Mobile device, method of movement, and program

Abstract

To provide a mobile device that can move objects at work sites with low cost and high precision. [Solution] The mobile body 10 is a mobile body 10 that moves autonomously at a work site, and is installed at the work site and comprises a sensor unit 14 that acquires information on the structure of a floor material having a plurality of structures of a predetermined shape arranged on its surface, and a control unit 16 that identifies the structure of the floor material based on the acquired information and moves the mobile body 10 along the structure.

Description

Technical Field

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[0001] The present disclosure relates to a moving body, a moving method, and a program.

Background Art

[0002] Conventionally, technologies related to unmanned moving bodies such as mobile robots and flying vehicles used in plants, construction sites, etc. are known. For example, Patent Document 1 discloses an unmanned moving body used for the operation of patrolling abnormal states of structures in plants, construction sites, etc., and aims to reduce costs and labor in the detection of abnormalities at the site.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology described in Patent Document 1, the method for moving the moving body at the work site is complicated. In this conventional technology, sufficient consideration has not been given to moving the moving body accurately at low cost at the work site.

[0005] An object of the present disclosure is to provide a moving body, a moving method, and a program capable of accurately moving a moving body at low cost at a work site.

Means for Solving the Problems

[0006] A moving body according to a first aspect for solving the above problems is a moving body that autonomously moves at a work site, A sensor unit for acquiring information about the structure of a flooring material installed at the aforementioned work site, which has multiple structures having a predetermined shape arranged on its surface, A control unit that moves the mobile body along the structure while identifying the structure of the flooring material based on the acquired configuration information, It is equipped with.

[0007] The second method of transportation is: A method of moving a mobile object autonomously within a work site, To obtain information on the structure of a flooring material installed at the aforementioned work site, which has multiple structures of a predetermined shape arranged on its surface, Based on the acquired configuration information, the movable body is moved along the structure while identifying the structure of the flooring material, Includes.

[0008] The program from a third perspective is: For mobile units that move autonomously at the work site, To obtain information on the structure of a flooring material installed at the aforementioned work site, which has multiple structures of a predetermined shape arranged on its surface, Based on the acquired configuration information, the movable body is moved along the structure while identifying the structure of the flooring material, Perform an action that includes this. [Effects of the Invention]

[0009] According to a mobile body, a moving method, and a program according to one embodiment of this disclosure, it is possible to move the mobile body accurately and at low cost at a work site. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram showing an example of use of a mobile body according to one embodiment of the present disclosure. [Figure 2] Figure 1 is a block diagram showing an example of the configuration of a mobile body. [Figure 3]It is a flowchart for explaining a first example of a moving method executed by the moving body in FIG. 1. [Figure 4] It is a flowchart for explaining a second example of the moving method executed by the moving body in FIG. 1. [Figure 5] It is a flowchart for explaining a third example of the moving method executed by the moving body in FIG. 1. [Figure 6A] It is a schematic diagram showing a first example of a floor material used at a work site. [Figure 6B] It is a schematic diagram showing a second example of a floor material used at a work site. [Figure 6C] It is a schematic diagram showing a third example of a floor material used at a work site. [Figure 6D] It is a schematic diagram showing a fourth example of a floor material used at a work site. [Figure 7] It is a first schematic diagram for explaining an example of the operation of the moving body in FIG. 1. [Figure 8] It is a second schematic diagram for explaining an example of the operation of the moving body in FIG. 1.

Embodiments for Carrying out the Invention

[0014] As a second prior art, image markers are installed at intervals such that the moving body does not lose its route in a straight section, and image markers are also installed at points where the moving body changes direction and branching points, etc., and an image sensor attached to the moving body detects the image markers to guide the moving body. This prior art is used when autonomously moving the moving body on a route where the moving destination of the moving body branches conditionally.

[0015] As a problem when applying this prior art to the passageway at the work site, in addition to the need for the installation work of the image markers, there is a problem that the image markers get dirty at the work site and the moving body cannot recognize the image markers.

[0016] As a third prior art, there is a known prior art that uses a satellite positioning system such as GNSS (Global Navigation Satellite System) and the geomagnetic sensor of a moving body to identify the position of the moving body on its route. This prior art is used when autonomously navigating a large moving body such as a ship where the error of satellite positioning is not a problem.

[0017] As a problem when applying this prior art to the passageway at the work site, there is a problem that when satellite radio waves are blocked under a structure, the moving body cannot accurately measure its own position.

[0018] A fourth conventional technology involves attaching a three-dimensional point cloud acquisition sensor, such as LiDAR (Light Detection and Ranging), to a moving object. This sensor is used to perform coordinate calculations, allowing the moving object to recognize objects around it and determine its direction of travel. This conventional technology is used in autonomous driving systems for vehicles, including automobiles.

[0019] One potential problem with applying this conventional technology to walkways at a work site is that increasing the point cloud acquisition density while maintaining accuracy to avoid deviations from narrow walkways at the work site would require extensive three-dimensional coordinate calculations, necessitating high-performance computing and power supply equipment that are not compact.

