Patent Application
20230341862
The present disclosure relates to an autonomous movement device, an autonomous movement method, and a program.
Conventionally, mobile robots have been used for article transportation in factories, guidance of persons in facilities, and the like. As a method for setting a movement path for such a mobile robot, a method in which a person teaches a movement path to the mobile robot has been used. For example, in Patent Literature 1, a movement path from a start point to a destination is set by causing the mobile robot to detect a person and follow the person until reaching the destination.
Although the mobile robot described in Patent Literature 1 is capable of setting a route by following a person, the routes that can be set include only a one-way route from a start point to a destination at the time of route setting. In order for the mobile robot to, for example, return from the destination to the start point, the mobile robot is required to be taught a return route by a person again.
The present disclosure has been made in consideration of the above-described situation, and an objective of the present disclosure is to provide an autonomous movement device and the like that are capable of using a taught route also in the opposite direction to the direction of movement at the time when the route was taught.
In order to achieve the above-described objective, an autonomous movement device according to a first aspect of the present disclosure includes:
The control means may,
The control means may,
The autonomous movement device further includes operation acquisition means for acquiring a user operation,
The movement means may,
The control means may,
The control means may,
The control means may,
The control means may,
The control means may
The detection means may detect a retro reflective material installed in surroundings, and
The control means may
The control means may
The control means may
The control means may
In addition, an autonomous movement method according to a second aspect of the present disclosure includes:
In addition, a program according to a third aspect of the present disclosure causes a computer to execute:
The present disclosure enables a taught route to be used also in the opposite direction to the direction of movement at the time when the route was taught.
An autonomous movement device according to an embodiment of the present disclosure is described below with reference to the drawings. Note that, in the drawings, the same or equivalent constituent elements are designated by the same reference numerals.
The autonomous movement device according to the embodiment of the present disclosure is a device that is taught a movement path and autonomously moves based on the taught movement path. An example of a functional configuration and an example of an external appearance of an autonomous movement device 100 according to Embodiment 1 are illustrated in
As illustrated in
The processor 10 includes a central processing unit (CPU) and the like and achieves functions of respective units (a surrounding information acquirer 11, a route generator 12, a movement path generator 13, a surrounding information converter 14, and a movement controller 15), which are described later, by executing programs memorized in the storage 20. The processor 10 also includes a clock (not illustrated) and is capable of acquiring a current date and time and counting elapsed time. The processor 10 functions as control means.
The storage 20 includes a read only memory (ROM), a random access memory (RAM), and the like, and a portion or all of the ROM is constituted by an electrically rewritable memory (a flash memory or the like). In the ROM, programs that the CPU of the processor 10 executes and data that are required in advance for the CPU to execute the programs are memorized. In the RAM, data that are generated or changed during execution of programs are memorized. The storage 20 functions as storage means. The storage 20 also includes a point storage 21 and a route storage 22, which are described later, as functional constituent elements.
The sensor 31 includes a scanner-type LiDER (Light Detection and Ranging) and the like serving as sensing devices and detects objects, such as a person, a wall, an obstacle, and a retro reflective material, that exist in the surroundings of the autonomous movement device 100 (in the present embodiment, in the right, left, and front directions of the autonomous movement device 100) as a group of points (point cloud). The sensor 31 radiates a laser 312 from a light emitter that is disposed inside an optical window 311, as illustrated in
The sensor 31 has the rotational axis 313 of scan extending in the vertical direction, as illustrated in
The sensor 31, for example, detects how far each of locations at which a wall 71 and a retro reflective material 63, a person 61, and an obstacle 72 and a retro reflective material 64 exist on the left side, in front, and on the right side of the autonomous movement device 100, respectively, is from the autonomous movement device 100, as illustrated in
In addition, the processor 10 recognizes an object that the sensor 31 detected, based on information (distance to the object, received light intensity, and the like) that the processor 10 acquired from the sensor 31. For example, the processor 10 recognizes that an object is a retro reflective material (a so-called retro reflective materials) when a condition for recognizing the object as a retro reflective material, such as a condition requiring received light intensity to be more intense than a predetermined standard intensity, is satisfied. In addition, the processor 10 recognizes that an object is a person when a condition for recognizing the object as a person, such as a condition requiring width of the object to be approximately a width of a person (for example, 30 cm to 1 m), is satisfied. Further, the processor 10 recognizes that an object is a wall when a condition for recognizing the object as a wall, such as a condition requiring width of the object to be longer than a predetermined standard value, is satisfied. Furthermore, the processor 10 recognizes that an object is an obstacle when any conditions for recognizing the object as a retro reflective material, a person, and a wall are not satisfied. The processor 10 is capable of detecting more various objects in a stable manner by performing initial detection based on information acquired from the sensor 31 and tracking a detected object and, in the case of having lost sight of a detected object in the tracking, returning to a tracking state (returning from a tracking lost state). Note that the recognition method of an object described above is only an example and another recognition method may be used.
A retro reflective material that is one of objects that the sensor 31 detects is made of a retro reflective material and, when being irradiated with laser light, reflects the laser light in a direction in which the laser light is incident. Therefore, when received light intensity that the sensor 31 detected is higher than the predetermined standard intensity, the processor 10 can recognize that a retro reflective material exists in a direction at a scan angle at that moment in the scan by the sensor 31. For example, at a place with few features, such as a long corridor, little change occurs in information detected by the sensor 31 even when the autonomous movement device 100 moves along the corridor in the longitudinal direction, and it becomes difficult for the processor 10 to recognize how far the autonomous movement device 100 has moved in the longitudinal direction. Even in such a case, installing the retro reflective materials 63 on the wall 71 enables the processor 10 to recognize how far the autonomous movement device 100 has moved along the corridor in the longitudinal direction, based on the number of and an arrangement of detected retro reflective materials, as illustrated in
Note that the retro reflective materials 63 are installed at locations that are irradiated with laser light radiated from the sensor 31 (in the present embodiment, locations having approximately the same height as the height of the sensor 31). In addition, the retro reflective material can be installed by applying paint including a retro reflective materials to a wall or the like, sticking a pressure sensitive adhesive tape including a retro reflective materials on a wall or the like, or suspending a rope or the like including a retro reflective materials (which may be produced by applying paint including a retro reflective materials to a general rope or the like or winding a pressure sensitive adhesive tape including a retro reflective materials around a general rope or the like) in the air.
