WO2022201421A1 - 移動体制御システム、移動体、及び移動体制御方法 - Google Patents
移動体制御システム、移動体、及び移動体制御方法 Download PDFInfo
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- WO2022201421A1 WO2022201421A1 PCT/JP2021/012514 JP2021012514W WO2022201421A1 WO 2022201421 A1 WO2022201421 A1 WO 2022201421A1 JP 2021012514 W JP2021012514 W JP 2021012514W WO 2022201421 A1 WO2022201421 A1 WO 2022201421A1
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- 230000033001 locomotion Effects 0.000 claims description 28
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- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- 239000000470 constituent Substances 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
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/242—Means based on the reflection of waves generated by the vehicle
-
- 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
- G05D1/60—Intended control result
- G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
- G05D1/622—Obstacle avoidance
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
Definitions
- the present disclosure relates to a mobile body control system, a mobile body, and a mobile body control method.
- Patent Literature 1 describes a moving body that generates a corrected route by correcting the commanded route and travels along the corrected route when it is determined that the commanded route according to the steering command by the operator is not safe.
- Patent Literature 1 describes using the distance between the path of the moving body and the obstacle as the criterion for determination.
- the above-described distance for the criterion is set with a margin, flexible control of the moving object cannot be performed.
- the distance between a moving object and an obstacle for example, a wall, a pillar, etc.
- an object of the present disclosure is to solve the above-described problems and to provide a mobile body control system, a mobile body, and a mobile body control method that can flexibly control a mobile body.
- a mobile control system includes: a mobile object; a control unit that controls the moving body; with The moving body is a receiving unit that receives control information from the control unit; a route identifying unit that identifies a route of the moving object based on the control information; including The route specifying unit corrects the route of the moving body to a route that avoids a dangerous area including the periphery of the obstacle, according to the distance between the moving body and the obstacle.
- a mobile object includes: a receiving unit that receives control information from the control unit; a route identifying unit that identifies a route of a moving object based on the control information; including The route specifying unit corrects the route of the moving body to a route that avoids a dangerous area including the periphery of the obstacle, according to the distance between the moving body and the obstacle.
- a moving body control method includes: a receiving step of receiving control information from the control unit; a route specifying step of specifying a route of the moving object based on the control information; including In the route identification step, the route of the moving body is corrected to a route that avoids a dangerous area including the periphery of the obstacle, according to the distance between the moving body and the obstacle.
- FIG. 1 is a diagram illustrating a configuration example of a mobile body control system according to Embodiment 1;
- FIG. 1 is a diagram illustrating a configuration example of a moving object according to Embodiment 1;
- FIG. 4 is a diagram for explaining an operation example of a route identifying unit according to Embodiment 1;
- FIG. 2 is a diagram showing a modified configuration example of the moving body control system according to Embodiment 1;
- FIG. 4 is a flow chart showing an example of a schematic operation flow of the mobile body control system according to Embodiment 1;
- FIG. 10 is a diagram illustrating a configuration example of a mobile control system according to Embodiment 2;
- FIG. 11 is a sequence diagram showing an example of a schematic operation flow of the mobile body control system according to the second embodiment;
- FIG. 10 is a diagram showing an example of a table held by a route specifying unit according to another embodiment;
- FIG. 10 is a diagram showing an example of a table held by a route specifying unit according to another embodiment;
- FIG. 10 is a diagram showing an example of a table held by a route specifying unit according to another embodiment;
- FIG. FIG. 2 is a block diagram showing a hardware configuration example of a computer that implements a part of the moving body according to Embodiments 1 and 2;
- the mobile body control system 1 includes a mobile body 10 and a control unit 20 .
- the mobile body 10 is shown as a plan view seen in a plan view.
- the moving body 10 has a configuration in which control by the control unit 20 and autonomous control can be switched, and is realized by, for example, a robot, a carrier for transporting articles, and the like.
- the moving body 10 has a pair of left and right driving wheels 11L and 11R, and is capable of straight movement, turning movement, and the like.
- the two drive wheels 11L and 11R can be driven independently. It should be noted that the straight-ahead movement should be at least forward straight, and whether or not it is possible to go straight in the rearward direction is optional.
- the control unit 20 controls the moving body 10.
- the control unit 20 may control the moving body 10 at a remote location.
- the control unit 20 may be operated by a person, or may be operated by a robot or other device.
- control unit 20 specifies control information, which is information for controlling the mobile object 10 , in response to the input, and transmits the specified control information to the mobile object 10 .
- control information is information indicating the motion (straight forward motion, turning motion, etc.), speed, and the like of the moving body 10 .
- the control unit 20 may generate control information based on the operation input of the person.
- the operation input is, for example, an input by operating a handle, lever, wireless communication device (tablet or smartphone), or the like.
- the control unit 20 may generate control information from the input of the robot or other device. Also, a robot or other device may generate the control information.
- the moving body 10 according to the first embodiment includes a receiving section 30 and a route specifying section 40. As shown in FIG. 2 omits components such as drive units for driving the drive wheels 11L and 11R.
