Obstacle sensor checking device and method

Abstract

An obstacle sensor inspection device inspects an obstacle sensor that detects an obstacle existing around a mobile body, the obstacle sensor inspection device including: a travel control section that controls the mobile body to travel along a travel path; an inspection processing section that performs an inspection process of the obstacle sensor using a stationary object for inspection that is specified in advance in a sensor inspection section that is specified in advance while the mobile body is in a state of traveling along the travel path; and a detection region setting section that sets a detection region of the obstacle sensor to a second region that is wider than a first region used at the time of normal travel when the inspection process of the obstacle sensor is performed by the inspection processing section, the inspection processing section determining that the obstacle sensor is normal when the stationary object for inspection is detected by the obstacle sensor and determining that the obstacle sensor is abnormal when the stationary object for inspection is not detected by the obstacle sensor.

Description

Technical Field

[0001] This invention relates to an obstacle sensor inspection device and method. Background Technology

[0002] For example, Japanese Patent Application Publication No. 2015-222503 describes the following technology: Before an autonomous driving operation vehicle starts driving autonomously, it checks whether there are any abnormalities in sensors such as obstacle sensors that detect whether there are any obstacles around the autonomous driving operation vehicle. When there are any abnormalities in the sensors, the abnormality content is displayed on the display. Summary of the Invention

[0003] However, in the aforementioned prior art, obstacle sensors are checked only before the autonomous driving operation vehicle starts driving itself, and therefore, it is unable to address malfunctions during the operation of the autonomous driving operation vehicle.

[0004] The purpose of this invention is to provide an obstacle sensor inspection device and method capable of detecting whether an obstacle sensor malfunction has occurred during the movement of a moving body.

[0005] One aspect of the present invention is an obstacle sensor inspection apparatus that inspects obstacle sensors that detect obstacles present around a moving body. The obstacle sensor inspection apparatus includes: a driving control unit that controls the moving body to travel along a driving path; an inspection processing unit that, when the moving body is traveling along the driving path, performs obstacle sensor inspection processing using a pre-specified stationary object for inspection within a pre-specified sensor inspection area; and a detection area setting unit that, when the obstacle sensor inspection processing is performed by the inspection processing unit, sets the detection area of ​​the obstacle sensor to a second area wider than a first area used during normal driving. The inspection processing unit determines that the obstacle sensor is normal when the obstacle sensor detects a stationary object for inspection, and determines that the obstacle sensor is abnormal when the obstacle sensor does not detect a stationary object for inspection.

[0006] In this obstacle sensor inspection device, when a moving body is traveling along a path, upon reaching the sensor inspection zone, an obstacle sensor inspection is performed using a stationary object while the moving body is traveling within the inspection zone. If the stationary object is detected by the obstacle sensor, the obstacle sensor is considered normal; if it is not detected, it is considered abnormal. Here, a second area, wider than the first area used during normal travel, is used as the detection area for the obstacle sensor. Therefore, when the moving body is traveling within the sensor inspection zone, the stationary object is easily detected by the obstacle sensor. This allows for the detection of whether an obstacle sensor malfunction has occurred during the moving body's travel.

[0007] Alternatively, the obstacle sensor inspection device may also include an inspection preparation processing unit. Before the inspection processing unit performs the obstacle sensor inspection processing, the inspection preparation processing unit performs preparation processing in a sensor inspection preparation zone located closer to the travel direction of the moving body than the sensor inspection zone, to prevent the moving body from contacting the obstacle when it travels in the sensor inspection zone.

[0008] In this configuration, when the moving body reaches the sensor inspection preparation zone, which is located closer to the moving body's direction of travel than the sensor inspection zone, preparation processing is performed while the moving body is traveling within the sensor inspection preparation zone to prevent the moving body from contacting obstacles. Then, obstacle sensor inspection processing is performed within the sensor inspection zone. Therefore, even if there are potential obstacles around the moving body while it is traveling within the sensor inspection zone, contact with obstacles is prevented.

[0009] Alternatively, as a preparatory process, the inspection preparation processing unit sets the detection area of ​​the obstacle sensor to a third area that is wider than the first area. In this state, it determines whether the obstacle sensor detects an obstacle. If the inspection preparation processing unit determines that the obstacle sensor does not detect an obstacle, the inspection processing unit determines that the obstacle sensor is normal if the obstacle sensor detects a stationary object for inspection, and determines that the obstacle sensor is abnormal if the obstacle sensor does not detect a stationary object for inspection.

[0010] In this configuration, when a moving body arrives at the sensor inspection preparation zone, and the obstacle sensor's detection area changes from zone 1 to zone 3, it is determined whether an obstacle has been detected by the obstacle sensor. Then, if it is determined that no obstacle has been detected by the obstacle sensor, obstacle sensor inspection processing is performed within the sensor inspection zone. Here, a zone 3, wider than the zone 1 used during normal driving, is used as the obstacle sensor's detection area. Therefore, when the moving body travels within the sensor inspection preparation zone, obstacles are easily detected by the obstacle sensor. Thus, it is possible to accurately detect whether obstacles exist around the moving body when it travels within the sensor inspection zone.

[0011] Alternatively, as a preparatory process, the inspection preparation unit controls the movement to reduce the speed of the moving body to a speed at which it will not come into contact with obstacles while traveling within the sensor inspection zone.

[0012] In this configuration, when the moving body reaches the sensor inspection preparation zone, it decelerates to a speed at which it will not come into contact with obstacles while traveling within the sensor inspection zone. By decelerating the moving body in this way within the sensor inspection preparation zone, the distance required for obstacle sensor inspection can be shortened.

[0013] Alternatively, the second region may be set to be wider than the first region in at least one of the directions of travel and width of the moving body.

[0014] In this configuration, when the moving body travels along the travel path, stationary objects existing in the direction of travel or to the side of the moving body are used as stationary objects for inspection.

[0015] Alternatively, the travel path may have a bend, and the sensor inspection zone may be positioned closer to the direction of travel of the moving body than the bend. A stationary object for inspection may be positioned at a location where the moving body falls into the second area when it travels within the sensor inspection zone.

[0016] In this configuration, a stationary object located near a bend in the driving path is used as the inspection stationary object. Therefore, by using a suitable stationary object as the inspection stationary object, the obstacle sensor inspection process can be performed effectively.

