Running robot

Abstract

The objective is to improve the accuracy of autonomous route setting by a mobile robot. [Solution] A driving means 103 drives to a destination according to a set route. A determining means 106 determines the presence or absence of an obstacle on the route, the road surface condition of the route, and the presence or absence of a pre-set no-travel area on the route, based on an image acquired by a photographing means while driving along the route. A route control means 107 determines the need for correction of the route based on the result of the determination by the determining means.

Description

[Technical field]

[0001] The present invention relates to control of a travel path of a robot. [Background technology]

[0002] There are robots that can travel on farmland to assist in agricultural work. These robots are required to avoid obstacles while traveling.

[0003] Therefore, Patent Document 1 describes a route search device that detects obstacles (rocks, trees, water, grass, buildings, etc.) using sensors such as cameras, predicts changes in the detected obstacles over time, estimates the state of the obstacles at the date and time of route travel, and performs route search taking into account whether the obstacles will affect travel.

[0004] Patent Document 2 describes a driving area discrimination device that extracts geometric features (such as unevenness, curvature, and unevenness variance value of nearby areas) from shape data measured by a sensor such as a laser range finder, and applies machine learning to the extracted features to determine ruts as drivable areas and other areas as undriveable areas due to obstacles. Patent Document 2 also describes that grass growing in the center of a road is determined to be an "undriveable area."

[0005] Patent Document 3 describes a driving support device that identifies obstacles in blind spots, classifies the identified obstacles into static and dynamic obstacles based on whether their central positions change over time, and evaluates the risk of collision with the dynamic obstacles.

[0006] Patent Document 4 describes setting a high encounter probability for routes for which dynamic obstacle information has existed in the past, and selecting the route with the lowest encounter probability from among the routes. Patent Document 4 also describes preparing a map of static obstacles and a map of a self-travelable area excluding static obstacles, acquiring information on dynamic obstacles while traveling, and avoiding routes with dynamic obstacles when dynamic obstacles are detected. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2019-8431 A

[0008] [Patent Document 2] JP 2009-175932 A

[0009] [Patent Document 3] International Publication No. 2016 / 117060

[0010] [Patent Document 4] JP 2014-209293 A Summary of the Invention [Problem to be solved by the invention]

[0011] In the conventional technologies described in Patent Documents 1 to 4, the robot does not simultaneously determine obstacles and road surface conditions when traveling. Therefore, for example, the robot may travel along a route with no obstacles but poor road surface conditions. As a result, the robot may become unable to travel along the way or the traveling mechanism may be damaged. In addition, for example, when the robot travels through farmland, even if there are no obstacles and the road surface conditions are good, the robot may enter a no-travel area outside the work area, such as a neighboring site, or may go outside the farmland and cause an accident in which the robot hits a car or a person.

[0012] An object of the present invention is to improve the accuracy of autonomous route setting by a traveling robot. [Means for solving the problem]

[0013] The present invention provides a traveling robot having a traveling means for traveling to a destination according to a set route, a photographing means, a determination means for determining the presence or absence of obstacles on the route, the road surface condition of the route, and the presence or absence of predetermined no-travel areas on the route based on images acquired by the photographing means while traveling along the route, and a route control means for determining whether or not the route needs to be modified based on the determination result by the determination means. Effect of the Invention

[0014] According to the present invention, the safety of the traveling robot is improved. [Brief description of the drawings]

[0015] [Figure 1] 1 is a block diagram showing a configuration of a running robot according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a diagram illustrating an example of map information according to the embodiment; [Diagram 3] 4 is a flowchart showing the operation of the embodiment. [Figure 4] FIG. 11 is a diagram illustrating an example of the operation of the embodiment. [Diagram 5] FIG. 13 is a diagram showing an example of updated map information according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0017] Fig. 1 is a block diagram showing the configuration of a traveling robot 1 according to an embodiment of the present invention. The traveling robot 1 is a robot that travels on farmland and performs agricultural work such as weeding and transporting harvested products. Note that farmland can be any outdoor land used for cultivating crops, grazing livestock, etc., regardless of the type of crop cultivated, the degree or method of management, etc.

[0018] As shown in Fig. 1, the traveling robot 1 has a processor 10 for overall control, an input unit 21 for inputting various information, a display unit 22 such as a liquid crystal panel, a drive unit 23 for driving each part of the traveling robot 1 such as the wheels, a camera 30 for capturing images of the area in front of the traveling robot 1, and a memory unit 40. The memory unit 40 is made up of a volatile memory unit such as a RAM and a non-volatile memory unit such as a hard disk. The volatile memory unit is used as a work area by the processor 10. The non-volatile memory unit stores map information 41, route information 42, and a program 48. The map information 41 is information showing a map of the farmland where the traveling robot 1 will work.

