Autonomous mobile vehicle and method of moving an autonomous mobile vehicle

Abstract

To provide an autonomous mobile body capable of autonomous movement while maintaining a distance from an object. [Solution] The autonomous mobile body of the present invention is an autonomous mobile body capable of autonomous movement, comprising: a trolley for moving the autonomous mobile body; a distance detection unit for detecting the distance between the autonomous mobile body and an object; and a control unit that, when the distance between the autonomous mobile body and a first object in a first direction detected by the distance detection unit is less than or equal to a first distance, continuously controls the movement to maintain the distance between the autonomous mobile body and a first object in a first direction at a predetermined distance of less than or equal to the first distance, and when the distance between the autonomous mobile body and a first object exceeds the first distance, continuously or intermittently controls the movement to maintain the distance between the autonomous mobile body and a second object in a second direction at a second distance, assuming that the direction orthogonal to the first direction is the second direction.

Description

Technical Field

[0001] The present invention relates to an autonomous mobile body capable of autonomous movement and a method for moving the autonomous mobile body.

Background Art

[0002] Conventionally, so-called autonomous mobile bodies that autonomously travel to transport articles are known. Such mobile bodies are equipped with sensors for measuring the distance to an object in order to detect the surrounding environment, and identify their own positions by comparing the acquired information on the surrounding environment with map information stored in advance.

[0003] A sensor for measuring the distance to an object performs distance measurement based on, for example, the time from when laser light is irradiated until it is reflected back from the object. At this time, errors may occur in the distance measurement due to various factors such as the shape of the object and the material of the surface, or abnormal values that deviate significantly from the ideal value may occur. Therefore, Patent Document 1 provides a mobile body capable of accurately calibrating the displacement of a sensor with respect to a carriage.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The situation at a construction site changes at any time as the construction progresses. Therefore, it is necessary to change the movement route of the autonomous mobile body according to the progress of the construction.

[0006] From the above, an object of the present invention is to provide an autonomous mobile body capable of autonomous movement while maintaining an interval from an object.

Means for Solving the Problems

[0007] The autonomous mobile body of the present invention is An autonomous mobile body capable of autonomous movement, A cart for moving autonomous mobile units, A distance detection unit that detects the distance between an autonomous mobile object and an object, When the distance between the autonomous moving object and the first object in a first direction, as detected by the distance detection unit, is less than or equal to the first interval, the movement is continuously controlled to maintain the distance between the autonomous moving object and the first object in the first direction, as detected by the distance detection unit, at a predetermined interval less than or equal to the first interval. The system includes a control unit that, when the distance between the autonomous mobile body and the first object in a first direction detected by the distance detection unit exceeds the first distance, controls the movement of the autonomous mobile body and the second object in a second direction, such that the distance in the second direction is maintained at the second distance, with the second direction being defined as the direction orthogonal to the first direction.

[0008] The autonomous mobile body of the present invention is Preferably, the system is configured to be able to tow a scattering prevention basket that prevents the scattering of the sprayed material.

[0009] The control unit of the autonomous mobile body of the present invention is It is preferable to switch from control using an intermittent movement mode, which controls the intermittent movement of the autonomous mobile body, to control using a continuous movement mode, which controls the continuous movement of the autonomous mobile body, when the distance between the autonomous mobile body and the first object in the first direction, as detected by the distance detection unit, exceeds the first distance.

[0010] The control unit of the autonomous mobile body of the present invention is In intermittent movement mode, it is preferable to control the start and stop of movement of the autonomous mobile unit based on external input information.

[0011] The autonomous mobile body of the present invention is The system stores the route plan created by moving an autonomous mobile device from the starting point to the destination point. The system includes a storage unit that stores the detection results of a distance detection unit, which detects the distance between an autonomous mobile object and an object when creating a route plan, in association with the route plan. The control unit is When moving the autonomous mobile body along a path plan stored in the memory unit, it is preferable to control the movement of the autonomous mobile body based on the comparison result between the distance between the autonomous mobile body and the target object detected by the distance detection unit and the detection result stored in the memory unit.

[0012] The autonomous mobile body of the present invention is Preferably, the predetermined interval and the second interval can be adjusted while the autonomous mobile body is in motion or when it has stopped moving.

[0013] The method of moving an autonomous mobile body according to the present invention is: A method for moving an autonomous mobile body capable of autonomous movement, When the distance between the autonomous mobile body and the first object in a first direction is less than or equal to a first interval, the autonomous mobile body moves continuously to maintain the distance between the autonomous mobile body and the first object in the first direction at a predetermined interval less than or equal to the first interval. If the distance between the autonomous mobile body and the first object in the first direction exceeds the first distance, the autonomous mobile body moves continuously or intermittently so as to maintain the distance between the autonomous mobile body and the second object in the second direction at the second distance, with the second direction being defined as the second direction being perpendicular to the first direction.

[0014] The method of moving an autonomous mobile body according to the present invention is: Along with a scattering prevention basket to prevent the scattering of the sprayed material, It is preferable to start or stop the movement of the autonomous mobile unit based on external input information.

[0015] The method of moving an autonomous mobile body according to the present invention is: The movement path of the autonomous mobile unit from its starting point to its destination point is stored along with the detected distance between the autonomous mobile unit and the target object. When an autonomous mobile device moves from a starting point to a destination point, it is preferable that the movement is based on a comparison between the distance between the autonomous mobile device and the object and the stored detection results. [Effects of the Invention]

[0016] According to the present invention, an autonomous mobile body capable of maintaining a distance from an object and autonomously moving can be provided.

Brief Description of the Drawings

[0017] [Figure 1] It is a diagram showing the configuration of an autonomous mobile body according to an embodiment of the present invention. [Figure 2] It is a diagram for explaining the sensor of the autonomous mobile body according to an embodiment of the present invention. [Figure 3] It is a diagram for explaining the movement along the wall of the autonomous mobile body according to an embodiment of the present invention. [Figure 4] It is a diagram for explaining the movement along the wall of the autonomous mobile body according to an embodiment of the present invention. [Figure 5] It is a diagram for explaining the movement along the wall of the autonomous mobile body according to an embodiment of the present invention. [Figure 6] It is a diagram for explaining a method of teaching a movement path of the autonomous mobile body by following a person according to an embodiment of the present invention. [Figure 7] It is a diagram for explaining a method of teaching a movement path of the autonomous mobile body by following a person according to an embodiment of the present invention and an automatic switching mode. [Figure 8] It is a diagram for explaining a teaching method for moving while maintaining a distance from an object of the autonomous mobile body according to an embodiment of the present invention. [[ID=3~]] [Figure 9] It is a diagram for explaining the movement of the autonomous mobile body along a taught path according to an embodiment of the present invention. [Figure 10] It is a diagram for explaining the movement of the autonomous mobile body along the wall while towing a basket according to an embodiment of the present invention. [Figure 11] It is a diagram for explaining the movement of the autonomous mobile body along the wall while towing a basket according to an embodiment of the present invention. [Figure 12] It is a diagram for explaining the movement of the autonomous mobile body while towing a basket by following a person according to an embodiment of the present invention. [Figure 13] It is a diagram for explaining the movement of the autonomous mobile body while towing a basket along a taught path according to an embodiment of the present invention. [Figure 14] It is a functional block diagram of the autonomous mobile body according to an embodiment of the present invention. [Modes for carrying out the invention]

[0018] Hereinafter, an autonomous mobile body 1 according to an embodiment of the present invention will be described with reference to the attached drawings. The autonomous mobile unit 1 comprises a trolley 10 for moving the autonomous mobile unit 1, a loading platform 20 provided above the trolley 10, two LiDARs 30A and 30B as spacing detection units provided between the trolley 10 and the loading platform 20, and a control device 100 as a control unit that controls the movement of the autonomous mobile unit 1 based on the detection results of the LiDARs 30A and 30B. The loading platform 20 is fixed and supported to the trolley 10 by a support 19 integrally provided with the trolley 10, for example, and the LiDARs 30A and 30B are arranged with the support 19 in between. LiDAR is an abbreviation for Light Detection And Ranging, a technology that measures the distance to an object and the shape of an object based on the information of the reflected light after irradiating it with laser light.

[0019] The autonomous mobile unit 1 includes a control device 100, which acts as a control unit that controls movement by maintaining the distance between the autonomous mobile unit 1 and the target object based on the detection results of LiDAR 30A and 30B, so that it can move autonomously while maintaining the distance from the target object.

[0020] [Cart 10: See Figures 1 and 2] The trolley 10 is responsible for the autonomous movement of the autonomous mobile unit 1. The bogie 10 comprises a body 11 and, as an example, wheels 17A, 17B, 17C, and 17D, which are provided below the body 11, enabling movement such as forward, backward, and turning. Note that the number of wheels is not limited to four; there may be three or five or more.