[0020] This disclosure aims to provide a mobile body, a movement method, and a program that can move a mobile body at low cost and with high precision at a work site in order to solve the above-mentioned problems. This disclosure aims to provide a technology that enables the autonomous movement of a mobile body at low cost and with high precision at work sites, including work sites where new construction or repair work is carried out on buildings, and work sites where inspection work is carried out on buildings, for example, when transporting materials that have a limited period of use, on temporary scaffolding used at work sites and on inspection walkways permanently installed on buildings.

[0021] The following description will primarily focus on one embodiment of the present disclosure, with reference to the attached drawings. The following description also applies to the movement method performed by the mobile body 10 to which the present disclosure is applied, and to the program that causes the mobile body 10 to perform the operation.

[0022] Figure 1 is a schematic diagram showing an example of use of the mobile body 10 according to one embodiment of this disclosure. The example of use of the mobile body 10 according to one embodiment of this disclosure will be mainly described with reference to Figure 1.

[0023] The mobile unit 10 autonomously transports materials M on temporary scaffolding used at work sites and on inspection walkways permanently installed in buildings. In this disclosure, “work site” includes, for example, work sites where new construction or repair work is carried out on buildings, and work sites where inspection work is carried out on buildings. “Building” includes, for example, buildings such as office buildings, bridges, public roads, and expressways. “Materials M” may include, for example, temporary materials with a limited period of use, or materials that are permanently installed for a long period of time.

[0024] In the example shown in Figure 1, the mobile unit 10 autonomously moves along an inspection walkway permanently installed beneath the bridge. The mobile unit 10 autonomously transports the material M, which is placed on the main body of the mobile unit 10, along the inspection walkway. The mobile unit 10 includes any mobile robot and mobile aircraft capable of autonomously transporting the material M. The mobile unit 10 includes, for example, an AGV (Automated Guided Vehicle).

[0025] Figure 2 is a block diagram showing an example of the configuration of the mobile body 10 in Figure 1. Referring to Figure 2, an example of the configuration and function of the mobile body 10 according to one embodiment of this disclosure will be mainly described.

[0026] In one embodiment, the mobile body 10 moves autonomously at the work site. The mobile body 10 acquires structural information of a flooring material installed at the work site, on which a plurality of structures having a predetermined shape are arranged on its surface. Based on the acquired structural information, the mobile body 10 moves along the structures while identifying the structures of the flooring material. In this disclosure, "structure" includes, for example, holes, recesses, protrusions, raised parts, and convex parts. "Determined shape" includes, for example, a rhombus, rectangle, dashed grid, and circle. The predetermined shape is not limited to these and may include any other geometric shape. "Flooring material" includes, for example, scaffolding material and walkway. "Structural information" includes, for example, at least one of the shape and arrangement pattern of the structures.

[0027] The mobile unit 10 includes a storage unit 11, an input unit 12, an output unit 13, a sensor unit 14, a drive unit 15, and a control unit 16.

[0028] The storage unit 11 includes storage modules such as an HDD (Hard Disk Drive), SSD (Solid State Drive), EEPROM (Electrically Erasable Programmable Read-Only Memory), ROM (Read-Only Memory), and RAM (Random Access Memory). The storage unit 11 stores information necessary to realize the operation of the mobile device 10. The storage unit 11 stores information obtained through the operation of the mobile device 10. The storage unit 11 stores system programs, application programs, and various data acquired by any means such as communication.

[0029] The storage unit 11 may function as a main memory module, an auxiliary memory module, or a cache memory. The storage unit 11 is not limited to one built into the mobile device 10, and may also include an external storage module connected by a digital input / output port such as USB (Universal Serial Bus).

[0030] The input unit 12 includes one or more input interfaces that detect user input and acquire input information based on user operations. These input interfaces include physical keys, capacitive keys, a touchscreen integrated with the display of the output unit 13, an imaging module such as a camera, and a microphone that accepts voice input.

[0031] In addition, the input unit 12 may further include one or more communication interfaces for acquiring information by any means of communication at a location different from the work site. Such communication interfaces may include one or more communication interfaces for connecting to a network including, for example, a mobile communication network and the Internet. Such communication interfaces support, but are not limited to, mobile communication standards such as 4G (4th Generation) and 5G (5th Generation), wired LAN (Local Area Network) standards, or wireless LAN standards, and may support any communication standard.

[0032] The communication interface of the input unit 12 may also support any wireless communication standard or wired communication standard for wireless or wired communication. The wireless communication standard may include Bluetooth®, Wi-Fi®, ZigBee®, and any other short-range wireless communication standard. The wired communication standard may include communication standards such as USB.

[0033] The output unit 13 includes one or more output interfaces that output information to the user. These output interfaces include a display that outputs information visually as an image, a speaker that outputs information aurally as sound, and a vibrator that outputs information tactilely as vibration.

[0034] The sensor unit 14 includes one or more sensor modules capable of acquiring configuration information of multiple structures arranged on the surface of the flooring material when the mobile body 10 moves over the flooring material installed at the work site. The sensor modules include, for example, imaging modules such as cameras. The sensor unit 14 is not limited to this and may include any other sensor modules other than imaging modules, as long as they are capable of acquiring configuration information of the structures.