[0017] Another aspect of the present invention is an obstacle sensor inspection method, which inspects an obstacle sensor that detects obstacles present around a moving body. The obstacle sensor inspection method includes: designating a sensor inspection zone for performing obstacle sensor inspection, a sensor inspection preparation zone located closer to the moving body's direction of travel than the sensor inspection zone, and a stationary object for inspection in the sensor inspection zone for obstacle sensor inspection; controlling the moving body to travel along the travel path; performing obstacle sensor inspection processing using the stationary object in the sensor inspection zone when the moving body is traveling along the travel path; and setting the detection area of ​​the obstacle sensor to a second area wider than a first area used during normal travel when performing obstacle sensor inspection processing. In the step of performing obstacle sensor inspection processing, if the obstacle sensor detects the stationary object, the obstacle sensor is determined to be normal; if the obstacle sensor does not detect the stationary object, the obstacle sensor is determined to be abnormal.

[0018] In this obstacle sensor inspection method, when a moving body is traveling along a path, upon reaching the sensor inspection zone, an obstacle sensor inspection is performed using a stationary object for inspection while the moving body is traveling within the inspection zone. If the stationary object is detected by the obstacle sensor, the obstacle sensor is considered normal; if it is not detected, it is considered abnormal. Here, a second area, wider than the first area used during normal travel, is used as the detection area for the obstacle sensor. Therefore, when the moving body is traveling within the sensor inspection zone, the stationary object is easily detected by the obstacle sensor. This allows for the detection of whether an obstacle sensor malfunction has occurred during the moving body's travel.

[0019] According to the present invention, it is possible to detect whether an obstacle sensor malfunction occurs during the movement of a moving body. Attached Figure Description

[0020] Figure 1 This is a schematic diagram showing a moving body equipped with an obstacle sensor inspection device according to an embodiment of the present invention.

[0021] Figure 2 This is a diagram illustrating an example of a sensor inspection zone, a sensor inspection preparation zone, and a detection area for sensors inspecting stationary objects and obstacles along a driving path.

[0022] Figure 3 This is a flowchart illustrating a portion of the steps of an obstacle sensor inspection method according to one embodiment of the present invention.

[0023] Figure 4 This is a flowchart illustrating another part of the steps of an obstacle sensor inspection method according to one embodiment of the present invention.

[0024] Figure 5 This is a block diagram showing the configuration of a driving control device equipped with the obstacle sensor inspection device according to the first embodiment of the present invention.

[0025] Figure 6 It is shown by Figure 5 The flowchart shown illustrates the steps of the driving control process performed by the driving control unit.

[0026] Figure 7 It is shown by Figure 5 The flowchart shown illustrates the steps of the inspection process performed by the inspection processing unit.

[0027] Figure 8 It is shown by Figure 5 The flowchart shown illustrates the steps of the detection area setting process performed by the detection area setting unit.

[0028] Figure 9 It is shown by Figure 5 The flowchart shown illustrates the steps of the inspection preparation process performed by the inspection preparation processing unit.

[0029] Figure 10 It is shown by Figure 5 The diagram shows the travel speed of the moving body and the timing of the detection area of ​​the obstacle sensor when the obstacle sensor inspection device is inspecting the obstacle sensor.

[0030] Figure 11 This is a block diagram showing the configuration of a driving control device equipped with the obstacle sensor inspection device according to the second embodiment of the present invention.

[0031] Figure 12 It is shown by Figure 11 The flowchart shown illustrates the steps of the detection area setting process performed by the detection area setting unit.

[0032] Figure 13 It is shown by Figure 11 The flowchart shown illustrates the steps of the inspection preparation process performed by the inspection preparation processing unit.

[0033] Figure 14 It is shown by Figure 11 The diagram shows the travel speed of the moving body and the timing of the detection area of ​​the obstacle sensor when the obstacle sensor inspection device is inspecting the obstacle sensor.

[0034] Figure 15 It is shown Figure 2 The diagram shows a variation of the detection area of ​​the obstacle sensor in the sensor inspection interval.

[0035] Explanation of reference numerals in the attached figures

[0036] 1…moving body, 4C…stationary object for inspection, 5…obstacle sensor, 20, 20A…obstacle sensor inspection device, 22…driving control unit, 24…inspection processing unit, 25, 25A…detection area setting unit, 26, 26A…inspection preparation processing unit, A…detection area, A1…first area, A2…second area, A3…third area, R…driving path, rs…turning point, S…sensor inspection interval, S0…sensor inspection preparation interval, X…obstacle. Detailed Implementation

[0037] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same or equivalent elements are labeled with the same reference numerals, and repeated descriptions are omitted.

[0038] Figure 1This is a schematic diagram showing a moving body equipped with an obstacle sensor inspection device according to an embodiment of the present invention. Figure 1 In this context, the mobile body 1 is an industrial vehicle such as a tractor. The mobile body 1 has a base 2 and four wheels 3 arranged in front, behind, left, and right of the base 2.

[0039] like Figure 2 As shown, the mobile body 1 autonomously travels along a predetermined travel path R. Here, the travel path R is a circular route. The travel path R includes a straight section r1 and a turning section r2. Multiple stationary objects 4, such as pillars, shelves, and walls, are arranged around the travel path R.

[0040] The mobile body 1 is equipped with an obstacle sensor 5. When traveling on the travel path R, the obstacle sensor 5 detects obstacles X present in the vicinity of the mobile body 1. Obstacles X include personnel, other industrial vehicles, and goods. The obstacle sensor 5 may be a laser sensor such as a LIDAR (Light Detection and Ranging) system or a laser rangefinder. The laser sensor detects objects present in the vicinity of the mobile body 1 by illuminating a laser beam around it and receiving the reflected light. The laser sensor illuminates the area containing the direction of travel (forward) of the mobile body 1 with the laser beam.

[0041] Obstacle sensor 5 is a region-defined sensor with a set detection area A, detecting the presence of an obstacle X within detection area A. Although not specifically shown, the detection area A of obstacle sensor 5 includes a stopping area and a deceleration area. The deceleration area is wider than the stopping area.

[0042] In this embodiment, when the moving body 1 travels along the travel path R, the obstacle sensor 5 performs an inspection. For example... Figure 2 As shown, a sensor inspection interval S is designated midway along the driving path R (refer to...). Figure 2 (b)), Sensor inspection preparation interval S0 (refer to) Figure 2 (a) and the inspection of stationary objects 4C.

