Self-propelled device

Abstract

A self-propelled device (100) comprises a wheel-driven traveling body (10) and a laser sensor (105). The laser sensor (105) is configured such that laser light is radiated while being rotated about the laser sensor (105), reflection light of the laser light is received, and two-dimensional distance data is output, the two-dimensional distance data being the distance to an object in the surroundings of the laser sensor (105) expressed in terms of different angles centered on the laser sensor (105). The traveling body (10) comprises a control device (101) for controlling the travel of the traveling body (10) on the basis of the two-dimensional distance data outputted from the laser sensor (105). The laser sensor (105) is provided to the traveling body (10) such that a scanning surface, which is in a range though which the laser light passes while the laser light is rotated, is at a prescribed angle relative to the horizontal plane.

Description

[Technical field]

[0001] The present disclosure relates to wheel-driven, self-propelled devices. [Background technology]

[0002] There is a demand for unmanned production systems such as factories. To achieve this, the development of self-propelled devices is underway. Self-propelled devices transport workpieces and tools to each machine tool before machining, and collect workpieces and used tools after machining is completed at each machine tool.

[0003] JP 2019-8359 A (Patent Document 1) discloses a self-propelled device that aims to "create map information well." The self-propelled device includes a distance measurement device that rotates a light projection unit that emits projection light and outputs distance measurement data based on the light reflected by a measurement target, a map creation unit that creates map information based on the distance measurement data, and an obstacle sensor that detects obstacles. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-8359 A Summary of the Invention [Problem to be solved by the invention]

[0005] The self-propelled device disclosed in Patent Document 1 detects obstacles based on projected light emitted in a horizontal direction. Therefore, the self-propelled device can detect obstacles that exist in the traveling direction of the moving device, but cannot detect obstacles that exist above or below the self-propelled device. Therefore, a self-propelled device that can detect obstacles above or below the self-propelled device is desired. [Means for solving the problem]

[0006] In one example of the present disclosure, a self-propelled device includes a wheel-driven traveling body and a laser sensor. The laser sensor is configured to emit a laser beam while rotating around the laser sensor, receive reflected light of the laser beam, and output two-dimensional distance data representing distances to objects around the laser sensor by angle around the laser sensor. The self-propelled device includes a control device for controlling the traveling of the traveling body based on the two-dimensional distance data output from the laser sensor. The laser sensor is provided on the traveling body such that a scanning plane, which is a range through which the laser beam passes during the rotation of the laser beam, has a predetermined angle with respect to a horizontal plane.

[0007] In one example of the present disclosure, the self-propelled device further includes an arm robot provided on the traveling body, and the laser sensor is provided on the traveling body such that the scanning surface includes a movable range of the arm robot.

[0008] In one example of the present disclosure, the self-propelled device further includes a cover for housing the laser sensor. The laser sensor or the cover is provided on the traveling body such that an incident angle of the laser light with respect to the cover is greater than 0 degrees and less than 90 degrees.

[0009] In one example of the present disclosure, One or more The laser sensor or the cover is One or more The distance between the laser sensor and the cover is short The smaller the minimum incidence angle of the laser light incident on the cover during the rotation of the laser light, the Large The traveling body is provided with the above-mentioned.

[0010] In one example of the present disclosure, the control device sequentially acquires the two-dimensional distance data from the laser sensor while rotating the running body around a vertical rotation axis, and performs a process of generating three-dimensional data representing the space around the running body based on the sequentially acquired two-dimensional distance data.

[0011] In one example of the present disclosure, the process of generating the three-dimensional data is executed based on the self-propelled device being included in a preset range.

[0012] In one example of the present disclosure, the self-propelled device is configured to be able to communicate with a user terminal for operating the self-propelled device, and the process of generating the three-dimensional data is executed based on an execution command based on an execution operation of the process received from the user terminal.

