Autonomous mobile body

Abstract

This invention relates to an autonomous mobile body, comprising: a driving unit having drive wheels and a platform, capable of moving in a straight line and turning left and right; a second unit disposed above the driving unit, having a top plate and a swing mechanism for swinging about a vertical axis with the driving unit as a reference; a lower object detection sensor for detecting objects in the forward direction of the driving unit; an upper object detection sensor for detecting objects near the top plate; and a control unit that controls at least one of the driving unit and the second unit based on the detection results of the objects by the lower object detection sensor and the upper object detection sensor.

Description

Technical Field

[0001] This invention relates to an autonomous mobile body. Background Technology

[0002] Previously, research and development focused on autonomous robots capable of carrying objects such as food, beverages, and luggage. Typically, autonomous robots possess object detection sensors that detect surrounding objects and determine their actions based on the detection results. For example, when an autonomous robot detects an object, it might assume the object is a person and perform a swaying motion, etc., to notify itself that it has recognized the person.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2022-51979

[0004] However, in the aforementioned prior art, when the autonomous robot detects a person nearby, it cannot distinguish whether the person intends to place an object on the top plate of the autonomous robot or simply intends to pass by the autonomous robot.

[0005] Therefore, for example, even when a person approaches the autonomous robot and attempts to place an object onto its top plate, it is conceivable that the robot will perform a head-shaking motion. In this case, because the top plate moves due to the head-shaking motion, it becomes difficult for a person to place the object onto the top plate. Summary of the Invention

[0006] Therefore, the present invention was made in view of the above circumstances, and its objective is to provide an autonomous moving body capable of performing appropriate actions based on the detected content of surrounding objects.

[0007] The autonomous mobile body of the present invention comprises: a driving unit having drive wheels and a platform, capable of moving straight and turning left and right; a second unit disposed above the driving unit, having a top plate and a swing mechanism for swinging about a vertical axis with the driving unit as a reference; a lower object detection sensor for detecting objects in the forward direction of the driving unit; an upper object detection sensor for detecting objects near the top plate; and a control unit for controlling at least one of the driving unit and the second unit based on the detection results of the objects by the lower object detection sensor and the upper object detection sensor.

[0008] According to the present invention, an autonomous moving body capable of performing appropriate actions based on the detected content of surrounding objects can be provided. Attached Figure Description

[0009] Figure 1A This is a diagram illustrating the structure of an autonomous driving robot according to an implementation method.

[0010] Figure 1B This is a diagram illustrating the structure of an autonomous driving robot according to an implementation method.

[0011] Figure 2 This is a diagram illustrating the functional structure of an autonomous driving robot implemented in this way.

[0012] Figure 3 This is a flowchart illustrating the processes performed by the autonomous driving robot in the implementation method. Detailed Implementation

[0013] The autonomous driving robot (autonomous mobile body) of this embodiment will now be described with reference to the accompanying drawings. In the following description, "forward / backward (direction)" refers to a direction parallel to the autonomous driving robot's forward direction. "Left / right (direction)" refers to a direction perpendicular to the autonomous driving robot's forward direction and parallel to the ground. Furthermore, objects around the autonomous driving robot are sometimes referred to as "obstacles."

[0014] First, refer to Figure 1A , Figure 1B , Figure 2 The structure and functional structure of the autonomous driving robot R are described. Figure 1A , Figure 1B This is a diagram showing the structure of the autonomous driving robot R in the implementation method. Figure 2 This is a diagram illustrating the functional structure of the autonomous driving robot R in the implementation method.

[0015] Figure 1A This is an exterior view of the autonomous robot R. The autonomous robot R is capable of carrying objects such as food, drinks, and luggage, and can move autonomously in mobile environments such as restaurants, residences, facilities, warehouses, factories, and outdoors.

[0016] The autonomous robot R has a transport unit 1 (second unit) and a driving unit 2. The driving unit 2 is roughly rectangular in shape with rounded corners, has four drive wheels 21 and a platform, and is capable of moving in a straight line and turning left and right.

[0017] The transport unit 1 is barrel-shaped and positioned above the travel unit 2, comprising an upper body 11 and a lower body 12. The housing of the upper body 11 is positioned relative to the oscillator mechanism 14 ( Figure 1B The lower body 12 is fixed and moves with the movement of the oscillator mechanism 14. The housing of the lower body 12 is relative to the rotating mechanism 13. Figure 1B It is fixed and rotates with the rotation of the rotating mechanism 13.

