Autonomous Vehicles

Abstract

To provide an autonomous moving body capable of appropriately making it difficult to block a passage.SOLUTION: An autonomous moving body comprises: motors 51, 52, 53, and 54 for traveling a machine base; a range sensor 40 for detecting an object existing around the machine base; and a controller 50 that controls the motors 51, 52, 53, and 54 to follow a preceding worker through a passage with shelves arranged at ends based on a detection result of the range sensor 40, thereby controlling the travel of the machine base. The controller 50 controls the motors 51, 52, 53 and 54 to move the machine base to a position approaching the ends of the passage when the range sensor 40 detects that the worker remains in a work area for a certain period of time. For each work position, a work area having a position and a size corresponding to a work range of the worker at the work position is provided.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an autonomous moving body. [Background technology]

[0002] The autonomous mobile body disclosed in Patent Document 1 tracks a worker who is ahead of the autonomous mobile body in the passageway based on the detection results of a range sensor. In addition, when the worker remains for a certain period of time within a predetermined work area within the sensing range of the range sensor, the autonomous mobile body moves the machine to a position approaching the end of the passageway. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-81847 Summary of the Invention [Problem to be solved by the invention]

[0004] It is desirable to appropriately detect the work of an operator and move the machine to a position close to the end of the aisle, thereby making it difficult for the aisle to be blocked. [Means for solving the problem]

[0005] The autonomous mobile body for solving the above problem is an autonomous mobile body that includes a drive unit for moving the machine platform, a range sensor for detecting objects present around the machine platform, a following control unit that controls the drive unit to control the movement of the machine platform so that the machine platform follows a worker who is ahead of the machine platform down an aisle with shelves at the end based on the detection results of the range sensor, and an aisle end approach control unit that controls the drive unit to move the machine platform to a position approaching the end of the aisle when the range sensor detects that the worker remains within a work area for a certain period of time, and the gist of the autonomous mobile body is that for each work position, a work area is provided with a position and size corresponding to the work range of the worker at that work position.

[0006] According to this, since a work area of ​​a position and size according to the worker's work range is provided for each work position, the work of the worker can be properly detected and the machine can be moved to a position close to the end of the aisle, which makes it difficult to block the aisle appropriately.

[0007] The autonomous moving body may further include a work area update unit that measures a work range of the worker working in the passageway using the range sensor and updates a position and a size of the work area at the work position.

[0008] In this case, the position and size of the work area can be changed automatically. Furthermore, in the above-mentioned autonomous moving body, when a recording mode is set, the work area update unit measures the working range of the worker working in the passageway using the range sensor and records the measurement results, and after the recording mode is released, updates the position and size of the work area at the work position from the recorded measurement results.

[0009] In this case, the working range of the worker working in the recording mode can be measured, and the position and size of the working area can be automatically updated after the recording mode is released. In addition, in the above-mentioned autonomous moving body, it is preferable that the autonomous moving body further has an unupdated work area update unit that updates the position and size of the work area at an unupdated work position close to the work position where the position and size of the work area have been updated by the work area update unit, based on the position and size of the work area at the updated work position close to the unupdated work position.

[0010] In this case, the position and size of the work area can be updated at the unupdated work position. In the autonomous moving body, the work may be a picking work. Effect of the Invention

[0011] According to the present invention, it is possible to appropriately prevent the passage from being blocked. [Brief description of the drawings]

[0012] [Figure 1] FIG. 2 is a schematic plan view of an autonomous moving body according to the embodiment. [Diagram 2] FIG. 2 is a block diagram of an autonomous vehicle. [Diagram 3] FIG. 1 is a schematic plan view for explaining work in a warehouse. [Figure 4] FIG. 1 is a schematic plan view for explaining work in a warehouse. [Diagram 5] FIG. 1 is a schematic plan view for explaining work in a warehouse. [Figure 6] FIG. 2 is a schematic plan view of a warehouse to explain a work area. [Figure 7] FIG. [Figure 8] 13 is a flowchart for explaining a process of updating a work area at a work position. [Figure 9] FIG. 1 is a schematic plan view of a warehouse. [Figure 10] FIG. 1 is a schematic plan view of a warehouse. [Figure 11] FIG. 11 is a schematic plan view of a warehouse for explaining a second embodiment. [Figure 12] FIG. 13 is a schematic plan view of a warehouse for explaining a modified example. [Figure 13] FIG. 13 is a schematic plan view of a warehouse for explaining a modified example. [Figure 14] 13(a) and 13(b) are schematic plan views of a warehouse for explaining another example. [Figure 15] FIG. 11 is a schematic plan view of a warehouse for explaining another example. [Figure 16] FIG. 11 is a schematic plan view of a warehouse for explaining another example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] (First embodiment) An embodiment of an autonomous mobile body will be described below with reference to the drawings. The autonomous mobile body of this embodiment is used for picking work in a warehouse.