[0019] This map information 41 divides the farmland to be managed into a number of areas, and for each area, it defines the objects or conditions located in that area, such as obstacles, drivable roads, and bad road surface conditions (e.g., puddles). Route information 42 is information that indicates the travel route of the mobile robot 1 on the map shown by the map information 41. Program 48 is a program for controlling the mobile robot 1 to perform tasks related to farm work (transporting supplies and harvested products, inspecting crops and livestock, spraying pesticides, etc.).

[0020] FIG. 2 shows a schematic diagram of an example of map information 41. The land to be managed is divided into two-dimensional areas, and objects indicating the status of each area are displayed superimposed. Object OB1 is an area where crops are planted and where it is stipulated that mobile robots should not enter, object OB2 is an area where obstacles such as agricultural machinery exist, object AR1 is at a higher elevation than the surrounding area (it is a hill), and therefore poses a certain degree of risk to travel, while the rest of the areas are areas where there are no particular obstacles to travel. Object PR1 indicates that the land is not subject to management.

[0021] In this embodiment, the processor 10 executes the program 48 to function as an acquisition means 101, a reception means 102, a driving means 103, a photographing means 104, an update means 105, a determination means 106, a route control means 107, and a setting means 108.

[0022] Here, the acquisition means 101 is a means for importing map information 41 from the outside via the input unit 21 and storing it in the storage unit 40. This acquisition means 101 may receive image data obtained by aerial photography of farmland via the input unit 21 and generate the map information 41 based on the received image data. The acceptance means 102 is a means for accepting settings of the starting point and destination of the traveling robot 1 on the map indicated by the map information 41.

[0023] The traveling means 103 is a means for controlling the traveling robot 1 to travel along a route indicated by the route information 42. Here, the route information 42 may be set by a human being, or may be searched for by the processor 10 of the traveling robot 1. In other words, the traveling robot 1 may be a semi-autonomous type in which a part (destination, waypoints, etc.) or all of the information of the route to be traveled is given, or a fully autonomous type in which the traveling robot 1 determines the necessary traveling plan for accomplishing the given task, including the destination, by itself. Note that even if the route information is specified in advance (i.e., before the start of traveling), the traveling robot 1 has a function of appropriately correcting the route based on images taken during traveling, as described later.

[0024] The imaging means 104 is a means for imaging the area in front of the traveling robot 1 using the camera 30. In this embodiment, the camera 30 is configured with a stereo camera (two cameras) capable of measuring depth. The imaging means 104 converts the image into a point cloud (pixel group). Each pixel has an object class and a distance. This pixel group is generated using AI semantic segmentation and object localization techniques.

[0025] The update means 105 is a means for updating the map information 41 based on the image acquired by the imaging means 104. More specifically, when an image acquired by the imaging means 104 indicates that an obstacle has appeared in a certain area, information indicating the presence of the obstacle is mapped to that area in the map information 41. Also, when an image acquired by the imaging means 104 indicates that a puddle has appeared in a certain area, information indicating the road surface condition of a puddle is mapped to that area in the map information 41.

[0026] The determination means 106 is a means for determining the presence or absence of an obstacle on the route, the road surface condition of the route, and the presence or absence of a preset no-travel area on the route, based on an image acquired by the imaging means 104 while the traveling robot 1 is traveling along the route. This determination is made based on the map information 41 and the route information 42. That is, the determination means 106 determines, based on the map information 41, whether or not there is an obstacle, an area with poor road surface condition, or a preset no-travel area on the route indicated by the route information 42.

[0027] Here, obstacles include people, ladders, farm equipment, baskets, fences, posts, rocks, fallen branches, etc. Road surface conditions include unevenness, slope, degree of muddiness, etc., which affect the risk of traveling. No-travel areas are areas where the traveling robot is prohibited from traveling even if there are no obstacles on the route and the road surface condition is suitable for the traveling robot, such as farmland managed by others or public roads.

[0028] The route control means 107 is a means for determining whether or not the route needs to be corrected based on the result of the determination by the determination means 106 .