[0013] In one example of the present disclosure, the running body has three or more drive wheels. The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the invention taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0014] [Figure 1] FIG. 2 is a diagram showing the appearance of the self-propelled device. [Diagram 2] FIG. 2 is a diagram showing a laser sensor and two-dimensional distance data output from the laser sensor. [Diagram 3] FIG. 2 is a side view of the self-propelled device. [Figure 4] FIG. [Diagram 5] 11A and 11B are diagrams illustrating an example of the arrangement relationship between a laser sensor and a cover. [Figure 6] FIG. 2 is a diagram illustrating an example of a hardware configuration of a self-propelled device. [Figure 7] FIG. 2 is a diagram illustrating an example of a functional configuration of a self-propelled device. [Figure 8] 1A to 1C are diagrams showing the state of rotational scanning by a self-propelled device in time series. [Figure 9] FIG. 1 is a diagram showing a self-propelled device according to a first modified example, viewed from the forward direction. [Figure 10] FIG. 11 is a top view of the self-propelled device according to the first modified example. [Figure 11] FIG. 11 is a diagram showing a self-propelled device according to the second modification from the forward direction. [Figure 12] It is a figure showing the self-propelled device according to Modification 2 from above. [Figure 13] It is a figure showing the self-propelled device according to Modification 3 from the right side SF2. [Figure 14] It is a figure showing the self-propelled device according to Modification 3 from above.

Mode for Carrying Out the Invention

[0015] Hereinafter, each embodiment according to the present invention will be described with reference to the drawings. In the following description, the same parts and components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated. Note that each embodiment and each modification described below may be selectively combined as appropriate.

[0016] <A. Self-propelled device 100> The self-propelled device 100 will be described with reference to FIG. 1. FIG. 1 is a view showing the appearance of the self-propelled device 100.

[0017] The self-propelled device 100 conveys an object to be conveyed such as a workpiece or a tool to an arbitrary place. The self-propelled device 100 includes a traveling body 10 and an arm robot 20.

[0018] The traveling body 10 has a cover 110. Inside the cover 110, a laser sensor 105 (see FIG. 2) described later is provided. The self-propelled device 100 controls the traveling of the traveling body 10 based on the detection result of the laser sensor 105.

[0019] The traveling body 10 has drive wheels WA and non-drive wheels WB. The drive wheels WA and the non-drive wheels WB are, for example, omni wheels. The drive wheels WA are wheels that are rotationally driven by receiving the driving force of a motor M (see FIG. 6) described later. On the other hand, the non-drive wheels WB are wheels that are driven following the drive wheels WA without directly receiving the driving force of the motor.

[0020] 1 shows the traveling body 10 having two driving wheels WA, the number of driving wheels WA is arbitrary. Typically, the traveling body 10 has two or more driving wheels WA.

[0021] 1 shows the traveling body 10 having two non-driven wheels WB, the number of non-driven wheels WB is arbitrary. Typically, the traveling body 10 has one or more non-driven wheels WB.

[0022] Further, while FIG. 1 shows an example in which the driven wheels WA are front wheels and the non-driven wheels WB are rear wheels, the driven wheels WA may be rear wheels and the non-driven wheels WB may be front wheels.

[0023] In one aspect, two drive wheels WA are provided on the traveling body 10. In this case, the first and second drive wheels WA are responsible for traveling in the forward direction R and the backward direction B.

[0024] In another aspect, the traveling body 10 is provided with three or more drive wheels WA. In this case, the first and second drive wheels WA are responsible for traveling in the forward direction R and the backward direction B, and the third drive wheel WA is responsible for traveling in a direction perpendicular to the forward direction R. Typically, the third drive wheel WA is provided on the lower part of the traveling body 10 at a location a predetermined distance away in the forward direction R or the backward direction B from the center of gravity of the traveling body 10. By driving the third drive wheel WA, the self-propelled device 100 can rotate the traveling body 10 around the vertical direction passing through the center of gravity of the traveling body 10 as the center of rotation.