Returning to
Note that the operation acquirer 32 may be configured into an operation acquirer through which the user can, using physical buttons instead of a touch panel, provide instructions on teaching start, teaching end, playback start/end, playback correction start/end, reverse playback start/end, auto-determination playback start/end, loop playback start/end, and the like. Such physical buttons have high visibility at an outdoor work site or the like and improve convenience. Note that the reverse playback is playback processing that, by reproducing, in the backward direction, memorized data that is finally acquired through teaching, causes the autonomous movement device 100 to move in such a manner as to return from the teaching end point to the teaching start point. In addition, the auto-determination playback is playback processing performed to cause the autonomous movement device 100 to recognize the self-location. Further, the loop playback is playback processing that, by reproducing memorized data repeatedly, causes the autonomous movement device 100 to perform movement from the teaching start point to the teaching end point repeatedly (in order to normally perform the loop playback, it is required to perform teaching in such a way that the teaching end point coincides with the teaching start point).
In addition, types of teaching include not only target following teaching in which teaching is performed by causing the autonomous movement device 100 to follow a following target but also manual operation teaching in which teaching is performed by manually operating the autonomous movement device 100 using the joystick or the like of the operation acquirer 32. The user can also provide an instruction on which one of the target following teaching and the manual operation teaching is to be performed, through the operation acquirer 32. Although processing of the target following teaching is mainly described hereinbelow, since only difference between the target following teaching and the manual operation teaching is whether teaching control data is acquired by following a following target or acquired through the operation acquirer 32, the present disclosure is applicable to not only the target following teaching but also teaching through other arbitrary motion (teaching through hand-pushing travel, teaching based on input from an external system, or the like) including the manual operation teaching.
Returning to
For example, when diameter and the number of rotations of each of the wheels 41 are denoted by D and C, respectively, the amount of translational movement covered by ground contact points of the wheel 41 is calculated by π·D·C. In addition, when the diameter of each of the wheels 41 is denoted by D, the distance between the wheels 41 is denoted by I, the number of rotations of the right wheel 41 is denoted by CR, and the number of rotations of the left wheel 41 is denoted by CL, the amount of rotation in the direction change is calculated by 360°×D×(CL−CR)/(2×I) (when the clockwise rotation is defined to be positive). The driven wheels 40 also functions as mechanical odometry by respectively adding the amounts of translational movement and the amounts of rotation successively, which enables the processor 10 to grasp the location (a location and direction based on a location and direction at the time of movement start) of the autonomous movement device 100.
Note that the autonomous movement device 100 may be configured to include crawlers instead of the wheels 41 or may be configured to include a plurality of (for example, two) legs and perform movement by walking using the legs. In these cases, as with the case of the wheels 41, it is also possible to measure a location and direction of the autonomous movement device 100 based on motion of the two crawlers, motion of the legs, or the like.
In addition, as illustrated in
Next, a functional configuration of the processor 10 of the autonomous movement device 100 is described. As illustrated in
The surrounding information acquirer 11 recognizes an object that the sensor 31 detected and acquires, as information about the object, type (classification as a person, an obstacle, a retro reflective material, or the like), distance, direction, and the like. In addition, when an instruction to start teaching is input to the operation acquirer 32, the surrounding information acquirer 11 recognizes a person existing in front of the autonomous movement device 100 as a following target.
The route generator 12 generates route data of a surrounding environment around the autonomous movement device 100 based on point cloud data detected by the sensor 31 (for example, a surrounding environment indicating an existence situation of objects (a wall, an obstacle, a retro reflective material, and the like) around the autonomous movement device 100 including locations (distance, direction, and the like) and the like of the objects). Any data format can be employed for the route data. The route generator 12 may generate route data by, for example, simultaneous localization and mapping (SLAM), using data detected by the sensor 31. The route generator 12 may also construct route data by, every time the autonomous movement device 100 moves a predetermined distance (for example, 10 cm), recording data detected by the sensor 31 (a surrounding environment indicating an existence situation of objects around the autonomous movement device 100) in the route storage 22, which is described later, in conjunction with information about a present location (self-location) of the autonomous movement device 100. In addition, the route generator 12 may acquire information about the present location (self-location) of the autonomous movement device 100, using values of the mechanical odometry obtainable from the driven wheels 40.
When the movement path generator 13 is provided with a destination, the movement path generator 13 generates a movement path from the present location of the autonomous movement device 100 to the provided destination based on the route data recorded in the route storage 22. Any generation method can be employed for the generation of a movement path. For example, when the present location of the autonomous movement device 100 is a location at which the autonomous movement device 100 was instructed to start teaching in past target following memorizing processing and the destination is a location at which the autonomous movement device 100 was instructed to end the teaching in the past target following memorizing processing, the movement path generator 13 may generate a route (teaching route) along which the autonomous movement device 100 followed a following target in the past target following memorizing processing as a movement path. In this case, the movement path generator 13 is to memorize a route along which the autonomous movement device 100 moved in the route data recorded in the route storage 22 as a movement path. In addition, the teaching route is not limited to a route along which the autonomous movement device 100 followed a following target, and, for example, a route along which the autonomous movement device 100 moved while being manually operated by use of the operation acquirer 32 may be set as a teaching route.