[0021] The vehicle body 11 has a rectangular prism-like appearance, and its top surface, the top plate 13, is rectangular in plan view. The vehicle body 11 is defined by its longitudinal direction (L), width direction (W), and height direction (H), as shown in Figures 1 and 2. The vehicle body 11 is defined by its front (F), rear (R), right side (RS), and left side (LS), as shown in Figure 2. Moving the vehicle body 11 forward (F) is referred to as forward movement, and moving the vehicle body 11 backward (R) is referred to as backward movement.

[0022] A support 19 is integrally provided at approximately the center of the top plate 13 in both its longitudinal (L) and width (W) directions. The support 19 has a rectangular outline in plan view, projecting from the top plate 13 in the height direction (H). The support 19 is also provided with four columns 19A, 19B, 19C, and 19D that project in the height direction (H). The cargo platform 20, which is placed on the four columns 19A, 19B, 19C, and 19D, is fixed to the four columns 19A, 19B, 19C, and 19D. One of the two dashed lines D1 and D2 (dashed line D1) extends in the longitudinal direction (L), and the other (dashed line D2) extends in the width direction (W). For example, dashed line D1 forms the bisector of the top plate 13 in the width direction (W), and dashed line D2 forms the bisector of the top plate 13 in the longitudinal direction (L). When the intersection of dashed line D1 and dashed line D2 is defined as the center OR, the center OR is considered to be the self-position SP of the autonomous mobile body 1 when it moves autonomously, and is controlled by the control device 100.

[0023] The front (F) right (RS) wheel 17A and the front (F) left (LS) wheel 17B of the vehicle body 11 are drive wheels, rotated by drive sources individually connected to each wheel. The distance between wheels 17A and 17B and the center OR in the longitudinal (L) and width directions (W) is stored in the control device 100. The autonomous mobile unit 1 calculates its own position SP along with its own movement. The drive sources connected to wheels 17A and 17B are controlled by the control device 100, causing the drive wheels 17A and 17B to rotate, enabling the autonomous mobile unit 1 to calculate its own position SP and then move forward, backward, and turn.

[0024] [Cargo bed 20: See Figures 1 and 2] The cargo bed 20 includes a loading surface 21 on which articles (not shown in the illustration) are placed on its upper surface, and a front side panel 22, a rear side panel 23, a right side panel 24, and a left side panel 25, which are fastened to the loading surface 21 by hinges 26 provided on each side. The right side panel 24 and the left side panel 25 are each provided with two fasteners 27. By fastening the fasteners 27 to each other, each panel stands upright along the height direction (H), preventing articles placed on the loading surface 21 from falling off.

[0025] The mounting surface 21, for example, has a rectangular planar shape similar to the top plate 13. However, this planar shape and area are merely examples. Depending on the shape and dimensions of the items to be transported, other planar shapes such as triangles or polygons, or ellipses may be selected, or a planar area larger or smaller than that of the top plate 13 may be selected.

[0026] [LiDAR30A, 30B: See Figures 1 and 2] The two LiDAR30A and 30B are examples of sensors that measure the distance to objects in the vicinity of the autonomous mobile object 1. Since LiDAR30A and LiDAR30B are interchangeable, unless otherwise specified in the following explanation, the two laser scanners will be collectively referred to as "LiDAR30".

[0027] The LiDAR 30 measures distance by irradiating a laser beam parallel to the main surface of, for example, the trolley 10, and taking the time it takes for the laser beam to reflect off an object and return. The LiDAR 30 has a measurement range of, for example, a predetermined radius (e.g., about 20m), and acquires hundreds to thousands of measurement points per scan while scanning the laser beam over a predetermined field of view (e.g., about 360 degrees) at a predetermined pitch (e.g., about 0.2 to 0.5 degrees).

[0028] The two LiDAR units 30A and 30B are located on a dashed line D1 that passes through the center of the width (W) of the trolley 10 and extends in the longitudinal direction (L), and are positioned at the front (F) and rear (R) of the longitudinal direction (L) of the top plate 13, respectively. In other words, the two LiDAR units 30A and 30B are positioned symmetrically with respect to the top plate 13 of the trolley 10. This allows the fields of view FV1 and FV2 of the two LiDAR units 30A and 30B to be equal, and also excludes the four pillars 19A, 19B, 19C, and 19D of the support 19, which is located approximately in the center of the longitudinal direction (L) and width (W) of the top plate 13 of the trolley 10, from the fields of view FV1 and FV2. By combining the data acquired from the two LiDAR units 30A and 30B, it becomes possible to measure distances over a wide range of directions as seen from the trolley 10. In Figure 2, FV1 indicates the range that can be measured by LiDAR30A, and FV2 indicates the field of view that can be measured by LiDAR30B. The autonomous mobile unit 1 uses LiDAR30 to measure the surrounding environment, thereby creating an environmental map of the surrounding environment, estimating its own position SP by comparing it with pre-stored map information, planning a route, and enabling autonomous movement to the destination point along the planned route.

[0029] LiDAR30 is just one example of a sensor that senses the surrounding environment of a transport vehicle. Such sensors are not limited to laser scanners; any sensor capable of measuring the distance to an object would suffice, such as an ultrasonic sensor, a microwave-based distance measuring sensor, or a distance measuring sensor using stereo images captured by a stereo camera.

[0030] Furthermore, in this embodiment, the autonomous mobile unit 1 is equipped with two LiDARs 30A and 30B, but the number of sensors equipped on the transport vehicle may be three or more.

[0031] [Control device 100: See Figure 14] The control device 100 rotates the wheels 17A and 17B to maintain a predetermined distance between them, based on the detection results of the LiDAR 30A and LiDAR 30B of the autonomous mobile unit 1. As shown in Figure 14, the control device 100 includes a storage unit 110 that stores environmental maps and the like created based on the detection results of the LiDAR 30, a drive control unit 120 that controls the drive source, a communication unit 130 that transmits and receives information between the control device 100 and the remote control 300, an input unit 140 that receives input for switching the movement mode and input of manual operation information by the operator, an output unit 150 that notifies the operator of the environmental map stored in the storage unit 110 and the completion of the movement of the autonomous mobile unit 1, and a calculation unit 160 that calculates the distance to the target object based on the detection results of the LiDAR 30.

[0032] The memory unit 110 includes, for example, ROM (Read Only Memory) or RAM (Random Access Memory). The memory unit 110 stores, for example, programs for various modes and various information necessary for control by the drive control unit 120. The memory unit 110 also stores the route plan created together with the environmental map.

[0033] The drive control unit 120 controls the drive source based on a movement mode set by the operator, for example, to enable autonomous movement of the autonomous mobile body 1. When the wall-following mode M1 is set, the drive control unit 120 controls the distance between the wall and the autonomous mobile body 1's own position SP to be kept constant based on the detection results of the LiDAR 30. The various modes available to the drive control unit 120, including wall-following mode M1, human-following mode M2, automatic switching mode M3, manual operation mode M4, and round-trip mode M5, will be described later.

[0034] The communication unit 130 includes, for example, a communication module compatible with the Bluetooth® standard, or a communication module compatible with standards such as wired LAN (Local Area Network) or wireless LAN. The communication unit 130 communicates with the remote control 300 via the communication module. The communication unit 130 receives, for example, operation information and movement mode switching information input to the remote control 300, and transmits the received information to the drive control unit 120.

[0035] The input unit 140 includes, for example, an input interface such as a physical key, a toggle switch, a pointing device, and a touchscreen integrated with a display. The input unit 140 is located at a height that is easily operated by a standing worker and is mounted on the side of the loading platform 20. The input unit 140 transmits the information entered by the worker to the drive control unit 120.

[0036] The input unit 140 includes a first operation unit 141 that enables operation of the autonomous mobile unit 1, a mode switching push button 142 that allows switching of the movement mode of the autonomous mobile unit 1, a numerical input unit 143 that allows input of the movement interval and movement speed of the autonomous mobile unit 1, a teaching push button 144 that allows teaching of the movement path of the autonomous mobile unit 1, a continuous / intermittent switching switch 145 that switches between continuous movement mode and intermittent movement mode, and a left / right switching switch 146 that switches between left (LS) mode and right (RS) mode. The various modes will be described later.

[0037] For example, the first operation unit 141 is configured using a joystick, which is a pointing device. When the first operation unit 141 is operated by an operator, operation information is input to the autonomous mobile unit 1.

[0038] As an example, a mode switching push button 142 is configured using physical keys. When the mode switching push button 142 is pressed by the operator, information about the movement mode after switching is input. The mode switching push button 142 is provided with five push buttons, for example, a wall-following mode push button 142A, a human-following mode push button 142B, an automatic switching mode push button 142C, a manual operation mode push button 142D, and a round-trip mode push button 142E.

[0039] Movement mode information corresponding to the push button pressed by the operator is input. When the wall-follow mode push button 142A is pressed, the drive control unit 120 switches to wall-follow mode M1. When the human-follow mode push button 142B is pressed, the drive control unit 120 switches to human-follow mode M2. When the automatic switching mode push button 142C is pressed, the drive control unit 120 switches to automatic switching mode M3. When the manual operation mode push button 142D is pressed, the drive control unit 120 switches to manual operation mode M4. When the round-trip mode push button 142E is pressed, the drive control unit 120 switches to round-trip mode M5.

