for different objects even though it is actually a measurement point for the same object There is sex. Therefore, by changing the threshold used for categorizing the measurement points according to the distance, it is possible to more accurately determine the measurement points of the distant object in the subsequent dangerous point determination processing. For this reason, it is possible to suppress extraction of an erroneous dangerous place. Accordingly, it is possible to suppress the vehicle 10 from being unnecessarily moved along the decelerating or avoiding route, even though it is not actually a dangerous place, and to move more stably.
- the vehicle 10 obtains a measurement point as a start point and a measurement point as an end point for each object classified by categorization.
- a measurement point with a small measurement number is set as a start point and a large measurement point is set as an end point.
- the measurement point 511 is shown as the start point
- the measurement point 512 is shown as the end point.
- the measurement point 551 is shown as the start point, and the measurement point 552 is shown as the end point.
- Each measurement point is given a measurement number in the order of acquisition, as illustrated in FIG.
- the vehicle 10 determines the dangerous location using the start point and end point of each object.
- the dangerous part is determined for each object, and here, it is performed in ascending order of the assigned object numbers (in order from object number 1). Specifically, when all the following conditions (1) to (4) are satisfied, focusing on the end point of the object with the object number of interest and the start point of the object with the next object number Then, the end point of the object is determined as a dangerous place.
- Condition 1 For the object (n) whose object number is n, the length of the object (n) is greater than or equal to the threshold value. The length of the object (n) is calculated from the distance between the start point and the end point of the object (n). Note that exceptionally, for the object (n) whose object number is 1, the condition 1 is always satisfied. When the condition 1 is not satisfied, it indicates that the length of the object of interest is short. Since such an object has a low risk of popping out, it can be removed from the extraction target as a dangerous place.
- Condition 2 The distance difference between the end point of the object (n) and the start point of the object (n + 1) is not less than a predetermined threshold. When the condition 2 is not satisfied, it indicates that the width of the opening between the objects is narrow. Such an opening does not have to be extracted as a dangerous spot because it is difficult for a person or a moving obstacle to jump out.
- Condition 3 The distance difference between the end point of the object (n) and the start point of the object (n + 2) is not less than a predetermined threshold. When the condition 3 is not satisfied, it indicates that the width of the other opening with the end point of the object (n) as a reference is also narrow. When a plurality of openings with reference to the end point of the same object (n) can be considered, the width of the opening between the object (n) and the object (n + 1) is wide, but the object (n) and the object (n + 2). ) Is also assumed to have a narrow opening. Even in such a situation, an opening having a narrow width is unlikely to be extracted as a dangerous place because it is difficult for a person or a moving obstacle to jump out.
- the end point of the object (n) is also determined by determining the distance difference between the start point of the object (n + 2). In the case where an opening having a narrow width is included in a part of the opening with reference to, the end point of the object (n) may not be extracted as a dangerous point.
- the vehicle 10 determines whether or not the above conditions 1 to 3 are satisfied for the end point and the start point of each object, and then determines a dangerous point candidate point from the end point and start point of each object that satisfies the conditions 1 to 3. Extract.
- a point having a short distance from the vehicle 10 is extracted as a dangerous point candidate point.
- the predetermined threshold value used in the conditions 1 to 3 is set in consideration of the size of the vehicle 10 and the size of a person or a moving obstacle.
- the vehicle 10 extracts a dangerous point for the point extracted as the dangerous point candidate point in consideration of the relative angle between the object including the point and the vehicle 10. Specifically, a point that satisfies the conditions 1 to 3 and is extracted as a dangerous point candidate point is further determined as a dangerous point when the following condition 4 is satisfied.
- Condition 4 The angle between the straight line connecting the other end point of the same object with the dangerous point candidate point as a base point and the traveling direction of the vehicle 10 is equal to or greater than a predetermined threshold.
- a predetermined threshold is set to 45 degrees and the condition 4 is satisfied
- the dangerous point candidate point is the end point of the object located on the near side of the vehicle 10 or located on the far side. It is determined whether it is the end point of the object.
- the dangerous point candidate point is an end point of an object located on the far side with respect to the vehicle 10.