[0043] The sensor inspection interval S is the interval during which the obstacle sensor 5 performs inspections while the moving body 1 is in motion. The sensor inspection interval S is specified at a position closer to the moving body 1 in the direction of travel than any one of the multiple turns r2 on the travel path R (denoted as turn rs). The distance of the sensor inspection interval S is a distance greater than or equal to the time required for the moving body 1 to complete the obstacle sensor 5 inspection.

[0044] The sensor check preparation interval S0 is located closer to the moving body 1 in the direction of travel than the sensor check interval S. The sensor check preparation interval S0 is the interval for implementing preparations to prevent the moving body 1 from contacting the obstacle X when traveling within the sensor check interval S. The distance of the sensor check preparation interval S0 is greater than or equal to the time required for the preparations to prevent the moving body 1 from contacting the obstacle X when traveling within the sensor check interval S.

[0045] The stationary object 4C is positioned around the bend rs of the travel path R. Specifically, the stationary object 4C is positioned in front of the moving body 1 when it travels on the straight section r1 near the bend rs. The stationary object 4C is a stationary object 4 used for inspection by the obstacle sensor 5.

[0046] Figure 3 This is a flowchart illustrating a portion of the steps in an obstacle sensor inspection method according to one embodiment of the present invention. This flowchart shows the preliminary steps performed by the user before the actual inspection of the obstacle sensor 5 is carried out.

[0047] exist Figure 3 First, the sensor inspection interval S and sensor inspection preparation interval S0 mentioned above are specified in the driving path R (step S101). Additionally, the stationary object 4C for inspection mentioned above is specified (step S102).

[0048] Additionally, the detection area A of the obstacle sensor 5 is designated (step S103). The detection area A of the obstacle sensor 5 includes a first area A1 used during normal travel of the moving body 1, a second area A2 used when the moving body 1 travels in the sensor inspection interval S, and a third area A3 used when the moving body 1 travels in the sensor inspection preparation interval S0. The detection area A of the obstacle sensor 5 will be described in detail later.

[0049] Then, the specified data of the sensor inspection interval S, the sensor inspection preparation interval S0, the stationary object 4C to be inspected, and the detection area A of the obstacle sensor 5 are stored in the storage unit 11 described later (process S104).

[0050] Figure 4 This is a flowchart illustrating another part of the steps of an obstacle sensor inspection method according to one embodiment of the present invention. This flowchart shows the steps of actually performing the inspection of the obstacle sensor 5. This flowchart is implemented, for example, when the start of the inspection of the obstacle sensor 5 is indicated by an operation switch (not shown).

[0051] exist Figure 4First, the moving body 1 travels normally along the travel path R at a predetermined speed V (step S111). Next, it is determined whether the travel of the moving body 1 has not yet ended (step S112). When the travel of the moving body 1 ends, this flowchart ends.

[0052] While the movement of the mobile body 1 has not yet ended, in the sensor inspection preparation interval S0, while the mobile body 1 is moving, preparations are made to prevent the mobile body 1 from contacting the obstacle X when it is moving in the sensor inspection interval S (step S113). Next, in the sensor inspection interval S, while the mobile body 1 is moving, the obstacle sensor 5 is inspected (step S114). Then, the above-described step S111 is performed again.

[0053] Figure 5 This is a block diagram showing the configuration of a driving control device equipped with the obstacle sensor inspection device according to the first embodiment of the present invention. The driving control device 10 is a device that enables the moving body 1 to drive autonomously along the driving path R. The driving control device 10 is mounted on the moving body 1.

[0054] The driving control device 10 includes: the obstacle sensor 5, the storage unit 11, the self-position estimation sensor 12, the drive unit 13, the alarm 14, and the controller 15.

[0055] The storage unit 11 stores: map data of the area where the mobile body 1 travels; travel path data of the mobile body 1; and specified data of the sensor inspection interval S, sensor inspection preparation interval S0, stationary object 4C for inspection, and detection area A of obstacle sensor 5, etc.

[0056] The self-position estimation sensor 12 is used to estimate the self-position of the moving body 1. The self-position estimation sensor 12 detects stationary objects 4 present around the moving body 1 during its movement. Here, a laser sensor or similar is used as the self-position estimation sensor 12, similar to the obstacle sensor 5.

[0057] Although not shown in the figure, the drive unit 13 includes, for example, a travel motor that rotates the wheels 3 of the moving body 1, and a steering motor that turns the wheels 3.

[0058] When obstacle sensor 5 detects an obstacle X around the moving body 1, alarm 14 sounds an alarm indicating the presence of obstacle X. Alarm 14 sounds an alarm through an audible alarm or an alarm display.

[0059] The controller 15 consists of a CPU, RAM, ROM, and input / output interfaces. The controller 15 includes: a self-position estimation unit 21, a driving control unit 22, an obstacle detection unit 23, an inspection processing unit 24, a detection area setting unit 25, and an inspection preparation processing unit 26. These functions are executed, for example, when the autonomous driving of the moving body 1 is initiated by an operation switch (not shown).

[0060] The self-position estimation unit 21 estimates the self-position of the moving body 1 based on the detection data of the self-position estimation sensor 12 and the map data stored in the storage unit 11. Specifically, the self-position estimation unit 21 uses, for example, the SLAM (simultaneous localization and mapping) method to match the detection data of the self-position estimation sensor 12 with the map data to estimate the self-position of the moving body 1. SLAM is a self-position estimation technique that uses sensor data and map data to estimate the self-position.

[0061] The driving control unit 22 controls the drive unit 13 to make the moving body 1 travel along the driving path R based on the position of the moving body estimated by the position estimation unit 21. The steps of the driving control unit 22 will be described later.

[0062] Based on the detection data from the obstacle sensor 5, the obstacle detection unit 23 determines whether there is an obstacle in the direction of travel (ahead) of the moving body 1. When there is an obstacle in the direction of travel of the moving body 1, it outputs an alarm notification signal to the alarm 14 and the driving control unit 22.