[0040] As an example, a numerical input unit 143 is configured using a touchscreen integrated with the display. For example, an operator inputs numerical values ​​such as the movement interval and movement speed of the autonomous mobile unit 1 into the numerical input unit 143.

[0041] As an example, a teaching push button 144 is configured using a physical key. When the teaching push button 144 is pressed by an operator, for example, the starting point S of the route plan is taught, and then, when the teaching push button 144 is pressed again, the self-position SP at that time is taught to the destination point G, and the route taken by the autonomous mobile unit 1 is taught. The taught route plan is stored in the storage unit 110 along with the environmental map of the surrounding environment detected by the LiDAR 30 during the movement of the autonomous mobile unit 1. In other words, the taught route plan is stored in the storage unit 110 in association with the environmental map of the surrounding environment detected by the LiDAR 30 during the movement of the autonomous mobile unit 1.

[0042] As an example, a continuous / intermittent selector switch 145 is configured using a toggle switch. By flipping the continuous / intermittent selector switch 145 to one side, the continuous movement mode is selected, and by flipping it to the other side, the intermittent movement mode is selected.

[0043] As an example, a toggle switch 146 is configured to select the left (LS) mode by flipping the switch 146 to one side, and the right (RS) mode by flipping it to the other side.

[0044] The output unit 150 includes, for example, a display 151 for outputting environmental map and travel route information stored in the memory unit 110, and a speaker 152 for informing the operator of the status of the autonomous mobile unit 1.

[0045] The calculation unit 160 is composed of, for example, a CPU (Central Processing Unit). Based on the detection results of the LiDAR 30, the calculation unit 160 calculates the distance between the object and the self-position SP of the autonomous mobile unit 1. The distance between the self-position SP and the object calculated by the calculation unit 160 is transmitted to the drive control unit 120.

[0046] [Remote control 300: See Figure 14] For example, the remote control 300 can transmit information input to the control device 100 via wireless communication. As shown in Figure 14, the remote control 300 includes a second operation unit 310 to which operation information is input to the autonomous mobile unit 1, a mode switching push button 320 that can switch the movement mode of the autonomous mobile unit 1, and a teaching push button 330 that can teach the movement path of the autonomous mobile unit 1.

[0047] For example, the second operation unit 310, like the first operation unit 141, is composed of a joystick, which is a pointing device, and operator operation information is input to it. The input operation information is transmitted wirelessly to the control device 100.

[0048] The mode switching push button 320, like the mode switching push button 142, is equipped with five push buttons for each mode, such as wall-following mode 142A, human-following mode 142B, automatic switching mode 142C, manual operation mode 142D, and round-trip mode 142E. Movement mode information corresponding to the push button pressed by the operator is transmitted wirelessly to the control device 100. Note that the illustration of each mode on the mode switching push button 320 is omitted.

[0049] The teaching push button 330, like the teaching push button 144, is composed of a physical key. When the operator presses the teaching push button 330, for example, the starting point S of the route plan is taught, and then, when the teaching push button 330 is pressed again, the self-position SP at the time is taught to the destination point G, and the route taken by the autonomous mobile unit 1 is taught. The taught route plan is stored in the storage unit 110 along with the environmental map of the surrounding environment detected by the LiDAR 30 during the movement of the autonomous mobile unit 1.

[0050] [Movement modes of autonomous mobile unit 1: See Figures 3-13] The movement modes of autonomous mobile unit 1 will be explained using diagrams. [Wall-following mode M1: See Figures 3-5] The wall-following mode M1 is a mode in which the vehicle body 11 moves continuously or intermittently along the wall 40, which is the target object, while maintaining a constant distance in the width direction (W) between the wall 40 detected by LiDAR 30A and LiDAR 30B and the autonomous mobile unit 1's own position SP. As shown in Figure 3, the longitudinal direction (X) and the lateral direction (Y) are defined.

[0051] [Move while maintaining a constant distance from wall 40: See Figure 3] As shown in Figure 3(a), the autonomous mobile unit 1 moves continuously from position P01 to position P02 without stopping along the way. The movement mode of this autonomous mobile unit 1 is continuous movement mode. When the autonomous mobile unit 1 moves continuously forward from position P01 to position P02, the calculation unit 160 calculates the distance between its own position SP and the wall 40 based on the interval detected by the laser beam LA emitted by LiDAR 30A on the right side (RS) of the vehicle body 11, and the interval detected by the laser beam LB emitted by LiDAR 30B on the right side (RS) of the vehicle body 11. For example, the drive control unit 120 controls the distance between its own position SP and the wall 40 so that it is maintained at interval LW11. At this time, the autonomous mobile unit 1 moves forward along the longitudinal direction (X).

[0052] The autonomous mobile unit 1 calculates the distance between its own position SP and the wall 40 based on the interval detected by the laser beam emitted by the LiDAR 30 on the right side (RS) of the vehicle body 11, and moves forward along the wall 40 located on the right side (RS) of the autonomous mobile unit 1, but is not limited to this. For example, the distance between its own position SP and the wall 40 may be calculated based on the interval detected by the laser beam emitted by the LiDAR 30 on the left side (LS) of the vehicle body 11, and the autonomous mobile unit 1 may move forward or backward along the wall 40 located on the left side (LS) of the autonomous mobile unit 1. Right side (RS) mode and left side (LS) mode may be provided and the system may switch between these modes to enable movement along an object located on the right side (RS) or left side (LS).

[0053] As shown in Figure 3(b), the autonomous mobile unit 1 moves intermittently from position P11 to position P14. The movement mode of this autonomous mobile unit 1 is intermittent movement mode. Controlled in intermittent movement mode, the autonomous mobile unit 1 repeatedly moves to the next position and stops at each position from position P11 to position P14. At this time, the starting point of the autonomous mobile unit 1 is position P11, and the destination point is position P14. The autonomous mobile unit 1 moves intermittently through each position from the starting point to the destination point. When the autonomous mobile unit 1 moves intermittently forward, the calculation unit 160 calculates the distance between its own position SP and the wall 40 based on the interval detected by the laser beam LA irradiated by LiDAR 30A on the right side (RS) of the vehicle body 11, and the interval detected by the laser beam LB irradiated by LiDAR 30B on the right side (RS) of the vehicle body 11. For example, the drive control unit 120 controls the distance between the self-position SP and the wall 40 so that it is maintained at the distance LW11.

[0054] When moving from position P11 to position P12, the autonomous mobile unit 1 moves forward along the front-to-back direction (X) in the direction in which the wall 40 extends, covering a distance of interval LL11. Upon reaching position P12, the autonomous mobile unit 1 stops moving. When moving from position P12 to position P13, the autonomous mobile unit 1 moves forward along the front-to-back direction (X) in the direction in which the wall 40 extends, covering a distance of interval LL12. Upon reaching position P13, the autonomous mobile unit 1 stops moving. When moving from position P13 to position P14, the autonomous mobile unit 1 moves forward along the front-to-back direction (X) in the direction in which the wall 40 extends, covering a distance of interval LL13. Upon reaching position P14, the autonomous mobile unit 1 stops moving. The distance traveled in the forward / backward direction (X) can be entered, for example, from the numerical input section 143. The same numerical value may be entered for each of the intervals LL11, LL12, and LL13, or different numerical values ​​may be entered.

[0055] In the intermittent movement mode, as in the continuous movement mode, a right-side (RS) mode and a left-side (LS) mode may be provided and switched between, allowing forward or backward movement along an object located on the right side (RS) or left side (LS). The control device 100 can switch between the continuous movement mode and the intermittent movement mode.

[0056] [Movement when the distance from wall 40 is changed] As shown in Figure 4, the autonomous mobile unit 1 moves from position P21 to position P22 so that the distance between its own position SP and the wall 40 is maintained at interval LW11. After that, it moves away from the wall 40 until the distance between its own position SP and the wall 40 reaches interval LW12. After reaching interval LW12, the distance between its own position SP and the wall 40 is maintained at interval LW12, and the autonomous mobile unit 1 moves to position P23.

[0057] As shown in Figure 4(a), when the autonomous mobile unit 1 moves from position P22 to position P23, it moves away from the wall 40 until the distance between its own position SP and the wall 40 reaches the distance LW12. As the autonomous mobile unit 1 moves backward towards position P23 from position P22 to position P23, it moves away from the wall 40 until the distance between its own position SP and the wall 40 reaches the distance LW12. At this time, for example, in continuous movement mode and left-side (LS) mode, the LiDAR 30 detects the distance between the wall 40 detected on the left side (LS) of the vehicle body 11 and the vehicle body 11, and moves backward continuously.