The surrounding information converter 14 converts information about objects in the surroundings of the autonomous movement device 100 (a surrounding environment) recorded in the route storage 22 to data in the backward direction. Data conversion performed by the surrounding information converter 14 is described below using
The movement controller 15 controls the driven wheels 40 to cause the autonomous movement device 100 to move. For example, the movement controller 15 controls the driven wheels 40 in such a way that the autonomous movement device 100 follows a following target during a period from when an instruction to start teaching is input until an instruction to end teaching is input to the operation acquirer 32. In addition, when an instruction to start playback is input to the operation acquirer 32, the movement controller 15 controls the driven wheels 40 in such a way that the autonomous movement device 100 moves along a movement path that the movement path generator 13 generated. Further, when the operation mode is a manual movement mode, the movement controller 15 controls the driven wheels 40 based on an instruction from the user that is acquired by the operation acquirer 32.
Next, a functional configuration of the storage 20 is described. The storage 20 includes the point storage 21 and the route storage 22.
In the point storage 21, data for determining the location (for example, a movement start location and a movement end location (destination)) of the autonomous movement device 100, based on a user operation acquired by the operation acquirer 32, are registered. For example, when an instruction to start teaching is input to the operation acquirer 32, a surrounding environment that is detected by the sensor 31 at the location and direction of the autonomous movement device 100 at that moment are registered in the point storage 21 as point data (first point data) at a teaching start point (first point).
In the route storage 22, route data that is generated by the route generator 12 based on a surrounding environment detected by the sensor 31 is recorded. A route (teaching route) at the time when the autonomous movement device 100 follows a following target in target following memorizing processing, which is described later, is also memorized in the route storage 22.
Next, the target following memorizing processing of the autonomous movement device 100 is described below with reference to
First, the processor 10 determines whether or not an instruction to start teaching has been input from the operation acquirer 32 (step S101). When no instruction to start teaching has been input (step S101; No), the process returns to step S101. When an instruction to start teaching is input (step S101; Yes), the processor 10 registers a surrounding environment detected by the sensor 31 in the point storage 21 as point data (first point data) at a teaching start point (first point) (step S102). Note that, when route data have already been recorded in the route storage 22, the processor 10 grasps to what location in the route data the teaching start point corresponds.
The surrounding information acquirer 11 recognizes the user existing in front of the autonomous movement device 100 as a following target by the sensor 31 (step S103). Step S103 is also referred to as a following target recognition step. Note that steps S102 and S103 do not have to be executed in this order and, for example, step S102 may be executed after step S103 has been executed. In addition, when the manual operation teaching is performed, the processing in step S103 is unnecessary.
Next, the processor 10 acquires data for controlling the driven wheels 40 to cause the autonomous movement device 100 to follow the following target recognized by the surrounding information acquirer 11 as teaching control data, the route generator 12 generates route data of a surrounding environment around the autonomous movement device 100 while the movement controller 15 controls the driven wheels 40 in accordance with the teaching control data (step S104), and the route generator 12 records the route data in the route storage 22. Note that, in the case of manual operation teaching, the processor 10 acquires teaching control data for controlling the driven wheels 40 from the operation acquirer 32. Among the processing in step S104, the processing in which the processor 10 acquires the teaching control data is referred to as a teaching control data acquisition step and the processing in which the route generator 12 generates route data is referred to as a route generation step. Note that, when retro reflective materials are recognized by the surrounding information acquirer 11, the route generator 12 also records the locations and the number of the retro reflective materials in the route storage 22 by including the locations and the number in the route data.
Even at a position with few features, such as a long corridor, installing retro reflective materials at some places (sticking the retro reflective materials on a wall or the like) enables information about locations at which the retro reflective materials exist and the number of the retro reflective materials to be recorded in the route storage 22. This configuration enables the processor 10 to match recognized information about retro reflective materials with the recorded information about the locations and the number of the retro reflective materials and thereby grasp the self-location of the autonomous movement device 100 more accurately at the time of playback processing, which is described later.
In addition, in step S104, the movement path generator 13 records, in the route storage 22, a route itself along which the autonomous movement device 100 follows the following target as a teaching route. The processing is referred to as a movement path storage step. In step S104, the movement controller 15 controls the driven wheels 40 in such a way that, even when the following target moves backwards, the autonomous movement device 100 does not move backwards (for example, stops). That is, the movement controller 15 is configured not to instruct the driven wheels 40 to move backwards while the autonomous movement device 100 follows the following target. This is because, when a section in which backward movement processing is performed is included in a teaching route that is used as a movement path, there is a possibility that the movement processing becomes complex at the time of playback processing, which is described later. Therefore, in the case of not only the target following teaching but also the manual operation teaching, the movement controller 15 may control the driven wheels 40 to prevent the autonomous movement device 100 from moving backwards.
Next, the processor 10 determines whether or not an instruction to end teaching has been input from the operation acquirer 32 (step S105). When no instruction to end teaching has been input (step S105; No), the process returns to step S104. When an instruction to end teaching is input (step S105; Yes), the processor 10 registers a surrounding environment detected by the sensor 31 in the point storage 21 as point data (second point data) at a teaching end point (second point) (step S106), and the process returns to step S101.
The target following memorizing processing was described above. The target following memorizing processing causes final memorized data (data for controlling the autonomous movement device 100 to move from the teaching start point to the teaching end point along the teaching route) to be generated. Note that, although, in the above description, the teaching start point and the teaching end point were described as a first point and a second point, respectively, the description only applies to a case where such points are registered in the point storage 21 for the first time. For example, when, after the first point and the second point were registered in the point storage 21, the process returns to step S101 and an instruction to start teaching is further input, a teaching start point and a teaching end point in the new teaching are registered as a third point and a fourth point, respectively, in the point storage 21. As described above, a point at which an instruction to start teaching is input and a point at which an instruction to end teaching is input are to be registered in the point storage 21 in a cumulative manner.