[0029] A specific example of the determination of whether or not a route correction is necessary is as follows. If the set route (route indicated by the route information 42) avoids static obstacles, does not enter prohibited areas, and is traveling on the best road surface condition, it is determined that no correction is necessary, and otherwise it is determined that correction is necessary. If an obstacle on the set route is a moving obstacle (farmer or other robot, etc.), it is determined that no route change is necessary and the robot waits. Depending on the nature of the moving obstacle and / or the existence or nonexistence of an alternative route and the risk (cost) of the alternative route, it is determined that the route change is necessary. If people, other robots, etc. are moving busily on the route randomly (i.e., without predictability) and if there is a reasonable alternative route, it is determined that the route should be changed. This is because in such a case, it is estimated that there is a high possibility that the traveling robot 1 will get in the way of people or other robots.

[0030] In addition, machine learning techniques may be used to determine at least one of the road surface conditions (whether the area is a paved road or other area that is relatively well prepared for travel, an unprepared area with grass or other areas where crops are planted, or muddy, etc.) based on images captured by camera 30, the presence or absence and nature of obstacles, and the determination of no-drive areas.

[0031] The route control means 107 has a function of searching for an alternative route when it is determined that a route correction is necessary.

[0032] The setting means 108 is a means for searching for an optimal route from the departure point accepted by the accepting means 102 to the destination based on the current map information 41, and setting it as route information 42. The route information 42 obtained by the route control means 107 may include unnecessary routes, but the setting means 108 can obtain route information 42 that does not include unnecessary routes from the departure point to the destination (in other words, efficient).

[0033] Next, the operation of this embodiment will be described. Fig. 3 is a flowchart showing the operation of the processor 10. In this embodiment, the processor 10 repeatedly executes driving control (step S1), map information update (step S2), and route control (step S3) according to the program 48.

[0034] In the travel control (step S1), the processor 10 controls the traveling robot 1 to travel along the route indicated by the route information 42. More specifically, the processor 10 estimates the current position of the traveling robot 1 by comparing an image acquired by the photographing means 104 with the map indicated by the map information 41. Then, when the current position deviates from the route indicated by the route information 42, the processor 10 controls the current position to return to the route.

[0035] Next, in updating the map information (step S2), the processor 10 detects changes in objects on the map (e.g., the occurrence of moving obstacles, changes in road surface conditions, etc.) based on images acquired by the photographing means 104, and reflects these changes in the map information 41.

[0036] Next, in route control (step S3), the processor 10 determines whether or not the route needs to be modified based on the map information 41 and the route information 42, and if modification is necessary, performs the route modification, etc. This route modification is performed with the highest priority on the route closest to the current position of the traveling robot 1. Then, when step S3 ends, the process returns to step S1.

[0037] FIG. 4 is a diagram showing an example of the operation of this embodiment. FIG. 4 shows a part of the map information 41 and the route information 42 stored in the storage unit 40. In this operation example, initially, the running robot 1 runs in an area between the travel-prohibited areas 411 and 412. However, this road branches into two at the travel-prohibited area 413. Assume that initially, the route of the running robot 1 was planned to pass through the area between the travel-prohibited areas 411 and 413. However, according to the image obtained by the imaging means 104, a muddy area 421 caused by rain exists in the area between the travel-prohibited areas 411 and 413. Therefore, the route control means 107 corrects the route of the running robot 1 to a route that passes through the area between the travel-prohibited areas 413 and 412.

[0038] This will be explained in more detail using the example of FIG. FIG. 5 shows the map information in FIG. 3 that has been updated after the traveling robot 1 has traveled. In this example, it is specified to travel from the starting point PS to the destination point PE. Based on the latest map information before updating, and taking into account the terrain and other factors, the walking robot 1 determines that a straight line route TR1 from the starting point PS to the destination point PE is the most risk-free and efficient route.

[0039] However, after departing, as a result of photographing while traveling, the robot recognizes the presence of a muddy area AR2 (an area with poor road conditions) at point P1, and determines that proceeding along the original route would pose a predetermined risk and therefore requires modification of the route setting (i.e., a new route needs to be searched for). In this way, the robot travels while photographing, and searches for new routes as necessary, such as detecting a new worker (object OB3) along the way, and ultimately searches for route TR2, which it determines to be the least risky, and arrives at the original destination value PE.

[0040] According to this embodiment, the traveling robot 1 can avoid obstacles, not pass through prohibited areas, and travel on roads with better surface conditions. This improves the safety of traveling. As a result, it is expected that the introduction of ground-traveling robots in the agricultural field will be promoted.