[0014] <Configuration of the Autonomous Mobile Body 10> 1, the autonomous moving body 10 moves based on, for example, map information and its own position. Note that the self-position may be detected by, for example, a GPS, or may be estimated by detecting surrounding objects using a sensor and comparing them with the map information.

[0015] The autonomous mobile body 10 is an omnidirectional vehicle. The autonomous mobile body 10 includes a disk-shaped platform 20 and four wheels 30, 31, 32, and 33. The four wheels 30, 31, 32, and 33 are provided on the platform 20. In detail, the wheels 30, 31, 32, and 33 are arranged at 90° intervals with respect to the center of the platform 20 in a plan view. Each wheel 30, 31, 32, and 33 is an omnidirectional wheel, specifically an omniwheel, and each wheel 30, 31, 32, and 33 is configured to be driven in all directions. That is, each wheel is provided with a plurality of rollers (small wheels having a barrel shape) that are arranged in the circumferential direction of the wheel and rotate freely, and can move freely forward, backward, left, and right. Using four wheels configured in this way, the platform 20 can be moved in all directions without changing the axle.

[0016] A range sensor 40 is attached to the machine base 20. A laser range finder (LRF) is used as the range sensor 40, which is a two-dimensional laser (2D laser) sensor. In this embodiment, the range sensor 40 is fixed to the upper surface of the machine base 20, and has a field of view that is a predetermined angle of 270° in the horizontal direction. Specifically, as shown in FIG. 1, the range sensor 40 has a sensing range As (see FIG. 4) of 135° to the left and right of the front. The range sensor 40 detects the distance to an object in association with the direction (angle) of the object.

[0017] The platform 20 is provided with a portion (not shown) for placing parts and other articles. Parts and other articles picked up from the shelves by picking can be stored in this portion. As shown in Fig. 2, the autonomous moving body 10 includes a controller 50, motors 51, 52, 53, 54, drive circuits 55, 56, 57, 58, and a remote control 60. The motors 51, 52, 53, 54 are mounted on the machine base 20. An output shaft of the motor 51 is drivingly connected to the wheel 30, and the wheel 30 can be driven by the motor 51. Similarly, an output shaft of the motor 52 is drivingly connected to the wheel 31, and the wheel 31 can be driven by the motor 52. An output shaft of the motor 53 is drivingly connected to the wheel 32, and the wheel 32 can be driven by the motor 53. An output shaft of the motor 54 is drivingly connected to the wheel 33, and the wheel 33 can be driven by the motor 54.

[0018] The controller 50 controls the motors 51, 52, 53, and 54 via drive circuits 55, 56, 57, and 58 to drive the wheels 30, 31, 32, and 33. This allows the machine base 20 to move in the forward / backward direction, the left / right direction, and the rotational direction.

[0019] The controller 50 receives the measurement results from the range sensor 40. The controller 50 has a memory, and the measurement results of the range sensor 40 are stored in the memory. The range sensor 40 irradiates a laser onto the legs of the worker, and the controller 50 can measure the distance to the legs of the worker. The controller 50 can detect that the object is a worker from the measurement result of the distance to the object. The controller 50 drives and controls the omnidirectional wheels 30-33 based on the measurement result of the range sensor 40 to follow the detected worker, avoid obstacles, and prevent collisions. That is, the autonomous mobile body 10 includes motors 51, 52, 53, and 54 as a drive unit that drives the machine base 20, and a range sensor 40 for detecting objects present around the machine base 20. The controller 50 controls the motors 51, 52, 53, and 54 to prevent collisions. The controller 50 as a following control unit also controls the motors 51, 52, 53, and 54 to follow the worker M1 who is ahead of the machine base 20 along the passages 80, 81, ... (see FIG. 3) with shelves at the ends based on the detection result of the range sensor 40, thereby controlling the traveling of the machine base 20.

[0020] During tracking, the autonomous moving body 10 travels toward the position where the worker M1 was located two seconds ago, for example. FIG. 3 is a schematic plan view for explaining a picking operation in a warehouse, in which a horizontal plane is defined by orthogonal X and Y directions.

[0021] In FIG. 3, shelves 70, 71, 72, ... are arranged so as to extend in the X direction and be spaced apart in the Y direction, and aisles 80, 81, ... are formed between shelves 70, 71, 72, .... Specifically, for example, an aisle 80 is formed between shelves 70 and 71. An aisle 81 is formed between shelves 71 and 72. Each aisle 80, 81, ... extends in the X direction. Item storage boxes 90, 91 are arranged on shelves 70, 71, 72, .... Specifically, for example, multiple item storage boxes 90 are arranged on shelf 70. The item storage boxes 90 are arranged in the X direction in two rows in the Y direction. Multiple item storage boxes 91 are arranged on shelf 71. The item storage boxes 91 are arranged in the X direction in one row in the Y direction. As shown in FIG. 3, multiple item storage boxes 90 are arranged on shelves 72, 73, ... as well as shelf 70.