An example of the target following memorizing processing is described below with reference to
Although, when the user 65 subsequently walks to a second point 82, the autonomous movement device 100, following the user 65, also moves to the second point 82, the route generator 12 generates route data of a surrounding environment based on data detected by the sensor 31 (for example, surrounding environments 60b, 60c, and 60d) during movement (step S104) and records the generated route data in the route storage 22.
When the user 65 inputs an instruction to end teaching in the operation acquirer 32 at the second point 82 (step S105), the processor 10 registers a surrounding environment 60e detected by the sensor 31 in the point storage 21 as second point data (step S105). In addition, the processor 10 also records a route from the first point 81 to the second point 82 (first teaching route) in the route storage 22.
It is assumed that, subsequently, the autonomous movement device 100 receives an instruction to start teaching from a user 66 while the autonomous movement device 100 faces in a direction toward a fourth point 84 at a location of a third point 83 (step S101). Then, the processor 10 registers a surrounding environment 60h detected by the sensor 31 in the point storage 21 as third point data (step S102). The surrounding information acquirer 11 recognizes the user 66 as a following target (step S103).
Although, when the user 66 subsequently walks to the fourth point 84, the autonomous movement device 100, following the user 66, also moves to the fourth point 84, the route generator 12 generates route data of a surrounding environment based on data detected by the sensor 31 (for example, a surrounding environment 60i) during movement (step S104) and records the generated route data in the route storage 22.
When the user 66 inputs an instruction to end teaching in the operation acquirer 32 at the fourth point 84 (step S105), the processor 10 registers a surrounding environment 60j detected by the sensor 31 in the point storage 21 as fourth point data (step S105). In addition, the processor 10 also records a route from the third point 83 to the fourth point 84 (second teaching route) in the route storage 22.
In this way, point data of respective points are registered in the point storage 21, and route data and teaching routes are recorded in the route storage 22.
Next, the playback processing of the autonomous movement device 100 is described below with reference to
First, the processor 10 determines whether or not an instruction to start playback has been input from the operation acquirer 32 (step S201). When no instruction to start playback has been input (step S201; No), the process returns to step S201. When an instruction to start playback is input (step S201; Yes), the processor 10 determines whether or not the present location of the autonomous movement device 100 can be acquired (step S202).
In this processing, any acquisition method can be employed for the acquisition of the present location. For example, the processor 10 may acquire the present location of the autonomous movement device 100, using SLAM. The processor 10 may also acquire the present location by comparing data acquired by the sensor 31 with data of the respective points registered in the point storage 21. A supplementary description on a method for acquiring the present location by comparing data acquired by the sensor 31 with data of the respective points registered in the point storage 21 is provided below.
Since, in whatever direction the autonomous movement device 100 faces, there occurs some degree of overlap between angular ranges of data acquired by the sensor 31, matching overlapping portions with each other enables whether or not the present location is a point registered in the point storage 21 to be determined and, when the present location is one of the registered points, also enables which one of the registered points the present location is to be determined. For example, a case is assumed where the sensor 31 has acquired data in an angular range of 270 degrees and the present location of the autonomous movement device 100 is the second point 82.
In this case, as illustrated in
In this way, the processor 10 is capable of acquiring which one of the points registered in the point storage 21 the present location of the autonomous movement device 100 is by comparing a surrounding environment detected by the sensor 31 with data of the respective points registered in the point storage 21. Note that, when data detected by the sensor 31 do not match with data of any point registered in the point storage 21, it is impossible to acquire the present location and the determination in step S202 results in No.
Returning to step S202 in
The movement path generator 13 generates a movement path from the present location of the autonomous movement device 100 to a destination (step S204). Step S204 is also referred to as a movement path generation step. In this processing, any point registered in the point storage 21 can be selected as the destination. When only two points are registered in the point storage 21 and one the two points is the present location, the destination is the other point, which is not the present location. In the other cases, the user is required to input which one of the registered points (except the present location) is selected as a destination, from the operation acquirer 32.
The movement path generator 13 generates a movement path from the present location to the destination based on the route data recorded in the route storage 22. Any generation method can be employed for the generation of a movement path. The movement path generator 13 may generate a shortest route from the present location to the destination, using a path acquired from the route data along which the autonomous movement device 100 can move or may generate a movement path based on a teaching route that was recorded at the time of target following memorizing processing. In addition, when, for example, the present location is the teaching end point and the destination is the teaching start point, the movement path generator 13 may generate, as a movement path, a route that tracks the teaching route recorded at the time of target following memorizing processing in the backward direction. The following description is made assuming that the movement path generator 13 generates a movement path, using a teaching route and a route that tracks the teaching route in the backward direction.
When the movement path generator 13 generates, as a movement path, a route that tracks a teaching route recorded at the time of target following memorizing processing in the backward direction, the surrounding information converter 14 converts, among route data related to the teaching route memorized in the route storage 22, a surrounding environment detected by the sensor 31 to data in the case where the surrounding environment is detected in the backward direction (backward direction data) and records the converted data in the route storage 22. The backward direction data enables the autonomous movement device 100 to easily track the teaching route in the backward direction.
When a movement path is generated by the movement path generator 13 in step S204, the movement controller 15 controls the driven wheels 40 to cause the autonomous movement device 100 to move along the movement path (step S205). Step S205 is also referred to as a route movement step. During this movement, the processor 10 grasps the present location and direction of the autonomous movement device 100, using the surrounding environment detected by the sensor 31 and the route data recorded in the route storage 22.