- Condition 2 The distance difference L2 between the end point of the object of object number 1 and the start point of the object of object number 2 (indicated by reference numeral 52 in the figure) is greater than or equal to a predetermined threshold value.
- Condition 3 The distance difference L3 between the end point of the object of object number 1 and the start point of the object of object number 3 (indicated by reference numeral 53 in the figure) is greater than or equal to a predetermined threshold.
- Condition 4 For a straight line connecting the end point and the start point of the object of object number 1, the angle ⁇ 1 formed by the straight line and the traveling direction 60 of the vehicle 10 is equal to or greater than a predetermined threshold.
- FIG. 10 shows the extraction result of the dangerous spot in the environment of FIG.
- dangerous spots 81, 82, 83 are extracted.
- the vehicle 10 extracts the dangerous spot by determining whether the above conditions 1 to 4 are satisfied.
- a place that becomes a dangerous place is a place where a moving obstacle such as a jumping out person is difficult to see for the vehicle 10 and has a width that can be assumed to jump out of the moving obstacle. Therefore, for each object in the detected environment, if the object itself has a certain size and the opening between the objects has a certain width, the end point of the object is Extract as a candidate for a dangerous spot.
- the above condition may be that only the determinations for 1 to 3 are performed to extract the dangerous part, but further, the determination of whether the condition 4 is satisfied further suppresses unnecessary deceleration and avoidance operations. be able to.
- the determination of the above conditions 1 to 4 is performed in ascending order of the assigned object numbers along the object discrimination processing direction 50 as shown in FIG. 5 (ie, from the object number 1). Although described as a thing, it is good also as what performs the said 1-4 conditions determination about each object again in order with the largest object number provided. As a result, it is possible to extract the dangerous spot more accurately. The reason will be described below with reference to FIGS. 11A and 11B.
- FIG. 11B shows the extraction result of the dangerous point candidate points for the real environment as shown in FIG. 11A.
- the end point 94 when a dangerous point candidate point is extracted along the object discrimination processing direction 92, the end point 94 does not satisfy the condition 1 (L1 is smaller than a predetermined threshold value), and thus is not extracted as a dangerous point. .
- the end point 94 when a dangerous point candidate point is extracted along the object discrimination processing direction 91, the end point 94 satisfies all the conditions 1 to 4, and can be extracted as a dangerous point.
- the discrimination process is performed by replacing the start point and end point of the object with the end point and start point, respectively.
- FIG. 12 is a graph showing a deceleration table used for selecting a safe speed.
- the vehicle 10 takes into account the distance from the dangerous location closest to the vehicle 10 among the extracted dangerous locations, and is a safe speed at which a collision can be avoided even when a moving obstacle such as a person jumps out. Is selected.
- the safe speed can be calculated using a deceleration table as shown in FIG.
- FIG. 12 shows the safe speed V0 and the relative distances D1 and D2 with the safe speed as the vertical axis and the relative distance between the vehicle 10 and the dangerous place as the horizontal axis.
- the relative distance D1 is a value set in consideration of the size of the moving obstacle and the vehicle 10 with the dangerous point as the reference position, and the vehicle 10 stops at a relative distance D1 with a speed of 0.
- the relative distance D2 is a distance required to stop the vehicle 10 at the relative distance D1 so that the speed 0 can be reached, and is set according to the performance of the vehicle 10. That is, the vehicle 10 that is traveling at the speed V0 at the relative distance D2 decelerates as it approaches the dangerous place, and stops at the relative distance D1.
- the vehicle 10 refers to the deceleration table shown in FIG. 12 and selects a safe speed according to the relative distance from the dangerous location.
- the vehicle 10 when the dangerous part is extracted, the vehicle 10 creates a route that avoids the dangerous part, and moves along the route to avoid a collision at the jumping part. Is also possible. For this reason, when moving on the created avoidance route, instead of decelerating as approaching the dangerous place, the avoidance route may be accelerated and moved. Thereby, it can move to a destination more quickly.
- FIG. 13 is a diagram for setting a potential at a dangerous location.
- FIG. 14 is a diagram showing a route plan using a grid map.
- FIG. 15 is a diagram showing a route plan using a grid map reflecting a dangerous place.