[0025] The arm robot 20 is provided on the traveling body 10. A place for placing the workpiece W is provided on the traveling body 10. The arm robot 20 grasps the workpiece W and moves the workpiece W to a designated location.

[0026] In the above, an example has been described in which the arm robot 20 driven on 4 to 7 axes is installed on the traveling body 10, but various conveying devices capable of conveying objects such as workpieces or tools can be installed on the traveling body 10. The conveying device may be a robot driven on 2 to 3 axes (for example, an autoloader).

[0027] <B.レーザセンサ105> Next, the laser sensor 105 provided inside the cover 110 of the self-propelled device 100 will be described with reference to Fig. 2. Fig. 2 is a diagram showing the laser sensor 105 and two-dimensional distance data D output from the laser sensor 105.

[0028] The laser sensor 105 is configured to emit laser light LA ​​while rotating around the central axis AX of the laser sensor 105 as the center of rotation, and to receive the reflected light of the laser light LA. As a result, the laser sensor 105 outputs two-dimensional distance data D that represents the distance to surrounding objects by angle based on the central axis AX. The two-dimensional distance data D represents the distance to each object present within the scanning plane SC by irradiation angle.

[0029] More specifically, the laser sensor 105 is composed of an irradiation unit, a mirror, and a light receiving unit. The irradiation unit irradiates laser light toward the mirror. The mirror is rotatable around a central axis AX by a motor (not shown), and reflects the laser light LA ​​in each direction. In this way, the laser sensor 105 irradiates the laser light LA ​​in each direction. If an object is present around the laser sensor 105, the laser light LA ​​is reflected by the object and returns to the laser sensor 105. The laser sensor 105 receives the reflected light at the light receiving unit.

[0030] The laser sensor 105 receives the reflected light from an object and calculates the distance to the object. As an example, the laser sensor 105 calculates the distance from the laser sensor 105 to the object based on the time from when the laser light LA is irradiated until the reflected light of the laser light LA is received. Typically, the laser sensor 105 calculates the distance to the object by multiplying the speed of light by the time. The laser sensor 105 outputs two-dimensional distance data D representing the distance by angle with respect to the central axis AX by associating the distance with the irradiation angle of the laser light LA.

[0031] The angular range of the distance data output by the laser sensor 105 is arbitrarily set. In the example of FIG. 2, an angular range of 0 degrees to 270 degrees is effectively set.

[0032] <C. Orientation of Laser Sensor 105> Next, with reference to FIGS. 3 and 4, the orientation of the laser sensor 105 with respect to the self-propelled device 100 will be described. FIG. 3 is a view showing the self-propelled device 100 from the side direction. FIG. 4 is a view showing the self-propelled device 100 from the upward direction.

[0033] The laser sensor 105 is provided, for example, on the front surface of the traveling body 10. The front surface of the self-propelled device 100 is the surface that hits the forward direction of the self-propelled device 100 among the surfaces constituting the traveling body 10. In this case, the effective angle range for distance measurement is set to a range of 180 degrees on the forward direction side. The range of 180 degrees on the backward direction side is set to be invalid.

[0034] As shown in FIGS. 3 and 4, the laser sensor 105 is provided on the traveling body 10 such that the scanning surface SC of the laser light LA has a predetermined angle θ with respect to the horizontal plane H (ground). That is, the laser sensor 105 is provided on the traveling body 10 such that the scanning surface SC is not parallel to the horizontal plane H.

[0035] In a certain aspect, the angle θ is greater than 0 degrees and less than small . The positive angle θ represents an angle on the upper side with respect to the horizontal plane H. The angle θ is greater than 0 degrees and less than smallIn this case, the self-propelled device 100 can detect obstacles existing above the traveling body 10. Typically, the angle θ is greater than 30 degrees and less than 60 degrees. FIG. 3 shows an example where the angle θ is about 45 degrees.

[0036] In other aspects, the angle θ is greater than -90 degrees and less than 0 degrees. The negative angle θ represents an angle on the ground side rather than the horizontal plane H. When the angle θ is greater than -90 degrees and less than 0 degrees, the self-propelled device 100 can detect obstacles existing below the traveling body 10. Typically, the angle θ is greater than -60 degrees and less than -30 degrees.