[0063] When the moving body 1 is traveling along the travel path R, the inspection processing unit 24 performs inspection processing of the obstacle sensor 5 using the stationary object 4C for inspection within the sensor inspection interval S. If the stationary object 4C is detected by the obstacle sensor 5, the inspection processing unit 24 determines that the obstacle sensor 5 is normal; if the stationary object 4C is not detected by the obstacle sensor 5, the obstacle sensor 5 determines that it is abnormal. The steps of the inspection processing unit 24 will be described later.

[0064] When the inspection processing unit 24 performs the inspection processing of the obstacle sensor 5 in the sensor inspection interval S, the detection area setting unit 25 sets the detection area A of the obstacle sensor 5 to a second area A2 that is wider than the first area A1 used during normal driving.

[0065] like Figure 2As shown in (b), the second region A2 is wider than the first region A1 in the direction of travel of the moving body 1. That is, the length L2 of the second region A2 is larger than the length L1 of the first region A1. The length of the detection area A of the obstacle sensor 5 is the length along the direction of travel of the moving body 1. The aforementioned stationary object 4C for inspection is positioned at a position where the moving body 1 falls into the second region A2 when it travels within the sensor inspection zone S.

[0066] Before the inspection processing unit 24 performs the inspection processing of the obstacle sensor 5, the inspection preparation processing unit 26 performs preparation processing in the sensor inspection preparation interval S0 to prevent the moving body 1 from contacting the obstacle X when it travels in the sensor inspection interval S. As a preparation process, the inspection preparation processing unit 26 sets the detection area A of the obstacle sensor 5 to a third area A3 that is wider than the first area A1, and determines in this state whether the obstacle X is detected by the obstacle sensor 5.

[0067] like Figure 2 As shown in (a) and (b), the third region A3 is wider than the first region A1 in the direction of travel of the moving body 1, and narrower than the second region A2 in the direction of travel of the moving body 1. The third region A3 is wider than the first region A1 in the direction of travel of the moving body 1 by, for example, the distance x that the moving body 1 travels in the time required for the obstacle sensor 5 to check. That is, the length dimension L3 of the third region A3 is the sum of the length dimension L1 of the first region A1 and the distance x (L1+x). The steps of the inspection preparation processing unit 26 will be described later.

[0068] The obstacle sensor inspection device 20 of this embodiment is a device for inspecting the obstacle sensor 5. In other words, the obstacle sensor inspection device 20 is a device for implementing the obstacle sensor inspection method described above. The obstacle sensor inspection device 20 consists of a storage unit 11, a self-position estimation sensor 12, a drive unit 13, an alarm 14, a self-position estimation unit 21 of a controller 15, a driving control unit 22, an inspection processing unit 24, a detection area setting unit 25, and an inspection preparation processing unit 26.

[0069] Figure 6 This is a flowchart illustrating the steps of the driving control process performed by the driving control unit 22. Figure 6 In the process, the driving control unit 22 first determines whether the obstacle sensor 5 has detected an obstacle X in the direction of travel of the moving body 1 by judging whether an alarm notification signal from the obstacle detection unit 23 has been input (step S131).

[0070] When the driving control unit 22 determines that the obstacle X present in the direction of travel of the moving body 1 is not detected by the obstacle sensor 5, it controls the drive unit 13 to make the moving body 1 travel along the travel path R at a predetermined speed V (refer to the driving control unit 22). Figure 10 (a) Driving (step S132), and then repeating step S131 as described above.

[0071] When the driving control unit 22 determines that an obstacle X is detected by the obstacle sensor 5 in the direction of travel of the moving body 1, it determines whether the inspection processing of the obstacle sensor 5 performed by the inspection processing unit 24 is being executed (step S133) by determining whether an inspection start signal from the inspection preparation processing unit 26 has been input (described later).

[0072] When the driving control unit 22 determines that the obstacle sensor 5 inspection process performed by the inspection processing unit 24 is not in progress, it controls the drive unit 13 to stop or decelerate the moving body 1 (step S134) and executes step S131 again. At this time, when the obstacle detection unit 23 detects an obstacle X in the stop area (as described above) of the detection area A of the obstacle sensor 5, it controls the drive unit 13 to stop the moving body 1. When the obstacle detection unit 23 detects that there is no obstacle X in the stop area of ​​the detection area A of the obstacle sensor 5 but there is an obstacle X in the deceleration area (as described above), it controls the drive unit 13 to decelerate the moving body 1.

[0073] When the driving control unit 22 determines that the obstacle sensor 5 inspection process performed by the inspection processing unit 24 is in progress, it controls the drive unit 13 to make the moving body 1 travel along the driving path R at a predetermined speed V (step S132). Thus, when the obstacle sensor 5 inspection process is performed, even if the obstacle sensor 5 detects an obstacle X in the direction of travel of the moving body 1, the action of stopping or decelerating the moving body 1 will be invalidated.

[0074] Figure 7 This is a flowchart illustrating the steps of the inspection process performed by the inspection processing unit 24. Figure 7 In the process, the inspection processing unit 24 first determines whether an inspection start signal (described later) has been input from the inspection preparation processing unit 26 (step S141).

[0075] When the inspection processing unit 24 determines that an inspection start signal has been input, it acquires the detection data of the obstacle sensor 5 (step S142). Then, based on the detection data of the obstacle sensor 5, the inspection processing unit 24 determines whether a stationary object 4C for inspection has been detected (step S143). When the inspection processing unit 24 determines that a stationary object 4C for inspection has been detected, it determines that the obstacle sensor 5 is normal (step S144).

[0076] When the inspection processing unit 24 determines that no stationary object 4C for inspection is detected, it determines that the obstacle sensor 5 is malfunctioning (step S145). Then, the inspection processing unit 24 outputs an abnormality notification signal to the alarm 14 for abnormality alarm (step S146). In addition, the inspection processing unit 24 controls the drive unit 13 to stop the moving body 1 (step S147).

[0077] After performing step S144 or step S147, the inspection processing unit 24 outputs an inspection end signal to the detection area setting unit 25 (step S148) to indicate that the inspection operation of the obstacle sensor 5 performed by the inspection processing unit 24 has ended, thus ending the process.

[0078] Figure 8 This is a flowchart illustrating the steps of the detection area setting process performed by the detection area setting unit 25. Figure 8 In the process, the detection area setting unit 25 first determines whether an inspection start signal (described later) from the inspection preparation processing unit 26 has been input (step S151).