[0058] As shown in Figure 4(b), after the distance between the self-position SP and the wall 40 reaches the distance LW12, the autonomous mobile unit 1 moves to position P23 while maintaining that distance LW12. After the distance between the self-position SP and the wall 40 reaches the distance LW12, the autonomous mobile unit 1 moves backward while maintaining a constant distance from the wall 40 without moving away from it. In other words, the autonomous mobile unit 1 moves backward along the front-back direction (X).

[0059] As shown in Figure 5, the autonomous mobile unit 1 moves sequentially from position P31 to position P35. The distance between each position in the front-to-back direction (X) is interval LL21. The distance from the wall 40 in the left-to-right direction (Y) is as follows: Positions P31 and P32 have an interval LW21, position P33 has an interval LW22, position P34 has an interval LW23, and position P35 has an interval LW24.

[0060] As shown in Figure 5, the autonomous mobile unit 1 moves from position P31 to position P32 so that the distance between its own position SP and the wall 40 is maintained at interval LW21. Then, it moves from position P32 to position P33 while moving away from the wall 40 so that the distance between its own position SP and the wall 40 becomes interval LW22. At this time, the autonomous mobile unit 1 moves forward from position P31 to position P32 in continuous movement mode and left-side (LS) mode, and then moves backward from position P32 to position P33 in continuous movement mode and right-side (RS) mode.

[0061] Furthermore, when moving from position P33 to position P34, the autonomous mobile unit 1 moves away from wall 40 so that the distance between its own position SP and wall 40 becomes distance LW23. When the distance between its own position SP and wall 40 reaches distance LW23, it moves forward to position P34 while maintaining distance LW23. At this time, the autonomous mobile unit 1 moves backward from position P33 to position P34 in continuous movement mode and right-side (RS) mode.

[0062] Furthermore, when moving from position P34 to position P35, the autonomous mobile unit moves away from wall 40 so that the distance between its own position SP and wall 40 becomes distance LW24. When the distance between its own position SP and wall 40 reaches distance LW24, it moves backward to position P54 while maintaining distance LW24. At this time, the autonomous mobile unit 1 moves backward from position P34 to position P35 in continuous movement mode and left-side (LS) mode.

[0063] In Figure 5, by alternately moving the autonomous mobile unit 1 forward and backward, it is possible to move back and forth in the forward / backward direction (X) without rotating the autonomous mobile unit 1. Since the rotation time can be omitted, the time required for the autonomous mobile unit 1 to transport goods back and forth can be reduced. Furthermore, the predetermined distance between the autonomous mobile body 1 and the wall 40 as the object is adjustable. For example, the distances LW21, LW22, LW23, and LW24 can be set to enable movement along the wall in wall mode M1. The predetermined distance between the autonomous mobile body 1 and the wall 40 may be adjusted in the middle of the movement of the autonomous mobile body 1, or it may be adjusted when the autonomous mobile body 1 is stopped.

[0064] [Person-following mode M2: See Figures 6 and 7] In human-following mode M2, for example, based on the detection results from the LiDAR 30A installed on the front (F) side of the vehicle body 11, the autonomous mobile unit 1 moves while maintaining the distance between the teacher 50 (as the target object) and the autonomous mobile unit 1 in the longitudinal direction (L) of the vehicle body 11. Figure 6 shows the movement of the instructor 50 and the autonomous mobile unit 1 in the order of (a), (b), and (c). Figure 7 also shows the movement of the instructor 50 and the autonomous mobile unit 1 in the order of (a), (b), and (c).

[0065] As shown in Figure 6, when the teacher 50 is detected by the laser beam LA emitted by the LiDAR 30A, the distance between the teacher 50 and the autonomous mobile unit 1 in the longitudinal direction (L), which is the first direction, is a predetermined distance LH. The autonomous mobile unit 1 continues to move forward while maintaining the predetermined distance LH with the teacher 50 as he moves sequentially from Figure 6(a) to (c).

[0066] Similarly in Figure 7, as the instructor 50 continues to move, the autonomous mobile unit 1 also continues to move, following the movement of the instructor 50 while maintaining a predetermined distance LH.

[0067] [Creation of route planning Ro1 and environmental map using human-following mode M2: Figures 6 and 7] When the autonomous mobile unit 1 is in human-following mode M2, following the movement of the teacher 50, an environmental map is created by storing the distance between the walls 61, 62, 63, 64, 65, 66 (which are objects) and the autonomous mobile unit's own position SP, based on the detection results from the LiDAR 30B installed on the rear (R) side of the vehicle body 11. Along with the environmental map, a path plan Ro1 is stored in the storage unit 110, which is calculated and created by the calculation unit 160, showing the path of the autonomous mobile unit's own position SP following the teacher 50 from the starting point S of the teacher 50's movement to the destination point G.

[0068] As shown in Figure 6, the autonomous mobile unit 1 moves in pursuit of the instructor 50 while maintaining the interval LH detected by the laser light LA ​​emitted by the LiDAR 30A. When the teaching button 144 is pressed by the teacher 50, as shown in Figure 6(a), the autonomous mobile unit 1 is taught that its stationary position SP is the starting point S of the route plan Ro1, and the teaching of the route plan Ro1 for the autonomous mobile unit 1 begins. Once teaching begins, the calculation unit 160 calculates the distance between the self-position SP and the wall 61 based on the interval detected by the laser beam LB irradiated by the LiDAR 30B to the right side (RS) of the vehicle body 11. The shape of the wall 61 is also determined by the laser beam LB irradiated at a predetermined pitch.

[0069] As shown in Figure 6(b), when the autonomous mobile unit 1 continues to follow the teacher 50 while maintaining a predetermined distance LH from the teacher 50 in the longitudinal direction (L), there may be no objects detected by the LiDAR 30 between wall 61 and wall 62. In other words, the laser beam of the LiDAR 30 continues to travel without hitting any objects, so reflected light cannot be detected, and there are parts that cannot be detected. In this case, since there are no objects to be detected between wall 61 and wall 62, the calculation unit 160 creates an environmental map in which a gap is set between wall 61 and wall 62. The shape of wall 62 is also determined by the laser beam LB irradiated at a predetermined pitch.

[0070] As shown in Figure 6(c), when the autonomous mobile unit 1 continues to follow the teacher 50 while maintaining a predetermined distance LH between it and the teacher 50 in the longitudinal direction (L), there may be no objects detected by the LiDAR 30 between wall 62 and wall 63. In this case as well, since there are no objects detected between wall 62 and wall 63, the calculation unit 160 creates an environmental map in which a gap is set between wall 62 and wall 63. In addition, the shapes of wall 62 and wall 63 are also identified by the laser beam LB irradiated at a predetermined pitch.

[0071] As shown in Figure 7(a), the LiDAR 30A, located on the front (F) side of the vehicle body 11, moves while tracking the moving teacher 50 with laser beam LA1 directed forward (F), and the calculation unit 160 calculates the distance between the self-position SP and the wall 61 in the width direction (W) based on the interval detected by laser beam LA2 directed to the right (RS) side, and the interval detected by laser beam LB directed to the right side (RS) of the vehicle body 11 by LiDAR 30B. In addition, the shapes of the walls 62 and 63 are determined by laser beams LA2 and LB, which are directed at a predetermined pitch.

[0072] As shown in Figure 7(b), when the autonomous mobile unit 1 continues to follow the teacher 50 while maintaining a predetermined distance LH between it and the teacher 50 in the longitudinal direction (L), there may be no objects detected by the LiDAR 30 between wall 64 and wall 65. In this case as well, since there are no objects detected between wall 64 and wall 65, the calculation unit 160 creates an environmental map in which a gap is set between wall 64 and wall 65. In addition, the shapes of wall 64 and wall 65 are also determined by the laser beams LA2 and LB, which are irradiated at a predetermined pitch.

[0073] As shown in Figure 7(c), once the teacher 50 has completed its movement and the teacher 50 has pressed the teaching button 144, the autonomous mobile unit 1 is taught that its current position SP is the destination point G of the route plan Ro1. Once the destination point G is taught, the teaching of the route plan Ro1 to the autonomous mobile unit 1 is completed. Along with the route plan Ro1 taught by the instructor 50, an environmental map reflecting the shapes of walls 61, 62, 63, 64, 65, and 66 detected when the autonomous mobile unit 1 moved along the route plan Ro1 from the starting point S to the destination point G is stored in the storage unit 110. The route plan Ro1 is shown by the dashed line of Ro1 in Figure 9(a), and the environmental map is shown by the dashed lines of walls 61A, 62A, 63A, 64A, 65A, and 66A in Figure 9(a).

[0074] [Automatic switching mode M3: See Figure 7] Automatic switching mode M3 moves while maintaining a predetermined interval, for example, based on the detection result of the laser beam LA1 irradiated onto the first region AR1 of the LiDAR 30A located on the front (F) side of the vehicle body 11, or the detection result of the laser beam LA2 irradiated onto the second region AR2 of the LiDAR 30A.