[0037] In this way, with the laser sensor 105 、 scanning surface SC is the horizontal plane H being provided on the traveling body 10 in a state tilted at a predetermined angle θ with respect to the scanning surface SC, the self-propelled device 100 can detect obstacles existing above or below the traveling body 10. Also, while the self-propelled device 100 is moving forward, it can three-dimensionally scan the surrounding shape by sequentially acquiring two-dimensional distance data D from the laser sensor 105.

[0038] Typically, the laser sensor 105 is provided on the traveling body 10 such that the scanning surface SC includes the movable range of the arm robot 20 (see FIG. 1). In other words, the scanning surface SC overlaps at least a part of the movable range of the arm robot 20. Thereby, the laser sensor 105 can capture the movement of the arm robot 20.

[0039] <D. Arrangement relationship between the laser sensor 105 and the cover 110> Next, with reference to FIG. 5, the arrangement relationship between the laser sensor 105 and the cover 110 will be described. FIG. 5 is a diagram showing an example of the arrangement relationship between the laser sensor 105 and the cover 110.

[0040] The cover 110 is composed of, for example, a member that transmits the laser light L1 emitted from the laser sensor 105. As an example, the cover 110 is a resin cover.

[0041] 5(A) and 5(B) indicates the laser light that is incident on the cover 110 during rotation and has the smallest incident angle θ with respect to the cover 110. The incident angle θ indicates the angle between the laser light L1 and the perpendicular direction to the cover surface. The cover surface indicates the surface on which the laser light L1 is incident among the surfaces constituting the cover 110.

[0042] 5A shows an example in which laser light L1 is incident on the cover 110 at a right angle. When the incident angle θ is 0 degrees, a part of the laser light L1 is reflected by the cover 110 and returns to the laser sensor 105 as reflected light L2. On the other hand, the rest of the laser light L1 is reflected by the object OB and returns to the laser sensor 105 as reflected light L3. In this case, the laser sensor 105 erroneously detects the cover 110 as an obstacle due to the reflected light L2.

[0043] FIG. 5B shows an example in which the laser light L1 does not enter the cover 110 at a right angle. When the incident angle θ is greater than 0 degrees, the reflected light L2 from the cover 110 does not return to the laser sensor 105. On the other hand, the reflected light L3 from the object OB returns to the laser sensor 105. As a result, the laser sensor 105 can detect the object OB without detecting the cover 110. Therefore, the laser sensor 105 or the cover 110 is provided on the traveling body 10 so that the laser light L1 that enters the cover 110 during the rotation of the laser light does not enter the cover 110 at a right angle. In other words, the laser sensor 105 or the cover 110 is provided on the traveling body 10 so that the incident angle θ is greater than 0 degrees and less than 90 degrees.

[0044] The degree of inclination of the cover 110 with respect to the laser light L1 is determined according to the distance d between the laser sensor 105 and the cover 110. The distance d represents the distance that the laser light L1 passes between the laser sensor 105 and the cover 110.

[0045] More specifically, the laser sensor 105 or the cover 110 is provided on the traveling body 10 such that the incident angle θ1 becomes smaller as the distance d becomes longer. In other words, the laser sensor 105 or the cover 110 is provided on the traveling body 10 such that the incident angle θ1 becomes larger as the distance d becomes shorter. Thereby, the self-propelled device 100 can more reliably prevent misdetection of the cover 110 as an obstacle.

[0046] <E. Hardware Configuration of Self-Propelled Device 100> Next, with reference to FIG. 6, the hardware configuration of the self-propelled device 100 will be described. FIG. 6 is a diagram showing an example of the hardware configuration of the self-propelled device 100.

[0047] The self-propelled device 100 includes a control device 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a communication interface 104, the above-described laser sensor 105 (see FIG. 2), a motor drive device 106, and a storage device 120. These components are connected to a bus 109.