Note that, when information about an arrangement and the number of retro reflective materials is recorded in the route data, the processor 10 preferentially matches information about retro reflective materials (locations and the number of the retro reflective materials) recognized by the surrounding information acquirer 11 with the route data when the processor 10 grasps the present location and direction of the autonomous movement device 100. When a state in which the information about retro reflective materials does not match with the route data (for example, the numbers of retro reflective materials differ from each other) persists for a predetermined period (for example, 10 seconds) or for a predetermined movement distance (for example, 10 m), the processor 10 may cause the autonomous movement device 100 to stop. This is because the locations and the number of retro reflective materials can be recognized by the sensor 31 with high precision compared with other general objects and the fact that, despite the advantage, the state in which the information about retro reflective materials does not match with the route data has persisted for a predetermined period or movement distance means that it is highly possible that the autonomous movement device 100 has deviated from the original route.
The processor 10 determines whether or not an obstacle exists in a travel direction, using the surrounding environment detected by the sensor 31 (step S206). When the processor 10 determines that no obstacle exists in the travel direction (step S206; No), the processor 10 determines whether or not the autonomous movement device 100 has arrived at the destination by comparing the surrounding environment detected by the sensor 31 with the point data registered in the point storage 21 (step S207). This determination can be performed by determining whether or not the acquired present location is the same as the destination in a similar manner to the above-described present location acquisition in step S203.
When the autonomous movement device 100 has not arrived at the destination (step S207; No), the process returns to step S205. When the autonomous movement device 100 arrives at the destination (step S207; Yes), the movement controller 15 causes the driven wheels 40 to stop (step S208), and the process returns to step S201.
In contrast, when, in step S206, the processor 10 determines that an obstacle exists in the travel direction (step S206; Yes), the processor 10 determines whether or not the obstacle is avoidable (step S209). In the present embodiment, when the following two conditions are satisfied, the processor 10 determines that the obstacle is avoidable.
When the processor 10 determines that the obstacle is avoidable (step S209; Yes), the autonomous movement device 100 moves while avoiding the obstacle by the movement controller 15 controlling the driven wheels 40 to avoid the obstacle (step S210). The processor 10 determines whether or not an obstacle exists in the travel direction again, using data detected by the sensor 31 (step S211). When an obstacle exists (step S211; Yes), the process returns to step S209.
When no obstacle exists (step S211; No), the autonomous movement device 100 returns to the original movement path by the movement controller 15 controlling the driven wheels 40 to return to the original movement path (step S212), and the process returns to step S205. Since, as described above, avoidance of an obstacle is performed as long as the processor 10 does not lose sight of the present location of the autonomous movement device 100, the autonomous movement device 100 is capable of returning to the original movement path by moving with the movement controller 15 controlling the driven wheels 40 in such a way as to reduce a difference between the present location and a location on the original movement path.
In contrast, when, in step S209, the processor 10 determines that the obstacle is unavoidable (step S209; No), the movement controller 15 causes the driven wheels 40 to stop (step S213). The processor 10 determines whether or not a user instruction has been input from the operation acquirer 32 (step S214). When no user instruction has been input (step S214; No), the process returns to step S211. This is because there is a possibility that the obstacle has been removed as time passes.
When a user instruction has been input (step S214; Yes), the processor 10 fulfills the user instruction (step S215), and the process proceeds to step S211. In step S215, it is conceivable that, for example, a user instruction causes the autonomous movement device 100 to move to a position where there is no obstacle or a position where the obstacle is avoidable.
A supplementary description on obstacle avoidance in the above-described playback processing is provided below with reference to
As a next example, a case where the autonomous movement device 100 cannot avoid the obstacle 73 unless the autonomous movement device 100 moves along an avoidance path 68, such as a case where the obstacle 73 protrudes to the right side of the avoidance path 67 illustrated in
In addition, when no space having width that allows the autonomous movement device 100 to pass through the space exists between the obstacle 73 and the obstacle 74, such as a case where, even though the autonomous movement device 100 can avoid the obstacle 73 as long as the processor 10 does not lose sight of the self-location of the autonomous movement device 100, the obstacle 74 exists at a location closer to the obstacle 73 than the above-described case, the processor 10 determines that the obstacles are unavoidable.
The playback processing was described above. An example of the playback processing is described below with reference to
It is assumed that the autonomous movement device 100 receives an instruction to start playback from the user when the autonomous movement device 100 is located at the second point 82 while facing in the direction toward the first point 81 (step S201). Then, the processor 10 determines whether or not the present location of the autonomous movement device 100 can be acquired (step S202). In this example, the processor 10 compares the surrounding environment 60f detected by the sensor 31 with the first point data (the surrounding environment 60a) and the second point data (the surrounding environment 60e) that are registered in the point storage 21.
Then, since, as described above, the surrounding environment 60f and the surrounding environment 60e match with each other in portions indicated by the shaded portions 60ef in
The movement path generator 13 generates a movement path from the present location to the destination (step S204). In this example, since only the first point data and the second point data are registered in the point storage 21 and the present location is the second point 82, the first point 81 is set as the destination. The movement path generator 13 generates, as a movement path from the second point 82 to the first point 81, a route that tracks the first teaching route, which was recorded in the route storage 22 at the time of the target following memorizing processing, in the backward direction.
The surrounding information converter 14 converts, among the data memorized in the route storage 22, the surrounding environments 60a, 60b, 60c, and 60d, which were detected by the sensor 31 when the autonomous movement device 100 followed the user, to data in the case where the surrounding environments are detected in the backward direction and thereby generates backward direction data (backward direction data 60a′, 60b′, 60c′, and 60d′), and records the backward direction data in the route storage 22.