[0075] The first region AR1 refers, for example, to the area where the laser beam LA1 is irradiated in the forward direction (F) of the longitudinal direction (L) of the vehicle body 11. For example, the laser beam LA1 refers to the laser beam irradiated within a predetermined range of clockwise and counterclockwise angles, relative to the laser beam irradiated in the longitudinal direction (L) within the field of view FV1 of the laser beam emitted from the LiDAR 30A. The predetermined angles are, for example, 15 degrees clockwise and 15 degrees counterclockwise, relative to the laser beam irradiated in the longitudinal direction (L). The detection result by the laser beam LA1 irradiated into the first region AR1 refers, for example, to the detection result of the distance between the object detected and the LiDAR 30A, measured by the laser beam irradiated within a range of 15 degrees clockwise and 15 degrees counterclockwise, totaling 30 degrees, relative to the laser beam irradiated in the longitudinal direction (L) within the field of view FV1. The second region AR2 refers to the region illuminated by laser beam LA2, which is directed to the right side (RS) in the width direction (W) of the vehicle body 11. Similar to laser beam LA1, laser beam LA2 refers to the laser beam that is directed within a predetermined range of clockwise and counterclockwise angles, relative to the laser beam directed to the right side (RS) in the width direction (W) of the field of view FV1 of the laser beam emitted from the LiDAR 30A. In other words, when moving while maintaining a predetermined interval of LH or less based on the laser beam LA1 irradiated onto the first region AR1, the movement is performed in human-following mode M2. Also, when moving while maintaining a predetermined interval LW based on the laser beam LA2 irradiated onto the second region AR2, the movement is performed in wall-following mode M1.

[0076] When the autonomous mobile unit 1 moves in automatic switching mode M3, for example, in wall-following mode M1 in automatic switching mode M3, it moves while maintaining the distance LW in the width direction (W) between the autonomous mobile unit 1 and the object, which is detected by laser beam LA2 irradiated onto a predetermined second region AR2 in the width direction (W) of the vehicle body 11. If, midway through the movement in wall-following mode M1 in automatic switching mode M3, the distance in the longitudinal direction (L) between the autonomous mobile unit 1 and the object, which is detected by laser beam LA1 irradiated onto a predetermined first region AR1 in the longitudinal direction (L) of the vehicle body 11, reaches a predetermined distance LH, a control is activated that automatically switches from wall-following mode M1 in automatic switching mode M3 to human-following mode M2 ​​in automatic switching mode M3. For example, a mode switch is activated to prevent a collision between an object and the autonomous mobile unit 1. When the autonomous mobile unit 1 is moving forward, a person or obstacle may be detected on the longitudinal (L) front (F) side. In this case, to prevent a collision with the object, when the longitudinal (L) distance between the autonomous mobile unit 1 and the object reaches distance LH, the control switches from wall-following mode M1 to person-following mode M2 ​​to maintain a predetermined distance of LH or less. When it is determined that there is no risk of collision with the object, and the longitudinal (L) distance exceeds distance LH, the control switches from person-following mode M2 ​​to wall-following mode M1.

[0077] When the system switches from automatic switching mode M3 to human tracking mode M2, the autonomous mobile unit 1 moves while maintaining a predetermined distance of LH or less between the autonomous mobile unit 1 and the target object, as detected by the laser beam LA1 irradiated onto the first region AR1. For example, if a person does not move from their position, the autonomous mobile unit 1 does not need to move from its position either. However, if the autonomous mobile unit 1 does not move from its position and there is no instruction from the worker to stop moving, the distance traveled by the autonomous mobile unit 1 after a predetermined time has elapsed may not exceed a predetermined distance. In this case, the control device 100 determines that movement is impossible. When movement is impossible, the system switches from automatic switching mode M3 to manual operation mode M4 and emits an alarm from speaker 152 to notify of the abnormality of the autonomous mobile unit 1.

[0078] The example given is a laser beam LA1 irradiated onto the first region AR1 by LiDAR30A and a laser beam LA2 irradiated onto the second region AR2, but the present invention is not limited to this. The automatic switching mode M3 may be controlled by a laser beam LA irradiated onto the first region AR1 at the front (F) in the longitudinal direction (L) of the vehicle body 11 by LiDAR30A, and a laser beam LB irradiated onto the second region AR2 on the right side (RS) in the width direction (W) of the vehicle body 11 by LiDAR30B. In other words, the region where the laser beam is irradiated in the direction of movement of the autonomous mobile body 1 may be defined as the first region AR1, and the region where the laser beam is irradiated in a direction perpendicular to the direction of movement of the autonomous mobile body 1 may be defined as the second region AR2, and the automatic switching mode M3 may be controlled accordingly.

[0079] The control by automatic switching mode M3 controls continuous movement so that, when the distance in the longitudinal direction (L) between the autonomous mobile body 1 and the first object, such as the teacher 50, as detected by the LiDAR 30A as a distance detection unit in a predetermined first region AR1 in the longitudinal direction (L) as the first direction in which the autonomous mobile body 1 moves forward, is less than or equal to the distance LH as the first distance, the distance in the longitudinal direction (L) between the autonomous mobile body 1 and the teacher 50, as detected by the LiDAR 30A in the first region AR1 as the first distance L, is less than or equal to the distance LH as the first distance, the distance in the longitudinal direction (L) between the autonomous mobile body 1 and the teacher 50, as detected by the LiDAR 30A in the first region AR1 as the first direction in which the autonomous mobile body 1 moves forward, is less than or equal to the distance LH as the first distance, the distance in the longitudinal direction (L) between the autonomous mobile body 1 and the teacher 50, as detected by the LiDAR 30A in the first region AR1 as the first distance L, is less than or equal to the distance LH as the first distance, the control maintains the distance in the longitudinal direction (L) between the autonomous mobile body 1 and the teacher 50, as detected by the LiDAR 30A in the first region AR1 as the first distance L, at a predetermined distance of less than or equal to the distance LH. Furthermore, if the distance in the longitudinal direction (L) between the autonomous mobile object 1 and the teacher 50 detected by the LiDAR 30A in a predetermined first region AR1 in the longitudinal direction (L) exceeds the distance LH, the system controls continuous or intermittent movement to maintain the distance in the width direction (W) between the autonomous mobile object 1 and a second object such as a wall 61, detected in a predetermined second region AR2 in the width direction (W), which is a second direction perpendicular to the longitudinal direction (L), at the second distance LW. When the movement is controlled continuously, it is in continuous movement mode, and when the movement is controlled intermittently, it is in intermittent movement mode.

[0080] [Manual operation mode M4: See Figure 8] In manual operation mode M4, the teacher 50 operates the input unit 140 or the remote control 300 to move the autonomous mobile unit 1. For example, by operating the second operation unit 310 of the remote control 300, the teacher 50 can move the autonomous mobile unit 1 along a predetermined path, as shown in Figure 8.

[0081] [Route planning Ro1 and environmental map created by instructor 50 operating remote control 300: See Figure 8] When the teaching button 330 is pressed by the teacher 50, as shown in Figure 8(a), the autonomous mobile unit 1's stationary position SP is taught to the starting point S of the route plan Ro1, and the teaching of the route plan Ro1 for the autonomous mobile unit 1 begins. Once teaching begins, the calculation unit 160 calculates the distance in the width direction (W) between the self-position SP and the wall 61 based on the interval detected by the laser beam LA2 emitted by LiDAR 30A toward the right side (RS), and the interval detected by the laser beam LB emitted by LiDAR 30B toward the right side (RS) of the vehicle body 11. The shape of the wall 61 is also determined by the laser beam LB emitted at a predetermined pitch.

[0082] When the teacher 50 operates the second operation unit 310 of the remote control 300 to move the autonomous mobile unit 1 as shown in Figure 8(b), there may be no objects detected by the LiDAR 30 between wall 61 and wall 62. In other words, there are areas that cannot be detected because the laser light of the LiDAR 30 does not hit an object and reflect off it. In such cases, the calculation unit 160 determines that there is a space between wall 61 and wall 62 because there is no object to be detected between them, and the calculation unit 160 also creates an environment map stored in the storage unit 110 that indicates the existence of a space between wall 61 and wall 62. In addition, the shape of wall 62 is also determined by the laser beams LA2 and LB, which are irradiated at a predetermined pitch.

[0083] Furthermore, when the teacher 50 operates the second operation unit 310 of the remote control 300, and moves the autonomous mobile body 1 further, as shown in Figure 8(c), walls 62 and 63 are detected by the LiDAR 30. In addition, the shapes of walls 62 and 63 are determined by the laser beams LA2 and LB, which are irradiated at a predetermined pitch.