[0048] The control device 101 is constituted by, for example, at least one integrated circuit. The integrated circuit can be constituted by, for example, at least one CPU (Central Processing Unit), at least one GPU (Graphics Processing Unit), at least one ASIC (Application Specific Integrated Circuit), at least one FPGA (Field Programmable Gate Array), or a combination thereof.

[0049] The control device 101 controls the operation of the self-propelled device 100 by executing various programs such as a control program 122 and an operating system. Based on receiving an execution command for the control program 122, the control device 101 reads the control program 122 from the storage device 120 or ROM 102 to the RAM 103. The RAM 103 functions as a working memory and temporarily stores various data required for the execution of the control program 122.

[0050] A LAN (Local Area Network), an antenna, and the like are connected to the communication interface 104. The self-propelled device 100 realizes wireless or wired communication with external devices via the communication interface 104. The external devices include, for example, a server (not shown) and a user terminal (not shown) for operating the self-propelled device 100. The user terminal is, for example, a tablet terminal or a smartphone. The user can control the traveling of the self-propelled device 100 via the user terminal.

[0051] The motor driving device 106 controls the rotation of the motor M in accordance with a control command from the control device 101. The control command includes, for example, a command for normal rotation of the motor M, a command for reverse rotation of the motor M, and the rotation speed of the motor M. For example, a stepping motor or a servo motor is used as the motor M. The above-mentioned driving wheels WA (see FIG. 1) are connected to the motor M. The number of motors M is the same as the number of driving wheels WA.

[0052] The storage device 120 is, for example, a storage medium such as a hard disk or a flash memory. The storage device 120 stores a control program 122, a three-dimensional map 124, and the like. The three-dimensional map 124 will be described in detail later. The storage location of the control program 122 and the three-dimensional map 124 is not limited to the storage device 120, and may be stored in a storage area (for example, a cache memory, etc.) of the control device 101, the ROM 102, the RAM 103, an external device (for example, a server), or the like.

[0053] Further, the control program 122 may be provided by being incorporated into a part of an arbitrary program, rather than as a single program. In this case, the travel control process of the self-propelled device 100 by the control program 122 is realized in cooperation with an arbitrary program. Even a program that does not include such a part of the module does not deviate from the gist of the control program 122 according to the present embodiment. Further, some or all of the functions provided by the control program 122 may be realized by dedicated hardware. Further, the self-propelled device 100 may be configured in a form such as a so-called cloud service in which at least one server executes a part of the process of the control program 122.

[0054] <F. Functional Configuration of Self-Propelled Device 100> With reference to FIG. 7, the functions of the self-propelled device 100 will be described. FIG. 7 is a diagram showing an example of the functional configuration of the self-propelled device 100.

[0055] As shown in FIG. 7, the control device 101 of the self-propelled device 100 includes, as an example of the functional configuration, a map generation unit 152, a travel control unit 154, and a rotational scan unit 156. Hereinafter, these configurations will be described in order.

[0056] (F1. Map Generation Unit 152) The map generation unit 152 generates a three-dimensional map 124 (three-dimensional data) representing the space around the self-propelled device 100 based on the two-dimensional distance data D sequentially acquired from the laser sensor 105 while the self-propelled device 100 is driving.

[0057] The three-dimensional map 124 is generated, for example, by SLAM (Simultaneous Localization and Mapping) technology. The three-dimensional map 124 is information generated for specifying the position of the self-propelled device 100 and is also information indicating the positions of stationary objects at the travel location of the self-propelled device 100. The stationary objects are, for example, walls, shelves, and the like.