Note that, in the present embodiment, since the sensor 31 detects a surrounding environment within an angular range of 270 degrees, the sensor 31 cannot detect data in an angular range of 90 degrees behind the autonomous movement device 100. Therefore, as illustrated in
In addition, the autonomous movement device 100 is capable of, by moving, detecting surrounding environments by the sensor 31 at various positions and from various directions. Thus, even when an angular range that the sensor 31 can detect is limited (for example, to 180 degrees or less), integrating surrounding environments detected at various positions and from various directions by using a plurality of pieces of detection data or the like enables a surrounding environment in the forward direction as illustrated in
While the processor 10, by comparing a surrounding environment detected by the sensor 31 with the backward direction data (for example, the backward direction data 60a′, 60b′, 60c′, and 60d′) generated by the surrounding information converter 14, grasps the present location and direction of the autonomous movement device 100, the movement controller 15 controls the driven wheels 40 to cause the autonomous movement device 100 to move along the movement path (step S205). In the example in
In this way, the autonomous movement device 100 is capable of moving along a taught route, using the taught route in a direction (in the above-described example, the backward direction) other than the direction of movement at the time when the route was taught. Because of this configuration, the autonomous movement device 100 enables a more flexible route generation and operation.
Note that, when the autonomous movement device 100 receives an instruction to start playback from the user while facing in a direction opposite to the direction toward the first point 81 and being located at the second point 82, the processor 10 grasps that the present location of the autonomous movement device 100 is the second point 82 and the autonomous movement device 100 faces in the direction opposite to the direction toward the first point 81 by comparing the surrounding environment 60e detected by the sensor 31 with the first point data (the surrounding environment 60a) and the second point data (the surrounding environment 60e) registered in the point storage 21. In this case, the movement controller 15 is to, after controlling the driven wheels 40 to change the direction of the autonomous movement device 100 to the opposite direction, control the driven wheels 40 to cause the autonomous movement device 100 to move to the first point 81 along the movement path as described above.
In addition, it is assumed that, subsequently, teaching in which the autonomous movement device 100 follows the user from the third point 83 to the fourth point 84 is performed through the above-described target following memorizing processing. Then, as a result of the target following memorizing processing, the third point data and the fourth point data are also registered in the point storage 21 in addition to the first point data and the second point data. A route from the third point 83 to the fourth point 84 (second teaching route) and a surrounding environment along the route are also recorded in the route storage 22. In addition, since the third point 83 exists on the route from the first point 81 to the second point 82 (first teaching route) that was first taught, the processor 10 grasps the fact that the third point 83 is a point existing on the first teaching route, which is recorded in the route storage 22.
It is assumed that the autonomous movement device 100 receives an instruction to start playback from the user when the autonomous movement device 100 is located at the fourth point 84 while facing in the direction toward the third point 83 (step S201). As with the above-described case where playback is started from the second point 82, the processor 10 compares a surrounding environment 60k detected by the sensor 31 with the first point data (the surrounding environment 60a), the second point data (the surrounding environment 60e), the third point data (the surrounding environment 60h), and the fourth point data (the surrounding environment 60j) that are registered in the point storage 21.
Then, since, as described above, the surrounding environment 60k and the surrounding environment 60j match with each other in an angular range of 90 degrees on each of the right and left sides, the processor 10 is able to determine that the present location is the fourth point 84. Therefore, the determination in step S202 results in Yes, and the processor 10 acquires the fourth point 84 as the present location (step S203).
The movement path generator 13 generates a movement path from the present location to the destination (step S204). In this example, since the first point data, the second point data, the third point data, and the fourth point data are registered in the point storage 21 and the present location is the fourth point 84, the user is requested to determine which one of the first point 81, the second point 82, and the third point 83 is to be set as a destination and to input the determined destination from the operation acquirer 32. In this example, it is assumed that the user specifies the second point 82 as the destination.
Then, the movement path generator 13 generates, as a movement path from the fourth point 84 to the second point 82, a route that tracks the second teaching route, which was recorded in the route storage 22 at the time of target following memorizing processing, in the backward direction until reaching the third point 83 and subsequently tracks the first teaching route, which was recorded in the route storage 22, to the second point 82 in the direction in which the autonomous movement device 100 followed the user from an intermediate point on the first teaching route. Note that, since, when the third point 83 is registered in the point storage 21 in the above-described teaching playback processing, the processor 10 grasps the fact that the third point 83 is a point on the first teaching route, the processor 10 can recognize that the second teaching route is connected to the first teaching route at the third point 83. In this way, the movement path generator 13 is capable of generating a movement path that is formed by arbitrarily connecting teaching routes having been recorded up to that time to one another.
The surrounding information converter 14 converts, among the route data memorized in the route storage 22, the surrounding environments 60h and 60i, which were detected by the sensor 31 when the autonomous movement device 100 followed the user along the second teaching route, to data in the case where the surrounding environments are detected in the backward direction and thereby generates backward direction data (backward direction data 60h′ and 60i′), and records the backward direction data in the route storage 22.
While the processor 10 grasps the present location and direction of the autonomous movement device 100, the movement controller 15 controls the driven wheels 40 in such a way that the autonomous movement device 100 moves along the movement path (step S205). In the example in
Note that, since, in step S205, the autonomous movement device 100 tracks the second teaching route in the backward direction between the fourth point 84 and the third point 83, the processor 10, by comparing a surrounding environment detected by the sensor 31 with the backward direction data (for example, the backward direction data 60h′ and 60i′) generated by the surrounding information converter 14, grasps the present location and direction of the autonomous movement device 100. In addition, since the autonomous movement device 100 tracks the first teaching route in the forward direction between the third point 83 and the second point 82, the processor 10, by comparing a surrounding environment detected by the sensor 31 with the surrounding environment (for example, the surrounding environments 60c, 60d, and 60e) memorized in the route storage 22, grasps the present location and direction of the autonomous movement device 100.
In this way, the autonomous movement device 100 is capable of not only moving along a taught route, using the taught route in a direction (in the above-described example, the backward direction) other than the direction of movement at the time when the route was taught but also moving along a route that is formed by combining a plurality of taught routes.