- the vehicle 10 performs a route plan that avoids the extracted dangerous spot.
- route planning is performed so as to avoid the extracted dangerous spot.
- the potential is set to the surrounding coordinates around the extracted dangerous spot.
- a larger potential value is weighted to the coordinates than in other locations, and a higher potential value is set at the center of the region.
- the vehicle 10 creates a route 103 indicated by a broken line by a route plan when the dangerous point (100, 101, 102) is not considered.
- the route plan is performed in consideration of the dangerous place 102, the route 104 indicated by the solid line can be created.
- the route 104 is a route that makes a large turn near the danger point 102 as compared to the route 103, and is a route that makes it easier for the vehicle 10 to avoid a collision at the beginning of the encounter.
- a route plan can be performed using the grid map 200 shown in FIG.
- the cost required to move that one grid is set. For example, as shown in the lower right of the figure, the cost when passing through 3 grids is 3.
- the vehicle 10 searches for the shortest route based on the cost.
- the route plan the total cost of the grid on the route connecting from the movement start point 201 to the movement end point 202 is calculated, and the route having the smallest cost among the plurality of routes is adopted.
- a route 203 having the minimum cost is created as shown in FIG.
- the dangerous place is extracted, for example, as shown in FIG. 15, the cost value of the extracted dangerous place 204 and the surrounding grid is set to a larger value than other grids, thereby minimizing the cost.
- the route 205 can be created by changing the route and avoiding the dangerous place 204.
- a jumping out dangerous part is predicted using the measurement value of the distance measuring sensor 16, and the speed is reduced when entering the dangerous part, or a route for avoiding the dangerous part is provided.
- collision with a moving obstacle can be stably avoided without requiring installation of infrastructure or the like even in a jump-out dangerous place.
- the present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present invention.
- the vehicle 10 illustrated in FIG. 1 has been described as an example of the autonomous mobile body.
- a dangerous location can be detected using the mounted distance measuring sensor 16. If it is a thing, it will not specifically limit.
- an inverted two-wheeled autonomous mobile body having the configuration shown in FIG. 16 may be used.
- the autonomous moving body shown in FIG. 16 includes a laser range finder 310 as the distance measuring sensor 16, a CPU 320 as the control unit 15, wheels 340, and a motor 330 that drives the wheels 340.
- the CPU 320 includes a dangerous part extraction unit 321, a safe speed selection unit 322, and a wheel speed output unit 323, which have the same functions as the functional units described in the above-described embodiments. ing. Further, as shown in FIG. 17, the monitoring range of the dangerous place may be limited.
- the vehicle when the vehicle is configured to decelerate according to the relative distance from the dangerous spot closest to the vehicle 10, it tries to decelerate the dangerous spot at a distance a little farther than the closest dangerous spot. Therefore, the vehicle 10 may not be able to increase the moving speed. For this reason, it is assumed that the extracted dangerous spot is not included in the speed selection target using the deceleration table if the distance is somewhat long.
- the present invention can be used for, for example, an autonomous mobile body that autonomously moves in an environment where there is a dangerous place where a jump is expected and a control method thereof.
