Moving body

Abstract

A moving body is provided with: a case; a moving mechanism that moves the case; an arm having one end supported by the housing and having at least one joint; the distance measuring device comprises an optical head; and a control unit that controls the movement mechanism and the arm, the optical head being mounted between one of the at least one joint of the arm and the tip of the arm. The control unit changes the position of the optical head by changing the posture of the arm, thereby causing the distance measuring device to measure the distance of the peripheral region, and controls the movement mechanism on the basis of three-dimensional space information obtained on the basis of the distance of the peripheral region measured by the distance measuring device.

Description

Technical Field

[0001] The present disclosure relates to a moving body. Background Art

[0002] Conventionally, a LiDAR (Light Detection and Ranging) system has been disclosed. This system measures the distance to an object by irradiating the object with light and detecting the reflected light from the object. For example, in Patent Document 1, a distributed FM lidar system having a plurality of optical heads is disclosed, in which the plurality of optical heads are distributed at appropriate positions outside the moving body.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2019-522211 Summary of the Invention

[0006] However, in the above-described conventional technology, in order to reduce the area (dead angle) where the LiDAR system (distance measuring device) cannot measure the distance, it is necessary to increase the number of optical heads, and the number of parts of the LiDAR system increases.

[0007] An object of the present disclosure is to provide a moving body that can suppress an increase in the number of parts of a distance measuring device and can reduce the area where the distance cannot be measured.

[0008] Means for Solving the Problem

[0009] A moving body according to one aspect of the present disclosure includes: a box body; a moving mechanism that moves the box body; an arm that is supported by the box body at one end and has at least one joint; a distance measuring device that includes an optical head; and a control unit that controls the moving mechanism and the arm. The optical head is installed between a certain one of the at least one joint of the arm and the front end of the arm. The control unit changes the posture of the arm to change the position of the optical head, thereby causing the distance measuring device to measure the distance of the surrounding area, and controls the moving mechanism based on three-dimensional space information obtained from the distance of the surrounding area measured by the distance measuring device.

[0010] In addition, this inclusive or specific form can be implemented by a system, a device, a method, an integrated circuit, a computer program, or a computer-readable recording medium, or can be implemented by any combination of a system, a device, a method, an integrated circuit, a computer program, and a recording medium. Computer-readable recording media include, for example, non-volatile recording media such as CD-ROM (Compact Disc-ReadOnly Memory).

[0011] Utility model effect

[0012] According to the technology of the present disclosure, it is possible to suppress an increase in the number of parts of the distance measuring device and reduce the area where distance measurement is impossible.

[0013] Before describing the embodiments, an overview of the present disclosure will be described.

[0014] A moving body according to one aspect of the present disclosure includes: a box body; a moving mechanism that moves the box body; an arm whose one end is supported by the box body and has at least one joint; a distance measuring device including an optical head; and a control unit that controls the moving mechanism and the arm. The optical head is installed between a certain one of the at least one joint of the arm and the front end of the arm. The control unit changes the posture of the arm to change the position of the optical head, thereby causing the distance measuring device to measure the distance of the surrounding area, and controls the moving mechanism based on the three-dimensional space information obtained from the distance of the surrounding area measured by the distance measuring device.

[0015] Thus, by mounting the optical head on the arm, the position of the optical head can be changed, an increase in the number of the optical head and / or the mounting components of the optical head can be suppressed, and the area where distance measurement is impossible (dead angle) can be reduced. As a result, the amount of information of the three-dimensional space information can be increased, which can contribute to the improvement of the movement control of the moving body.

[0016] A moving body according to a second aspect of the present disclosure is the moving body according to the first aspect, and the distance measuring device is a LiDAR (Light Detection and Ranging) device.

[0017] Thus, the LiDAR device can be used as the distance measuring device, and the accuracy of the three-dimensional space information can be improved.

[0018] A moving body according to a third aspect of the present disclosure is the moving body according to the second aspect, and the distance measuring device is a LiDAR device of FMCW (Frequency Modulated Continuous Wave) method.

[0019] Thus, the FMCW-LiDAR device can be used as the distance measuring device, and the accuracy of the three-dimensional space information can be further improved. In addition, in addition to being able to measure the position and shape of an object, the speed of the object can also be measured, and the height control of the moving body can be realized.