[0018] also, Figure 1B This is a diagram showing the internal structure of the transport unit 1 of the autonomous robot R. That is, in... Figure 1B(Not shown in the image) Figure 1A The upper body 11 has a shell portion, and the lower body 12 has a shell portion. The conveying unit 1 includes a rotating mechanism 13 and an oscillator mechanism 14.

[0019] The rotating mechanism 13 is a swing mechanism for swinging about a vertical axis with the traveling unit 2 as a reference.

[0020] The oscillator mechanism 14 is a handling mechanism for transporting goods, and includes a front-rear oscillator mechanism 141 and a left-right oscillator mechanism 142. The front-rear oscillator mechanism 141 is an oscillator mechanism for tilting the top surface (top plate) of the upper body 11 in the front-rear direction. The left-right oscillator mechanism 142 is an oscillator mechanism for tilting the top surface (top plate) of the upper body 11 in the left-right direction. Furthermore, objects transported by the autonomous robot R are placed on the top surface (top plate) of the upper body 11.

[0021] An upper object detection sensor 111 is provided on the top of the upper body 11 (top plate). The upper object detection sensor 111 detects objects near the top plate (e.g., within 1 meter of the top plate). The upper object detection sensor 111 is composed of, for example, LiDAR (Light Detection and Ranging), millimeter-wave sensors, etc., and sends the detection signal to the oscillator ECU 147. In addition, the upper object detection sensor 111 may also be composed of a camera, ultrasonic sensor, infrared sensor, etc., or it may be a sensor that combines multiple methods.

[0022] In addition, such as Figure 2 As shown, the driving unit 2 includes a driving drive unit 22, a position sensor 23, a lower object detection sensor 24, and a driving ECU 25.

[0023] The driving unit 22 is equipped with an electric motor for driving the drive wheel 21 to rotate.

[0024] Position sensor 23 is a sensor used by the driving ECU 25 to acquire data for estimating the position of the autonomous driving robot R. Position sensor 23 may consist of, for example, a GPS (Global Positioning System) sensor or a rotational angular velocity sensor of the drive wheel 21, and sends detection signals to the driving ECU 25.

[0025] The lower object detection sensor 24 is a sensor that detects objects (at least objects in the forward direction of the driving unit 2) around the autonomous driving robot R. The lower object detection sensor 24 is composed of, for example, a LiDAR, a millimeter-wave sensor, etc., and sends the detection signal to the driving ECU 25. In addition, the lower object detection sensor 24 may also be composed of a camera, an ultrasonic sensor, an infrared sensor, etc., or it may be a sensor that combines multiple means.

[0026] The driving ECU25 is an information processing device composed of specified hardware and software, such as CPU (Central Processing Unit), memory, FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit).

[0027] The driving ECU 25 performs various controls. For example, based on the detection signal obtained from the position sensor 23, the driving ECU 25 estimates the current position of the autonomous driving robot R. Furthermore, based on the detection signal obtained from the lower object detection sensor 24, the driving ECU 25 identifies obstacles around the autonomous driving robot R. Additionally, based on the current position, the destination, and the positions of the obstacles, the driving ECU 25 generates a driving path from the current position to the destination. Furthermore, the driving ECU 25 controls the driving drive unit 22, causing the driving unit 2 (and thus the autonomous driving robot R) to travel along the driving path.

[0028] In addition, the rotating mechanism 13 includes a swing drive unit 131, a rotation angle sensor 132, and a swing ECU 133 (control unit).

[0029] The swing drive unit 131 is equipped with an actuator that causes the rotating mechanism 13 to rotate.

[0030] The rotation angle sensor 132 is a sensor that detects the rotation angle of the rotation mechanism 13 and sends the detection signal to the swing ECU 133.

[0031] The swing ECU 133 performs various controls. When the autonomous robot R is moved to its destination by the driving ECU 25, and the autonomous robot R turns to the left or right, the swing ECU 133 performs the following control: it causes the transport unit 1 to swing in the same direction (the same direction as the turning direction, and so on below) to enter a swing state, and before changing from turning to straight movement, it causes it to swing in the opposite direction to return to the non-swing state.