[0058] The three-dimensional map 124 is generated, for example, by a user manually operating the self-propelled device 100 using a user terminal. In this case, an operation signal according to the user operation is transmitted to the control device 101 via the communication interface 104, and the control device 101 outputs a command to the motor drive device 106 according to the operation signal to control the traveling of the self-propelled device 100. At this time, the control device 101 maps the positions of objects around the self-propelled device 100 on the three-dimensional map 124 based on the two-dimensional distance data D input from the laser sensor 105 and the position of the self-propelled device 100. The position of the self-propelled device 100 is identified, for example, based on the drive information of the motor drive device 106. As a result, in the three-dimensional map 124, information indicating the presence or absence of an object is associated with each of the three-dimensional coordinate values ​​(x, y, z).

[0059] If the scanning surface SC (see FIG. 3) of the laser sensor 105 were parallel to the horizontal plane, the laser sensor 105 would not be able to obtain information about the object in the height direction and would only be able to generate a two-dimensional map. In contrast, in the self-propelled device 100 according to the embodiment, the scanning surface SC (see FIG. 3) of the laser sensor 105 is inclined with respect to the horizontal plane. Therefore, the self-propelled device 100 can scan the surroundings three-dimensionally by moving.

[0060] Furthermore, map generator 152 does not need to use a laser sensor capable of measuring a three-dimensional shape (hereinafter also referred to as a "three-dimensional laser sensor") when generating three-dimensional map 124. Because three-dimensional laser sensors are very expensive, the cost of self-propelled device 100 can be significantly reduced by not using a three-dimensional laser sensor.

[0061] (F2. Driving control unit 154) Next, a description will be given of the function of the traveling control unit 154 shown in Fig. 7. The traveling control unit 154 is a functional configuration for controlling the traveling of the self-propelled device 100.

[0062] The traveling control unit 154 identifies the current position of the self-propelled device 100 by comparing the two-dimensional distance data D input from the laser sensor 105 with the three-dimensional map 124. By identifying the current position, the control device 101 causes the self-propelled device 100 to travel along a predetermined route on the three-dimensional map 124.

[0063] Furthermore, the traveling control unit 154 detects obstacles around the self-propelled device 100 based on the two-dimensional distance data D sequentially acquired from the laser sensor 105 while the self-propelled device 100 is in operation, and controls the traveling of the self-propelled device 100 so as to avoid collision with the obstacles. The obstacles include, for example, moving objects such as people or other self-propelled devices 100, and stationary objects such as walls and shelves.

[0064] While no obstacle is detected, the traveling control unit 154 controls the traveling of the self-propelled device 100 so that the self-propelled device 100 travels along a predetermined route on the 3D map 124. On the other hand, when an obstacle is detected, the traveling control unit 154 controls the traveling of the self-propelled device 100 so as to avoid collision with the obstacle.

[0065] In a certain situation, when the distance to an obstacle is equal to or greater than a predetermined distance, the traveling control unit 154 controls the traveling of the self-propelled device 100 so as to avoid the obstacle. On the other hand, when the distance to the obstacle is less than the predetermined distance, the traveling control unit 154 stops the traveling of the self-propelled device 100.

[0066] In another aspect, when an obstacle is detected, the traveling control unit 154 executes a rotational scan process described later.

[0067] (F3. Rotating Scan Unit 156) Next, the function of the rotary scanning unit 156 shown in Fig. 7 will be described with reference to Fig. 8. Fig. 8 is a diagram showing the rotary scanning by the self-propelled device 100 in chronological order.

[0068] In the example of FIG. 8, the self-propelled device 100 is depicted in the three-dimensional map 124, but the self-propelled device 100 is depicted for the convenience of explanation.

[0069] Upon receiving the rotation scan instruction, the rotation scan unit 156 outputs a stop command and a rotation command to the traveling control unit 154. Based on this, the self-propelled device 100 starts rotating the traveling body 10 about a vertical rotation axis (step S1). Typically, the rotation axis passes through the center of gravity of the self-propelled device 100.

[0070] The map generator 152 sequentially acquires two-dimensional distance data D from the laser sensor 105 while rotating the self-propelled device 100, and maps information of objects around the traveling main body 10 onto the three-dimensional map 124 based on the sequentially acquired two-dimensional distance data D (steps S2 and S3). As a result, three-dimensional data representing the space around the self-propelled device 100 is generated.