[0020] The mobile body according to the fourth aspect of the present disclosure is the mobile body according to any one of the first to third aspects. The distance measuring device further includes a main body unit optically connected to the optical head, and the main body unit is disposed in the box body.

[0021] Accordingly, the optical head and the main body unit can be separately disposed on the arm and in the box body. That is, the main body unit may not be mounted on the arm. Thus, the weight burden on the arm can be reduced, and a distance measuring device can be realized even with a smaller arm. In particular, in a LiDAR device, since the main body unit becomes larger, the effect of separately disposing the optical head and the main body unit is greater. Further, in an FMCW-LiDAR device, an increase in ranging error due to the separate disposition of the optical head and the main body unit can be suppressed, and the separate disposition of the optical head and the main body unit of the FMCW-LiDAR device is more effective. In addition, the reason for suppressing an increase in ranging error in the FMCW-LiDAR device will be described in the description of FMCW-LiDAR.

[0022] The mobile body according to the fifth aspect of the present disclosure is the mobile body according to any one of the first to fourth aspects. The box body has a front surface, a right side surface, and a left side surface; the peripheral area is an area including at least one of the front surface, the right side surface, and the left side surface of the box body.

[0023] Accordingly, the distance of an area including at least one of the front surface, the right side surface, and the left side surface of the box body is measured, so that the area where the field of view is blocked by the box body can be reduced. In addition, when an object is placed on the box body, the protruding portion of the object (stowed cargo) protruding from the box body can be detected. As a result, movement control corresponding to the size of the protruding portion of the stowed cargo can be performed, and contact between the protruding portion of the stowed cargo and surrounding objects during movement can be suppressed.

[0024] The mobile body according to the sixth aspect of the present disclosure is the mobile body according to any one of the first to fifth aspects. The control unit controls the arm to a first posture so that the distance measuring device measures the distance of a first peripheral area; and controls the arm to a second posture so that the distance measuring device measures the distance of a second peripheral area.

[0025] Accordingly, by changing the posture of the arm, the distances of a plurality of peripheral areas can be measured, an increase in the number of optical heads can be suppressed, and the area where ranging cannot be performed (dead angle) can be reduced.

[0026] The mobile body according to the seventh aspect of the present disclosure is the mobile body according to the sixth aspect, the first peripheral area is the area in the traveling direction of the mobile body, and when the control unit detects an object that obstructs the traveling of the mobile body in the first peripheral area, the arm is controlled to the second posture, and the second peripheral area is located in front of the object in the traveling direction.

[0027] Thereby, the distance of the second area in front of the object (obstacle) located in the traveling direction of the mobile body is measured. Therefore, the shape of the obstacle can be measured more accurately, and the accuracy of the three-dimensional space information can be improved. As a result, it is possible to achieve a higher level of movement control corresponding to the shape of the obstacle.

[0028] The mobile body according to the eighth aspect of the present disclosure is the mobile body according to any one of the first to seventh aspects, the at least one joint includes a plurality of joints including the first joint, the first joint is the closest to the front end of the arm among the plurality of joints, and the optical head is mounted between the first joint and the front end of the arm.

[0029] Thereby, the optical head can be mounted at a position closer to the front end of the arm, and the optical head can be moved more freely.

[0030] The mobile body according to the ninth aspect of the present disclosure is the mobile body according to any one of the first to eighth aspects, and the mobile body is an AGV (Automated Guided Vehicle).

[0031] Thereby, it is possible to contribute to the improvement of the movement control of the AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a side view of the mobile body according to the embodiment.

[0033] Figure 2 It is a block diagram showing the functional configuration of the distance measuring device according to the embodiment.

[0034] Figure 3 It is a flowchart showing the control method of the mobile body according to the embodiment.

[0035] Figure 4A It is a side view of the mobile body for explaining the first operation example of the mobile body according to the embodiment.

[0036] Figure 4B It is a top view of the mobile body for explaining the first operation example of the mobile body according to the embodiment.

[0037] Figure 4CIt is a top view of a moving body for explaining a first operation example of the moving body according to an embodiment.

[0038] Figure 5A It is a side view of a moving body for explaining a second operation example of the moving body according to an embodiment.

[0039] Figure 5B It is a top view of a moving body for explaining a second operation example of the moving body according to an embodiment.

[0040] Figure 6A It is a side view of a moving body for explaining a third operation example of the moving body according to an embodiment.

[0041] Figure 6B It is a top view of a moving body for explaining a third operation example of the moving body according to an embodiment.