[0032] Furthermore, when the autonomous robot R turns to the left or right, the swing ECU 133 performs the following control: when the transport unit 1 swings in the same direction and enters a swinging state, the transport unit 1 swings until its front face is directly opposite the destination. In addition, the driving ECU 25, swing ECU 133, and oscillator ECU 147 can communicate with each other via CAN (Controller Area Network) to send and receive necessary information.

[0033] The oscillator mechanism 14 includes left and right oscillator drive units 143, front and rear oscillator drive units 144, position sensor 145, acceleration sensor 146, and oscillator ECU 147.

[0034] The left and right oscillator drive unit 143 is a mechanism that, when the autonomous robot R turns and moves in the left and right directions, due to the acceleration generated in the left and right directions on the autonomous robot R, in order to counteract the effect of the acceleration and prevent the object placed on the top of the upper body 11 (top plate) from falling in the left and right directions, causes the upper body 11 to perform oscillator motion in the left and right directions.

[0035] The front and rear oscillator drive unit 144 is a mechanism that, when the autonomous robot R accelerates or decelerates in the front and rear direction, the front and rear acceleration is generated on the autonomous robot R. In order to counteract the effect of this acceleration and prevent the object placed on the top of the upper body 11 (top plate) from falling in the front and rear direction, the upper body 11 is made to perform oscillator motion in the front and rear direction.

[0036] Furthermore, the left and right oscillator drive units 143 and the front and rear oscillator drive units 144 can be controlled in parallel. Therefore, regardless of which direction the autonomous robot R accelerates in the surrounding 360 degrees, by controlling the left and right oscillator drive units 143 and the front and rear oscillator drive units 144 in parallel to counteract the effect of the acceleration, it is possible to prevent objects placed on the top of the upper body 11 (top plate) from falling.

[0037] Position sensor 145 is a sensor used to acquire data for estimating the position of oscillator mechanism 14. Position sensor 23, for example, is composed of a rotational angular velocity sensor, and sends a detection signal to oscillator ECU 147. In addition, position sensor 145 may be provided separately for the front and rear oscillator mechanisms 141 and the left and right oscillator mechanisms 142.

[0038] Accelerometer 146 detects the acceleration generated on oscillator mechanism 14 and sends the detection signal to oscillator ECU 147.

[0039] The oscillator ECU 147 performs various controls. Based on the detection signals obtained from the position sensor 145 and the acceleration sensor 146, the oscillator ECU 147 controls the left and right oscillator drive units 143 and the front and rear oscillator drive units 144 to make the upper body 11 oscillate, thereby preventing the object placed on the top of the upper body 11 (top plate) from falling due to the acceleration generated by the autonomous robot R.

[0040] Furthermore, for the sake of simplicity, when referred to as "control unit," it is defined as at least one of the following: driving ECU 25, swing ECU 133, and oscillator ECU 147. Moreover, the driving ECU 25, swing ECU 133, and oscillator ECU 147 are capable of information sharing and coordinated actions via communication.

[0041] The control unit controls at least one of the driving unit 2 and the transport unit 1 based on the detection results of the lower object detection sensor 24 and the upper object detection sensor 111.

[0042] For example, if the lower object detection sensor 24 detects an object, the upper object detection sensor 111 detects an object, and the detection time of the upper object detection sensor 111 is less than a predetermined time (for example, if a person near the autonomous driving robot R performs a predetermined non-contact gesture near the top plate (upper object detection sensor 111)), the control unit controls at least one of the driving unit 2 and the transport unit 1 to perform a set action (for example, an action corresponding to the gesture, such as a swinging motion indicating joy, or an action to move towards a predetermined destination).

[0043] Furthermore, for example, if both the lower object detection sensor 24 and the upper object detection sensor 111 detect an object, and the upper object detection sensor 111 detects the object for more than a predetermined time (for example, if a person near the autonomous robot R places a transported object on the top plate (including attempts to place it; the same applies below)), the control unit controls at least one of the driving unit 2 and the transport unit 1 to perform actions in a stable driving mode set on the premise that the transported object is placed on the top plate. In the stable driving mode, for example, when moving the top plate, the actions of the driving unit 2 and the transport unit 1 are reduced to prevent the transported object on the top plate from easily moving, or when the autonomous robot R is moving, the driving speed is reduced to prevent the transported object on the top plate from easily moving.