[0022] As shown in Fig. 4, an item 100 such as a part is stored in an item storage box 90. The item 100 is small in size. An item 101 such as a part is stored in an item storage box 91. The item 101 is large in size.

[0023] Then, the worker M1 performs the task of taking out necessary items (parts, etc.) from the item storage boxes 90, 91 while walking along the passages 80, 81, . . . The positions in front of the item storage boxes 90, 91 in the passages 80, 81, . . . are work positions, and each work position is assigned a number.

[0024] 4, when the range sensor 40 detects that the worker M1 has remained in the working area Ap for a certain period of time, the controller 50, which serves as an aisle end approach control section, performs the following operations: As shown in FIG. 5, the controller 50 controls the motors 51, 52, 53, 54 to move the machine base 20 to a position approaching the ends of the aisles 80, 81, ...

[0025] As shown in FIG. 4, the worker holds the remote control 60. As shown in FIG. 2, the remote control 60 is provided with a record button 61 and a learning end button 62. The remote control 60 can wirelessly communicate with the controller 50. When the record button 61 is pressed, an operation signal is sent to the controller 50. When the learning end button 62 is pressed, an operation signal is sent to the controller 50. When the record button 61 is pressed, the controller 50 is notified that picking is in progress. When the controller 50 is notified that picking is in progress, the controller 50 sets the record mode. When the record button 61 is pressed again in a state in which the record mode is set, an operation signal is sent to the controller 50. When the record button 61 is pressed again, the controller 50 releases the record mode.

[0026] The controller 50, which serves as a work area update unit, is capable of measuring the work range of a worker working in the passages 80, 81, ... using the range measurement sensor 40, and updating the position and size of the work area at the work position. In detail, when the recording mode is set, the controller 50 is capable of measuring the work range of a worker working in the passages 80, 81, ... using the range measurement sensor 40, and recording the measurement results. Furthermore, after the recording mode is released, the controller 50 is capable of updating the position and size of the work area at the work position from the recorded measurement results.

[0027] The position and size of the work area are uniformly determined by initial setting, but are updated by learning and updating processes by the controller 50 as shown in Fig. 6. In Fig. 6, work areas Ap1 and Ap2 are provided for each work position in front of the item storage boxes 90 and 91, with positions and sizes corresponding to the work range of the worker at that work position. The work areas Ap1 and Ap2 for each work position are stored in memory as map information.

[0028] As shown in Fig. 7, the work area Ap has an elliptical shape, and its position and size are defined by the following parameters. The position of the work area Ap is defined by the distance D from the edge 75 of the shelf to the center O of the work area Ap. The size of the work area Ap is defined by the length a of the major axis and the length b of the minor axis of the work area Ap. The position and size of the worker's picking work area are variable depending on the size of the item to be handled.

[0029] 6, in a working position in front of an item storage box 90 storing a small item 100, the worker M1 stands close to the shelf when taking out the item 100, and the D value is small. In addition, since the work requires only the hands, the working range (range of movement) is narrow and the b value is small.

[0030] Conversely, at the working position in front of the item storage box 91 storing the large-sized item 101, space is required to remove the item 101. Therefore, the D value is farther away from the edge 75 of the shelf than at the working position in front of the item storage box 91 storing the small-sized item 100. Therefore, the D value becomes larger. Furthermore, the workability of removing the item 101 becomes worse, and the work range (range of movement) also becomes larger. Therefore, the b value becomes larger.

[0031] Note that FIG. 6 only shows the work areas Ap1, Ap2 for the leftmost work position, and the same work areas Ap1, Ap2 as the work area at the leftmost work position are set for work positions to the right of that.

[0032] <Action of the Autonomous Mobile Body 10> Next, the operation will be described. <Drive control that follows the worker> 2, the controller 50 acquires data from the range sensor (2D sensor) 40. Specifically, the range sensor 40 receives reflected light from the worker while scanning with a laser in the horizontal direction, and measures the distance in association with the direction.

[0033] 3, the picking work is completed by searching for an item (part, etc.) 20 times, for example, along a predetermined movement route for one set. Worker M1 goes to the designated location, picks up the item (part, etc.), reads the barcode attached to the item (part, etc.) with a barcode reader (not shown) carried by the worker, and then goes to the next location.