[0042] Figure 7 It is a side view of a moving body according to a modification example of an embodiment.

[0043] Figure 8 It is a side view of a moving body according to a modification example of an embodiment.

[0044] Explanation of reference numerals

[0045] 10 Box body; 10a Left side surface; 10b Right side surface; 10c Front surface; 20 Moving mechanism; 30 Arm; 31, 32, 33, 34 Joints; 35 End effector; 36, 37, 38 Linkages; 39 Base; 40 Distance measuring device; 41 Optical head; 42 Main body unit; 42a, 42b, 42c, 42d Optical fibers; 50 Control unit; 100 Moving body; 200a, 200b, 200c, 200d Objects; 201, 202, 203, 204, 205, 206 Peripheral areas; 301, 302, 302a, 302b, 303, 304 Postures; 411 Optical element; 421 Light source; 422 First optical beam splitter; 423 Optical circulator; 424 Second optical beam splitter; 425 Photodetector; 426 Processing circuit; 427 Memory. Detailed implementation manners

[0046] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0047] In addition, all the embodiments described below represent inclusive or specific examples. The numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of the constituent elements, steps, and the order of steps shown in the following embodiments are examples, and the gist is not to limit the technology of the present disclosure.

[0048] The figures are schematic diagrams and do not necessarily represent strict graphical representations. Thus, for example, the scales etc. in the figures do not necessarily match. In addition, in the figures, the same reference numerals are given to substantially identical structures, and sometimes the description of repeated parts is omitted or simplified.

[0049] Hereinafter, terms indicating the relationship between elements such as parallel or perpendicular, terms indicating the shape of elements such as cylinders or square columns, and numerical ranges do not represent only strict meanings, but also mean that substantially equivalent ranges are included, such as descriptions with differences of about several percentage points.

[0050] The x-axis, y-axis, and z-axis represent the three axes of a three-dimensional orthogonal coordinate system. The x-axis is the axis extending in the traveling direction of the moving body, and the z-axis is the axis extending in the vertical direction. Sometimes the positive direction of the x-axis is described as the front or simply as "front", and the negative direction of the x-axis is described as the rear or simply as "rear". Sometimes the positive direction of the y-axis is described as the left or simply as "left", and the negative direction of the y-axis is described as the right or simply as "right". Sometimes the positive direction of the z-axis is described as the upper or simply as "up", and the negative direction of the z-axis is described as the lower or simply as "down".

[0051] [Structure of the moving body 100]

[0052] First, with reference to Figure 1 the structure of the moving body 100 according to the present embodiment will be described. Figure 1 is a side view of the moving body 100 according to the present embodiment. In addition, Figure 1 the structure and configuration of the moving body 100 are shown as an example, and the structure and configuration of the moving body 100 are not limited to Figure 1 .

[0053] The moving body 100 is an AGV (Automated Guided Vehicle) that can travel autonomously, and is sometimes also referred to as an AMR (Autonomous Mobile Robot). In addition, the moving body 100 is not limited to an AGV that can travel autonomously. For example, the moving body 100 can also be an industrial robot that can travel autonomously. In addition, for example, the moving body 100 can also be a vehicle that can be driven by a person.

[0054] As Figure 1 shown, the moving body 100 includes a box body 10, a moving mechanism 20, an arm 30, an end effector 35, a distance measuring device 40, and a control unit 50.

[0055] The box body 10 is the main body of the moving body 100 and houses a part of the distance measuring device 40 and the control unit 50. In Figure 1 it, the box body 10 has a rectangular parallelepiped shape.

[0056] The moving mechanism 20 can move the box body 10. In the present embodiment, the moving mechanism 20 is provided at the lower part of the box body 10 and has wheels rotated and steered by, for example, an electric motor (not shown). In addition, the structure of the moving mechanism 20 is not limited to Figure 1 . For example, the moving mechanism 20 can also be a bipedal or quadrupedal walking mechanism.

[0057] The arm 30 is a robotic arm that can be driven by an actuator (not shown) to change its posture, for example. The arm 30 includes a plurality of joints 31 to 34, an end effector 35, a plurality of linkages 36 to 38, and a base 39.

[0058] The joint 31 is the first joint among the plurality of joints 31 to 34 that is closest to the front end of the arm 30. The joint 31 connects the end effector 35 and the linkage 36 in a rotatable and / or translatable manner.