[0035] The drive unit 15 includes one or more drive modules that drive the moving mechanism of the mobile body 10, such as the wheels, based on control signals from the control unit 16. These drive modules include, for example, motors. The drive unit 15 moves the mobile body 10 by driving the moving mechanism of the mobile body 10, such as the wheels.

[0036] The control unit 16 includes one or more processors. These processors are general-purpose processors or dedicated processors specialized for specific processing, but are not limited to these. The control unit 16 includes, for example, a CPU (Central Processing Unit). The control unit 16 is communicatively connected to each component constituting the mobile body 10 and controls the operation of the entire mobile body 10.

[0037] Figure 3 is a flowchart illustrating a first example of a movement method performed by the mobile body 10 in Figure 1. Referring to Figure 3, we will mainly explain an example of the basic processing flow of the movement method of the mobile body 10 performed by the control unit 16 of the mobile body 10 in Figure 2.

[0038] In step S101, the control unit 16 of the mobile unit 10 acquires configuration information using the input unit 12 at a location different from the work site and stores it in the storage unit 11. For example, during the manufacturing stage of the mobile unit 10, the control unit 16 acquires various configuration information necessary for moving the mobile unit 10 at the work site via the input unit 12 at a factory or the like. This configuration information includes at least one of the structural shape and arrangement pattern for each of several types of flooring materials expected to be used at the work site. The control unit 16 may acquire the configuration information for several types of flooring materials by user input using the input interface of the input unit 12, or by communication means using the communication interface of the input unit 12.

[0039] In step S102, the control unit 16 of the mobile unit 10, in the preparation stage immediately before autonomously moving the mobile unit 10 at the work site, selects specific configuration information specified by the user using the input unit 12 from the configuration information stored in the storage unit 11 in step S101. For example, when the user autonomously moves the mobile unit 10 at the work site, they understand the type of flooring material used at the work site and select the configuration information corresponding to that type of flooring material from the configuration information displayed on the output unit 13 of the mobile unit 10 using the input unit 12. Based on the user input using the input unit 12, the control unit 16 selects specific configuration information from the configuration information stored in the storage unit 11 in step S101.

[0040] In step S103, the control unit 16 of the mobile unit 10 acquires information about the structure of a flooring material installed at the work site, which has multiple structures of a predetermined shape arranged on its surface, using the sensor unit 14, when the mobile unit 10 moves autonomously at the work site. For example, the control unit 16 acquires information about the structure of multiple structures arranged on the surface of the flooring material installed at the work site based on image information obtained by imaging the surface of the flooring material with the imaging module of the sensor unit 14.

[0041] In step S104, the control unit 16 of the mobile unit 10 identifies the structure of the flooring material based on the configuration information acquired by the sensor unit 14 in step S103. For example, the control unit 16 identifies the structure of the flooring material by matching the configuration information acquired in advance in step S101 with the configuration information acquired by the sensor unit 14 in step S103. For example, the control unit 16 identifies the structure of the flooring material by pattern matching the structure reflected in the two-dimensional image acquired in step S103 with the configuration information registered in the storage unit 11 in step S101 and selected by the user in step S102.

[0042] In step S105, the control unit 16 of the mobile body 10, while identifying the structure in step S104, controls the drive unit 15 to move the mobile body 10 along the structure. The control unit 16 moves the mobile body 10 along the structure of the flooring material, for example, through the matching process in step S104.

[0043] As described above, the mobile body 10 has a storage unit 11 that registers at least one of the shape and arrangement pattern of the floor material structure installed at the work site as configuration information, and a sensor unit 14 that includes an imaging module. The mobile body 10 moves autonomously along its movement route by pattern matching between the floor material structure reflected in the two-dimensional image acquired by the sensor unit 14 and the configuration information registered in the storage unit 11.

[0044] Figure 4 is a flowchart illustrating a second example of the movement method performed by the mobile body 10 in Figure 1. Referring to Figure 4, we will mainly explain an example of an advanced processing flow of the movement method of the mobile body 10 performed by the control unit 16 of the mobile body 10 in Figure 2.

[0045] In step S201, the control unit 16 of the mobile body 10 acquires information using the input unit 12 at a location different from the work site and stores it in the storage unit 11 as a database. For example, during the manufacturing stage of the mobile body 10, the control unit 16 acquires information necessary to control the operation of the mobile body 10 at the work site via the input unit 12 at a factory or other location. This information includes markers that differ in structure and shape from the flooring material installed at the work site, and operation commands that control the operation of the mobile body 10 to associate with these markers.

[0046] In this disclosure, “marker” may be, for example, a simple geometric shape different from the shape of the flooring structure, or a two-dimensional code including a QR code (registered trademark) and a barcode. “Operation command” may include, for example, a stop command, a gear change command including acceleration and deceleration, and a direction change command.

[0047] The control unit 16 may acquire the information through user input using the input interface of the input unit 12, or through communication means using the communication interface of the input unit 12. Based on the information acquired via the input unit 12, the control unit 16 generates a database by associating markers and operation commands with each other and stores it in the storage unit 11.