[0079] When the detection area setting unit 25 determines that an inspection start signal has been input, it changes the detection area A of the obstacle sensor 5 from the third area A3 to the second area A2 (step S152). Next, the detection area setting unit 25 determines whether an inspection end signal has been input from the inspection processing unit 24 (step S153).

[0080] When the detection area setting unit 25 determines that an inspection end signal has been input, it changes the detection area of ​​the obstacle sensor 5 from the second area A2 to the first area A1 (step S154) and executes the above step S151 again.

[0081] Figure 9 This is a flowchart illustrating the steps of the inspection preparation process performed by the inspection preparation processing unit 26. Figure 9 In the process, the inspection preparation processing unit 26 first determines whether the moving body 1 has reached the sensor inspection preparation interval S0 (step S161) based on the position of the moving body 1 estimated by the position estimation unit 21.

[0082] When the inspection preparation processing unit 26 determines that the moving body 1 has reached the sensor inspection preparation interval S0, it changes the detection area A of the obstacle sensor 5 from the first area A1 to the third area A3 (step S162).

[0083] Next, the preparation processing unit 26 checks the detection data obtained by the obstacle sensor 5 (step S163). Then, based on the detection data of the obstacle sensor 5, the preparation processing unit 26 determines whether an obstacle X present in the travel direction of the moving body 1 has not been detected (step S164).

[0084] When the inspection preparation processing unit 26 determines that no obstacle X is detected in the direction of travel of the moving body 1, it outputs an inspection start signal to the driving control unit 22, the inspection processing unit 24 and the detection area setting unit 25 to indicate that the inspection operation of the obstacle sensor 5 performed by the inspection processing unit 24 is to begin (step S165), and executes the above-mentioned step S161 again.

[0085] When the inspection preparation processing unit 26 determines that an obstacle X is detected in the direction of travel of the moving body 1, it changes the detection area A of the obstacle sensor 5 from the third area A3 to the first area A1 (step S166) and executes the above step S161 again.

[0086] Thus, when the instruction to begin autonomous driving of the mobile body 1 is given, the mobile body 1 travels normally along the travel path R at a predetermined speed V. During the normal travel of the mobile body 1, the first area A1 is used as the detection area A of the obstacle sensor 5. During the travel of the mobile body 1, when an obstacle X is detected in front of the mobile body 1 by the obstacle sensor 5, the mobile body 1 stops or decelerates.

[0087] If the moving body 1 reaches the sensor check preparation interval S0 while the obstacle sensor 5 has not detected an obstacle X in front of the moving body 1, then... Figure 10 As shown, the detection area A of the obstacle sensor 5 is set to a third area A3 that is wider than the first area A1, and the time required for the moving body 1 to travel at the same speed V to check the obstacle sensor 5 is also considered.

[0088] When the moving body 1 has traveled the time required for the obstacle sensor 5 to check, if the obstacle sensor 5 detects an obstacle X in front of the moving body 1, the detection area A of the obstacle sensor 5 returns from the third area A3 to the first area A1, and the moving body 1 returns to its normal driving state. Therefore, when there is an obstacle X in front of the moving body 1, the moving body 1 stops or slows down. Furthermore, if, for example, the moving body 1 detects obstacle X multiple times each time it passes through the sensor check preparation interval S0, then the sensor check preparation interval S0 is inappropriate, and therefore, the alarm 14 issues a warning, urging the user to re-examine the sensor check preparation interval S0.

[0089] If, even after the moving body 1 has traveled the time required for the obstacle sensor 5 to detect it, the obstacle sensor 5 fails to detect an obstacle X in front of the moving body 1, then since the moving body 1 has reached the sensor detection range S, therefore, if Figure 10 As shown, the detection area A of the obstacle sensor 5 is set to a second area A2, which is wider than the third area A3, and the moving body 1 travels at the same speed V. Then, the obstacle sensor 5 performs the inspection while the moving body 1 continues to travel as before. At this time, since the action of stopping or decelerating the moving body 1 based on the detection result of the obstacle sensor 5 is invalidated, the inspection of the obstacle sensor 5 using the stationary object 4C for inspection is not hindered.

[0090] When obstacle sensor 5 detects a stationary object 4C for inspection, it is determined that obstacle sensor 5 is functioning normally. Then, the detection area A of obstacle sensor 5 changes from area 2 A2 to area 1 A1, and the moving body 1 returns to its normal driving state.

[0091] On the other hand, if the obstacle sensor 5 fails to detect a stationary object 4C for inspection, it is determined that the obstacle sensor 5 is malfunctioning. Then, while the alarm 14 issues a warning, the moving body 1 is forcibly stopped. In this case, the moving body 1 will not be able to move autonomously until the obstacle sensor 5 is repaired or replaced.

[0092] As described above, in this embodiment, when the mobile body 1 is traveling along the travel path R, when the mobile body 1 reaches the sensor inspection zone S, the obstacle sensor 5 performs inspection processing using a stationary object 4C while the mobile body 1 is traveling within the sensor inspection zone S. Then, if the obstacle sensor 5 detects the stationary object 4C, it is determined that the obstacle sensor 5 is normal; if the obstacle sensor 5 does not detect the stationary object 4C, it is determined that the obstacle sensor 5 is abnormal. Here, a second area A2, wider than the first area A1 used during normal travel, is used as the detection area A of the obstacle sensor 5. Therefore, when the mobile body 1 is traveling within the sensor inspection zone S, the obstacle sensor 5 can easily detect the stationary object 4C. Thus, it is possible to detect whether an abnormality has occurred in the obstacle sensor 5 during the travel of the mobile body 1. As a result, malfunctions during the travel of the mobile body 1 can be addressed.

[0093] Furthermore, in this embodiment, when the moving body 1 reaches the sensor inspection preparation zone S0, which is located closer to the moving body 1 in its direction of travel than the sensor inspection zone S, preparation processing is performed while the moving body 1 is traveling in the sensor inspection preparation zone S0 to prevent the moving body 1 from contacting the obstacle X when traveling in the sensor inspection zone S. Then, the obstacle sensor 5 inspection processing is performed in the sensor inspection zone S. Therefore, even if there is an obstacle X around the moving body 1 when the moving body 1 is traveling in the sensor inspection zone S, contact between the moving body 1 and the obstacle X is prevented.