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Abstract
Description
以下、図面を参照して本発明の実施の形態について説明する。図1A及び図1Bに、本実施の形態に係る自律移動体としての車両を示す。図1Aは、車両10の概略的な機能構成を示す図であり、図1Bは、車両10の側面図である。車両10の移動環境内には、既知の固定障害物や、測距センサにより検知された固定障害物及び移動障害物などが存在し、車両10はこれらの障害物を回避する必要がある。
条件1:物体番号1の物体(図では、符号51を用いて示す。)について、物体の長さL1が、所定の閾値以上であること(尚、n=1の場合については、常に成立する。)。
条件2:物体番号1の物体の終点と物体番号2の物体(図では、符号52を用いて示す。)の始点との距離差L2が、所定の閾値以上であること。
条件3:物体番号1の物体の終点と物体番号3の物体(図では、符号53を用いて示す。)の始点との距離差L3が、所定の閾値以上であること。
条件4:物体番号1の物体の終点と始点を結ぶ直線について、その直線と車両10の進行方向60とがなす角度θ1が、所定の閾値以上であること。
また、本発明では地図情報への危険箇所の事前設定や、インフラ整備などの事前準備が不要であるため、様々な環境に対しても容易に展開することができる。
例えば、上述した実施の形態においては、自律移動体として図1に示した車両10を例に説明したが、自律移動体の構成としては、搭載した測距センサ16を用いて危険箇所を検出できるものであれば特に限定されるものではない。例えば、図16に示す構成を備える倒立2輪型の自律移動体でもよい。図16に示す自律移動体は、測距センサ16としてのレーザレンジファインダ310と、制御部15としてのCPU320と、車輪340と、車輪340を駆動するモータ330と、を備えている。CPU320は、危険箇所抽出部321と、安全速度選定部322と、車輪速度出力部323と、を備えており、これらは、上述した実施の形態で説明した各機能部と同様の機能を有している。
また、図17に示すように、危険箇所の監視範囲を限定するようにしてもよい。抽出した危険箇所のうちで、車両10に最も近い危険箇所との相対距離に応じて減速させる構成とした場合には、最も近い危険箇所よりも少し遠い距離の危険箇所に対しても減速しようとするため、車両10は移動速度を上げることができない場合がある。このため、抽出された危険箇所について、その距離がある程度遠いものについては、減速テーブルを用いて速度を選定する対象には入れないものとする。すなわち、図17で斜線により示す領域410及び領域420に含まれる危険箇所についてのみ減速対象とする。このように減速対象とする危険箇所を定める監視エリアを限定することで、危険箇所として判定する箇所を減らして、減速動作を行う頻度を抑制する。これによって、より出会い頭での衝突回避に特化した衝突回避機能を提供することができる。
13 駆動部(モータ)、 14 エンコーダ、 15 制御部、 15a 記憶領域、
16 測距センサ、
21 距離情報取得部、 22 危険箇所抽出部、 23 安全速度選定部、
24 経路計画部、 25 車輪速度出力部、
30 検出領域、 41、42、43 測定点、
50、60 物体判別の処理方向、 51 物体番号1が付与された測定点の集合、
511 始点、 512 終点、
52 物体番号2が付与された測定点の集合、
53 物体番号3が付与された測定点の集合、
54 物体番号4が付与された測定点の集合、
55 物体番号5が付与された測定点の集合、
551 始点、 552 終点、
70 開口部、 71 終点、 72 始点、 81、82、83 危険箇所、
100、101、103 危険箇所、 102、103 経路、
200 グリッドマップ、 201 移動始点、 202 移動終点、
203 経路、 204 危険箇所、 205 経路、
310 レーザレンジファインダ、 320 CPU、 330 モータ、
340 車輪、 321 危険箇所抽出部、 322 安全速度選定部、
323 車輪速度出力部、
410、420 監視領域
Claims (12)
- 環境内を移動始点から移動終点へと自律的に移動する自律移動体であって、
前記環境内に存在する物体までの距離を測定する測距センサと、
前記測距センサの距離測定値を測定点の距離情報として取得する距離情報取得部と、
互いに近接する測定点を当該測定点間の距離差に応じて同一の物体として分別し、当該分別した物体自体が所定の閾値以上の大きさを有しており、かつ、物体の端点間に形成される開口部が所定の閾値以上の幅を有している場合に、前記物体の端点を危険箇所として抽出する危険箇所抽出部と、を備え、
前記抽出した危険箇所において衝突を回避するように移動する
ことを特徴とする自律移動体。 - 前記危険箇所抽出部は、
互いに近接する測定点間の距離差が、前記自律移動体からの距離に応じて大きくなる閾値以上であるか否かを判定し、前記距離差が前記閾値より小さい場合に、前記互いに近接する測定点を同一の物体として分別する