[0084] Subsequently, the autonomous mobile unit 1 is moved to the teaching completion position, and when the teacher 50 presses the teaching button 330, the autonomous mobile unit 1 is taught that its current position SP is the destination point G of the route plan Ro1. Once the destination point G is taught, the teaching of the route plan Ro1 to the autonomous mobile unit 1 is completed. Along with the route plan Ro1 taught by the instructor 50, an environmental map reflecting the shapes of walls 61, 62, 63, 64, 65, and 66 detected when the autonomous mobile unit 1 moved along the route plan Ro1 from the starting point S to the destination point G is stored in the storage unit 110. The environmental map is shown by the dashed lines of walls 61A, 62A, 63A, 64A, 65A, and 66A in Figure 9(a), and the environmental map also includes information about the route plan Ro1.

[0085] [Round trip mode M5: See Figure 9] In round-trip mode M5, the autonomous mobile unit 1 moves along the route plan Ro1 taught by the instructor 50. As the autonomous mobile unit 1 moves along the route plan Ro1, the distance between the object included in the environmental map stored in the memory unit 110 and the route plan Ro1 is compared with the detection result of the distance between the autonomous mobile unit 1's own position SP and the object. Based on the result of this comparison, the drive source is controlled so that the route plan Ro1 and the movement path match, while confirming whether the autonomous mobile unit 1's own position SP is moving along the route plan Ro1. When the autonomous mobile unit 1 moves along the instructed path plan Ro1, its own position SP may deviate from the path plan Ro1 due to uneven ground, etc. To correct this deviation, the drive source is controlled so that the path plan Ro1 and the movement path match, based on the result of comparing the detected distance between the detected self-position SP and the object with the detected distance between the object and the path plan Ro1 stored in the memory unit 110.

[0086] For example, the LiDAR 30 detects the distance between the walls 61A, 62A, 63A, 64A, 65A, and 66A shown in Figure 9(a) and the autonomous mobile unit 1's self-position SP. The results detected by the LiDAR 30 are compared with the distance between the objects and the path plan Ro1 contained in the environmental map stored in the memory unit 110. Based on the results of this comparison, the drive source is controlled so that the path plan Ro1 and the movement path match, while confirming whether the autonomous mobile unit 1's self-position SP is moving along the path plan Ro1.

[0087] The autonomous mobile unit 1, moving in round-trip mode M5, starts moving from the starting point S. As shown in Figure 9(b), LiDAR 30A emits laser beam LA towards the right side (RS) of the vehicle body 11, and LiDAR 30B emits laser beam LB towards the right side (RS) of the vehicle body 11. Based on the intervals detected by laser beam LA2 and laser beam LB, the calculation unit 160 calculates the positions and shapes of walls 61A, 62A, and 63A. The calculation unit 160 also calculates whether the self-position SP is moving along the path plan Ro1, and continues moving while comparing it with the environment map and path plan Ro1 stored in the storage unit 110.

[0088] As shown in Figure 9(c), the autonomous mobile unit 1 continues to calculate the position and shape of walls 62A and 63A using the calculation unit 160 based on the intervals detected by the laser beam LA2 and the laser beam LB. The calculation unit 160 also calculates whether the self-position SP is moving along the path plan Ro1, and continues moving while comparing this with the environment map and path plan Ro1 stored in the storage unit 110. The autonomous mobile unit 1 continues to detect the distance between its self-position SP and the target object using the LiDAR 30 until it reaches the destination point G, and continues moving while comparing this with the environment map and path plan Ro1 stored in the storage unit 110. Upon reaching the destination point G, the autonomous mobile unit 1 stops moving and emits an alarm from the speaker 152 to notify that the movement is complete.

[0089] [Towing of the anti-scattering cage 80 by the autonomous mobile unit 1: See Figures 10-13] The autonomous mobile unit 1 is configured to be able to tow a scattering prevention cage 80 that can prevent the scattering of materials sprayed from a hose 91 held by a worker 90 inside toward the ground or deck slab, and can move while towing the scattering prevention cage 80. The sprayed material may, as an example, be deck slab waterproofing material. The debris containment cage 80, for example, has a rectangular parallelepiped shape, with its lower vertical surface open, and mesh provided on all surfaces except the open surface. On one of the sides of the debris containment cage 80, a curtain-like mesh with vertical cutouts is provided, allowing workers 90 to enter and exit the debris containment cage 80. Fixing parts for securing the cage to the autonomous mobile unit 1 are provided on the surface opposite to the surface with the curtain-like mesh. Wheels are provided at each of the four lower vertical corners of the debris containment cage 80. These wheels may rotate 360 ​​degrees or have a fixed orientation. The presence of wheels makes the debris containment cage 80 movable, allowing it to be towed by the autonomous mobile unit 1.

[0090] [Wall-side mode M1 while towing the splash-proof cage 80: See Figures 10 and 11] While the autonomous mobile unit 1 tows the anti-scattering cage 80, it moves continuously or intermittently along the wall 40 as the target object, similar to the wall-following mode M1 described above, while maintaining a constant distance between the autonomous mobile unit 1's own position SP, detected by LiDAR 30A and LiDAR 30B, and the wall 40 in the width direction (W).

[0091] [Move while maintaining a constant distance from wall 40: See Figure 10] As shown in Figure 10(a), the autonomous mobile unit 1 towing the anti-scattering cage 80 moves continuously from position P41 to position P42 without stopping midway. When the autonomous mobile unit 1 moves continuously forward from position P41 to position P42, the calculation unit 160 calculates the distance between its own position SP and the wall 40 based on the interval detected by the laser beam LA emitted by LiDAR 30A on the right side (RS) of the vehicle body 11, and the interval detected by the laser beam LB emitted by LiDAR 30B on the right side (RS) of the vehicle body 11. For example, the drive control unit 120 controls the distance between its own position SP and the wall 40 so that it is maintained at interval LW31. The autonomous mobile unit 1 moves forward along the longitudinal direction (X). The movement of the autonomous mobile unit 1 in Figure 10(a) corresponds to the continuous movement mode. At this time, the worker 90 working inside the dust-prevention cage 80 moves continuously backward while spraying the material from the hose 91 that he is holding.

[0092] As shown in Figure 10(b), the autonomous mobile unit 1 towing the anti-scattering cage 80 moves intermittently from position P51 to position P54. The autonomous mobile unit 1 repeatedly moves to the next position and stops at each position from position P51 to position P54. When the autonomous mobile unit 1 moves intermittently forward, the calculation unit 160 calculates the distance between its own position SP and the wall 40 based on the interval detected by the laser beam LA irradiated by LiDAR 30A on the right side (RS) of the vehicle body 11, and the interval detected by the laser beam LB irradiated by LiDAR 30B on the right side (RS) of the vehicle body 11. For example, the drive control unit 120 controls the distance between its own position SP and the wall 40 so that it is maintained at interval LW31. The movement of the autonomous mobile unit 1 in Figure 10(b) corresponds to the intermittent movement mode.

[0093] The autonomous mobile unit 1 moves forward along the front-rear direction (X), just as in continuous movement mode. For example, when the autonomous mobile unit 1 is stopped at position P52, the worker 90 working inside the dust containment cage 80 sprays the material while holding the hose 91. As the autonomous mobile unit 1 begins to move, the worker 90 begins to move to the left. When the autonomous mobile unit 1 reaches the next position P53, it stops, and the worker 90 resumes spraying the material from the hose 91 that he is holding.

[0094] The intervals LL31, LL32, and LL33 between each position may be input in advance from the numerical input unit 143. In this case, the autonomous mobile unit 1 will move intermittently based on information such as the stopping time and movement speed, in addition to the intervals input from the numerical input unit 143. Alternatively, the worker 90 may send a signal to the operator operating the remote control 300 outside the splash-proof cage 80, and based on the operator's input to the remote control 300 from the outside, the autonomous mobile unit 1 may be instructed to start or stop moving. It should be noted that starting and stopping the autonomous mobile unit 1 midway between each position is also an example of intermittent movement.

[0095] Even when towing the debris-prevention cage 80, a right-side (RS) mode and a left-side (LS) mode may be provided and switched between, allowing for forward or backward movement along objects located on the right side (RS) or left side (LS).

[0096] [Movement when the distance from wall 40 is changed: See Figure 11] As shown in Figure 11, the autonomous mobile unit 1 moves sequentially from position P61 to position P65. The distance between each position in the front-to-back direction (X) is interval LL41. The distance from the wall 40 in the left-to-right direction (Y) is as follows: Positions P61 and P62 have an interval LW41, position P63 has an interval LW42, position P64 has an interval LW43, and position P65 has an interval LW44.

[0097] As shown in Figure 11, the autonomous mobile unit 1 moves forward from position P61 to position P62 so that the distance between its own position SP and the wall 40 is maintained at distance LW41. At this time, the autonomous mobile unit 1 moves in left-side (LS) mode. Subsequently, it moves from position P62 to position P63. At this time, the autonomous mobile unit 1 makes a 180-degree right turn with a predetermined turning radius and continues moving towards the front (F) side of the vehicle body 11. As an example, the autonomous mobile unit 1 moves with a turning radius such that the distance between its own position SP and the wall 40 becomes distance LW42 when the 180-degree turn is completed. As soon as the 180-degree turn is completed, the autonomous mobile unit 1 moves forward towards position P63 so that the distance between its own position SP and the wall 40 is maintained at distance LW42. At this time, the autonomous mobile unit 1 moves in right-side (RS) mode.