[0048] In step S202, the control unit 16 of the mobile unit 10 determines whether or not it has detected a marker on the movement route along the pathway formed by the flooring material of the work site when the mobile unit 10 moves autonomously within the work site. If the control unit 16 determines that it has detected a marker, it executes the process in step S203. If the control unit 16 determines that it has not detected a marker, it repeats the process from step S202.

[0049] For example, a command member that displays a marker with a different structure and shape from the flooring material may be placed on top of the flooring material on a movement route along a passage made of flooring material at a work site. In this disclosure, “command member” includes, for example, a thin sheet or plate on which a marker is printed as an image on its surface, which the moving body 10 can move over. “Command member” corresponds to “second member” as described in the claims.

[0050] In step S203, if the control unit 16 of the mobile body 10 determines that a marker was detected in step S202, it extracts the operation command associated with the detected marker. For example, based on the marker detected in step S202, the control unit 16 searches the database stored in the storage unit 11 in step S201 and reads the operation command associated with that marker.

[0051] In step S204, the control unit 16 of the mobile body 10 controls the operation of the mobile body 10 based on the operation command read in step S203, which is associated with the marker of the command member. For example, when the mobile body 10 reaches a command member installed on the movement route, the control unit 16 uses the drive unit 15 to stop, change speed, or change direction of the mobile body 10.

[0052] Figure 5 is a flowchart illustrating a third example of the movement method performed by the mobile body 10 in Figure 1. Referring to Figure 5, we will mainly describe other examples of the applied processing flow of the movement method of the mobile body 10 performed by the control unit 16 of the mobile body 10 in Figure 2.

[0053] In step S301, the control unit 16 of the mobile body 10 moves the mobile body 10 in the same manner as the process in step S105 of Figure 3, which moves the mobile body 10 along the structure of the flooring material installed at the work site.

[0054] In step S302, the control unit 16 of the mobile unit 10 identifies both edges E1 and E2 of the flooring material installed at the work site and the first width W1 between both edges E1 and E2 using the sensor unit 14, as shown in Figure 1.

[0055] In step S303, the control unit 16 of the mobile body 10 uses the sensor unit 14 to determine whether or not there is an obstacle OB in the floor material installed at the work site where the mobile body 10 will move. If the control unit 16 determines that there is an obstacle OB, it executes the process in step S304. If the control unit 16 determines that there is no obstacle OB, it repeats the process from step S303 again.

[0056] For example, if the control unit 16 finds that configuration information is missing in at least a portion of the first width W1 identified in step S302, it determines that an obstacle OB exists at the destination of the moving body 10 on the flooring material. For example, if an obstacle OB is placed on top of flooring material installed at a work site, the structure of the flooring material will be hidden and not visible in the portion of the flooring material where the obstacle OB overlaps. The control unit 16 identifies the missing configuration information in at least a portion of the first width W1 in the two-dimensional image of the flooring material captured by the imaging module of the sensor unit 14, and determines that the structure of the flooring material is hidden and not visible. As a result, the control unit 16 determines that an obstacle OB exists at the destination of the moving body 10 on the flooring material.

[0057] In step S304, if the control unit 16 of the mobile body 10 determines in step S303 that an obstacle OB exists, it determines whether the second width W2 between the obstacle OB and the edge E2 of the floor material is greater than the third width W3 of the mobile body 10. If the control unit 16 determines that the second width W2 is greater than the third width W3, it executes the process in step S305. If the control unit 16 determines that the second width W2 is not greater than the third width W3, that is, that the second width W2 is less than or equal to the third width W3, it executes the process in step S307.

[0058] In step S305, the control unit 16 of the moving body 10 uses the sensor unit 14 to determine in step S303 that there is an obstacle OB in the floor material at the destination of the moving body 10, and in step S304 that the second width W2 is greater than the third width W3, then determines a detour route for the moving body 10 to avoid the obstacle OB. For example, in Figure 1, in order for the moving body 10 to avoid the obstacle OB which is positioned close to the edge E1, the control unit 16 changes the movement route that is located on the edge E1 side before reaching the obstacle OB to be located on the edge E2 side when it reaches the obstacle OB. The control unit 16 determines the detour route as the movement route in which the moving body 10 passes through the passage between the obstacle OB and the edge E2.

[0059] In step S306, the control unit 16 of the mobile body 10 causes the mobile body 10 to detour around the location of the obstacle OB according to the detour route determined in step S305.

[0060] In step S307, if the control unit 16 of the moving body 10 determines in step S304 that the second width W2 is not greater than the third width W3, it determines that the moving body 10 cannot pass at the position of the obstacle OB and stops the moving body 10.

[0061] Figure 6A is a schematic diagram showing a first example of flooring material used in a work site. In the flooring material shown in Figure 6A, the structure includes, for example, rhomboid holes. In this case, the configuration information includes, for example, at least one of the rhomboid shape of the holes and the arrangement pattern in which the rhomboid holes are arranged continuously and regularly.

[0062] The control unit 16 of the mobile body 10 acquires configuration information of diamond-shaped holes in a flooring material such as Figure 6A, which has multiple diamond-shaped holes regularly arranged on its surface. Based on the acquired configuration information, the control unit 16 identifies the diamond-shaped holes in the flooring material and moves the mobile body 10 along those holes. For example, the control unit 16 moves the mobile body 10 along the longer of the two diagonals of a diamond-shaped hole so that the movement route is parallel to that diagonal.