Next, the playback correction processing of the autonomous movement device 100 is described below with reference to
In addition, only difference between the playback correction processing and the above-described playback processing (
As described above, while the autonomous movement device 100 moves in step S205, the processor 10 grasps the present location and direction of the autonomous movement device 100, using a surrounding environment detected by the sensor 31 and the route data recorded in the route storage 22. On that occasion, in the above-described playback processing, when, in particular, information about retro reflective materials does not match with the route data, the processor 10 determines that it is highly possible that the autonomous movement device 100 has deviated from the original route.
In contrast, in the playback correction processing, when a surrounding environment detected by the sensor 31 and the route data recorded in the route storage 22 do not match with each other, the processor 10 considers the surrounding environment detected by the sensor 31 as correct data and corrects the route data recorded in the route storage 22 (step S221).
Since, when this correction is constantly performed, there is a possibility that movement of the autonomous movement device 100 becomes unstable rather than stable, objects to be used in the correction may be limited to retro reflective materials. That is, it may be configured such that, when a surrounding environment and the route data do not match with each other, information about retro reflective materials included in the surrounding environment is used for correction of the route data and information about objects included in the surrounding environment other than retro reflective materials is used for correction of the present location and direction of the autonomous movement device 100 by comparing the information with the route data.
As described above, in the playback correction processing, it is also possible to correct the route data when a portion of the surrounding environment has changed (for example, a case where, in a distribution warehouse, loads piled up on a pallet that had existed until yesterday have disappeared today). In addition, by adding retro reflective materials to retro reflective materials having already been installed on a wall of a corridor, or the like, it is possible to improve precision of subsequent playback processing.
In addition, the processor 10 may memorize a temporary stop position P1 and a temporary stop time T1 at the time when the autonomous movement device 100 follows a recognized following target (at the time of controlling the driven wheels 40 in accordance with teaching control data) in the above-described target following memorizing processing, and, when the autonomous movement device 100 moves along a memorized movement path (at the time of the playback processing or the playback correction processing), control the autonomous movement device 100 to stop at the temporary stop position P1 for the temporary stop time T1. This is because, when, for example, an automatic shutter exists on a movement path that the autonomous movement device 100 memorized, by storing the location of the automatic shutter and causing the autonomous movement device 100 to temporarily stop in front of the automatic shutter until the shutter door is fully opened, it is possible to cause the autonomous movement device 100 to move more flexibly. It may be configured such that storage of the temporary stop position P1 and the temporary stop time T1 can be performed while the target following memorizing processing is performed or can be performed in the form of editing memorized data after the target following memorizing processing is finished.
In addition, the processor 10 may memorize an output position P2 at which a control signal S is output to a predetermined device (and a temporary stop time T2, when necessary) at the time when the autonomous movement device 100 follows a recognized following target (at the time of controlling the driven wheels 40 in accordance with teaching control data) in the above-described target following memorizing processing, and, when the autonomous movement device 100 moves along a memorized movement path (at the time of the playback processing or the playback correction processing), perform control in such a way as to output the control signal S at the output position P2 at which a signal is output to the predetermined device and thereby cause the predetermined device to operate (or prevent the predetermined device from operating). For example, it is assumed that, when the processor 10 is capable of storing 4-bits output patterns “0000” to “1111”, “0001” and “0000” are defined as an output pattern of a control signal S1 for disconnecting a connection mechanism by which a towable pallet dolly or the like is connected to the autonomous movement device 100 and an output pattern of a control signal S2 for not disconnecting the connection mechanism, respectively. Then, it is possible to memorize a setting for, by outputting the control signal S1 having the output pattern “0001” at the predetermined output position P2, disconnecting the connection mechanism by which the towable pallet dolly or the like is connected to the autonomous movement device 100 (and, further, temporarily stopping for the time T2 required for the disconnection), a setting for, by outputting the control signal S2 having the output pattern “0000”, not disconnecting the connection mechanism by which the towable pallet dolly or the like is connected to the autonomous movement device 100, or the like. Because of this configuration, it becomes possible to select whether or not the autonomous movement device 100 disconnects the connection mechanism by which the towable pallet dolly or the like is connected to the autonomous movement device 100 and leaves the loads at a predetermined position on a movement path that the autonomous movement device 100 memorized, and thereby cause the autonomous movement device 100 to move more flexibly. It may be configured such that storage of the output position P2 at which a control signal is output and the temporary stop time T2 can be performed while the target following memorizing processing is performed or can be performed in the form of editing memorized data after the target following memorizing processing is finished. Note that the autonomous movement device 100 may include an ultraviolet radiation lamp as the predetermined device. Then, the “output of a control signal to a predetermined device” can be used for on/off control of the ultraviolet radiation lamp in a similar manner to the above-described example. For example, it is possible to, by outputting the control signal S at the output position P2, perform control in such a manner as to cause the ultraviolet radiation lamp to operate (or stop operating).
In addition, the autonomous movement device 100 may be configured to be capable of storing, in place of the output position P2, a condition C for outputting the control signal S. That is, the processor 10 may memorize the condition C for outputting the control signal S to a predetermined device at the time when the autonomous movement device 100 follows a recognized following target (at the time of controlling the driven wheels 40 in accordance with teaching control data) in the above-described target following memorizing processing, and, when the autonomous movement device 100 moves along a memorized movement path (at the time of the playback processing or the playback correction processing), perform control in such a way as to output the control signal S to the predetermined device when the condition C is satisfied and thereby cause the predetermined device to operate (or prevent the predetermined device from operating). For example, by causing a condition C requiring that “the sensor 31 detects that a person has come close to the autonomous movement device 100” to be memorized, the processor 10 can perform control in such a way as to stop radiation of ultraviolet rays when the sensor 31 detects that a person is coming close to the autonomous movement device 100. In addition, the predetermined device may be configured to be changeable between at the time of teaching and at the time of playback. For example, when, while it is desirable to radiate ultraviolet rays at the time of playback, it is desirable not to radiate ultraviolet rays at the time of teaching (however, it is desirable to confirm how the ultraviolet radiation is performed, using a pilot lamp or the like), the predetermined device may be able to be set in such a way that “a pilot lamp is turned on at the time of teaching and an ultraviolet radiation lamp is turned on at the time of playback”. This setting enables the autonomous movement device 100 to be configured to stop the ultraviolet radiation and allow an output signal to be confirmed by another pilot lamp or the like during teaching and to radiate ultraviolet rays during playback. This configuration enables ultraviolet rays to be radiated to only a specific site and radiation of ultraviolet rays to be stopped when a person is present near the autonomous movement device 100.