- the receiver 30 receives control information from the controller 20 .
- the route identification unit 40 identifies the route of the moving object 10 based on the control information from the control unit 20.
- the route specifying unit 40 corrects the route of the mobile body 10 to a route that avoids the dangerous area according to the distance between the mobile body 10 and the obstacle.
- obstacles are shelves, walls, other mobile objects 10, articles, desks, work machines, people, and the like.
- the dangerous area is the area that includes the perimeter of the obstacle.
- the dangerous area is a distance set to avoid contact between the moving body 10 and an obstacle, and is set to provide a predetermined distance from the obstacle. By entering the dangerous area, the risk of the moving body 10 coming into contact with an obstacle increases.
- the route identification unit 40 Based on the control information from the control unit 20, the route identification unit 40 generates control signals for controlling the drive units that drive the drive wheels 11L and 11R.
- the route specifying unit 40 calculates an offset value for correcting the control signal so that the moving body 10 travels in a direction to avoid the dangerous area. and corrects the control signal based on the calculated offset value.
- FIG. 3 is an example in which the obstacle is a wall W.
- a first distance D1 and a second distance D2 are defined as the distance between the moving body 10 and the wall W.
- the distance between the moving body 10 and the wall W is assumed to be the distance between the center point of the moving body 10 and the wall W.
- the second distance D2 is the distance that defines the danger zone.
- the dangerous area is from the obstacle to the second distance D2.
- the first distance D1 is the distance at which the moving body 10 starts correcting its route to avoid the dangerous area.
- the first distance D1 is a distance obtained by adding a predetermined margin to the second distance D2. If the first distance D1 is set short, it is possible to control the moving body 10 without correcting the route until close to the dangerous area. On the other hand, if the first distance D1 is set long, the route can be corrected so as to gradually avoid the dangerous area.
- the route identification unit 40 Based on the control information from the control unit 20, the route identification unit 40 generates a control signal for controlling the drive unit, and controls the running of the moving body 10. Further, the route specifying unit 40 monitors the distance between the mobile body 10 and the wall W while controlling the traveling of the mobile body 10 .
- the route specifying unit 40 corrects the route based on the control information from the control unit 20 so as to avoid the dangerous area including the wall W (the area from the wall W to the second distance D2).
- the route based on the control information from the control unit 20 is a route along which the moving object 10 travels straight forward due to the straight movement. Therefore, in order for the moving body 10 to avoid the dangerous area, the path specifying unit 40 modifies the path so that the moving body 10 turns to the right. Specifically, the route identifying unit 40 calculates an offset value that causes the moving body 10 to turn rightward, and corrects the control signal based on the calculated offset value. For example, the route identifying unit 40 may correct the control signal based on the offset value so that the moving body 10 changes direction in multiple times. In other words, the route specifying unit 40 may correct the control signal so that the traveling track of the moving body 10 is curved. Further, the route specifying unit 40 may correct the control signal so that the moving body avoids the dangerous area by changing direction once.
- the offset value at this time is, for example, an offset value that slows down the rotation speed of the right drive wheel 11R.
- the offset value may be obtained so that the traveling track of the moving body 10 draws a curve that asymptotically approaches the second distance D2, assuming circular motion or the like.
- the velocity of the center of gravity of the moving body 10 is fixed, and the offset value You can ask for
- the route specifying unit 40 restores the control signal based on the control information from the control unit 20 .
- the receiving unit 30 and the route identifying unit 40 are not limited to being provided inside the mobile object 10 .
- the receiving unit 30 and the route specifying unit 40 may be provided outside the mobile unit 10 as in the mobile unit control system 1A shown in FIG. Further, the receiving unit 30 and the route specifying unit 40 are not limited to being provided inside the same device, and may be provided independently of each other, for example, may be provided on the cloud.
- the receiving unit 30 receives control information from the control unit 20 (step S101), and the route identifying unit 40 identifies the route of the moving body 10 (step S102).
- the route specifying unit 40 generates control signals for controlling the driving units that drive the driving wheels 11L and 11R based on the control information from the control unit 20, and controls the travel of the mobile body 10.
- the route identification unit 40 monitors the distance between the moving body 10 and an obstacle (for example, the wall W in FIG. 2).
- the route identification unit 40 determines whether it is necessary to correct the route of the mobile object 10 according to the distance between the mobile object 10 and the obstacle (step S103). For example, the route identification unit 40 determines that the route of the mobile object 10 needs to be corrected when the distance between the mobile object 10 and the obstacle becomes shorter than the first distance D1. If it is determined in step S103 that the route of the moving body 10 does not need to be corrected (No in step S103), the process returns to step S103.
- step S103 if it is determined in step S103 that the route of the moving object 10 needs to be corrected (Yes in step S103), the route specifying unit 40 sets the route of the moving object 10 to a dangerous area including the periphery of obstacles. (step S104).