[0059] The joint 32 is the second joint among the plurality of joints 31 to 34 that is the second closest to the front end of the arm 30. The joint 32 connects the linkages 36 and 37 in a rotatable and / or translatable manner.

[0060] The joint 33 is the third joint among the plurality of joints 31 to 34 that is the third closest to the front end of the arm 30. The joint 33 connects the linkages 37 and 38 in a rotatable and / or translatable manner.

[0061] The joint 34 is the fourth joint among the plurality of joints 31 to 34 that is the fourth closest to the front end of the arm 30. The joint 34 connects the linkage 38 to the base 39 in a manner that can rotate about the y-axis and / or can be translated.

[0062] The end effector 35 is also sometimes called a manipulator and forms the front end of the arm 30. Through the joint 31, the end effector 35 is connected to the linkage 36 in a rotatable and / or translatable manner. In addition, an optical head 41 of a distance measuring device 40 described later is installed on the end effector 35. In addition, as long as the end effector 35 can install the optical head 41, it does not have to grasp an object.

[0063] Through the joint 31, the linkage 36 is connected to the end effector 35 in a rotatable manner. Further, through the joint 32, the linkage 36 is connected to the linkage 37 in a rotatable and / or translatable manner.

[0064] Through the joint 32, the linkage 37 is connected to the linkage 36 in a rotatable manner. Further, through the joint 33, the linkage 37 is connected to the linkage 38 in a rotatable and / or translatable manner.

[0065] Via joint 33, link 38 is rotatably connected to link 37. Further, via joint 34, link 38 is rotatably and / or translatably displaceably connected to base 39.

[0066] Base 39 is rotatably and / or translatably displaceably connected to housing 10.

[0067] In addition, the structure of arm 30 is not limited to Figure 1 . For example, the number of joints of arm 30 can also be 1, 2, 3, or 5 or more.

[0068] Distance measuring device 40 includes optical head 41 and main body unit 42, and is capable of measuring the distance of the peripheral area of moving body 100. The distance of the measurement area refers to the distance measured from distance measuring device 40 to an object existing in the area. Distance measuring device 40 is, for example, an LiDAR (Light Detection and Ranging) device of the FMCW (Frequency Modulated Continuous Wave) method. Regarding the details of distance measuring device 40, use Figure 2 is described later.

[0069] In addition, distance measuring device 40 is not limited to an LiDAR device of the FMCW method. For example, it can also be an LiDAR device of the ToF (Time of Flight) method. Furthermore, distance measuring device 40 is not limited to an LiDAR device. For example, it can also be a stereo camera, a radar, or an ultrasonic sensor.

[0070] Optical head 41 is disposed away from main body unit 42 and is mounted on end effector 35. Main body unit 42 is disposed inside housing 10 and is optically connected to optical head 41.

[0071] In addition, the arrangement of optical head 41 and main body unit 42 is not limited to Figure 1 . For example, optical head 41 can also be integrally formed with main body unit 42. In this case, both optical head 41 and main body unit 42 can also be mounted on end effector 35. Furthermore, the mounting position of optical head 41 is not limited to end effector 35. For example, optical head 41 can also be mounted on links 36 - 38, or can be mounted on joints 31 - 33. That is, optical head 41 can be mounted between a certain one of joints 31 - 34 and the front end of arm 30. More specifically, optical head 41 can be disposed anywhere on arm 30 between joint 34 and the front end in the direction along arm 30.

[0072] The control unit 50 can control the moving mechanism 20 and the arm 30. For example, the control unit 50 can generate a control signal for driving the moving mechanism 20 and a control signal for controlling the posture of the arm 30.

[0073] In addition, all or part of the control unit 50 can be executed by one or more electronic circuits including, for example, a semiconductor device, a semiconductor integrated circuit (IC), or an LSI (large scale integration). The LSI or IC can be integrated on one chip or can be constituted by combining multiple chips. Here, although referred to as an LSI or IC, the name may change depending on the degree of integration, and it may also be referred to as a system LSI, a VLSI (very large scale integration), or a ULSI (ultra large scale integration). An FPGA (Field Programmable Gate Array) programmed after the manufacture of the LSI or an RLD (reconfigurable logic device) capable of reconfiguring the bonding relationship inside the LSI or setting the circuit division inside the LSI can also be used for the same purpose.