[0098] Upon reaching position P63, the autonomous mobile unit 1 then moves from position P63 to position P64. At this time, the autonomous mobile unit 1 makes a 180-degree left turn with a predetermined turning radius and continues moving towards the front (F) side of the vehicle body 11. As an example, the autonomous mobile unit 1 moves with a turning radius such that the distance between its own position SP and the wall 40 is the distance LW43 when the 180-degree turn is completed. As soon as the 180-degree turn is completed, the autonomous mobile unit 1 moves forward towards position P64 so that the distance between its own position SP and the wall 40 is maintained at the distance LW43. At this time, the autonomous mobile unit 1 moves in left-side (LS) mode.

[0099] Upon reaching position P64, the autonomous mobile unit 1 then moves from position P64 to position P65. Similar to its movement from position P62 to position P63, the autonomous mobile unit 1 makes a 180-degree turn by turning right with a turning radius such that the distance between its own position SP and the wall 40 is equal to the distance LW44 at the end of the 180-degree turn. As soon as the 180-degree turn is complete, the autonomous mobile unit 1 moves forward towards position P65, maintaining the distance between its own position SP and the wall 40 at the distance LW44. During this movement, the autonomous mobile unit 1 moves in right-side (RS) mode.

[0100] When the autonomous mobile unit 1 is towing the dust containment cage 80, it continues to move forward (F) of the vehicle body 11, even when the distance from the wall 40 changes. In this way, by maintaining the direction of movement of the autonomous mobile unit 1 always forward (F) of the vehicle body 11, the direction in which the worker 90 performs the spraying work can be maintained, for example, towards the rear (R) of the vehicle body 11. Furthermore, when moving from the reached position to the next position, the autonomous mobile unit 1 does not pass over the ground or floor slab after the worker 90 has finished spraying the material, thus maintaining the quality of the sprayed material after construction.

[0101] [Autonomous mobile unit 1 tows the anti-scattering cage 80 while in human-following mode M2: See Figure 12] Similar to the aforementioned human-following mode M2, the autonomous mobile unit 1 moves while towing the anti-scattering cage 80, maintaining a predetermined distance LH from the teacher 50, which is the target object, based on the detection results from the LiDAR 30A installed on the front (F) side of the vehicle body 11.

[0102] Figure 12 shows the movement of the instructor 50 and the autonomous mobile unit 1 towing the splash-proof cage 80 in the order of (a), (b), and (c).

[0103] As shown in Figure 12, the autonomous mobile unit 1 moves while following the moving instructor 50 based on the interval detected by the laser light LA ​​emitted by the LiDAR 30A.

[0104] As shown in Figure 12, when the teacher 50 is detected by the laser beam LA of the LiDAR 30A located on the front (F) side of the vehicle body 11, the distance between the teacher 50 and the autonomous mobile unit 1 is a predetermined distance LH. The autonomous mobile unit 1, which is towing the debris prevention cage 80, continues to move forward while maintaining the predetermined distance LH between itself and the teacher 50 as it moves sequentially from Figure 12(a) to (c).

[0105] [Creation of route planning Ro1 and environmental map using human-following mode M2: See Figure 12] Similar to the creation of the route plan Ro1 and environmental map using the aforementioned human-following mode M2, the autonomous mobile unit 1, while towing the anti-scattering cage 80, creates an environmental map by storing the distances between the walls 61, 62, 63, 64, 65, 66 (which are objects) and its own position SP, based on the detection results from the LiDAR 30B installed on the rear (R) side of the vehicle body 11. Along with the creation of the environmental map, the calculation unit 160 calculates and creates a route plan Ro1 of the self-position SP that followed the teacher 50 from the starting point S of the teacher's movement to the destination point G, and stores it in the storage unit 110.

[0106] As shown in Figure 12, the autonomous mobile unit 1, which is towing the anti-scattering cage 80, moves while following the moving instructor 50 based on the interval detected by the laser light LA ​​emitted by the LiDAR 30A. When the teaching button 144 is pressed by the teacher 50, the autonomous mobile unit 1 is taught that its stationary position SP is the starting point S of the route plan Ro1, and the teaching of the route plan Ro1 for the autonomous mobile unit 1 begins. Once teaching begins, the calculation unit 160 calculates the distance in the width direction (W) between the self-position SP and the wall 61 based on the interval detected by the laser beam LB irradiated by the LiDAR 30B to the right side (RS) of the vehicle body 11. The shape of the wall 61 is also determined by the laser beam LB irradiated at a predetermined pitch.

[0107] As shown in Figure 12(a), when the autonomous mobile unit 1 towing the anti-scattering cage 80 continues to follow the teacher 50 while maintaining a predetermined distance LH in the longitudinal direction (L), there may be no objects detected by the LiDAR 30 between wall 61 and wall 62. In other words, there are areas that cannot be detected because the laser beam of the LiDAR 30 does not hit an object and reflect off it. In such cases, the calculation unit 160 determines that there is a space between wall 61 and wall 62 because there are no objects to be detected between them, and the calculation unit 160 also creates an environment map stored in the storage unit 110 that indicates the existence of a space between wall 61 and wall 62. In addition, the shape of wall 62 is also identified by the laser beam LB irradiated at a predetermined pitch.

[0108] As shown in Figure 12(b), the LiDAR 30A, located on the front (F) side of the vehicle body 11, moves while tracking the moving teacher 50 with the laser beam LA directed forward (F), and the calculation unit 160 calculates the distance between the self-position SP and the wall 61 based on the interval detected by the laser beam LB directed to the right side (RS) of the vehicle body 11 by the LiDAR 30B. In addition, the shapes of the walls 62 and 63 are determined by the laser beams LA2 and LB, which are emitted at a predetermined pitch.

[0109] As shown in Figure 12(c), once the teacher 50 has completed their movement and the teacher 50 has pressed the teaching button 144, the autonomous mobile unit 1, which is towing the anti-scattering cage 80, is taught that its own position SP, where it is stopped, is the destination point G of the route plan Ro1. Once the destination point G is taught, the teaching of the route plan Ro1 to the autonomous mobile unit 1 is completed. Although the explanation described the teaching method using human-following mode M2, teaching can also be performed using manual operation mode M4.

[0110] Along with the route plan Ro1 taught by the instructor 50, an environmental map reflecting the shapes of walls 61, 62, 63, 64, 65, and 66 detected when the autonomous mobile unit 1 moved along the route plan Ro1 from the starting point S to the destination point G is stored in the memory unit 110. The environmental map is shown by the dashed lines of walls 61A, 62A, 63A, 64A, 65A, and 66A in Figure 13, and the environmental map also includes information on the route plan Ro1. By creating the environmental map and route plan Ro1 while the autonomous mobile unit 1 is towing the anti-scattering cage 80, problems such as the anti-scattering cage 80 colliding with an object during movement in round-trip mode M5 can be eliminated in advance.

[0111] [Autonomous mobile unit 1 towing the anti-scattering cage 80 in round-trip mode M5: See Figure 13] Similar to the round-trip mode M5 described above, the autonomous mobile unit 1 moves along the route plan Ro1 taught by the teacher 50 while towing the debris-proof cage 80. As the autonomous mobile unit 1 moves along the route plan Ro1 while towing the debris-proof cage 80, the distance between the object included in the environmental map stored in the memory unit 110 and the route plan Ro1 is compared with the detection result of the distance between the autonomous mobile unit 1's own position SP and the object. Based on the result of this comparison, the drive source is controlled so that the route plan Ro1 and the movement path match, while confirming whether the autonomous mobile unit 1's own position SP is moving along the route plan Ro1.

[0112] Figure 13 shows (a), (b), and (c) in the order that the autonomous mobile unit 1 towing the anti-scattering cage 80 is moving in round-trip mode M5. The autonomous mobile unit 1, moving in round-trip mode M5, starts moving from the starting point S while towing the anti-scattering cage 80. As shown in Figure 13(a), LiDAR 30A emits laser beam LA towards the right side (RS) of the vehicle body 11, and LiDAR 30B emits laser beam LB towards the right side (RS) of the vehicle body 11. Based on the intervals detected by laser beam LA and laser beam LB, the calculation unit 160 calculates the positions and shapes of walls 61A, 62A, and 63A. The calculation unit 160 also calculates whether the self-position SP is moving along the path plan Ro1, and continues moving while comparing it with the environment map and path plan Ro1 stored in the storage unit 110.

[0113] As shown in Figure 13(b), the autonomous mobile unit 1 towing the anti-scattering cage 80 continues to calculate the position and shape of walls 62A and 63A using the calculation unit 160, based on the intervals detected by the laser beam LA and the laser beam LB. The calculation unit 160 also calculates whether its own position SP is moving along the path plan Ro1, and continues moving while comparing it with the environmental map and path plan Ro1 stored in the storage unit 110.