[0034] In FIG. 3, the autonomous mobile body 10 is used by following a worker (person) M1. For example, when the autonomous mobile body 10 is used in a parts center, as an example, the autonomous mobile body 10 starts following. Then, the worker M1 walks along the aisles 80, 81, and 83 between shelves as shown by walking routes R1 and R2 while following the autonomous mobile body 10. The worker M1 stops each time to pick up the necessary items (parts, etc.) from the item storage box on the shelf and places them on the autonomous mobile body 10. Then, when the item placement section of the autonomous mobile body 10 becomes full, a return setting is made as shown by the travel route R10, and the autonomous mobile body 10 is automatically sent to the pick-up area. Note that, if there is an autonomous mobile body 10 that is empty of items (parts, etc.), that autonomous mobile body 10 follows the worker.

[0035] When the autonomous mobile body 10 automatically arrives at the delivery point, a person drops off the items (parts, etc.) at the delivery point. After that, the autonomous mobile body 10 moves to the initial position in preparation for the next following drive, as shown by the driving route R11 in Fig. 3. Alternatively, if another autonomous mobile body 10 is following the worker M1, the autonomous mobile body 10 can be directed to the worker M1 as the target position.

[0036] <Push-apart control to move the machine closer to the edge of the aisle> The controller 50 determines that the worker M1 is performing a picking operation when the range sensor 40 detects that the worker M1 has remained in the picking operation area Ap for a certain period of time, as shown in Fig. 4. Then, as shown in Fig. 5, the controller 50 controls the motors 51, 52, 53, 54 to move the machine 20 to a position approaching the end of the aisles 80, 81, ..., more specifically, the end of the aisle 80 on the shelf 70 side, thereby moving the machine 20 closer to the width of the aisle.

[0037] Let me explain in detail. As shown in FIG. 5, when an autonomous mobile body is used to follow a person, the need for a width-adjusting function arises when, for example, the autonomous mobile body is used in a parts center, in the work area of ​​the aisle between shelves, the aisle 80 in front of the shelves is narrow and it is often the case that multiple workers work or pass through this narrow aisle.

[0038] The autonomous mobile body 10 automatically determines that the worker M1 using the autonomous mobile body 10 is stopped for picking work, and moves to a position approaching the end of the aisle 80 so as not to get in the way of another worker M2. That is, as shown in FIG. 5, when the worker M1 is performing picking work in the aisle 80 between the shelves 70 and 71, the autonomous mobile body 10 automatically moves to a position approaching the end of the aisle 80, and the aisle 80 can be secured for another worker M2. For example, when the worker M1 followed by the autonomous mobile body 10 stops in the aisle 80 to perform picking work, the autonomous mobile body 10 stops near the center of the aisle 80. Therefore, when another worker M2 tries to pass or overtake the autonomous mobile body 10, the autonomous mobile body 10 can be prevented from blocking the aisle 80.

[0039] During the move-together control, as shown in Fig. 4, the range sensor 40 detects that the worker M1 has remained in the work area for a certain period of time. Then, while the range sensor 40 mounted on the autonomous moving body 10 is constantly sensing the worker M1, the following is done: It detects that the worker M1 has remained in the picking work area Ap for a certain period of time (picking determination time) and determines that the worker M1 is performing picking work.

[0040] As shown in Fig. 5, by automatically moving the machine 20 to a position close to the end of the passage 80 without manual operation, the worker M1 can work without worrying about the people around him (workers M2) passing by. In addition, the people around him (workers M2) do not have their travel route blocked by the machine 20.

[0041] <Update process of work area at work position> As described above, when it is detected that a worker remains within a certain area (picking work area) for a certain period of time (picking determination time), it is determined that the worker is performing picking work, which leads to the decision to move closer to the side.

[0042] Here, when automatically determining whether to move items to the width based on the work area of ​​the position and size initially set in advance, the work range (range of movement) of the worker during picking tends to depend on the size of the items stored in the item storage boxes on the shelf. Therefore, there are cases where the items are not moved to the width appropriately if the work area in the work positions in front of all the item storage boxes is uniform, that is, if the initial setting is used only with the distance D and the axis lengths a and b set to the same values ​​at each work position.

[0043] In this embodiment, as shown in FIG. 6, work areas Ap1, Ap2 are provided at each work position in front of the item storage boxes 90, 91, the position and size of which correspond to the work range of the worker at that work position.

[0044] Specifically, a learning function that can adjust the initial settings of the picking work area can automatically adjust the position and size of the work area for each work position in front of the item storage boxes 90, 91 according to the characteristics (size) of the stored items 100, 101.

[0045] Specifically, do the following: The controller 50 executes the process shown in FIG. One day is set aside for the autonomous mobile body 10 to learn, and on that day the range measurement sensor 40 measures the worker's work range and stores the measurement results for each work position. Specifically, when the worker is in front of a certain item storage box to perform picking work, the worker presses the record button 61 on the remote control 60 (see Figs. 2 and 4) carried by the worker to notify the controller 50 of the autonomous mobile body that picking is in progress.