[0063] Figure 6B is a schematic diagram showing a second example of flooring material used in a work site. In the flooring material shown in Figure 6B, the structure includes, for example, rectangular holes. In this case, the configuration information includes, for example, at least one of the rectangular shape of the holes and the arrangement pattern in which the rectangular holes are arranged continuously and regularly.

[0064] The control unit 16 of the mobile body 10 acquires configuration information of rectangular holes in a flooring material, such as Figure 6B, which has multiple rectangular holes arranged regularly on its surface. Based on the acquired configuration information, the control unit 16 identifies the rectangular holes in the flooring material and moves the mobile body 10 along those holes. For example, the control unit 16 moves the mobile body 10 along the shorter side of a rectangular hole so that the movement route is parallel to that shorter side.

[0065] Figure 6C is a schematic diagram showing a third example of flooring material used in a work site. In the flooring material shown in Figure 6C, the structure includes, for example, raised sections with a dashed grid pattern. In this case, the configuration information includes, for example, at least one of the dashed grid pattern of the raised sections and an arrangement pattern in which the raised sections with the dashed grid pattern are continuously and regularly arranged.

[0066] The control unit 16 of the mobile body 10 acquires configuration information of the raised portions of a dashed grid pattern on a flooring material such as Figure 6C, which has multiple regularly arranged raised portions of a dashed grid pattern on its surface. Based on the acquired configuration information, the control unit 16 identifies the raised portions of the dashed grid pattern on the flooring material and moves the mobile body 10 along those raised portions. For example, the control unit 16 moves the mobile body 10 along the center line L of the intersection shape of the raised portions of the dashed grid pattern so that the movement route is parallel to the center line L.

[0067] Figure 6D is a schematic diagram showing a fourth example of flooring material used in a work site. In the flooring material shown in Figure 6D, the structure includes, for example, circular holes. In this case, the configuration information includes, for example, at least one of the circular shape of the holes and the arrangement pattern in which the circular holes are arranged continuously and regularly.

[0068] The control unit 16 of the mobile body 10 acquires information about the configuration of circular holes in a flooring material, such as Figure 6D, which has multiple circular holes arranged regularly on its surface. Based on the acquired configuration information, the control unit 16 identifies the circular holes in the flooring material and moves the mobile body 10 along the circular holes. For example, the control unit 16 moves the mobile body 10 along the arrangement direction D1, which corresponds to the longitudinal direction of the two mutually orthogonal arrangement directions D1 and D2 of the circular holes, such that the movement route is parallel to the arrangement direction D1.

[0069] Figure 7 is a first schematic diagram illustrating an example of the operation of the mobile body 10 in Figure 1. Figure 7 shows an example of the surface of a guide member 20 that displays a structure having the same shape as the floor material structure installed at the work site, but with a different arrangement pattern.

[0070] For example, a guide member 20 having the same shape as the floor material structure but displaying a structure with a different arrangement pattern may be placed on top of the floor material on a movement route along a passage formed by the floor material at the work site. In this disclosure, “guide member 20” includes, for example, a thin sheet or plate on which a structure is printed as an image on its surface, and which a moving body 10 can move over. “Guide member 20” corresponds to “first member” as described in the claims.

[0071] The control unit 16 of the mobile body 10 may move the mobile body 10 along the arrangement pattern of the guide member 20, which has the same shape as the floor material structure installed at the work site but displays a different arrangement pattern. For example, when the mobile body 10 approaches the guide member 20 from the bottom of Figure 7 in a straight line, the control unit 16 moves the mobile body 10 diagonally to the right toward the center of the guide member 20 along a rectangular structure that is arranged in a diagonal rightward inclination toward the center from one end of the guide member 20 toward the center. When the mobile body 10 has moved to the center of the guide member 20, the control unit 16 moves the mobile body 10 diagonally to the left toward the other end of the guide member 20 along a rectangular structure that is arranged in a diagonal leftward inclination toward the other end of the guide member 20 toward the other end.

[0072] Figure 8 is a second schematic diagram illustrating an example of the operation of the mobile body 10 in Figure 1. Figure 8 shows an example of the surface of a command member 30 that displays a marker 31 that differs in structure and shape from the flooring material installed at the work site. In the example shown in Figure 8, a two-dimensional code is drawn on the surface of the command member 30.

[0073] The control unit 16 of the mobile body 10 may use the sensor unit 14 to read the marker 31 of the command member 30, which is placed on top of the flooring along a movement route made of flooring at the work site, and control the movement of the mobile body 10 based on the operation command associated with the marker 31. For example, when the mobile body 10 reaches a command member 30 installed on the movement route, the control unit 16 may use the drive unit 15 to stop, change speed, or change direction of the mobile body 10.