[0041] In general, even if a robot has a function of transmitting a GPS signal to determine its current position, there are many cases where the GPS does not function adequately in farmland, etc. In such cases, if the current position of the mobile robot cannot be grasped (i.e., the mobile robot loses track of its own position), even if the latest and accurate map information is acquired, the map information cannot be utilized. According to this embodiment, the current position of the mobile robot 1 is estimated by comparing the image obtained by the photographing means 104 with the map information 41, so that the optimal route for the mobile robot 1 to travel can be determined even in an environment where the GPS cannot be used. In addition, since farmland is generally vast, it may not be practical to transmit map data and control instructions to a mobile robot using a wireless communication device such as a Wi-Fi router. However, according to this embodiment, there is no need to transmit instructions or various information to the mobile robot 1 while it is moving, so the mobile robot 1 can move safely and reliably regardless of the size of the farmland or the communication environment.

[0042] Furthermore, in outdoor land such as farmland that is highly exposed to natural influences, changes in the terrain (ground erosion due to rain, fallen trees due to typhoons, branches and vinyl greenhouses blown by wind, etc.) frequently occur due to weather such as heavy rain, so the map information provided to the traveling robot 1 may not reflect the current terrain or the locations of obstacles. There may also be cases where the situation of obstacles changes drastically (people and work machines moving around in farmland, etc.). In this embodiment, even in such cases, the traveling robot 1 can select and travel a reasonable route (a route that ensures a certain level of safety and does not take unnecessary detours).

[0043] <Other embodiments> Although one embodiment of the present invention has been described above, other embodiments of the present invention are also possible. For example, the following embodiments are possible.

[0044] In the above embodiment, the route control means 107 of the traveling robot 1 judges whether or not the route needs to be corrected, and searches for an alternative route if the route needs to be corrected. However, the route control means 107 may only judge whether or not the route needs to be corrected, and an external server may search for an alternative route if the route needs to be corrected. Specifically, the traveling robot 1 is equipped with a wireless communication module for wirelessly communicating with an external server that stores map information. In response to a request from the traveling robot 1, the external server determines an alternative route using a predetermined algorithm based on the position information received from the traveling robot 1 and the map information held by the server, and transmits the determined alternative route to the traveling robot 1.

[0045] The map information 41 includes only information about objects whose positions and shapes do not change over time, such as stationary obstacles, while information about objects that change over time, such as moving obstacles and road surface conditions, may be included in information other than the map information 41. In this case, information about objects that change over time may be stored in a RAM or the like that can be accessed at high speed.

[0046] The setting means 108 may set the route further based on information indicating the running performance of the running robot 1 (ground clearance, approach angle, departure angle, traction, suspension performance, drive system, tire performance, etc.). For example, assume that there is a limit value for the gradient of the road surface on which the running robot 1 can run. In this case, the setting means 108 determines, as the running route of the running robot 1, a route that passes through only areas where the gradient of the road surface is smaller than the limit value.

[0047] In short, the traveling robot of the present invention only needs to have a traveling means for traveling to a destination according to a set route, a photographing means, a judgment means for determining whether or not there are obstacles on the route, the road surface condition of the route, and the presence or absence of predetermined no-travel areas on the route based on images acquired by the photographing means while traveling along the route, and a route control means for determining whether or not the route needs to be modified based on the judgment result by the judgment means. [Explanation of symbols]

[0048] 1...traveling robot, 10...processor, 21...input unit, 22...display unit, 23...driving unit, 30...camera, 40...memory unit, 41...map information, 42...route information, 48...program, 101...acquisition means, 102...reception means, 103...traveling means, 104...photographing means, 105...update means, 106...determination means, 107...route control means, 108...setting means.

Claims

1. A travel means for traveling to a destination according to a set route; A photographing means; a storage means for storing map information used when determining the route, the map information including at least information indicating the presence or absence of an obstacle on the route, the road surface condition of the route, and the presence or absence of a predetermined prohibited driving area on the route; an update means for updating at least one of the presence or absence of an obstacle on the route and the road surface condition of the route, which are included in the map information stored in the storage means, based on an image captured by the image capturing means while the vehicle is traveling along the route; a determination means for determining whether or not there is an obstacle on the route, a road surface condition of the route, and whether or not there is a predetermined no-travel area on the route, based on the map information updated by the update means and the route; a route control means for determining whether or not the route needs to be corrected based on a result of the determination by the determination means, and for determining an alternative route based on the updated map information when it is determined that the route needs to be corrected; having The route is set based on information indicating driving performance. Running robot.