ことを特徴する請求項1に記載の自律移動体。 - 前記危険箇所抽出部は、
前記危険箇所として抽出した前記物体の端点を危険候補箇所として、当該危険候補箇所を基点として同一物体の他方の端点を結ぶ直線と、前記自律移動体の進行方向と、がなす角度が、所定の閾値以上であるか否かを判定し、前記角度が所定の閾値以上である場合に、当該危険候補箇所を危険箇所として抽出する
ことを特徴する請求項1又は2に記載の自律移動体。 - 前記自律移動体が前記危険箇所抽出部で抽出した危険箇所に進入する場合に、
前記危険箇所と前記自律移動体の位置との相対距離に応じて減速する移動速度を選定する安全速度選定部を更に備え、
前記安全速度選定部で選定した移動速度に従って前記危険箇所へと進入する
ことを特徴とする請求項1に記載の自律移動体。 - 前記移動始点から前記移動終点までの経路を作成する経路計画部を更に備え、
前記経路計画部は、
前記自律移動体が前記危険箇所抽出部で抽出した危険箇所を回避して移動する場合に、
前記危険箇所を反映させた地図情報を用いて、前記危険箇所を回避する経路を作成し、当該作成した経路上を移動する
ことを特徴とする請求項1に記載の自律移動体。 - 前記危険箇所抽出部で抽出した危険箇所と前記自律移動体の位置との相対距離に応じて減速する移動速度を選定する安全速度選定部と、
前記移動始点から前記移動終点までの経路を作成する経路計画部と、を更に備え、
前記自律移動体が前記危険箇所に接近する場合には、
前記安全速度選定部で選定した移動速度に従って前記危険箇所へと進入する、又は、前記経路計画部で作成した前記危険箇所を回避するような経路上を移動する
ことを特徴とする請求項1に記載の自律移動体。 - 環境内に存在する物体までの距離を測定する測距センサを備えた自律移動体の制御方法であって、
前記測距センサの距離測定値を測定点の距離情報として取得し、
互いに近接する測定点を当該測定点間の距離差に応じて同一の物体として分別し、
前記分別した物体自体が所定の閾値以上の大きさを有しており、かつ、物体の端点間に形成される開口部が所定の閾値以上の幅を有している場合に、前記物体の端点を危険箇所として抽出し、
前記抽出した危険箇所において衝突を回避するように移動制御を行う
自律移動体の制御方法。 - 前記危険箇所の抽出において、
互いに近接する測定点間の距離差が、前記自律移動体からの距離に応じて大きくなる閾値以上であるか否かを判定し、
前記距離差が前記閾値より小さい場合に、前記互いに近接する測定点を同一の物体として分別する
ことを特徴する請求項7に記載の自律移動体の制御方法。 - 前記危険箇所の抽出において、
前記危険箇所として抽出した前記物体の端点を危険候補箇所として、当該危険候補箇所を基点として同一物体の他方の端点を結ぶ直線と、前記自律移動体の進行方向と、がなす角度が、所定の閾値以上であるか否かを判定し、
前記角度が所定の閾値以上である場合に、当該危険候補箇所を危険箇所として抽出する
ことを特徴する請求項7又は8に記載の自律移動体の制御方法。 - 前記自律移動体が前記危険箇所に進入する場合には、
前記危険箇所と前記自律移動体の位置との相対距離に応じて減速する移動速度を選定し、当該選定した移動速度に従って移動する
ことを特徴とする請求項7に記載の自律移動体の制御方法。 - 前記自律移動体が前記危険箇所を回避して移動する場合には、
前記危険箇所を反映させた地図情報を用いて、前記危険箇所を回避する経路を作成し、当該作成した経路上を移動する
ことを特徴とする請求項7に記載の自律移動体の制御方法。 - 前記自律移動体が前記危険箇所に接近する場合には、
前記危険箇所と前記自律移動体の位置との相対距離に応じて減速する、又は、前記危険箇所を回避するような経路上を移動する
ことを特徴とする請求項7に記載の自律移動体の制御方法。
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Also Published As
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EP2506106A4 (en) | 2017-01-11 |
US9164512B2 (en) | 2015-10-20 |
EP2506106B1 (en) | 2019-03-20 |
JP5062364B2 (ja) | 2012-10-31 |
JPWO2011064821A1 (ja) | 2013-04-11 |
CN102782600B (zh) | 2015-06-24 |
CN102782600A (zh) | 2012-11-14 |
EP2506106A1 (en) | 2012-10-03 |
US20120035797A1 (en) | 2012-02-09 |
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