- the route specifying unit 40 specifies the route of the moving object 10 based on the control information from the control unit 20, and thereafter determines the route between the moving object 10 and the obstacle. According to the distance, the route of the moving body 10 is corrected to avoid dangerous areas including the surroundings of obstacles. Thereby, flexible control of the moving body 10 can be performed.
- the route specifying unit 40 may correct the route of the mobile object 10 when the distance between the mobile object 10 and the obstacle becomes shorter than the first distance D1.
- the dangerous area including the periphery of the obstacle (the area from the obstacle to the second distance D2) and the distance at which the mobile body 10 starts autonomous control so as to avoid the dangerous area (the second distance D2).
- a distance D1 of 1 more flexible control of the moving body 10 can be performed.
- the control by 20 can be followed until the moving body 10 exceeds the first distance D1. Further, even if an error occurs in the control of the moving body 10, the moving body 10 is controlled to avoid the dangerous area by gradually correcting the route after the moving body 10 exceeds the first distance D1. be able to. As a result, the moving body 10 can avoid the dangerous area.
- the moving body 10 can also run in a narrow passage.
- the moving object 10 avoids the dangerous area by autonomous control. Also, the movement efficiency of the moving body 10 is not lowered.
- the second embodiment is an example in which the configuration and operation of the moving body 10 according to the first embodiment are more concretely described.
- the mobile body control system 2 according to the second embodiment has the same overall configuration as the mobile body control system 1 according to the first embodiment described above, but The configuration of the moving body 10 is different. That is, the moving body 10 according to the second embodiment includes the receiving unit 30 and the route specifying unit 40 as well as the driving unit 50 .
- the route identification unit 40 also includes a distance measurement unit 41 , a correction necessity determination unit 42 , an offset value calculation unit 43 , and a control signal generation unit 44 . Components different from those of the first embodiment described above will be described below.
- the distance measurement unit 41 is a distance sensor that measures the distance between the moving body 10 and obstacles. Note that the distance measurement unit 41 may perform the above measurement periodically, or may perform the measurement when receiving an instruction from the control unit 20 . Also, the type of distance measuring sensor is not limited, and may be of any type such as optical, radio wave, and ultrasonic. Also, the distance measuring unit 41 may be provided outside the moving body 10 . In this case, the moving body 10 may obtain information on the distance between the moving body 10 and the obstacle from the distance measuring section 41 provided outside.
- the correction necessity determination section 42 determines whether or not the route of the moving body 10 needs to be corrected based on the control information from the control section 20. judge. Specifically, when the distance between the moving object 10 and the obstacle becomes shorter than the first distance D1, the correction necessity determining unit 42 determines that the route needs to be corrected. However, it is not limited to this. For example, depending on the current control information, it may be known that the moving body 10 will not reach the dangerous area. In such a case, the correction necessity determining unit 42 may determine that the route of the moving body 10 does not need to be corrected.
- the offset value calculating unit 43 corrects the control signal so that the moving object 10 avoids the dangerous area. Calculate the offset value of
- the control signal generation unit 44 normally generates control signals based on control information from the control unit 20 . However, when the correction necessity determination unit 42 determines that the operation by the control unit 20 needs to be corrected, the control signal generation unit 44 performs control based on the offset value calculated by the offset value calculation unit 43. Correct the signal.
- the control signal generated or corrected by the control signal generating section 44 is output to the driving section 50 .
- the drive unit 50 independently drives the drive wheels 11L and 11R based on the control signal output by the control signal generation unit 44. As a result, the rotation directions and rotation speeds of the drive wheels 11L and 11R can be controlled independently, so that the moving body 10 can move straight and turn.
- the receiving unit 30 receives control information from the control unit 20 (step S201), and outputs the received control information to the offset value calculating unit 43 and the control signal generating unit 44. (Step S202).
- the control signal generation unit 44 generates a control signal based on the control information (step S203), and outputs the generated control signal to the drive unit 50 (step S204). Assume that steps S201 to S204 are repeatedly performed while control information is being received from the control unit 20 .
- the distance measurement unit 41 measures the distance between the moving object 10 and the obstacle (step S205), and outputs distance information representing the measured distance to the correction necessity determination unit 42 and the offset value calculation unit 43. (step S206).
- the correction necessity determining unit 42 determines whether it is necessary to modify the route of the moving body 10 based on the control information from the control unit 20 (step S207). Specifically, when the distance between the moving object 10 and the obstacle becomes shorter than the first distance D1, the correction necessity determining unit 42 determines that the route needs to be corrected. If it is determined in step S207 that the correction of the correction is unnecessary (No in step S207), the process returns to step S207.
- step S207 if it is determined in step S207 that the route needs to be corrected (Yes in step S207), the correction necessity determining unit 42 issues a calculation instruction to calculate an offset value for correcting the control signal. is output to the offset value calculator 43 (step S208).
- the offset value calculator 43 calculates an offset value so that the moving body 10 avoids the dangerous area (step S209), and generates a control signal using the calculated offset value. Output to the unit 44 (step S210).