[0046] In step S1 of FIG. 8, the controller 50 determines whether the record button 61 has been pressed. Then, when the controller 50 receives a notification that the record button 61 has been pressed, the controller 50 sets the record mode until the record button 61 is pressed again in step S5 of FIG. 8 to notify the end of the process.

[0047] When the record button 61 is pressed in step S1, the controller 50 proceeds to step S2, where it recognizes which work position it is from map information (for example, work position number=A). Furthermore, the controller 50 recognizes which picking operation has been performed at this work position in step S3 (for example, nth time). Furthermore, the controller 50 measures parameters (DAn, aAn, bAn) that define the work area in step S4. Then, when the record button 61 is pressed again in step S5, the controller 50 proceeds to step S6, where it saves the measured parameters (DAn, aAn, bAn).

[0048] In this way, when the controller 50 is set to the recording mode, the working range of the worker during work is measured by the range measurement sensor 40. Then, the controller 50 records the measurement result of the working range of the worker in association with the work position number, which is the position information of the work position in front of the item storage box.

[0049] For example, the measurement results of the work range associated with n picking operations at the same work position are acquired and recorded. Similarly, the measurement results of the work range associated with actual picking operations at different work positions are acquired and recorded.

[0050] This process is repeated to record the measurement results of the working range for each work position during all picking operations in the day. When the day's work is finished, the learning end button 62 on the remote control 60 is pressed to notify the controller 50 of the autonomous moving body 10 that learning has ended.

[0051] Upon receiving the notification of the completion of learning, the controller 50 updates the position and size of the work area at the work position from the recorded measurement results after the recording mode is released. Specifically, the parameters that define the work area, D, a, and b, are calculated. For example, the distance DA1 and shaft lengths aA1 and bA1 associated with the first picking, the distance DA2 and shaft lengths aA2 and bA2 associated with the second picking, and the distance DA3 and shaft lengths aA3 and bA3 associated with the third picking are calculated.

[0052] The controller 50 then updates the initial values ​​of the D value, the a value, and the b value, which were uniform regardless of the work position, for each work position. For example, for the initial values ​​of distance DZ' and shaft lengths aZ', bZ' at a certain work position, distance DZ'A and shaft lengths aZ'A, bZ'A are calculated by averaging as shown in the following equations (1), (2), and (3).

[0053] DZ´A=L×{(DA1+DA2+DA3+…) / n} ···(1) aZ´A=M×{(aA1+aA2+aA3+…) / n} ···(2) bZ´A=N×{(bA1+bA2+bA3+…) / n} ···(3) In the above formulas (1), (2), and (3), n represents the number of pickings stored at the work position, and L, M, and N represent adjustment coefficients that can be set arbitrarily. L, M, and N are 1 when the average values ​​are used as they are.

[0054] That is, when the learning end button 62 is pressed in step S7 of FIG. 8, the controller 50 proceeds to step S8 and updates the parameters of all the work areas based on the equations (1) to (3).

[0055] This allows the position and size of the picking work area Ap to be set for each work position, so that the position and size of the work area, which are the width-shifting conditions, can be automatically adjusted for each work position according to the size of the items stored.

[0056] <Advantages of the First Embodiment> According to the above embodiment, the following effects can be obtained. (1) For each work position, a work area is provided whose position and size correspond to the work range of the worker M1 at that work position. Therefore, the work of the worker M1 can be properly detected and the machine 20 can be moved to a position close to the end of the aisle 80, 81, .... As a result, it is possible to properly prevent the aisle from being blocked. In other words, the setting of the picking work area can be automatically adjusted according to the characteristics (size) of the items in the item storage boxes on the shelves, and the width can be appropriately moved.

[0057] Conventionally, the only thing that was done was to move the machine to the side if the worker stayed at a certain position relative to the position of the machine only based on the information stored in the autonomous mobile body, that is, if the worker stayed at a certain position relative to the position of the machine. Therefore, no matter where the worker works, the machine is moved to the side only based on the condition of the positional relationship between the worker and the machine. The work area is not set around the worker, but is set in the positional relationship between the aisle and the machine, and the machine is moved to the side when the worker enters this area. In contrast, in this embodiment, the position and size of the work area are changed depending on where the machine is in the aisle, that is, depending on the work position. In other words, in the past, the position and size of the work area were determined based on the positional relationship between the shelf, the worker, and the autonomous mobile body, but in this embodiment, a work area with a position and size according to the work range is provided for each work position. In other words, the work area is changed depending on where the machine is.