[0044] Furthermore, for example, if the lower object detection sensor 24 detects an object but the upper object detection sensor 111 does not detect an object (for example, if a person near the autonomous driving robot R neither performs any hand gestures near the top plate nor loads or moves any objects onto the top plate), the control unit instructs the driving unit 2 to stop driving or avoid the obstacle (the detected object).

[0045] Next, refer to Figure 3 The processing performed on the autonomous robot R is explained. Figure 3 This is a flowchart illustrating the processing performed by the autonomous driving robot R in the implementation method. Furthermore, before this processing begins, it is assumed that the driving ECU 25 has already generated a driving path from the current position to the destination based on the current position, the destination, and the positions of obstacles.

[0046] First, in step S1, the lower object detection sensor 24 is set to detect an object.

[0047] Next, in step S2, the control unit determines whether the upper object detection sensor 111 has detected an object for less than a specified time. If yes (for example, if a person near the autonomous robot R performs a specified gesture near the top plate (upper object detection sensor 111)), the process proceeds to step S3; otherwise, the process proceeds to step S4.

[0048] In step S3, the control unit causes at least one of the driving unit 2 and the transport unit 1 to perform a set action (e.g., an action corresponding to a gesture).

[0049] In step S4, the control unit determines whether the upper object detection sensor 111 has detected an object for more than a specified time. If yes (for example, a person near the autonomous robot R places a transported object on the top plate), the process proceeds to step S5. If no (for example, a person near the autonomous robot R neither performs any hand gestures near the top plate nor places a transported object on the top plate), the process proceeds to step S7.

[0050] In step S5, the control unit determines that the person has placed the transported item on the top plate. Next, in step S6, the control unit switches to a stable driving mode set on the premise that the transported item is placed on the top plate, and controls at least one of the driving unit 2 and the transport unit 1 to perform the operation in the stable driving mode.

[0051] In step S7, the control unit determines that there is an object (such as a person) obstructing the autonomous robot R's movement in front of it (in the direction of travel). Then, in step S8, the control unit instructs the driving unit 2 to stop moving or avoid the obstacle (object obstructing movement).

[0052] Thus, according to this embodiment, the autonomous driving robot R controls at least one of the driving unit 2 and the transport unit 1 based on the detection results of the lower object detection sensor 24 and the upper object detection sensor 111. Therefore, the autonomous driving robot R can perform appropriate actions based on the detected content of surrounding objects. Specifically, as follows.

[0053] For example, if both the lower object detection sensor 24 and the upper object detection sensor 111 detect an object, and the detection time of the upper object detection sensor 111 is less than a predetermined time, at least one of the driving unit 2 and the transport unit 1 is controlled to perform a predetermined action. Thus, for example, when a person near the autonomous driving robot R performs a predetermined gesture near the top plate (upper object detection sensor 111), the autonomous driving robot R can perform an action corresponding to the gesture.

[0054] Furthermore, if both the lower object detection sensor 24 and the upper object detection sensor 111 detect an object, and the upper object detection sensor 111 detects the object for a period exceeding a predetermined time, at least one of the driving unit 2 and the transport unit 1 is controlled to perform actions in a stable driving mode pre-set on the premise that the transported object is placed on the top plate. Thus, for example, when a person near the autonomous driving robot R places a transported object on the top plate, the autonomous driving robot R can perform actions in a stable driving mode. Therefore, for example, it is possible to prevent the autonomous driving robot R from performing a swinging motion when a person approaches the autonomous driving robot R and attempts to place a transported object on its top plate.

[0055] Furthermore, if the lower object detection sensor 24 detects an object but the upper object detection sensor 111 does not detect an object, the driving unit 2 is instructed to stop driving or avoid the obstacle (object obstructing driving). Thus, for example, when a person near the autonomous driving robot R neither performs hand gestures near the top plate nor loads or moves objects onto the top plate, the autonomous driving robot R can be made to stop driving or avoid the obstacle (object obstructing driving).

[0056] Furthermore, the program executed by the autonomous robot R in this embodiment can be provided as an installable or executable file on a computer-readable recording medium such as a CD (Compact Disc)-ROM (Read Only Memory), floppy disk (FD), CD-R (Recordable), or DVD (Digital Versatile Disk). Alternatively, the program can be provided or distributed via a network such as the Internet.

[0057] The embodiments of the present invention have been described above, but these embodiments are provided as examples and are not intended to limit the scope of the invention. This new embodiment can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, and are included within the scope of the invention as described in the claims and its equivalents.