[0074] According to the above embodiment, it is possible to move the mobile body 10 accurately and at low cost at the work site. The mobile body 10 acquires structural information of the flooring material installed at the work site and moves along the structure while identifying the flooring material structure based on the acquired structural information. As a result, the method for moving the mobile body 10 at the work site is simplified, and it is possible to move it accurately and at low cost. The mobile body 10 can be easily moved simply by identifying the flooring material structure with the sensor unit 14.

[0075] Unlike conventional technologies that require additional components such as magnetic tape and image markers even when moving in a straight line, the mobile body 10 does not require the arrangement of additional components, at least for straight-line movement. The mobile body 10 can move without requiring additional components for forming a movement route, by utilizing only the flooring material originally used to form a passage for workers, etc., rather than forming a movement route for the mobile body 10. The mobile body 10 can move in a simple manner by utilizing the fact that multiple structures are arranged on the surface of the flooring material used as a passage at the work site.

[0076] The mobile unit 10 can be moved at low cost without using magnetic tape, even when transporting materials M with a limited usage period and the transport route changes frequently. The mobile unit 10 also eliminates the need for image marker installation work, thus resolving the problem of image markers becoming dirty and unrecognizable at the work site. In addition, since the mobile unit 10 does not use a satellite positioning system, it also eliminates the problem of being unable to correctly determine its own position due to satellite radio waves being blocked under structures. Furthermore, the mobile unit 10 does not require three-dimensional coordinate calculation processing, thus avoiding the need to mount bulky, high-performance computing devices and power supply devices.

[0077] Unlike conventional AGVs, which are primarily intended for use inside factories and buildings, the mobile unit 10 can also be used at outdoor work sites. The mobile unit 10 can autonomously transport materials M on behalf of workers, even on very narrow passages such as walkways at work sites. Therefore, it can reduce the effort required of workers to carry materials M by walking long distances through narrow passageways at work sites.

[0078] The mobile body 10 moves along the structure by matching pre-acquired configuration information with configuration information acquired by the sensor unit 14. This allows the mobile body 10 to move more accurately on the flooring material used as a walkway at the work site. For example, the mobile body 10 can move along the walkway not only in a straight line formed by the flooring material installed at the work site, but also in a walkway that is slightly bent with one piece of flooring material connected to another at a predetermined angle, by identifying the structure with the sensor unit 14.

[0079] The configuration information includes at least one of the shape and arrangement pattern of the structure. This allows the mobile body 10 to acquire the configuration information via the sensor unit 14 as information about the structure that can be visually captured by an imaging module such as a camera. Therefore, the mobile body 10 can easily acquire the configuration information based on the captured two-dimensional image and can easily perform the process of moving along the structure while identifying it.

[0080] The mobile body 10 moves along the arrangement pattern of the first member, which has the same shape as the floor material structure installed at the work site but displays a different arrangement pattern of structure. This allows the mobile body 10 to freely change its movement route along the arrangement pattern of structure displayed on the first member.

[0081] For example, the mobile body 10 can move along a route that detours outward from a straight route and returns to the same straight route, following the arrangement pattern shown in Figure 7. By simply placing such a first member on top of the floor material on the edge E2 side of an obstacle OB shown in Figure 1, the mobile body 10 can move around the obstacle OB within the range of the passage. The mobile body 10 can perform such detours simply by identifying only the arrangement pattern of the structure displayed on the first member by the sensor unit 14. The mobile body 10 can perform at least straight-line and detours simply by storing only the configuration information in the storage unit 11 in advance and acquiring the configuration information with the sensor unit 14. The mobile body 10 does not need to store information of the obstacle OB in the storage unit 11 in advance when performing a detour. The mobile body 10 can move in a simple way by utilizing the arrangement of the structure without detecting the obstacle OB itself with the sensor unit 14.

[0082] The mobile unit 10 controls its movement based on motion commands associated with the markers 31 of the second member, which display markers 31 that differ in structure and shape from the flooring material installed at the work site. This allows the mobile unit 10 to easily perform additional actions other than straight-line and detour driving, such as stopping, changing speed, and changing direction. The mobile unit 10 only needs to use the second member when performing such additional actions. Compared to conventional technology in which many image markers are installed at intervals sufficient to prevent the mobile unit from losing its route in a straight section, the mobile unit 10 can reduce the workload on workers in terms of installing the second member and replacing the second member when the markers 31 become dirty.

[0083] The mobile unit 10 uses the sensor unit 14 to identify the two edges E1 and E2 of the flooring material installed at the work site, as well as the first width W1 between the two edges E1 and E2. As a result, the mobile unit 10 can accurately identify the first width W1 of the passage formed by the flooring material and move accurately while maintaining its own position within the width of the passage having the first width W1.

[0084] The mobile body 10 uses the sensor unit 14 to determine if an obstacle OB exists in the floor material at the destination of the mobile body 10, and if it determines that the second width W2 between the obstacle OB and the edge E2 of the floor material is greater than the third width W3 of the mobile body 10, it determines a detour route around the obstacle OB. As a result, the mobile body 10 can move around obstacle OB based on calculations using various widths, without using additional members such as a first member that displays a structure that has the same shape as the floor material structure installed at the work site but a different arrangement pattern.