[0074] In addition, all or part of the functions or operations of the control unit 50 can be executed by software processing. In this case, the software is recorded on one or more non-temporary recording media such as a ROM, an optical disc, or a hard disk drive. When the software is executed by a processor, the functions determined by the software are executed by the processor and peripheral devices. The system or device can also include one or more non-temporary recording media on which the software is recorded, a processor, and necessary hardware devices such as an interface.

[0075] [Structure of the distance measuring device 40]

[0076] Next, with reference to Figure 2 the structure of the distance measuring device 40 according to the present embodiment will be described. Figure 2 is a block diagram showing the functional structure of the distance measuring device 40 according to the present embodiment. In addition, Figure 2 illustrates the functional structure of the distance measuring device 40 as an example, and the functional structure of the distance measuring device 40 is not limited to Figure 2 .

[0077] The distance measuring device 40 includes an optical head 41 and a main unit 42. The optical head 41 includes an optical element 411. The main unit 42 includes a light source 421, a first optical beam splitter 422, an optical circulator 423, a second optical beam splitter 424, a photodetector 425, a processing circuit 426, and a memory 427.

[0078] The light source 421 can emit a laser beam to the first optical beam splitter 422. The laser beam emitted from the light source 421 is FMCW light whose frequency changes at a certain period. Additionally, the light source 421 may not be included in the main unit 42.

[0079] The first optical beam splitter 422 is optically connected to the optical circulator 423 via an optical fiber 42a and is optically connected to the second optical beam splitter 424 via an optical fiber 42d. The first optical beam splitter 422 can separate the laser beam emitted from the light source 421 into an irradiation light and a reference light, and emit them to the optical circulator 423 and the second optical beam splitter 424, respectively.

[0080] The optical circulator 423 is optically connected to the first optical beam splitter 422 via an optical fiber 42a, is optically connected to the aforementioned optical element 411 via an optical fiber 42b, and is optically connected to the second optical beam splitter 424 via an optical fiber 42c. The optical circulator 423 can emit the irradiation light incident from the first optical beam splitter 422 to the optical element 411. Further, the optical circulator 423 can emit the reflected light incident from the optical element 411 to the second optical beam splitter 424. Additionally, the optical circulator 423 may not be included in the main unit 42.

[0081] The optical element 411 is connected to the optical circulator 423 via an optical fiber 42b. The optical element 411 can emit the irradiation light incident from the optical circulator 423 to the peripheral area of the moving body 100. Further, the optical element 411 can receive the reflected light from the peripheral area and emit it to the optical circulator 423. The optical element 411 includes a collimator lens and can collimate the irradiation light. In addition, the optical element 411 may include a galvanometer mirror and can scan the irradiation light. Alternatively, the optical element 411 may include other scanning mechanisms instead of the galvanometer mirror. Additionally, the optical element 411 may not include a scanning mechanism. In this case, the scanning of the irradiation light may be performed by the arm 30. Alternatively, the scanning of the irradiation light may not be performed.

[0082] The second optical beam splitter 424 is connected to the optical circulator 423 via an optical fiber 42c and is connected to the first optical beam splitter 422 via an optical fiber 42d. The second optical beam splitter 424 can combine the reference light incident from the first optical beam splitter 422 and the reflected light incident from the optical circulator 423, and emit the combined light to the photodetector 425. Additionally, the second optical beam splitter 424 may not be included in the main unit 42.

[0083] The optical detector 425 can detect the combined light incident from the second optical beam splitter 424. The optical detector 425 includes one or more photodetection elements that output an electrical signal corresponding to the intensity of the combined light. Additionally, the optical detector 425 may not be included in the main unit 42.

[0084] The processing circuit 426 can control the operations of the light source 421 and the optical detector 425. Furthermore, the processing circuit 426 processes the signal output from the optical detector 425 using FMCW-LiDAR technology, thereby enabling the generation and output of data representing the distance and / or velocity of an object present in the peripheral area of the moving body 100.

[0085] The computer program executed by the processing circuit 426 is stored in the memory 427. The processing circuit 426 and the memory 427 may be integrated on one circuit board or installed on different circuit boards. In addition, the processing circuit 426 may be distributed across multiple circuits. Additionally, the processing circuit 426 and the memory 427 may not be included in the main unit 42. In this case, control and signal processing may be performed by one or more computers connected to the ranging device 40 via a wired or wireless communication network instead of the processing circuit 426.