[0094] Furthermore, in this embodiment, when the moving body 1 reaches the sensor inspection preparation interval S0, and the detection area A of the obstacle sensor 5 is changed from the first area A1 to the third area A3, it is determined whether the obstacle X is detected by the obstacle sensor 5. Then, if it is determined that the obstacle X is not detected by the obstacle sensor 5, the obstacle sensor 5 inspection process is performed in the sensor inspection interval S. Here, the detection area A of the obstacle sensor 5 is a third area A3, which is wider than the first area A1 used during normal driving. Therefore, when the moving body 1 is traveling in the sensor inspection preparation interval S0, the obstacle X is easily detected by the obstacle sensor 5. Therefore, it is possible to accurately detect whether the obstacle X exists around the moving body 1 when the moving body 1 is traveling in the sensor inspection interval S.

[0095] Furthermore, in this embodiment, the second region A2 is set to be wider than the first region A1 in the direction of travel of the moving body 1. Therefore, when the moving body 1 travels on the travel path R, the stationary object 4 present in the direction of travel of the moving body 1 is used as a stationary object 4C for inspection.

[0096] Furthermore, in this embodiment, the sensor inspection zone S is designated at a position closer to the travel direction of the moving body 1 than the bend rs of the travel path R. The stationary object 4C for inspection is positioned where the moving body 1 falls into the second region A2 of the detection area A, which is the obstacle sensor 5, when traveling within the sensor inspection zone S. Therefore, the stationary object 4 located near the bend rs of the travel path R is used as the stationary object 4C for inspection. Thus, by using a suitable stationary object 4 as the stationary object 4C for inspection, the inspection process of the obstacle sensor 5 can be effectively performed.

[0097] Furthermore, in this embodiment, not only can abnormalities in the sensor body of the obstacle sensor 5 itself be detected, but also the cable 6 connecting the obstacle sensor 5 and the controller 15 (see reference) Figure 1 A broken wire or short circuit, dirt adhering to the sensor surface of obstacle sensor 5 due to the external environment, etc., can also be detected as abnormalities of obstacle sensor 5.

[0098] Furthermore, in this embodiment, since the stationary object 4C is used for the inspection of the obstacle sensor 5, it is not necessary for the operator to be involved in the inspection of the obstacle sensor 5, thus reducing the burden on the operator.

[0099] Furthermore, in this embodiment, the third region A3 is wider than the first region A1 in the direction of travel of the moving body 1, and narrower than the second region A2 in the direction of travel of the moving body 1, but it is not particularly limited to this manner, and the third region A3 may also be equal to the second region A2.

[0100] Figure 11 This is a block diagram showing the configuration of a driving control device equipped with the obstacle sensor inspection device according to the second embodiment of the present invention.

[0101] exist Figure 11 In this embodiment, the driving control device 10A includes a controller 15A instead of the controller 15 in the first embodiment described above. The controller 15A includes: the self-position estimation unit 21, the driving control unit 22, the obstacle detection unit 23, the inspection processing unit 24, the detection area setting unit 25A, and the inspection preparation processing unit 26A.

[0102] When the inspection processing unit 24 performs the inspection processing of the obstacle sensor 5, the detection area setting unit 25A sets the detection area A of the obstacle sensor 5 to a second area A2 that is wider than the first area A1 used during normal driving.

[0103] Before the inspection processing unit 24 performs the inspection processing of the obstacle sensor 5, the inspection preparation processing unit 26A performs preparation processing in the sensor inspection preparation interval S0 to prevent the moving body 1 from contacting the obstacle X when it travels in the sensor inspection interval S. As part of the preparation processing, the inspection preparation processing unit 26A controls the drive unit 13 to decelerate the moving body 1 to a speed at which it will not contact the obstacle X when traveling in the sensor inspection interval S.

[0104] The obstacle sensor inspection device 20A of this embodiment consists of a storage unit 11, a self-position estimation sensor 12, a drive unit 13, an alarm 14, a self-position estimation unit 21 of a controller 15, a driving control unit 22, an inspection processing unit 24, a detection area setting unit 25A, and an inspection preparation processing unit 26A.

[0105] Figure 12 This is a flowchart illustrating the steps of the detection area setting process performed by the detection area setting unit 25A, and... Figure 8 Corresponding. In Figure 12In the process, the detection area setting unit 25A first determines whether an inspection start signal (as described above) from the inspection preparation processing unit 26A has been input (step S151).

[0106] When the detection area setting unit 25A determines that an inspection start signal has been input, it changes the detection area A of the obstacle sensor 5 from the first area A1 to the second area A2 (step S152A). Next, the detection area setting unit 25A determines whether an inspection end signal (as described above) has been input from the inspection processing unit 24 (step S153). When the detection area setting unit 25A determines that an inspection end signal has been input, it changes the detection area A of the obstacle sensor 5 from the second area A2 to the first area A1 (step S154).

[0107] Furthermore, in this embodiment, the inspection end signal from the inspection processing unit 24 is input not only to the detection area setting unit 25A, but also to the inspection preparation processing unit 26A.

[0108] Figure 13 This is a flowchart illustrating the steps of the inspection preparation process performed by the inspection preparation processing unit 26A, and... Figure 9 Corresponding. In Figure 13 In the process, the inspection preparation processing unit 26A first determines whether the moving body 1 has reached the sensor inspection preparation interval S0 (step S161).

[0109] When the inspection preparation processing unit 26A determines that the moving body 1 has reached the sensor inspection preparation zone S0, it controls the drive unit 13 to decelerate the moving body 1 to a speed Vs (refer to) that would not come into contact with the obstacle X when the moving body 1 is traveling in the sensor inspection zone S. Figure 14 (Step S167).

[0110] For example, the inspection preparation processing unit 26A controls the drive unit 13 to decelerate the moving body 1 to a speed at which the inspection processing performed by the inspection processing unit 24 can end in the first region A1 where the obstacle sensor 5 detects that there is currently no obstacle X in the direction of travel of the moving body 1. Specifically, the inspection preparation processing unit 26A controls the drive unit 13 such that when the time required for the inspection of the obstacle sensor 5 is set to t, the decelerated travel speed of the moving body 1 becomes (L1 / t) or less. As mentioned above, L1 is the length dimension of the first region A1 (refer to...). Figure 1 ).

[0111] Next, the inspection preparation processing unit 26A outputs an inspection start signal to the driving control unit 22, the inspection processing unit 24, and the detection area setting unit 25A (step S165A).