[0058] The proper implementation of width adjustment will be explained using specific examples in Figures 9 and 10. In FIG. 9, the autonomous mobile body 200 follows the worker 203 who is ahead of the worker 203 along an aisle 230 with a shelf 210 at the end based on the detection result of the range sensor 202 mounted on the machine base 201. An item storage box 211 is placed on the shelf 210. In FIG. 10, the autonomous mobile body 200 follows the worker 203 who is ahead of the worker 203 along an aisle 240 with a shelf 220 at the end based on the detection result of the range sensor 202 mounted on the machine base 201. An item storage box 221 is placed on the shelf 220. A small item 212 is contained in the item storage box 211 in FIG. 9. A large item 222 is contained in the item storage box 221 in FIG. 10. An initially set work area 250 is formed at the work position in front of the item storage box 211 in FIG. 9. An initially set work area 260 is formed at the work position in front of the item storage box 221 in FIG. 10. The center position and size of the work area 250 in Fig. 9 and the work area 260 in Fig. 10 are the same. Since a small item 212 is contained in the item storage box 211 in Fig. 9, the actual work area 251 is smaller than the initially set work area 250. Since a large item 222 is contained in the item storage box 221 in Fig. 10, the actual work area 261 is larger than the initially set work area 260.

[0059] In Fig. 9, if the worker 203 is in the position indicated by the reference symbol 270, the following will occur. If the worker 203 deviates from the actual work area 251 and stays in the initially set work area 250 for a certain period of time, the machine 201 will move to the edge of the aisle 230 (incorrectly moving the machine to the side). In other words, if the work area is made large from the beginning, incorrect moving to the side will occur.

[0060] 10, if the worker 203 is in the position indicated by the reference symbol 280, the following will occur: Even if the worker 203 moves out of the initially set work area 260 and stays in the actual work area 261 for a certain period of time, the machine 201 will not move to the edge of the aisle 240 (pull closer to the side).

[0061] There is a concern that in this way the vehicle may unintentionally move to the edge of aisle 230, or may not move to the edge of aisle 240 even though it is desired to do so. In this embodiment, a work area is provided for each work position, the position and size of which correspond to the work range of the worker M1 at that work position, so that the worker M1 does not move unintentionally to the edge of the aisle. Also, when the worker M1 wants to move to the edge of the aisle, the worker M1 moves to the edge appropriately.

[0062] (2) The autonomous moving body 10 has a controller 50 as a work area update unit. The controller 50 as a work area update unit measures the work range of the worker M1 working in the passages 80, 81, ... by the range measurement sensor 40, and updates the position and size of the work area at the work position. Therefore, the position and size of the work area can be automatically changed.

[0063] (3) With the recording mode set, the controller 50 as a work area update unit measures the work range of the worker M1 working in the passages 80, 81, ... using the range measurement sensor 40 and records the measurement results. Then, after the recording mode is released, the controller 50 as a work area update unit updates the position and size of the work area at the work position from the recorded measurement results. Therefore, it is possible to measure the work range of the worker working in the recording mode and automatically update the position and size of the work area after the recording mode is released.

[0064] Second embodiment Next, the second embodiment will be described, focusing on the differences from the first embodiment. In the second embodiment, it is possible to deal with the case where the working ranges at all working positions cannot be measured during the learning period in the first embodiment, and unupdated working positions remain. For example, as shown in Fig. 11, working area Ap10 and working area Ap12 are updated working areas, and working area Ap11 is an unupdated working area. Working area Ap10, working area Ap11, and working area Ap12 are arranged adjacent to each other in the X direction.

[0065] If there is a work position where no picking is performed during the learning period, the initial value will remain at that work position. In the second embodiment, the controller 50 estimates and updates the position and size of the work area of ​​the corresponding work position based on information about the work areas of nearby work positions for the unupdated work area so that it can update work positions where picking is not performed during the learning period.

[0066] 11, the item to be worked on at the work position corresponding to the work area Ap11 sandwiched between the work position corresponding to the work area Ap10 and the work position corresponding to the work area Ap12 is often the same size as the item stored in the adjacent item storage box. Therefore, the controller 50 uses the average value of the update information of the work area Ap10 and the work area Ap12 to update the position and size of the work area Ap11.

[0067] Let me explain with a concrete example. In Fig. 11, the update calculations of the position (distance DA) and size (axis lengths aA, bA) of the working area at the working position numbered NA corresponding to the working area Ap10 were performed by averaging as shown in the following equations (4), (5), and (6). DA1 and DA2 in equation (4) are the D values ​​associated with the first and second picking. aA1 and aA2 in equation (5) are the a values ​​associated with the first and second picking. bA1 and bA2 in equation (6) are the b values ​​associated with the first and second picking.

[0068] DA = L × {(DA1 + DA2) / 2} (4) aA = M × {(aA1 + aA2) / 2} (5) bA = N × {(bA1 + bA2) / 2} (6) In addition, the update calculations of the position (distance DC) and size (axis lengths aC, bC) of the work area at the work position of number NC corresponding to work area Ap12 were performed by averaging as shown in the following equations (7), (8), and (9). DC1, DC2, and DC3 in equation (7) are the D values ​​associated with the first, second, and third picking. aC1, aC2, and aC3 in equation (8) are the a values ​​associated with the first, second, and third picking. bC1, bC2, and bC3 in equation (9) are the b values ​​associated with the first, second, and third picking.