[0114] As shown in Figure 13(c), the autonomous mobile unit 1 continues to detect the distance between its own position SP and the target object using the LiDAR 30 until it reaches the destination point G, and continues moving while comparing it with the environmental map and path plan Ro1 stored in the memory unit 110. Upon reaching the destination point G, the autonomous mobile unit 1 stops moving and emits an alert from the speaker 152 to notify that the movement is complete.

[0115] [effect] The autonomous mobile body 1 according to this embodiment, as described above, provides the following effects. [First Effect] The autonomous mobile unit 1 is equipped with a LiDAR 30A that detects the distance between the autonomous mobile unit 1 and the wall 40 as an object, and a drive control unit 120 that has a wall-following mode M1 that controls the vehicle body 11 while maintaining a constant distance between the autonomous mobile unit 1 and the wall 40 in the width direction (W), thereby enabling autonomous movement while maintaining the distance between the autonomous mobile unit 1 and the wall 40 in the width direction (W) of the vehicle body 11.

[0116] [Second Effect] The autonomous mobile unit 1 is equipped with a LiDAR 30A that detects the distance between the autonomous mobile unit 1 and the teacher 50 as an object, and a drive control unit 120 that has a human-following mode M2 ​​that controls the autonomous mobile unit 1 while maintaining a constant distance (L) between the autonomous mobile unit 1 and the teacher 50 in the longitudinal direction (L) of the vehicle body 11. As a result, the autonomous mobile unit 1 can move autonomously while maintaining the distance (L) between the autonomous mobile unit 1 and the teacher 50 in the longitudinal direction (L) of the vehicle body 11.

[0117] [Third Effect] The autonomous mobile unit 1 is equipped with a LiDAR 30A that detects the distance between the autonomous mobile unit 1 and the object, and when the distance between the autonomous mobile unit 1 and the object in the longitudinal direction (L) detected by the LiDAR 30A in a predetermined first region AR1 in the longitudinal direction (L) in which the autonomous mobile unit 1 moves forward is less than or equal to a first interval LH, the autonomous mobile unit 1 continuously controls its movement while maintaining the distance between the autonomous mobile unit 1 and the object in the longitudinal direction (L) at or below the predetermined interval LH, and the, and the autonomous mobile unit 1 detects the distance between the autonomous mobile unit 1 and the object in the longitudinal direction (L) detected by the LiDAR 30A in which the autonomous mobile unit 1 moves forward The system includes a drive control unit 120 with an automatic switching mode M3 that controls continuous or intermittent movement to maintain a second interval LW between the autonomous mobile unit 1 and the object in the width direction (W) of the vehicle body 11, as detected by LiDAR 30A in a predetermined second region AR2 in the width direction (W) perpendicular to the longitudinal direction (L), when the distance between the mobile unit 1 and the teacher 50 in the longitudinal direction (L) of the vehicle body 11 exceeds the interval LH. This enables autonomous movement while maintaining the distance regardless of whether the object is located in the longitudinal direction (L) or the width direction (W) of the vehicle body 11.

[0118] [Fourth Effect] The autonomous mobile unit 1 includes a LiDAR 30A for detecting the distance between the autonomous mobile unit 1 and an object, a storage unit 110 that stores a route plan Ro1 as the movement path of the autonomous mobile unit 1 from its starting point S to its destination point G, along with the detection result of the distance between the object and the autonomous mobile unit 1's own position SP by the LiDAR 30A, and a drive control unit 120 having a round-trip mode M5 that controls the movement of the autonomous mobile unit 1 based on the result of comparing the distance between the autonomous mobile unit 1 and a second object such as a wall 61 detected by the LiDAR 30A with the detection result when the autonomous mobile unit 1 moves along the route plan Ro1. As a result, the autonomous mobile unit 1 can move autonomously while maintaining the distance from the object even when moving along the route plan Ro1.

[0119] In addition to the above, it is possible to select or replace the configurations listed in the above embodiments, or to change them to other configurations as appropriate, as long as they do not deviate from the spirit of the present invention. [Explanation of symbols]

[0120] 1. Autonomous Mobile Unit 10 carts 11 Car body 13 Top plate 17A,17B,17C,17D wheels 19 Support 19A,19B,19C,19D Pillar 20 cargo beds 21 Mounting surface 22 Front Aori 23 Rear tailgate 24 Right side tilt 25 Left side tailgate 26 Hinge 27 Fasteners 30A, 30B LiDAR 40 Wall 50 Instructors 61, 62, 63, 64, 65, 66 Wall 61A, 62A, 63A, 64A, 65A, 66A Wall 90 workers 91 Hose 100 Control device 110 Storage section 120 Drive control unit 130 Communications Department 140 Input section 141 1st operation section 142 Mode switching push button 142A Wall-following mode push button 142B Human Tracking Mode Push Button 142C Automatic switching mode push button 142D Manual operation mode push button 142E Round Trip Mode Push Button 143 Numerical Input Section 144 Instructions Push Button 145 Continuous / Intermittent Switch 146 Left / Right Switch 150 Output section 151 displays 152 speakers 160 Arithmetic section 300 remotes 310 2nd operation section 320 Mode switching push button 330 Instruction Push Button AR1 1st area AR2 2nd area LA, LA1, LA2, LB laser light LL,LH,LW interval M1 Wall-following mode M2 Human Follow Mode M3 Automatic Switching Mode M4 Manual Operation Mode M5 Round Trip Mode OR center Ro1 Route Planning SP self-position

Claims

1. An autonomous mobile body capable of autonomous movement, A trolley for moving the autonomous mobile body, A distance detection unit for detecting the distance between the autonomous mobile body and the object, When the distance between the autonomous moving body and the first object in the first direction, as detected by the distance detection unit, is less than or equal to the first distance, the movement is continuously controlled to maintain the distance between the autonomous moving body and the first object in the first direction, as detected by the distance detection unit, at a predetermined distance less than or equal to the first distance. The system includes a control unit that, when the distance between the autonomous mobile body and the first object in the first direction detected by the distance detection unit exceeds the first distance, controls the movement of the autonomous mobile body and the second object in the second direction, either continuously or intermittently, to maintain the distance between the autonomous mobile body and the second object in the second direction at the second distance, assuming that the direction perpendicular to the first direction is the second direction. Autonomous mobile device.

2. It is configured to be towable, with a scattering prevention basket to prevent the scattering of sprayed materials. The autonomous mobile body according to claim 1.

3. The control unit, If the distance between the autonomous mobile body and the first object in the first direction, as detected by the distance detection unit, exceeds the first distance, the control of the autonomous mobile body is switched from an intermittent movement mode, which controls the intermittent movement of the autonomous mobile body, to a continuous movement mode, which controls the continuous movement of the autonomous mobile body. The autonomous mobile body according to claim 1 or 2.

4. The control unit, In the aforementioned intermittent movement mode, the start and stop of the autonomous mobile body's movement are controlled based on external input information. The autonomous mobile body according to claim 3.

5. The system stores the route plan created by moving the autonomous mobile device from the starting point to the destination point. The system includes a storage unit that stores the detection result of the interval detection unit, which detects the distance between the autonomous mobile body and the object when creating the route plan, in association with the route plan. The control unit, When moving the autonomous mobile body along the path plan stored in the storage unit, the movement of the autonomous mobile body is controlled based on the comparison result between the distance between the autonomous mobile body and the object detected by the interval detection unit and the detection result stored in the storage unit. The autonomous mobile body according to claim 1 or 2.

6. The predetermined interval and the second interval are adjustable during or when the autonomous mobile body is moving. The autonomous mobile body according to claim 1 or 2.

7. A method for moving an autonomous mobile body capable of autonomous movement, When the distance between the autonomous mobile body and the first object in a first direction is less than or equal to a first interval, the autonomous mobile body moves continuously to maintain the distance between the autonomous mobile body and the first object in the first direction at a predetermined interval less than or equal to the first interval. If the distance between the autonomous mobile body and the first object in the first direction exceeds the first distance, and the direction perpendicular to the first direction is defined as the second direction, the autonomous mobile body moves continuously or intermittently so as to maintain the distance between the autonomous mobile body and the second object in the second direction at the second distance. Methods of movement for autonomous mobile devices.

8. Along with a scattering prevention basket to prevent the scattering of the sprayed material, Based on external input information, the autonomous mobile unit starts or stops moving. A method for moving an autonomous mobile body according to claim 7.

9. The movement path of the autonomous mobile unit from its starting point to its destination point is stored along with the detection result of the distance between the autonomous mobile unit and the object. When the autonomous mobile unit moves from the starting point to the destination point, it moves based on the result of comparing the distance between the autonomous mobile unit and the object with the stored detection result. A method for moving an autonomous mobile body according to claim 7 or 8.

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