[0112] Next, the inspection preparation processing unit 26A determines whether an inspection end signal has been input from the inspection processing unit 24 (step S168). When the inspection preparation processing unit 26A determines that an inspection end signal has been input, it controls the drive unit to return the travel speed of the moving body 1 to the original speed V (step S169), and executes the above step S161 again.

[0113] When the travel speed of the moving body 1 is changed, the inspection preparation processing unit 26A can, for example, use a vehicle speed sensor to provide feedback control on the travel speed of the moving body 1.

[0114] Thus, during the normal travel of the mobile body 1, if the mobile body 1 reaches the sensor check preparation interval S0, then as follows: Figure 14 As shown, it will decelerate to a speed Vs that will not come into contact with surrounding obstacles X even if the time required for the moving body 1 to be checked by the obstacle sensor 5 is reduced.

[0115] After the moving body 1 has traveled the time required for the obstacle sensor 5 to check, if the moving body 1 reaches the sensor check interval S, then as follows: Figure 14 As shown, the detection area A of obstacle sensor 5 is set to a second area A2, which is wider than the first area A1 during normal driving, and the moving body 1 is traveling at the same speed Vs. In this state, the obstacle sensor 5 performs the check.

[0116] When obstacle sensor 5 detects a stationary object 4C for inspection, it is determined that obstacle sensor 5 is functioning normally. Then, the detection area A of obstacle sensor 5 is changed from area 2 A2 to area 1 A1, and the moving body 1 returns to its normal driving state.

[0117] On the other hand, if the obstacle sensor 5 fails to detect the stationary object 4C for inspection, it is determined that the obstacle sensor 5 is malfunctioning. Then, while the alarm 14 issues a warning, the moving object 1 is forcibly stopped.

[0118] As described above, in this embodiment, when the moving body 1 reaches the sensor inspection preparation zone S0, it decelerates to a speed Vs at which it does not come into contact with obstacles while traveling in the sensor inspection zone S. By decelerating the moving body 1 in this way within the sensor inspection preparation zone S0, the distance required for the obstacle sensor 5 to inspect the obstacle can be shortened.

[0119] Furthermore, in this embodiment, the detection area A of the obstacle sensor 5 when the moving body 1 is traveling in the sensor inspection preparation interval S0 is set to the same first area A1 as during normal travel, but it is not particularly limited to this method, for example, it may be narrower than the first area A1.

[0120] The above describes some embodiments of the present invention, but the present invention is not limited to the above embodiments. For example, in the above embodiments, a second region A2, which is wider than the first region A1 in the direction of travel of the moving body 1, is set as the detection region A of the obstacle sensor 5 when the moving body 1 travels in the sensor inspection interval S, but it is not particularly limited to this method.

[0121] For example, it can also be like Figure 15 As shown, the detection area A of the obstacle sensor 5 when the moving body 1 travels within the sensor inspection zone S is set to a second area A2 that is wider than the first area A1 in the width direction of the moving body 1. The width direction of the moving body 1 is perpendicular to the travel direction of the moving body 1. The width dimension W2 of the second area A2 is larger than the width dimension W1 of the first area A1. The width dimension is the dimension along the width direction of the moving body 1. In this case, the second area A2 is determined based on the width dimension of the moving body 1 or the width dimension of the traction trolley towed by the moving body 1. In addition, the stationary object 4C for inspection is, for example, a stationary object 4 such as a shelf or wall extending along the travel direction of the moving body 1.

[0122] Alternatively, the detection area A of the obstacle sensor 5 when the moving body 1 is traveling in the sensor inspection zone S can be set to a second area A2 that is wider than the first area A1 in both the direction of travel and the width direction of the moving body 1. In this case, when the moving body 1 travels along the travel path R, stationary objects 4 existing in the direction of travel or to the side of the moving body 1 are used as stationary objects 4C for inspection. Therefore, it is possible to increase the option of using stationary objects 4 as stationary objects 4C for inspection.

[0123] In addition, in the first embodiment described above, the detection area A of the obstacle sensor 5 when the moving body 1 is traveling in the sensor inspection preparation interval S0 can also be set as a second area A2 that is wider than the first area A1 in the width direction of the moving body 1, or it can also be set as a second area A2 that is wider than the first area A1 in both the travel direction and the width direction of the moving body 1.

[0124] In addition, in the above embodiment, the sensor inspection interval S is specified at a position closer to the travel direction of the moving body 1 than the turning part rs of the travel path R, but it is not particularly limited to this method. It can also be a position in the straight part r1 that is far away from the turning part r2, as long as the obstacle sensor 5 can be inspected.

[0125] Furthermore, in the above embodiment, in the sensor inspection preparation zone S0, which is located closer to the travel direction of the moving body 1 than the sensor inspection zone S, preparations are made to prevent the moving body 1 from contacting the obstacle X when it travels in the sensor inspection zone S, but this is not particularly limited to this method. For example, if there is no obstacle X in the sensor inspection zone S, preparations to prevent the moving body 1 from contacting the obstacle X when it travels in the sensor inspection zone S may not be implemented.

[0126] In addition, in the above embodiment, the obstacle sensor 5 is a laser sensor, but it is not particularly limited to this method. A camera or the like can also be used as the obstacle sensor 5.

[0127] Furthermore, in the above embodiment, the sensor 12 used for estimating its own position employs a SLAM method based on detection data from a laser sensor to estimate the position of the moving body 1, but this method is not particularly limited. Other methods for estimating the position of the moving body 1 may include, for example, a magnetic sensor that detects a magnetic tape positioned on the travel path R, a SLAM method based on image data from a camera, an odometer sensor that detects the amount and direction of movement of the moving body 1, or an inertial measurement unit (IMU) that measures the angular velocity and acceleration of the moving body 1.

[0128] Furthermore, in the above embodiment, obstacle sensor 5 is checked each time the moving body 1 passes through the designated sensor inspection section S on the travel path R of the circular route. However, this is not particularly limited to this method, and obstacle sensor 5 may be checked only once every few weeks. Also, the travel path R is not particularly limited to a circular route.

[0129] Furthermore, the above-described embodiments are apparatus and methods for inspecting obstacle sensors 5 that detect obstacles X present around a mobile body 1 that is an industrial vehicle, but the present invention can also be applied to mobile bodies other than industrial vehicles.