[0086] [FMCW-LiDAR]

[0087] Here, FMCW-LiDAR will be described. For FMCW-LiDAR, the FMCW light is separated into irradiation light and reference light, and the irradiation light is irradiated onto an object. The distance to the object is measured based on the difference between the frequency of the reflected light from the object and the frequency of the reference light.

[0088] At this time, if the following mathematical formula (1) is satisfied, the ranging device 40 can measure the distance from the optical head 41 to the object.

[0089] d = a + 2b + c (1)

[0090] Here, a represents the optical path length via the optical fiber 42a between the first optical beam splitter 422 and the optical circulator 423. b represents the optical path length via the optical fiber 42b between the optical circulator 423 and the optical element 411. c represents the optical path length via the optical fiber 42c between the optical circulator 423 and the second optical beam splitter 424. d represents the optical path length via the optical fiber 42d between the first optical beam splitter 422 and the second optical beam splitter 424.

[0091] Thus, for FMCW-LiDAR, by making the sum (a + 2b + c) of the optical path length (a + b) of the irradiation light from the first optical beam splitter 422 to the optical element 411 and the optical path length (b + c) of the reflected light from the optical element 411 to the second optical beam splitter 424 equal to the optical path length (d) of the reference light from the first optical beam splitter 422 to the second optical beam splitter 424, it is possible to cancel out the optical path lengths of the irradiation light and the reflected light in the distance measurement device 40 using the optical path length of the reference light in the distance measurement device 40, and it is possible to measure the distance from the optical head 41 (optical element 411) to the object.

[0092] Generally, the refractive index of an optical fiber varies with temperature. That is, the optical path length of the optical fiber varies with temperature. Therefore, the measurement result of the distance to the object is affected by the temperature change of the optical path length of the optical fiber, and the longer the optical path length in the distance measurement device, the greater this effect.

[0093] For example, for ToF-LiDAR, in order to obtain the distance from the optical head to the object, it is necessary to subtract the optical path length between the light source and the optical head from the measurement result (the distance from the light source to the object). However, as described above, since the optical path length of the optical fiber varies with temperature, it is difficult to correctly subtract the optical path length between the light source and the optical head. That is, for ToF-LiDAR, the increase in the optical path length caused by the separate arrangement of the main body unit 42 and the optical head 41 results in an increase in the ranging error.

[0094] On the other hand, for FMCW-LiDAR, the optical path length of the reference light in the distance measurement device 40 varies with temperature in the same way as the optical path lengths of the irradiation light and the reflected light in the distance measurement device 40. Therefore, the influence of the temperature change of the optical path length is eliminated. Thus, for FMCW-LiDAR, it is possible to suppress the increase in the ranging error caused by the increase in the optical path length due to the separate arrangement of the main body unit 42 and the optical head 41.

[0095] [Control Method of Moving Body 100]

[0096] Next, with reference to Figure 3 the control method of the moving body 100 will be described. Figure 3 is a flowchart showing the control method of the moving body 100 according to the present embodiment.

[0097] <Step S10>

[0098] The control unit 50 controls the posture of the arm 30. Specifically, the control unit 50 controls the posture of the arm 30 in order to measure the distance of the peripheral area of the moving body 100 and arranges the optical head 41 at an appropriate position and orientation.

[0099] <Step S20>

[0100] The distance measuring device 40 measures the distance of the surrounding area of the moving body 100. Thereby, the data indicating the distance and / or speed of the object existing in the surrounding area of the moving body 100 is stored in the memory 427.

[0101] <Step S30>

[0102] The control unit 50 determines whether the distance measurement by the distance measuring device 40 is completed. For example, the control unit 50 determines whether the measurement of the distance has been completed for all of a plurality of preset surrounding areas around the moving body 100. If it is determined that the distance measurement has not been completed (No in S30), the process returns to the process of step S10. On the other hand, if it is determined that the distance measurement is completed (Yes in S30), the process proceeds to the process of step S40.

[0103] <Step S40>

[0104] The control unit 50 acquires three-dimensional space information. The three-dimensional space information is information indicating an object existing in the surrounding area of the moving body 100 in a three-dimensional space. The three-dimensional space information is generated, for example, by the control unit 50 or the distance measuring device 40 based on the distance of the surrounding area measured by the distance measuring device 40. In addition, the three-dimensional space information may be generated by a computer outside the moving body 100.