[0085] The mobile unit 10 determines that an obstacle OB exists at the destination of the mobile unit 10 in the flooring material installed at the work site if configuration information is missing in at least a portion of the first width W1. This allows the mobile unit 10 to easily determine the presence or absence of an obstacle OB based on the missing configuration information of the structure of the flooring material installed at the work site. The mobile unit 10 can easily determine the presence or absence of an obstacle OB simply by detecting that at least a portion of the arrangement pattern of the flooring material structure is hidden within the first width W1, without detecting the obstacle OB itself. The mobile unit 10 does not need to store information about the obstacle OB in the storage unit 11 in advance when determining the presence or absence of an obstacle OB. The mobile unit 10 can determine the presence or absence of an obstacle OB in a simple way by using the arrangement of the flooring material structure installed at the work site.

[0086] While this disclosure has been described based on the drawings and embodiments, it should be noted that those skilled in the art can make various modifications and alterations based on this disclosure. Therefore, it should be noted that these modifications and alterations are within the scope of this disclosure. For example, the functions included in each configuration or step can be rearranged in a logically consistent manner, and multiple configurations or steps can be combined into one or divided.

[0087] For example, it is also possible to configure a general-purpose electronic device such as a smartphone or computer to function as part of the mobile device 10 according to the above-described embodiment. Specifically, a program describing the processing content that realizes each function of the mobile device 10 according to the embodiment is stored in the memory of the electronic device, and the processor of the electronic device reads and executes the program. Therefore, this disclosure can also be implemented as a program that can be executed by a processor.

[0088] Alternatively, the Disclosure may also be implemented as a non-temporary computer-readable medium storing a program executable by one or more processors for causing the mobile body 10 according to one embodiment to perform each function. These are also to be understood as being included within the scope of the Disclosure.

[0089] In the above embodiment, the work site was described as being outdoors, as shown in Figure 1, but it is not limited to this. The work site may also be indoors. For example, the work site may be inside a factory or building. The mobile unit 10 may be used in such an indoor work site.

[0090] In the above embodiment, as shown in Figures 6A to 6D, the structural elements of the flooring material installed at the work site were described as being arranged regularly in multiple locations on the surface of the flooring material, but this is not limited to this. The structural elements may be arranged irregularly in multiple locations on the surface of the flooring material.

[0091] In the above embodiment, the mobile body 10 identifies the structure of the flooring material by matching pre-acquired configuration information with configuration information acquired by the sensor unit 14, but it is not limited to this. The mobile body 10 may identify the structure of the flooring material by any other method as it moves along the structure of the flooring material installed at the work site.

[0092] In the above embodiment, the configuration information was described as including, but is not limited to, the shape and arrangement pattern of the floor material structure installed at the work site. The configuration information may include any other information relating to the floor material structure installed at the work site that is necessary for the mobile body 10 to identify the structure.

[0093] In the above embodiment, the mobile body 10 was described as moving along the arrangement pattern of the first member which displays a structure having the same shape as the floor material structure installed at the work site but with a different arrangement pattern, but it is not limited to this. The mobile body 10 does not have to perform an action using the first member which is the guide member 20. For example, the mobile body 10 may move around obstacles OB based on calculation processing using the various widths described above.

[0094] In the above embodiment, the mobile body 10 is described as controlling its operation based on an operation command associated with a marker 31 on a second member that displays a marker 31 that differs in shape from the structure of the flooring material installed at the work site, but it is not limited to this. The mobile body 10 does not have to perform an operation using the second member, which is the command member 30. For example, the mobile body 10 may perform an additional operation different from straight-line travel and detour travel by having the sensor unit 14 detect a magnetic tape instead of, or in addition to, the second member. In this case, the sensor unit 14 may further include a magnetic sensor. For example, the mobile body 10 may perform a stop operation by detecting that configuration information is missing due to any member that covers the arrangement pattern of the structure of the flooring material installed at the work site.

[0095] In the above embodiment, the mobile body 10 was described as identifying both edges E1, E2 of the flooring material and the first width W1 between both edges E1, E2 using the sensor unit 14, but it is not limited to this. The mobile body 10 does not need to identify at least one of both edges E1, E2 of the flooring material and the first width W1 between both edges E1, E2.

[0096] In the above embodiment, the mobile body 10 uses the sensor unit 14 to determine if an obstacle OB exists at the destination on the flooring material, and if it determines that the second width W2 between the obstacle OB and the edge E2 of the flooring material is greater than the third width W3 of the mobile body 10, it determines a detour route around the obstacle OB. However, the embodiment is not limited to this. The mobile body 10 does not have to perform calculation processing using such various widths. The mobile body 10 may move around the obstacle OB using any other method different from the calculation processing. For example, the mobile body 10 may move around the obstacle OB based on the method using the first member described above.

[0097] In the above embodiment, it was explained that the mobile body 10 determines that an obstacle OB exists at the destination of the flooring material if configuration information is missing in at least a portion of the first width W1, but it is not limited to this. Instead of detecting that at least a portion of the arrangement pattern of the flooring material structure installed at the work site is hidden within the first width W1 and determining the presence or absence of an obstacle OB, the mobile body 10 may directly detect the obstacle OB. In this case, the mobile body 10 may store information about the obstacle OB in the storage unit 11 in advance when determining the presence or absence of the obstacle OB.