Claims

1. An obstacle sensor inspection device for inspecting obstacle sensors that detect obstacles present around a moving body. The obstacle sensor inspection device described above is characterized by having: A driving control unit controls the movement of the mobile body along a driving path. The inspection processing unit performs the obstacle sensor inspection processing using a pre-specified stationary object within a pre-specified sensor inspection range when the moving body is traveling along the travel path. The detection area setting unit sets the detection area of ​​the obstacle sensor to a second area that is wider than the first area used during normal driving when the inspection processing unit performs the inspection processing of the obstacle sensor. as well as Before performing the obstacle sensor inspection process, the inspection preparation unit sets the detection area of ​​the obstacle sensor to a third area wider than the first area in a sensor inspection preparation area located closer to the direction of travel of the moving body than the sensor inspection area. In this state, it determines whether the obstacle sensor has detected an obstacle, thereby performing preparation processing to prevent the moving body from contacting the obstacle when it travels within the sensor inspection area. If the inspection preparation processing unit determines that the obstacle sensor has not detected an obstacle, the inspection processing unit determines that the obstacle sensor is normal if the obstacle sensor detects the stationary object for inspection, and determines that the obstacle sensor is abnormal if the obstacle sensor does not detect the stationary object for inspection. When an obstacle is detected by the obstacle sensor during the inspection process performed by the inspection processing unit, the driving control unit will disable the action of stopping or slowing down the moving body.

2. An obstacle sensor inspection device for inspecting obstacle sensors that detect obstacles present around a moving body. The obstacle sensor inspection device described above is characterized by having: A driving control unit controls the movement of the mobile body along a driving path. The inspection processing unit performs the obstacle sensor inspection processing using a pre-specified stationary object within a pre-specified sensor inspection range when the moving body is traveling along the travel path. The detection area setting unit sets the detection area of ​​the obstacle sensor to a second area that is wider than the first area used during normal driving when the inspection processing unit performs the inspection processing of the obstacle sensor. as well as The inspection preparation processing unit, before performing the obstacle sensor inspection processing, controls the moving body to decelerate to a speed that prevents it from contacting the obstacle while traveling within the sensor inspection preparation zone, located closer to the moving body's direction of travel than the sensor inspection zone. This deceleration, in turn, performs preparation processing to ensure the moving body does not contact the obstacle while traveling within the sensor inspection zone. When the obstacle sensor detects the stationary object for inspection, the inspection processing unit determines that the obstacle sensor is normal; when the obstacle sensor does not detect the stationary object for inspection, it determines that the obstacle sensor is abnormal. When an obstacle is detected by the obstacle sensor during the inspection process performed by the inspection processing unit, the driving control unit will disable the action of stopping or slowing down the moving body.

3. The obstacle sensor inspection device according to claim 1 or 2, wherein, The second region is configured to be wider than the first region in at least one of the directions of travel and width of the moving body.

4. The obstacle sensor inspection device according to claim 1 or 2, wherein, The driving path has curves. The sensor inspection area is specified at a position closer to the moving body than the turning point in the direction of travel. The stationary object for inspection is positioned so that it falls into the second region when the moving body travels within the sensor inspection zone.

5. An obstacle sensor inspection method for inspecting obstacle sensors that detect obstacles present around a moving body. The obstacle sensor inspection method described above is characterized by comprising: Midway along the travel path of the mobile body, a process is defined for a sensor inspection zone where the obstacle sensor is inspected, a sensor inspection preparation zone located closer to the travel direction of the mobile body than the sensor inspection zone, and a stationary object for inspection of the obstacle sensor within the sensor inspection zone. The process of controlling the moving body to travel along the travel path; When the moving body is traveling along the travel path, the obstacle sensor inspection process is performed using the stationary object for inspection within the sensor inspection zone. The process of setting the detection area of ​​the obstacle sensor to a second area that is wider than the first area used during normal driving when performing the obstacle sensor inspection process; as well as Before performing the obstacle sensor inspection process, in a sensor inspection preparation zone located closer to the direction of travel of the moving body than the sensor inspection zone, the detection area of ​​the obstacle sensor is set to a third zone wider than the first zone. In this state, it is determined whether the obstacle sensor has detected an obstacle, thereby performing a preparation process to prevent the moving body from contacting the obstacle when it travels within the sensor inspection zone. If, during the preparation process, it is determined that the obstacle sensor has not detected an obstacle, then during the obstacle sensor inspection process, if the obstacle sensor detects the stationary object for inspection, it is determined that the obstacle sensor is normal; if the obstacle sensor does not detect the stationary object for inspection, it is determined that the obstacle sensor is abnormal. When an obstacle is detected by the obstacle sensor during the obstacle sensor's inspection process, the action to stop or decelerate the moving body will be invalidated during the process of controlling the moving body to move.

6. An obstacle sensor inspection method for inspecting obstacle sensors that detect obstacles present around a moving body. The obstacle sensor inspection method described above is characterized by comprising: Midway along the travel path of the mobile body, a process is defined for a sensor inspection zone where the obstacle sensor is inspected, a sensor inspection preparation zone located closer to the travel direction of the mobile body than the sensor inspection zone, and a stationary object for inspection of the obstacle sensor within the sensor inspection zone. The process of controlling the moving body to travel along the travel path; When the moving body is traveling along the travel path, the obstacle sensor inspection process is performed using the stationary object for inspection within the sensor inspection zone. The process of setting the detection area of ​​the obstacle sensor to a second area that is wider than the first area used during normal driving when performing the obstacle sensor inspection process; as well as Before performing the obstacle sensor inspection process, in a sensor inspection preparation zone located closer to the moving body's direction of travel than the sensor inspection zone, control is applied to decelerate the moving body to a speed at which it will not come into contact with the obstacle while traveling in the sensor inspection zone. This performs a preparation process to prevent the moving body from coming into contact with the obstacle while traveling in the sensor inspection zone. In the process of performing the obstacle sensor inspection, if the obstacle sensor detects the stationary object being inspected, the obstacle sensor is determined to be normal; if the obstacle sensor does not detect the stationary object being inspected, the obstacle sensor is determined to be abnormal. When an obstacle is detected by the obstacle sensor during the obstacle sensor's inspection process, the action to stop or decelerate the moving body will be invalidated during the process of controlling the moving body to move.

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