- control signal generation unit 44 corrects the control signal based on the offset value (step S211), and outputs the corrected control signal to the drive unit 50 (step S212).
- the route identifying section 40 generates control signals for controlling the driving section 50 based on control information from the control section 20 .
- the route specifying unit 40 causes the moving body 10 to avoid the dangerous area including the obstacle.
- a value is calculated, and the control signal is corrected based on the calculated offset value.
- the route specifying unit 40 determines the route of the moving body 10 according to the distance between the moving body 10 and the obstacle, as in the first embodiment described above. Modify the route to avoid dangerous areas including the perimeter of objects. Thereby, flexible control of the moving body 10 can be performed similarly to Embodiment 1 mentioned above.
- the first distance D1 is provided and the second distance D2 is provided to define the dangerous area. It doesn't have to be.
- the first distance D1 and the second distance D2 may be changed according to the speed of the moving body 10 instructed by the control information from the control section 20.
- FIG. 8 the route specifying unit 40 may hold a table such as that shown in FIG. 8, for example.
- a first distance D1 and a second distance D2 are set according to the speed of the moving body 10 indicated by the control information.
- the route identifying unit 40 refers to the table shown in FIG. 8 and determines the first distance D1 and the second distance D2 (that is, the dangerous area) from the speed of the moving object 10 indicated by the control information. should be specified.
- the obstacle is a moving, dynamic obstacle (for example, a person, a vehicle, or a robot), the risk of the moving body 10 colliding with the obstacle increases. Therefore, when the obstacle is a dynamic obstacle, the first distance D1 and the second distance D2 may be changed to larger values than in the case of a static obstacle.
- a moving obstacle for example, a person, a vehicle, or a robot
- the route specifying unit 40 may hold a table such as that shown in FIG. 9, for example.
- a first distance D1 and a second distance D2 are set according to the type of obstacle.
- the route identifying unit 40 may identify the first distance D1 and the second distance D2 (that is, the dangerous area) from the types of obstacles by referring to the table shown in FIG.
- the method of classifying types of obstacles is not limited to the example in FIG.
- the obstacle is a person who is a dynamic obstacle
- the risk of collision changes depending on whether the person is facing the moving body 10 or not. Therefore, when the obstacle is a person, the first distance D1 and the second distance D2 when the person does not face the moving body 10 are changed to the distance D2 when the person faces the moving body 10
- the first distance D1 and the second distance D2 may be changed to larger values than the first distance D1 and the second distance D2.
- the moving body 10 may exceed the second distance D2 and come close to the obstacle.
- the risk of the mobile body 10 colliding with the obstacle may be low.
- a turning motion is a motion that changes the running direction, so the moving body 10 is less likely to approach an obstacle beyond the distance at that time.
- the route identifying unit 40 may identify the dangerous area according to the movement of the moving object instructed by the control information.
- a third distance D3 may be provided as a distance that defines the dangerous area when the moving body 10 is turning. When the moving body 10 makes a turning motion, the dangerous area is from the obstacle to the third distance D3.
- the third distance D3 is equal to or shorter than the second distance D2. When the moving body 10 is turning and the distance between the moving body 10 and the obstacle becomes shorter than the first distance D1, the distance between the moving body 10 and the obstacle becomes the first distance D1.
- the route of the moving body 10 may be corrected so that it is longer than the distance D3 of 3.
- the route identification unit 40 may hold a table such as that shown in FIG. 10, for example.
- a first distance D1 and a second distance D2 are set according to the motion and speed of the moving object 10 instructed by the control information from the control unit 20.
- the third distance D3 may be set according to the speed of the moving body 10 instructed by the control information.
- the route specifying unit 40 refers to the table shown in FIG. 10, and if the movement of the moving body 10 instructed by the control information is a turning movement, the movement of the moving body 10 instructed by the control information A third distance D3 may be specified from the velocity.
- the route specifying unit 40 the path of the moving body 10 may be corrected so that the distance between the moving body 10 and the obstacle is longer than the third distance D3.
- the route specifying unit 40 may make the moving body 10 immobile without permitting the turning motion for safety (to avoid frightening people).
- the computer 90 includes a processor 91, a memory 92, a storage 93, an input/output interface (input/output I/F) 94, a communication interface (communication I/F) 95, and the like.
- the processor 91, the memory 92, the storage 93, the input/output interface 94, and the communication interface 95 are connected by data transmission paths for mutual data transmission/reception.
- the processor 91 is an arithmetic processing device such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit).
- the memory 92 is, for example, RAM (Random Access Memory) or ROM (Read Only Memory).
- the storage 93 is, for example, a storage device such as a HDD (Hard Disk Drive), an SSD (Solid State Drive), or a memory card. Also, the storage 93 may be a memory such as a RAM or a ROM.
- the storage 93 stores programs that implement the functions of the components of the mobile object 10 .