[0058] For example, the acceleration sensor 146 may be installed in the driving unit 2 instead of the oscillator mechanism 14. However, in this case, although the acceleration sensor 146 does not detect the acceleration caused by the oscillator movement of the oscillator mechanism 14 or the rotational movement of the rotation mechanism 13, the oscillator ECU 147 uses not only the detection signal from the acceleration sensor 146, but also the previous control signals from the oscillator ECU 147 to the left and right oscillator drive units 143 and the front and rear oscillator drive units 144, as well as the previous control signals from the swing ECU 133 to the swing drive unit 131, thereby determining the control content of the left and right oscillator drive units 143 and the front and rear oscillator drive units 144.

[0059] On the other hand, as in the above embodiment, if the acceleration sensor 146 is provided in the oscillator mechanism 14, the acceleration sensor 146 will detect the acceleration caused by the oscillator motion of the oscillator mechanism 14 or the rotational motion of the rotation mechanism 13, so there is no need to perform such complex processing. That is, the control content of the left and right oscillator drive units 143 and the front and rear oscillator drive units 144 can be determined based on the simple processing of the detection signal of the acceleration sensor 146 alone.

[0060] Furthermore, in addition to autonomous robots, this invention can be widely applied to all autonomous mobile bodies.

[0061] In addition, when the lower object detection sensor 24 or the upper object detection sensor 111 detects an object, it can detect the presence of the object or detect specific actions of the object.

[0062] In addition, Figure 3 Although the document does not differentiate between the object detection time of the lower object detection sensor 24, it is not limited to this. That is, even when the lower object detection sensor 24 detects an object, the subsequent actions of the autonomous driving robot R can be different depending on whether its detection time is long or short.

[0063] In addition, Figure 3In steps S2 and S3, the distinction is made based on whether the object detection time of the upper object detection sensor 111 is less than or greater than a predetermined time, but this is not limited to this. For example, a first predetermined time and a second predetermined time longer than the first predetermined time can also be preset. If the object detection time of the upper object detection sensor 111 is closer to the first predetermined time, it is determined as yes in step S2; if the object detection time of the upper object detection sensor 111 is closer to the second predetermined time, it is determined as no in step S2 and yes in step S3.

[0064] In addition, Figure 2 In addition to the driving ECU 25, swing ECU 133, and oscillator ECU 147 shown, a unified ECU that controls them can also be provided, and the unified ECU performs the processing and control unique to this invention.

[0065] Explanation of reference numerals in the attached figures 1...Transportation unit, 2...Travel unit, 11...Upper body (transportation mechanism), 12...Lower body (swing mechanism), 13...Rotation mechanism (swing mechanism), 21...Drive wheel, 25...Travel ECU (control unit), 131...Swing drive unit (swing mechanism), 132...Rotation angle sensor (swing mechanism), 133...Swing ECU (control unit), 147...Vibrator ECU, R...Autonomous traveling robot (autonomous moving body).

Claims

1. An autonomous mobile body, comprising: a driving unit having drive wheels and a platform, capable of moving in a straight line and turning left or right; The second unit, which is disposed on the upper part of the driving unit, has a top plate and a swing mechanism for swinging about a vertical axis with the driving unit as a reference; and a lower object detection sensor for detecting objects located in the forward direction of the driving unit. An upper object detection sensor detects objects located near the top plate; And a control unit, which controls at least one of the driving unit and the second unit based on the detection results of the lower object detection sensor and the detection results of the upper object detection sensor.

2. The autonomous mobile body according to claim 1, wherein, When the lower object detection sensor detects an object, the upper object detection sensor detects an object, and the detection time of the upper object detection sensor is less than a predetermined time, the control unit controls at least one of the driving unit and the second unit to perform a set action.

3. The autonomous mobile body according to claim 1, wherein, When the lower object detection sensor detects an object, the upper object detection sensor detects an object, and the upper object detection sensor detects the object for a period of time or more than a predetermined time, the control unit controls at least one of the driving unit and the second unit to perform an action in a stable driving mode set on the premise that the transported object is placed on the top plate.

4. The autonomous mobile body according to claim 1, wherein, When the lower object detection sensor detects an object but the upper object detection sensor does not detect an object, the control unit instructs the driving unit to stop driving or avoid the detected object.

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