[0098] Some embodiments of the present disclosure are described below. However, it should be noted that the embodiments of the present disclosure are not limited to these. [Note 1] A mobile unit that moves autonomously within the work site, A sensor unit for acquiring information about the structure of a flooring material installed at the aforementioned work site, which has multiple structures having a predetermined shape arranged on its surface, A control unit that moves the mobile body along the structure while identifying the structure of the flooring material based on the acquired configuration information, Equipped with, A mobile object. [Note 2] The mobile body described in Appendix 1, The control unit moves the moving body along the structure by matching the configuration information acquired in advance with the configuration information acquired by the sensor unit. A mobile object. [Note 3] A mobile body as described in Appendix 1 or 2, The configuration information includes at least one of the shape and arrangement pattern of the structure. A mobile object. [Note 4] The mobile body described in Appendix 3, The control unit moves the movable body along the arrangement pattern of the first member which displays the structure having the same shape as the structure of the flooring material but with a different arrangement pattern. A mobile object. [Note 5] A mobile body as described in Appendix 3 or 4, The control unit controls the movement of the moving body based on an operation command associated with the marker of the second member which displays a marker that has a different shape from the structure of the flooring material. A mobile object. [Note 6] A mobile body described in any one of the appendices 1 to 5, The control unit identifies the first width of both edges of the flooring material and the space between the two edges using the sensor unit. A mobile object. [Note 7] The mobile body described in Appendix 6, The control unit, using the sensor unit, determines that an obstacle exists in the floor material at the destination of the moving body, and that the second width between the obstacle and the edge of the floor material is greater than the third width of the moving body, then determines a detour route for the moving body to avoid the obstacle. A mobile object. [Note 8] A mobile body as described in Appendix 6 or 7, The control unit determines that if the configuration information is missing in at least a portion of the first width, an obstacle exists in the floor material at the destination of the moving body. A mobile object. [Note 9] A method of moving a mobile object autonomously within a work site, To obtain information on the structure of a flooring material installed at the aforementioned work site, which has multiple structures of a predetermined shape arranged on its surface, Based on the acquired configuration information, the movable body is moved along the structure while identifying the structure of the flooring material, including, How to move. [Note 10] For mobile units that move autonomously at the work site, To obtain information on the structure of a flooring material installed at the aforementioned work site, which has multiple structures of a predetermined shape arranged on its surface, Based on the acquired configuration information, the movable body is moved along the structure while identifying the structure of the flooring material, Perform an action that includes program. [Explanation of symbols]

[0099] 10 Mobile Units 11 Storage section 12 Input section 13 Output section 14 Sensor section 15 Drive unit 16 Control Unit 20. Guiding member (first member) 30. Command member (second member) 31 Markers D1 Array Direction D2 Array Direction E1 edge E2 Edge L center line M Materials OB obstacle W1, Picture 1 W2 2nd picture W3, 3rd image

Claims

1. A mobile unit that moves autonomously within the work site, A sensor unit for acquiring information about the structure of a flooring material installed at the aforementioned work site, which has multiple structures having a predetermined shape arranged on its surface, A control unit that moves the mobile body along the structure while identifying the structure of the flooring material based on the acquired configuration information, Equipped with, A mobile object.

2. A mobile body according to claim 1, The control unit moves the moving body along the structure by matching the configuration information acquired in advance with the configuration information acquired by the sensor unit. A mobile object.

3. A mobile body according to claim 1 or 2, The configuration information includes at least one of the shape and arrangement pattern of the structure. A mobile object.

4. A mobile body according to claim 3, The control unit moves the movable body along the arrangement pattern of the first member which displays the structure having the same shape as the structure of the flooring material but with a different arrangement pattern. A mobile object.

5. A mobile body according to claim 3, The control unit controls the movement of the moving body based on an operation command associated with the marker of the second member which displays a marker that has a different shape from the structure of the flooring material. A mobile object.

6. A mobile body according to claim 1 or 2, The control unit identifies the first width of both edges of the flooring material and the space between the two edges using the sensor unit. A mobile object.

7. A mobile body according to claim 6, The control unit, using the sensor unit, determines that an obstacle exists in the floor material at the destination of the moving body, and that the second width between the obstacle and the edge of the floor material is greater than the third width of the moving body, then determines a detour route for the moving body to avoid the obstacle. A mobile object.

8. A mobile body according to claim 6, The control unit determines that if the configuration information is missing in at least a portion of the first width, an obstacle exists in the floor material at the destination of the moving body. A mobile object.

9. A method of moving a mobile object autonomously within a work site, To obtain information on the structure of a flooring material installed at the aforementioned work site, which has multiple structures of a predetermined shape arranged on its surface, Based on the acquired configuration information, the movable body is moved along the structure while identifying the structure of the flooring material, including, How to move.

10. For mobile units that move autonomously at the work site, To obtain information on the structure of a flooring material installed at the aforementioned work site, which has multiple structures of a predetermined shape arranged on its surface, Based on the acquired configuration information, the movable body is moved along the structure while identifying the structure of the flooring material, Perform an action that includes program.

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