- the processor 91 implements the functions of the constituent elements of the mobile object 10 by executing these programs. Here, when executing each of the above programs, the processor 91 may execute these programs after reading them onto the memory 92 , or may execute them without reading them onto the memory 92 .
- the memory 92 and storage 93 also serve to store information and data held by the components of the mobile unit 10 .
- Non-transitory computer readable media include various types of tangible storage media.
- Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible discs, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical discs), CD-ROMs (Compact Disc-ROMs), CDs - R (CD-Recordable), CD-R/W (CD-ReWritable), semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM).
- the computer-readable medium can provide the program to the computer via wired channels, such as wires and optical fibers, or wireless channels.
- the input/output interface 94 is connected to a display device 941, an input device 942, a sound output device 943, and the like.
- the display device 941 is a device that displays a screen corresponding to drawing data processed by the processor 91, such as an LCD (Liquid Crystal Display), a CRT (Cathode Ray Tube) display, or a monitor.
- the input device 942 is a device that receives an operator's operational input, such as a keyboard, mouse, and touch sensor.
- the display device 941 and the input device 942 may be integrated and implemented as a touch panel.
- the sound output device 943 is a device, such as a speaker, that outputs sound corresponding to the sound data processed by the processor 91 .
- the communication interface 95 transmits and receives data to and from an external device.
- the communication interface 95 communicates with external devices via wired or wireless communication paths.
- (Appendix 1) a mobile object; a control unit that controls the moving body; with The moving body is a receiving unit that receives control information from the control unit; a route identifying unit that identifies a route of the moving object based on the control information; including The route specifying unit corrects the route of the moving body to a route that avoids a dangerous area including the surroundings of the obstacle, according to the distance between the moving body and the obstacle.
- Mobile control system. (Appendix 2) The route specifying unit performs the correction when the distance between the moving body and the obstacle becomes shorter than a first distance for the moving body to avoid the dangerous area.
- the mobile control system according to appendix 1.
- the route identification unit identifies the first distance and the dangerous area according to the type of the obstacle.
- the mobile control system according to appendix 2. (Appendix 4) The route identification unit identifies the first distance and the dangerous area according to the speed of the moving object indicated by the control information.
- the mobile control system according to appendix 2. (Appendix 5) The route identification unit identifies the dangerous area in accordance with the movement of the mobile body instructed by the control information.
- the moving body is drive wheels; a drive unit that drives the drive wheels, The route identification unit generating a control signal for controlling the drive unit based on the control information; When correcting the control information, correcting the control signal according to a route for the moving object to avoid the dangerous area; 6.
- the mobile body control system according to any one of Appendices 2 to 5.
- Appendix 7) a receiving unit that receives control information from the control unit; a route identifying unit that identifies a route of a moving object based on the control information; including The route specifying unit corrects the route of the moving body to a route that avoids a dangerous area including the surroundings of the obstacle, according to the distance between the moving body and the obstacle.
- the route specifying unit performs the correction when the distance between the moving body and the obstacle becomes shorter than a first distance for the moving body to avoid the dangerous area.
- the moving body according to appendix 7. (Appendix 9) The route identification unit identifies the first distance and the dangerous area according to the type of the obstacle.
- the mobile body according to appendix 8. (Appendix 10) The route identification unit identifies the first distance and the dangerous area according to the speed of the moving object indicated by the control information.
- the mobile body according to appendix 8. (Appendix 11) The route identification unit identifies the dangerous area in accordance with the movement of the mobile body instructed by the control information.
- the moving body according to any one of appendices 8 to 11.
- (Appendix 13) a receiving step of receiving control information from the control unit; a route specifying step of specifying a route of the moving object based on the control information; including In the route identification step, the route of the moving body is corrected to a route that avoids a dangerous area including the periphery of the obstacle, according to the distance between the moving body and the obstacle.
- Mobile control method Mobile control method.
- the moving body is drive wheels; and a drive unit that drives the drive wheels, In the route identification step, generating a control signal for controlling the drive unit based on the control information; When correcting the control information, correcting the control signal according to a route for the moving object to avoid the dangerous area; 18.
- the moving body control method according to any one of appendices 14 to 17.