[0069] DC=L×{(DC1+DC2+DC3) / 3} ···(7) aC=M×{(aC1+aC2+aC3) / 3} ···(8) bC=N×{(bC1+bC2+bC3) / 3} ···(9) Then, the position (distance DB) and size (axis lengths aB, bB) of the working area at the working position number NB corresponding to the working area Ap11 are estimated by averaging as shown in the following expressions (10), (11), and (12).

[0070] DB = (DA + DC) / 2 (10) aB = (aA + aC) / 2 (11) bB = (bA + bC) / 2 (12) In this way, even for work positions where no picking is performed during the learning period, the position and size of the work area at the corresponding work position are estimated and adjusted based on the update data of the work area at adjacent work positions.

[0071] <Advantages of the second embodiment> According to the above embodiment, the following effects can be obtained. Even if there is no learning information required for automatic adjustment of the picking work area, the position and size of the work area at the corresponding work position can be estimated and adjusted based on update data of the work area at nearby work positions.

[0072] That is, the autonomous moving body 10 further has a controller 50 as an unupdated work area update unit. The controller 50 as an unupdated work area update unit performs the following at an unupdated work position close to a work position where the position and size of the work area have been updated by the controller 50 as a work area update unit. The controller 50 as an unupdated work area update unit updates the position and size of the work area Ap11 based on the positions and sizes of the work areas Ap10, Ap12 at an updated work position close to the unupdated work position. Thus, the position and size of the work area can be updated at the unupdated work position.

[0073] Next, a modified example will be described. As shown in Fig. 12, which replaces Fig. 11, five working areas Ap20, Ap21, Ap22, Ap23, and Ap24 are arranged adjacent to each other in the X direction. Working areas Ap20 and Ap24 are updated working areas. Working areas Ap21, Ap22, and Ap23 are unupdated working areas, and unupdated working areas Ap21, Ap22, and Ap23 are arranged consecutively. In this case, the controller 50 estimates the positions and sizes of the working areas Ap21, Ap22, and Ap23 using the average values ​​of the positions and sizes of the working areas Ap20 and Ap24.

[0074] Let me explain with a concrete example. The updated results of the position and size of the working area at the working position numbered NA corresponding to the working area Ap20 were the distance DA and the axial lengths aA and bA. The updated results of the position and size of the working area at the working position numbered NE corresponding to the working area Ap24 were the distance DE and the axial lengths aE and bE.

[0075] Then, the position (distance DB) and size (axis lengths aB, bB) of the working area at the working position number NB corresponding to the working area Ap21 are estimated by averaging as shown in the following equations (13), (14), and (15).

[0076] DB = (DA + DE) / 2 (13) aB = (aA + aE) / 2 (14) bB = (bA + bE) / 2 (15) Furthermore, the position (distance DC) and size (axis lengths aC, bC) of the working area at the working position number NC corresponding to the working area Ap22 are estimated by averaging as shown in the following equations (16), (17), and (18).

[0077] DC = (DA + DE) / 2 (16) aC = (aA + aE) / 2 (17) bC = (bA + bE) / 2 (18) Furthermore, the position (distance DD) and size (axis lengths aD, bD) of the working area at the working position numbered ND corresponding to the working area Ap23 are estimated by averaging as shown in the following equations (19), (20), and (21).

[0078] DD=(DA+DE) / 2 (19) aD = (aA + aE) / 2 (20) bD = (bA + bE) / 2 (21) In this way, if there are multiple consecutive work locations where picking was not possible during the learning period, the position and size of the work area at the unupdated work locations can be updated using data at the updated work locations.

[0079] In addition, in FIG. 11, when updated work areas Ap10 and Ap12 sandwich an unupdated work area Ap11, the position and size of the unupdated work area Ap11 are the average values ​​of the positions and sizes of the work areas in the work areas Ap10 and Ap12. This is not limited to the above, and when updated work areas sandwich an unupdated work area, it may be estimated from only one of the left and right sides. That is, to explain using FIG. 11, the position and size of the unupdated work area Ap11 are set to the position and size of the work area in the work area Ap10. Or, the position and size of the unupdated work area Ap11 are set to the position and size of the work area in the work area Ap12.

[0080] In this way, the position and size of the work area at an unupdated work position can be updated by adopting update data for the work area at one of the adjacent work positions, rather than the average value of the information at the adjacent work positions on both sides.

[0081] Also, although the estimation was performed using data from nearby work positions in the X direction in Fig. 11, it may be performed using data from nearby work positions in the Y direction in Fig. 11. This is because items of similar sizes are arranged in the X and Y directions in Fig. 11.