[0105] <Step S50>

[0106] The control unit 50 controls the moving mechanism 20 based on the acquired three-dimensional space information. For example, when the three-dimensional space information indicates the presence of an obstacle, the control unit 50 controls the moving mechanism 20 to move forward while avoiding the obstacle. That is, the control unit 50 realizes automatic operation based on the three-dimensional space information.

[0107] [Example of the operation of the moving body 100]

[0108] Next, several operations of such a moving body 100 will be described with reference to the drawings by way of example.

[0109] <First operation example>

[0110] First, refer to Figure 4A 、 Figure 4B and Figure 4C to describe the first operation example. Figure 4A 、 Figure 4B and Figure 4C are side views or top views of the moving body 100 for explaining the first operation example of the moving body 100 according to the present embodiment. In the first operation example, the operation of the moving body 100 after the object 200a is placed on the upper surface of the box body 10 of the moving body 100 is described.

[0111] The control unit 50 of the moving body 100 changes the arm 30 from the posture 301 to the postures 302a and / or 302b. Specifically, as Figure 4A shown, the control unit 50 first moves the front end of the arm 30 upward and rearward, and controls the arm 30 to the posture 302. Next, as Figure 4B shown, the control unit 50 rotates the base 39 of the arm 30 counterclockwise, and moves the optical head 41 to a position where the distance measuring device 40 can measure the peripheral area 201 including the left side surface 10a of the box body 10. Alternatively, as Figure 4C shown, the control unit 50 rotates the base 39 of the arm 30 clockwise, and moves the optical head 41 to a position where the distance measuring device 40 can measure the peripheral area 202 including the right side surface 10b of the box body 10.

[0112] As described above, the control unit 50 can control the arm 30 to the postures 302a and / or 302b, so that the distance measuring device 40 can measure the distance of the peripheral area 201 including the left side surface 10a of the box body 10, and / or can measure the distance of the peripheral area 202 including the right side surface 10b of the box body 10. Thereby, when the object 200a is placed on the box body 10 of the moving body 100, the protruding portion of the object 200a protruding from the box body 10 can be detected. As a result, the movement control of the moving body 100 corresponding to the size of the protruding portion of the object 200a can be performed, and the contact between the protruding portion of the object 200a and the surrounding objects during movement can be suppressed.

[0113] In addition, although not shown, the control unit 50 may also move the optical head 41 to a position where the distance measuring device 40 can measure the peripheral area including the front surface 10c of the box body 10.

[0114] In addition, the situation where the first operation example is applied is not limited to after the object 200a is placed on the upper surface of the box body 10 of the moving body 100. For example, the first operation example may also be applied before the moving body 100 that has stopped starts to move.

[0115] <The second operation example>

[0116] Next, with reference to Figure 5A and Figure 5B the second operation example will be described. Figure 5A and Figure 5B are a side view and a top view of the moving body 100 for explaining the second operation example of the moving body 100 according to the present embodiment. In the second operation example, similar to the first operation example, the operation of the moving body 100 after the object 200a is placed on the upper surface of the box body 10 of the moving body 100 is also described.

[0117] The control unit 50 of the moving body 100 changes the arm 30 from the posture 301 to the posture 303. Specifically, asFigure 5A and Figure 5B As shown in Figure 5B , the control unit 50 moves the tip of the arm 30 significantly upward and rearward, and controls the arm 30 to the posture 303. As a result, the optical head 41 moves to a position where the distance measuring device 40 can measure the peripheral area 203 including the left side surface 10a, the right side surface 10b, and the front surface 10c of the box body 10. That is, the control unit 50 controls the arm 30 to the posture 303, and causes the distance measuring device 40 to measure the distance of the peripheral area 203 including the front surface 10c, the right side surface 10b, and the left side surface 10a of the box body 10. Thereby, when the object 200a is placed on the box body 10, the protruding portion of the object 200a protruding from the box body 10 can be detected. As a result, the movement control of the moving body 100 corresponding to the size of the protruding portion of the object 200a can be performed, and contact between the protruding portion of the object 200a and surrounding objects during movement can be suppressed.

[0118] In addition, the situation where the second operation example is applied is the same as that of the first operation example, and is not limited to after the object 200a is placed on the upper surface of the box body 10 of the moving body 100. For example, the second operation example can also be applied before the moving body 100 that has stopped starts moving.