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Abstract
Description
特許文献1には、上述した判断基準として、移動体の経路と障害物との距離を用いることが記載されている。しかし、上述した判断基準の距離を、余裕をもって設定した場合には、移動体の柔軟な制御を行うことができない。例えば、狭い通路では、移動体と障害物(例えば、壁、柱など)との距離が必然的に短くなるため、上述した判断基準の距離を、余裕をもって設定することがそもそもできない。そのため、移動体を、狭い通路で走行させることが難しくなる。
移動体と、
前記移動体を制御する制御部と、
を備え、
前記移動体は、
前記制御部から制御情報を受信する受信部と、
前記制御情報に基づき前記移動体の経路を特定する経路特定部と、
を含み、
前記経路特定部は、前記移動体と障害物との距離に応じて、前記移動体の経路を、前記障害物の周囲を含む危険領域を回避する経路に修正する。
制御部から制御情報を受信する受信部と、
前記制御情報に基づき移動体の経路を特定する経路特定部と、
を含み、
前記経路特定部は、前記移動体と障害物との距離に応じて、前記移動体の経路を、前記障害物の周囲を含む危険領域を回避する経路に修正する。
制御部から制御情報を受信する受信ステップと、
前記制御情報に基づき移動体の経路を特定する経路特定ステップと、
を含み、
前記経路特定ステップでは、前記移動体と障害物との距離に応じて、前記移動体の経路を、前記障害物の周囲を含む危険領域を回避する経路に修正する。
まず、図1を参照して、本実施の形態1に係る移動体制御システム1の構成例について説明する。図1に示されるように、本実施の形態1に係る移動体制御システム1は、移動体10及び制御部20を備えている。なお、図1では、移動体10は、平面視で見た平面図として示されている。
また、移動体10は、左右一対の2つの駆動輪11L,11Rを備え、直進動作、旋回動作などが可能である。2つの駆動輪11L,11Rは、それぞれ独立に駆動可能である。なお、直進動作は、少なくとも前方向に直進可能であれば良く、後方向へ直進可能かどうかは任意で良い。
経路特定部40は、制御部20からの制御情報に基づいて、移動体10の経路を特定する。そして、経路特定部40は、移動体10と障害物との距離に応じて、移動体10の経路を、危険領域を回避する経路に修正する。例えば、障害物は、棚、壁、他の移動体10、物品、机、作業機械、人等である。をここで、危険領域とは、障害物の周囲を含む領域である。危険領域は、移動体10と障害物との接触を回避するために設定する距離で、障害物から所定の距離を設けるために設定する。危険領域に侵入することで、移動体10が障害物に接触する危険性が高まる。
図3に示されるように、移動体10と壁Wとの距離として、第1の距離D1及び第2の距離D2が定義される。なお、図3の例では、移動体10と壁Wとの距離は、移動体10の中心点と壁Wとの距離であるとする。
第1の距離D1は、移動体10が危険領域を回避するために、経路の修正を開始する距離である。また、第1の距離D1は、第2の距離D2に所定のマージンを追加した距離である。第1の距離D1を短く設定すると、危険領域の間近まで経路の修正を行わずに移動体10を制御することができる。一方、第1の距離D1を長く設定すると、危険領域の回避を徐々に行うように経路を修正することができる。
図5に示されるように、まず、受信部30は、制御部20から制御情報を受信し(ステップS101)、経路特定部40は、移動体10の経路を特定する(ステップS102)。以降、経路特定部40は、制御部20からの制御情報に基づいて、駆動輪11L,11Rを駆動する駆動部を制御する制御信号を生成して、移動体10の走行を制御する。また、経路特定部40は、移動体10と障害物(例えば、図2の壁W)との距離を監視する。
このように、障害物の周辺を含む危険領域(障害物から第2の距離D2までの領域)と、移動体10が危険領域を回避するように移動体10が自律制御を開始する距離(第1の距離D1)と、を設けることで、移動体10のさらなる柔軟な制御を行うことができる。
また、移動体10が第1の距離D1を越えてから少しずつ経路を修正することで、移動体10の制御に誤差が生じても、移動体10が危険領域を回避するように制御を行うことができる。その結果、移動体10が危険領域を回避できる。
本実施の形態2は、上述した実施の形態1に係る移動体10の構成及び動作をより具体化した例である。
図7に示されるように、まず、受信部30は、制御部20から制御情報を受信し(ステップS201)、受信された制御情報を、オフセット値算出部43及び制御信号生成部44に出力する(ステップS202)。制御信号生成部44は、制御情報に基づいて制御信号を生成し(ステップS203)、生成された制御信号を駆動部50に出力する(ステップS204)。ステップS201~S204は、制御部20から制御情報を受信している間は、繰り返し行われるものとする。
上述した実施の形態では、第1の距離D1を設けると共に、危険領域を規定するために第2の距離D2を設けているが、第1の距離D1及び第2の距離D2は、固定値でなくても良い。
そのため、制御情報によって指示された移動体10の速度が速い場合には、第1の距離D1及び第2の距離D2をより大きな値に変更しても良い。