Further, the autonomous movement device 100 may be configured to be capable of selecting a velocity mode. Examples of the velocity mode include a teaching velocity mode (a mode in which an actual velocity at the time when the target following teaching or the manual operation teaching is performed is memorized and, at the time of playback, the autonomous movement device 100 moves at the same velocity as the velocity at the time of teaching) and a set velocity mode (a mode in which the user can memorize an arbitrary control velocity as a velocity at the time of playback and, at the time of playback, the autonomous movement device 100 moves at the memorized control velocity). The processor 10 can select a velocity mode in the above-described target following memorizing processing and memorizes the selected velocity mode in conjunction with the route data.
When the set velocity mode is selected as a velocity mode, the processor 10 may memorize a control velocity that the user sets at the time when the autonomous movement device 100 follows a recognized following target (at the time of controlling the driven wheels 40 in accordance with teaching control data) in the above-described target following memorizing processing, and, when the autonomous movement device 100 moves along a memorized movement path (at the time of the playback processing or the playback correction processing), control the autonomous movement device 100 to move at the control velocity memorized at the time when the autonomous movement device 100 followed a recognized following target. Alternatively, when the teaching velocity mode is selected as a velocity mode, the processor 10 may memorize an actual velocity at the time when the autonomous movement device 100 follows a following target in the above-described target following memorizing processing, and, when the autonomous movement device 100 moves along a movement path (at the time of the playback processing or the playback correction processing), control the autonomous movement device 100 to move at the same velocity as the velocity at the time of teaching.
As described above, the processor 10 may memorize a velocity mode that the user selects or a control velocity that the user sets at the time when the autonomous movement device 100 follows a recognized following target (at the time of controlling the driven wheels 40 in accordance with teaching control data) in the above-described target following memorizing processing, and, when the autonomous movement device 100 moves along a movement path (at the time of the playback processing or the playback correction processing), control the driven wheels 40 to control movement velocity based on the memorized velocity mode or control velocity. Because of this configuration, it becomes possible to cause the autonomous movement device 100 to move at a desirable velocity at the time of playback. It may be configured such that storage of a control velocity or a velocity mode can be performed while the target following memorizing processing is performed or can be performed in the form of editing memorized data after the target following memorizing processing is finished. It may also be configured such that, as the control velocity, velocity at an arbitrary position on a movement path can be memorized. For example, as control velocity at the time of traveling straight, a comparatively high velocity may be memorized, and, as control velocity at the time of turning, a comparatively low velocity may be memorized. In addition, it may be configured such that a plurality of control velocities can be memorized in such a way that a different control velocity can be set depending on a condition. For example, it may be configured to memorize a comparatively low velocity as control velocity in the case where a load is heavier than a standard weight (for example, 10 kg) and memorize a comparatively high velocity as control velocity in the case where a load is less than or equal to the standard weight.
Note that causing various data as described above (the temporary stop position P1, the time T1, the control signal S, the output position P2, the condition C, the velocity mode, the control velocity, and the like) to be additionally memorized in memorized data is applicable to not only the case of target following teaching in which teaching is performed by causing the autonomous movement device 100 to recognize and follow a following target but also the case of manual operation teaching in which teaching is performed using the operation acquirer 32, such as a joystick.
Variations
Although, in the autonomous movement device 100, the sensor 31 is disposed above the operation acquirer 32, as illustrated in
Note that, regarding an obstacle, a dedicated sensor to detect an obstacle may be installed separately from the sensor 31. As for the dedicated sensor to detect an obstacle, installing, for example, a bumper sensor in the bumper 52 is conceivable. In this case, when the processor 10, using the bumper sensor, detects that the autonomous movement device 100 or 101 has come into contact with an obstacle, the processor 10 is capable of performing processing like causing the autonomous movement device 100 or 101 to stop, to slightly retreat, and the like.
Note that the respective functions of the autonomous movement device 100 or 101 can also be implemented by a general computer, such as a personal computer (PC). Specifically, in the above-described embodiment, the description was made assuming that programs of the target following memorizing processing, the playback processing, and the like that the autonomous movement device 100 or 101 performs are memorized in advance in the ROM in the storage 20. However, a computer capable of achieving the above-described functions may be configured by storing programs in a non-transitory computer-readable recording medium, such as a flexible disk, a compact disc read only memory (CD-ROM), a digital versatile disc (DVD), a magneto-optical disc (MO), a memory card, and a universal serial bus (USB) memory, and distributing the recording medium and reading and installing the programs in the computer. A computer capable of achieving the above-described functions may also be configured by distributing programs via a communication network, such as the Internet, and reading and installing the programs in the computer.
The foregoing describes some example embodiments for explanatory purposes. Although the foregoing discussion has presented specific embodiments, persons skilled in the art will recognize that changes may be made in form and detail without departing from the broader spirit and scope of the invention. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense. This detailed description, therefore, is not to be taken in a limiting sense, and the scope of the invention is defined only by the included claims, along with the full range of equivalents to which such claims are entitled.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/023468 | 6/15/2020 | WO |