2. A vehicle that travels to a destination according to a set route; A photographing means; a storage means for storing map information used when determining the route, the map information including at least information indicating the presence or absence of an obstacle on the route, the road surface condition of the route, and the presence or absence of a predetermined prohibited driving area on the route; an update means for updating at least one of the presence or absence of an obstacle on the route and the road surface condition of the route, which are included in the map information stored in the storage means, based on an image captured by the image capturing means while the vehicle is traveling along the route; a determination means for determining whether or not there is an obstacle on the route, a road surface condition of the route, and whether or not there is a predetermined no-travel area on the route, based on the map information updated by the update means and the route; a route control means for determining whether or not the route needs to be corrected based on a result of the determination by the determination means, and for determining an alternative route based on the updated map information when it is determined that the route needs to be corrected; having The road surface condition of the route affects the risk of traveling, and the predetermined no-travel area is set regardless of the road surface condition of the route. Running robot.

3. A vehicle that travels to a destination according to a set route; A photographing means; a storage means for storing map information used when determining the route, the map information including at least information indicating the presence or absence of an obstacle on the route, the road surface condition of the route, and the presence or absence of a predetermined prohibited driving area on the route; an update means for updating at least one of the presence or absence of an obstacle on the route and the road surface condition of the route, which are included in the map information stored in the storage means, based on an image captured by the image capturing means while the vehicle is traveling along the route; a determination means for determining whether or not there is an obstacle on the route, a road surface condition of the route, and whether or not there is a predetermined no-travel area on the route, based on the map information updated by the update means and the route; a route control means for determining whether or not the route needs to be corrected based on a result of the determination by the determination means, and for determining an alternative route based on the updated map information when it is determined that the route needs to be corrected; having The road surface condition of the route includes at least one of a slope, a degree of muddiness, whether or not it is paved, and whether or not the area is planted with crops; Running robot.

4. The route control means determines whether or not the route needs to be modified based on the nature of the obstacle. The running robot according to any one of claims 1 to 3.

5. The map information includes at least information indicating the presence or absence of an obstacle and a road surface condition for each divided area. The running robot according to any one of claims 1 to 3.

6. A reception means for receiving an input of a departure point and a destination point; means for acquiring the map information; a setting means for setting a route from the starting point to the destination point based on the road surface condition; Further having The running robot according to any one of claims 1 to 3.

7. The driving performance includes at least one of ground clearance, approach angle, departure angle, traction, suspension performance, drive system, and tire performance. The running robot according to claim 1 .

8. A computer for controlling a robot equipped with an imaging means, storing map information to be used when determining the route, the map information including at least information indicating the presence or absence of an obstacle on the set route, the road surface condition of the route, and the presence or absence of a predetermined prohibited driving area on the route; updating at least one of the presence or absence of an obstacle on the route and the road surface condition of the route, which are included in the stored map information, based on an image captured by the photographing means while traveling along the route; determining whether or not there is an obstacle on the route, a road surface condition of the route, and whether or not there is a preset no-travel area on the route, based on the updated map information and the route; determining whether or not the route needs to be modified based on the result of the determination, and if it is determined that the route needs to be modified, determining an alternative route based on the updated map information; A program for executing The route is set based on information indicating driving performance.

9. A computer for controlling a robot equipped with an imaging means, storing map information to be used when determining the route, the map information including at least information indicating the presence or absence of an obstacle on the set route, the road surface condition of the route, and the presence or absence of a predetermined prohibited driving area on the route; updating at least one of the presence or absence of an obstacle on the route and the road surface condition of the route, which are included in the stored map information, based on an image captured by the photographing means while traveling along the route; determining whether or not there is an obstacle on the route, a road surface condition of the route, and whether or not there is a preset no-travel area on the route, based on the updated map information and the route; determining whether or not the route needs to be modified based on the result of the determination, and if it is determined that the route needs to be modified, determining an alternative route based on the updated map information; A program for executing A program, wherein a road surface condition of the route affects the driving risk, and the preset no-driving area is set regardless of the road surface condition of the route.

10. A computer for controlling a robot equipped with an imaging means, storing map information to be used when determining the route, the map information including at least information indicating the presence or absence of an obstacle on the set route, the road surface condition of the route, and the presence or absence of a predetermined prohibited driving area on the route; updating at least one of the presence or absence of an obstacle on the route and the road surface condition of the route, which are included in the stored map information, based on an image captured by the photographing means while traveling along the route; determining whether or not there is an obstacle on the route, a road surface condition of the route, and whether or not there is a preset no-travel area on the route, based on the updated map information and the route; determining whether or not the route needs to be modified based on the result of the determination, and if it is determined that the route needs to be modified, determining an alternative route based on the updated map information; A program for executing The road surface condition of the route includes at least one of a slope, a degree of muddiness, whether or not it is paved, and whether or not the area is planted with crops.

Images