上述した動作を実現するため、経路特定部40は、例えば、図8に示されるようなテーブルを保持しても良い。図8に示されるテーブルには、制御情報によって指示された移動体10の速度に応じた第1の距離D1及び第2の距離D2が設定されている。この場合、経路特定部40は、図8に示されるテーブルを参照して、制御情報によって指示された移動体10の速度から、第1の距離D1及び第2の距離D2(すなわち、危険領域)を特定すれば良い。
そのため、障害物が動的な障害物である場合には、第1の距離D1及び第2の距離D2を静的な障害物の場合より大きな値に変更しても良い。
そのため、障害物が、移動体10が接近しても良い静的な障害物である場合には、第1の距離D1及び第2の距離D2を動的な障害物の場合より小さな値に変更しても良い。
上述した動作を実現するため、経路特定部40は、例えば、図9に示されるようなテーブルを保持しても良い。図9に示されるテーブルには、障害物の種類に応じた第1の距離D1及び第2の距離D2が設定されている。この場合、経路特定部40は、図9に示されるテーブルを参照して、障害物の種類から、第1の距離D1及び第2の距離D2(すなわち、危険領域)を特定すれば良い。
続いて、図11を参照して、上述した実施の形態1に係る移動体10の一部を実現するコンピュータ90のハードウェア構成について説明する。
(付記1)
移動体と、
前記移動体を制御する制御部と、
を備え、
前記移動体は、
前記制御部から制御情報を受信する受信部と、
前記制御情報に基づき前記移動体の経路を特定する経路特定部と、
を含み、
前記経路特定部は、前記移動体と障害物との距離に応じて、前記移動体の経路を、前記障害物の周囲を含む危険領域を回避する経路に修正する、
移動体制御システム。
(付記2)
前記経路特定部は、前記移動体と前記障害物との距離が、前記移動体が前記危険領域を回避するための第1の距離よりも短くなった場合、前記修正を行う、
付記1に記載の移動体制御システム。
(付記3)
前記経路特定部は、前記障害物の種類に応じて、前記第1の距離及び前記危険領域を特定する、
付記2に記載の移動体制御システム。
(付記4)
前記経路特定部は、前記制御情報によって指示された前記移動体の速度に応じて、前記第1の距離及び前記危険領域を特定する、
付記2に記載の移動体制御システム。
(付記5)
前記経路特定部は、前記制御情報によって指示された前記移動体の動作に応じて、前記危険領域を特定する、
付記1又は2に記載の移動体制御システム。
(付記6)
前記移動体は、
駆動輪と、
前記駆動輪を駆動する駆動部と、を含み、
前記経路特定部は、
前記制御情報に基づいて、前記駆動部を制御する制御信号を生成し、
前記制御情報を修正する場合、前記移動体が前記危険領域を回避する経路に応じて、前記制御信号を補正する、
付記2から5のいずれか1項に記載の移動体制御システム。
(付記7)
制御部から制御情報を受信する受信部と、
前記制御情報に基づき移動体の経路を特定する経路特定部と、
を含み、
前記経路特定部は、前記移動体と障害物との距離に応じて、前記移動体の経路を、前記障害物の周囲を含む危険領域を回避する経路に修正する、
移動体。
(付記8)
前記経路特定部は、前記移動体と前記障害物との距離が、前記移動体が前記危険領域を回避するための第1の距離よりも短くなった場合、前記修正を行う、
付記7に記載の移動体。
(付記9)
前記経路特定部は、前記障害物の種類に応じて、前記第1の距離及び前記危険領域を特定する、
付記8に記載の移動体。
(付記10)
前記経路特定部は、前記制御情報によって指示された前記移動体の速度に応じて、前記第1の距離及び前記危険領域を特定する、
付記8に記載の移動体。
(付記11)
前記経路特定部は、前記制御情報によって指示された前記移動体の動作に応じて、前記危険領域を特定する、
付記7又は8に記載の移動体。
(付記12)
駆動輪と、
前記駆動輪を駆動する駆動部と、をさらに含み、
前記経路特定部は、
前記制御情報に基づいて、前記駆動部を制御する制御信号を生成し、
前記制御情報を修正する場合、前記移動体が前記危険領域を回避する経路に応じて、前記制御信号を補正する、
付記8から11のいずれか1項に記載の移動体。
(付記13)
制御部から制御情報を受信する受信ステップと、
前記制御情報に基づき移動体の経路を特定する経路特定ステップと、
を含み、
前記経路特定ステップでは、前記移動体と障害物との距離に応じて、前記移動体の経路を、前記障害物の周囲を含む危険領域を回避する経路に修正する、
移動体制御方法。
(付記14)
前記経路特定ステップでは、前記移動体と前記障害物との距離が、前記移動体が前記危険領域を回避するための第1の距離よりも短くなった場合、前記修正を行う、
付記13に記載の移動体制御方法。
(付記15)
前記経路特定ステップでは、前記障害物の種類に応じて、前記第1の距離及び前記危険領域を特定する、
付記14に記載の移動体制御方法。
(付記16)
前記経路特定ステップでは、前記制御情報によって指示された前記移動体の速度に応じて、前記第1の距離及び前記危険領域を特定する、
付記14に記載の移動体制御方法。
(付記17)
前記経路特定ステップでは、前記制御情報によって指示された前記移動体の動作に応じて、前記危険領域を特定する、