[0082] Alternatively, the method of estimating the work area at a work position where picking was not possible during the learning period by the controller 50 may use updated data of the work area at one of the work positions, as shown in Fig. 13. That is, the unupdated work area Ap30 located at the edge of the shelf is updated with data of the updated work area Ap31. In this way, the position and size of the work area at the unupdated work position can also be updated by adopting the update information at the adjacent work position.

[0083] The embodiment is not limited to the above, and may be embodied as follows, for example. The work area Ap does not have to be an ellipse as shown in Figures 4 and 7, but may be a rectangle as shown in Figures 14(a) and 14(b). In this case, the parameters that define the position and size of the rectangular work area Ap are as follows. The parameters are the lengths e and f of the vertical and horizontal sides, and the distance G from the edge 75 of the shelf to the center of the work area Ap.

[0084] The working area may also be irregularly shaped, and may have any number of parameters that indicate the shape of the working area. The unit for adjusting the position and size of the work area may not only be for each work position in front of the item storage box, but also for each shelf as shown by reference numerals 310, 311, ... in Fig. 15, taking into consideration that items of similar sizes are often placed on each shelf. In other words, for example, the position and size of the work area for each work position on shelf 300 are updated all at once. In Fig. 15, the spaces between supports Pr and Pr in the X direction are shelves 300, 301, ..., the front and back surfaces of shelves 300, 301, ... are shelf numbers, and the position and size of the work area may be learned and updated for each shelf number.

[0085] In addition, items of similar size are often placed in each series of work positions. Taking this into consideration, as shown by reference numerals 410, 411, ... in Fig. 16, the position and size of the work area for each series of work positions in the X direction along which shelves 400, 401, ... extend may be learned. In other words, for example, the position and size of the work area for each work position in series 410 are updated all at once.

[0086] Additionally, taking into account that items of similar sizes are often placed in different aisles, large areas, and floors, the location and size of the work area may be learned and updated for each aisle, large area, and floor (e.g., floor level).

[0087] The range measurement sensor 40 is not limited to a laser range finder, and may be other peripheral detection devices such as a stereo camera, or may be a device that detects the edges of an object using a stereo camera and detects a worker based on the edges.

[0088] Although an example of an omnidirectional vehicle has been shown, the autonomous moving body is not limited to this, and may be another vehicle such as a four-wheel vehicle other than a four-wheel omniwheel vehicle. Although a case where an autonomous mobile body blocks an aisle in a parts center has been explained, the same applies to autonomous mobile bodies that follow people not only in parts centers but also in other environments, such as convenience stores, hospitals (for serving food, taking medicine from shelves, etc.), libraries, etc.

[0089] In the above embodiments, a work area is set for each work position based on the worker's work range during the learning period, and the position and size of the work area correspond to the worker's work range at that work position. However, this is not limited to this. For example, a work area may be set for each work position based on the worker's work range at that work position through a data input operation by a person. Specifically, for example, the D value, a value, and b value in FIG. 7 are input by a person.

[0090] The initially set working area can be updated after learning, and then learned again and updated again. The work may involve not only taking items off a shelf but also putting items back on the shelf. [Explanation of symbols]

[0091] 10...autonomous mobile body, 20...machine base, 40...range sensor, 50...controller, 51, 52, 53, 54...motors, 80, 81...aisle, Ap1, Ap2...work area, M1...worker.

Claims

1. A drive unit for running the machine; a range sensor for detecting objects present around the machine base; a tracking control unit that controls the driving unit to control the travel of the machine base so as to follow a worker who is ahead of the machine base on an aisle having shelves at the end based on a detection result of the range sensor; an aisle end approach control unit that controls the drive unit to move the machine platform to a position approaching the end of the aisle when the range sensor detects that the worker remains in the work area for a certain period of time, A plurality of item storage boxes are arranged on the shelf, An autonomous mobile body, characterized in that for each work position defined in front of each item storage box, a work area is provided whose position and size correspond to the work range of the worker at that work position.

2. a work area update unit that measures the work range of the worker working in the passage by the range sensor and updates the position and size of the work area at the work position; 2. The autonomous moving body according to claim 1 .

3. The work area update unit, in a state in which a recording mode is set, measures the work range of the worker working in the passageway with the range sensor and records the measurement result, and after the recording mode is released, updates the position and size of the work area at the work position from the recorded measurement result.

3. The autonomous moving body according to claim 2 .

4. The present invention further includes an unupdated work area update unit that updates the position and size of the work area at an unupdated work position close to the work position where the position and size of the work area have been updated by the work area update unit, based on the position and size of the work area at the updated work position close to the unupdated work position.

4. The autonomous moving body according to claim 2 or 3.

5. The work is picking work.

5. The autonomous moving body according to claim 1,

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