[0119] <The Third Operation Example>

[0120] Next, refer to Figure 6A and Figure 6B to explain the third operation example. Figure 6A and Figure 6B are a side view and a top view of the moving body 100 for explaining the third operation example of the moving body 100 according to the present embodiment. In the third operation example, the operation of the moving body 100 after detecting the object 200b in the traveling direction during traveling is explained.

[0121] The control unit 50 of the moving body 100 changes the arm 30 from the posture 301 to the posture 304. Specifically, as shown in Figure 6A and Figure 6B , the control unit 50 moves the tip of the arm 30 significantly forward, and controls the arm 30 to the posture 304. As a result, the optical head 41 moves to a position where the distance measuring device 40 can measure the peripheral area 204 located in the x direction relative to the object 200b. That is, the control unit 50 controls the arm 30 to the posture 304, and causes the distance measuring device 40 to measure the distance of the peripheral area 204 located in the x direction relative to the object 200b. Thereby, the distance of the peripheral area 204 located more forward than the object 200b (obstacle) in the traveling direction of the moving body 100 is measured. Therefore, the shape of the object 200b can be detected more accurately, and the accuracy of the three-dimensional space information can be improved. As a result, the sophistication of the movement control corresponding to the shape of the object 200b can be achieved. For example, it can be achieved in Figure 6B ​​​​The movement of the moving body 100 indicated by the dashed arrow in the figure.

[0122] (Modification example)

[0123] As described above, the moving body has been described based on the embodiments. However, the moving body according to the present disclosure is not limited to the above embodiments. Other embodiments achieved by combining any constituent elements of the above embodiments or modification examples obtained by making various modifications conceived by those skilled in the art within the scope of the gist of the present disclosure without departing from the above embodiments are also included in the present disclosure.

[0124] For example, the moving body 100 in the above embodiments is an AGV, but is not limited thereto. For example, the moving body 100 may also be Figure 7 the forklift shown in the figure. Even in such a case, the moving body 100 can use the optical head 41 installed between the joint and the front end of the arm 30 to measure the distance of the peripheral area 205 on the back surface of the object 200c.

[0125] In addition, the moving body 100 may also be Figure 8 the loading / unloading robot that automatically loads and unloads trucks shown in the figure. Even in such a case, the moving body 100 can use the optical head 41 installed between the joint and the front end of the arm 30 to measure the distance of the peripheral area 206 on the back surface of the object 200d.

[0126] In addition, in the above embodiments, the optical fibers 42a, 42b, 42c, and 42d are used to optically connect the constituent elements in the distance measuring device 40, but are not limited thereto. A part or all of the optical fibers 42a, 42b, 42c, and 42d may be replaced with optical waveguides. In addition, the optical fiber 42b that optically connects the optical circulator 423 and the optical element 411 is shared by the irradiation light and the reflected light, but different optical fibers may be used for the irradiation light and the reflected light, respectively.

[0127] In addition, in each of the above embodiments, the moving body 100 automatically operates based on the three-dimensional space information, but may also be manually operated by an operator.

[0128] Industrial applicability

[0129] The present disclosure can be used for a moving body (such as an AGV) equipped with a distance measuring device.

Claims

1. A mobile object, characterized in that: have: Box; A moving mechanism to move the box; An arm, one end of which is supported by the box and has at least one joint; a distance measuring device, comprising an optical head; and a main unit optically connected to the optical head, The optical head is installed between one of the at least one joint of the arm and the front end of the arm, The main body unit is disposed in the housing.

2. The mobile body according to claim 1, characterized in that The distance measuring device is a LiDAR device, namely a light detection and ranging device.

3. The mobile body according to claim 2, characterized in that The distance measuring device is a FMCW LiDAR device, that is, a frequency modulated continuous wave light detection and ranging device.

4. The moving body according to claim 3, characterized in that The main unit includes a beam splitter for separating laser light emitted from a light source into irradiation light and reference light.

5. The moving body according to claim 4, characterized in that The main unit also includes the light source, the light detector and the processing circuit.

6. The moving object according to any one of claims 1 to 3, characterized in that: The at least one joint includes a plurality of joints including a first joint, wherein the first joint is closest to the front end of the arm among the plurality of joints, The optical head is mounted between the first joint and the front end of the arm.

7. The moving object according to any one of claims 1 to 3, characterized in that The mobile body is an AGV, or automatic guided vehicle.

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