付記13又は14に記載の移動体制御方法。
(付記18)
前記移動体は、
駆動輪と、
前記駆動輪を駆動する駆動部と、を含んでおり、
前記経路特定ステップでは、
前記制御情報に基づいて、前記駆動部を制御する制御信号を生成し、
前記制御情報を修正する場合、前記移動体が前記危険領域を回避する経路に応じて、前記制御信号を補正する、
付記14から17のいずれか1項に記載の移動体制御方法。
10 移動体
11L,11R 駆動輪
20 制御部
30 受信部
40 経路特定部
41 距離計測部
42 修正要否判定部
43 オフセット値算出部
44 制御信号生成部
50 駆動部
90 コンピュータ
91 プロセッサ
92 メモリ
93 ストレージ
94 入出力インタフェース
941 表示装置
942 入力装置
943 音出力装置
95 通信インタフェース
D1 第1の距離
D2 第2の距離
D3 第3の距離
Claims (18)
- 移動体と、
前記移動体を制御する制御部と、
を備え、
前記移動体は、
前記制御部から制御情報を受信する受信部と、
前記制御情報に基づき前記移動体の経路を特定する経路特定部と、
を含み、
前記経路特定部は、前記移動体と障害物との距離に応じて、前記移動体の経路を、前記障害物の周囲を含む危険領域を回避する経路に修正する、
移動体制御システム。 - 前記経路特定部は、前記移動体と前記障害物との距離が、前記移動体が前記危険領域を回避するための第1の距離よりも短くなった場合、前記修正を行う、
請求項1に記載の移動体制御システム。 - 前記経路特定部は、前記障害物の種類に応じて、前記第1の距離及び前記危険領域を特定する、
請求項2に記載の移動体制御システム。 - 前記経路特定部は、前記制御情報によって指示された前記移動体の速度に応じて、前記第1の距離及び前記危険領域を特定する、
請求項2に記載の移動体制御システム。 - 前記経路特定部は、前記制御情報によって指示された前記移動体の動作に応じて、前記危険領域を特定する、
請求項1又は2に記載の移動体制御システム。 - 前記移動体は、
駆動輪と、
前記駆動輪を駆動する駆動部と、を含み、
前記経路特定部は、
前記制御情報に基づいて、前記駆動部を制御する制御信号を生成し、
前記制御情報を修正する場合、前記移動体が前記危険領域を回避する経路に応じて、前記制御信号を補正する、
請求項2から5のいずれか1項に記載の移動体制御システム。 - 制御部から制御情報を受信する受信部と、
前記制御情報に基づき移動体の経路を特定する経路特定部と、
を含み、
前記経路特定部は、前記移動体と障害物との距離に応じて、前記移動体の経路を、前記障害物の周囲を含む危険領域を回避する経路に修正する、
移動体。 - 前記経路特定部は、前記移動体と前記障害物との距離が、前記移動体が前記危険領域を回避するための第1の距離よりも短くなった場合、前記修正を行う、
請求項7に記載の移動体。 - 前記経路特定部は、前記障害物の種類に応じて、前記第1の距離及び前記危険領域を特定する、
請求項8に記載の移動体。 - 前記経路特定部は、前記制御情報によって指示された前記移動体の速度に応じて、前記第1の距離及び前記危険領域を特定する、
請求項8に記載の移動体。 - 前記経路特定部は、前記制御情報によって指示された前記移動体の動作に応じて、前記危険領域を特定する、
請求項7又は8に記載の移動体。 - 駆動輪と、
前記駆動輪を駆動する駆動部と、をさらに含み、
前記経路特定部は、
前記制御情報に基づいて、前記駆動部を制御する制御信号を生成し、
前記制御情報を修正する場合、前記移動体が前記危険領域を回避する経路に応じて、前記制御信号を補正する、
請求項8から11のいずれか1項に記載の移動体。 - 制御部から制御情報を受信する受信ステップと、
前記制御情報に基づき移動体の経路を特定する経路特定ステップと、
を含み、
前記経路特定ステップでは、前記移動体と障害物との距離に応じて、前記移動体の経路を、前記障害物の周囲を含む危険領域を回避する経路に修正する、
移動体制御方法。 - 前記経路特定ステップでは、前記移動体と前記障害物との距離が、前記移動体が前記危険領域を回避するための第1の距離よりも短くなった場合、前記修正を行う、
請求項13に記載の移動体制御方法。 - 前記経路特定ステップでは、前記障害物の種類に応じて、前記第1の距離及び前記危険領域を特定する、
請求項14に記載の移動体制御方法。 - 前記経路特定ステップでは、前記制御情報によって指示された前記移動体の速度に応じて、前記第1の距離及び前記危険領域を特定する、
請求項14に記載の移動体制御方法。 - 前記経路特定ステップでは、前記制御情報によって指示された前記移動体の動作に応じて、前記危険領域を特定する、
請求項13又は14に記載の移動体制御方法。 - 前記移動体は、
駆動輪と、
前記駆動輪を駆動する駆動部と、を含んでおり、
前記経路特定ステップでは、
前記制御情報に基づいて、前記駆動部を制御する制御信号を生成し、
前記制御情報を修正する場合、前記移動体が前記危険領域を回避する経路に応じて、前記制御信号を補正する、
請求項14から17のいずれか1項に記載の移動体制御方法。
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