[0071] As described above, in the self-propelled device 100 according to the embodiment, the scanning surface SC (see FIG. 3) of the laser sensor 105 is inclined with respect to the horizontal plane. Therefore, the self-propelled device 100 can scan the surroundings three-dimensionally in detail by rotating on the spot. In addition, for the three-dimensional scan, a laser sensor capable of measuring a three-dimensional shape is used. sa (3D laser sensor) but There's no need to use it.

[0072] The timing of executing the rotational scan process is arbitrary. In one aspect, the rotational scan process is executed based on the fact that the self-propelled device 100 is included in a preset range (hereinafter, also referred to as a "dangerous area").

[0073] More specifically, the three-dimensional map 124 is displayed on the user terminal, and the user sets a danger area on the three-dimensional map 124 using an input device such as a mouse. As an example, the danger area is set in a complex route such as a dead end or a place with a lot of pedestrian traffic. The user terminal transmits the set danger area to the self-driving device 100. The self-driving device 100 stores the setting of the danger area received from the user terminal. Thereafter, during travel, the self-driving device 100 monitors whether its position has reached the danger area. When the position of the self-driving device 100 reaches the danger area, a rotation scan instruction is issued to the rotation scan unit 156. Thereby, the rotation scan process is executed, and the self-driving device 100 can confirm the surrounding situation in the danger area in more detail.

[0074] In another aspect, the rotation scan process is executed based on receiving an execution command based on the execution operation of the process from the user terminal. That is, the user can perform an execution operation of the rotation scan process via the user terminal at an arbitrary timing such as when generating the three-dimensional map 124 or during the conveyance of the object to be conveyed. Thereby, the user can cause the self-driving device 100 to execute the rotation scan process at an arbitrary location, and can cause the self-driving device 100 to recognize the spatial information of a complex route or a dangerous location with a lot of pedestrian traffic.

[0075] <G. Modification Example 1> Next, with reference to FIGS. 9 and 10, Modification Example 1 of the self-driving device 100 will be described. FIG. 9 is a view showing the self-driving device 100 according to Modification Example 1 from the forward direction. FIG. 10 is a view showing the self-driving device 100 according to Modification Example 1 from the upward direction.

[0076] The self-driving device 100 shown in FIGS. 3 and 4 described above included one laser sensor 105. In contrast, the self-driving device 100 according to this modification example includes two laser sensors 105A and 105B.

[0077] Since the functions and structures of the laser sensors 105A and 105B are the same as those of the laser sensor 105 described above, the description thereof will not be repeated.

[0078] Hereinafter, the surface of the traveling body 10 as viewed from the forward direction of the self-propelled device 100 will be referred to as the "front surface SF1." Additionally, the right surface of the traveling body 10 as viewed from the forward direction of the self-propelled device 100 will be referred to as the "right surface SF2." Additionally, the left surface of the traveling body 10 as viewed from the forward direction of the self-propelled device 100 will be referred to as the "left surface SF3." Additionally, the surface of the self-propelled device 100 as viewed from the reverse direction of the self-propelled device 100 will be referred to as the "rear surface SF4."

[0079] The laser sensor 105A is provided at the right front corner formed by the front surface SF1 and the right surface SF2, so that the laser sensor 105A can detect obstacles on the front surface SF1 side and obstacles on the right surface SF2 side.

[0080] The laser sensor 105A is provided on the traveling body 10 so that the scanning surface SC1 of the laser light forms a predetermined angle θA with the horizontal plane H. In other words, the laser sensor 105A is provided on the traveling body 10 so that the scanning surface SC1 is not parallel to the horizontal plane H. Typically, the angle θA is greater than -90 degrees and less than 0 degrees, or greater than 0 degrees and less than 90 degrees. A positive angle θA represents an angle above the horizontal plane H. A negative angle θA represents an angle underground from the horizontal plane H. FIG. 9 shows an example in which the angle θA is about 45 degrees.

[0081] The laser sensor 105B is provided at the left front corner formed by the front surface SF1 and the left surface SF3, so that the laser sensor 105B can detect obstacles on the front surface SF1 side and obstacles on the left surface SF3 side.

[0082] The laser sensor 105B is provided on the traveling body 10 such that the scanning plane SC2 of the laser beam forms a predetermined angle θB with the horizontal plane H. In other words, the laser sensor 105B is provided on the traveling body 10 such that the scanning plane SC2 is not parallel to the horizontal plane H. Typically, the angle θB is greater than -90 degrees and less than 0 degrees, or greater than 0 degrees and less than 90 degrees. A positive angle θB represents an angle on the upper side of the horizontal plane H. A negative angle θB represents an angle on the ground side of the horizontal plane H. FIG. 9 shows an example in which the angle θB is about 45 degrees.

[0083] The laser sensor 105A and the laser sensor 105B are arranged such that the scanning plane SC1 and the scanning plane SC2 intersect. As an example, the scanning plane SC1 and the scanning plane SC2 are orthogonal to each other.

[0084] <H. Modification Example 2> Next, with reference to FIGS. 11 and 12, a modification example 2 of the self-propelled device 100 will be described. FIG. 11 is a view showing the self-propelled device 100 according to the modification example 2 from the forward direction. FIG. 12 is a view showing the self-propelled device 100 according to the modification example 2 from the upward direction.

[0085] The self-propelled device 100 shown in FIGS. 9 and 10 described above included two laser sensors 105A and 105B. In contrast, the self-propelled device 100 according to this modification example includes four laser sensors 105A to 105D.

[0086] The functions and structures of the laser sensors 105A to 105D are the same as those of the laser sensor 105 described above, so the description thereof will not be repeated. Also, the arrangement of the laser sensors 105A and 105B is as described in "G. Modification Example 1", so the description thereof will not be repeated.

[0087] The laser sensor 105C is provided at the right rear corner formed by the right side surface SF2 and the rear side surface SF4. Thereby, the laser sensor 105C can detect an obstacle on the right side surface SF2 side and an obstacle on the rear side surface SF4 side.

[0088] The laser sensor 105C is provided on the traveling body 10 such that the scanning plane SC3 of the laser beam forms a predetermined angle θC with the horizontal plane H. In other words, the laser sensor 105C is provided on the traveling body 10 such that the scanning plane SC3 is not parallel to the horizontal plane H. Typically, the angle θC is greater than -90 degrees and less than 0 degrees, or greater than 0 degrees and less than 90 degrees. A positive angle θC represents an angle on the upper side of the horizontal plane H. A negative angle θC represents an angle on the ground side of the horizontal plane H. FIG. 11 shows an example where the angle θC is about 45 degrees.

[0089] The laser sensor 105D is provided at the left rear corner formed by the left side surface SF3 and the rear side surface SF4. Thereby, the laser sensor 105D can detect an obstacle on the left side surface SF3 side and an obstacle on the rear side surface SF4 side.

[0090] The laser sensor 105D is provided on the traveling body 10 such that the scanning plane SC4 of the laser beam forms a predetermined angle θD with the horizontal plane H. In other words, the laser sensor 105D is provided on the traveling body 10 such that the scanning plane SC4 is not parallel to the horizontal plane H. Typically, the angle θD is greater than -90 degrees and less than 0 degrees, or greater than 0 degrees and less than 90 degrees. A positive angle θD represents an angle on the upper side of the horizontal plane H. A negative angle θD represents an angle on the ground side of the horizontal plane H. FIG. 11 shows an example where the angle θD is about 45 degrees.

[0091] The laser sensor 105A and the laser sensor 105C are arranged such that the scanning plane SC1 and the scanning plane SC3 intersect. As an example, the scanning plane SC1 and the scanning plane SC3 are orthogonal to each other.

[0092] The laser sensor 105B and the laser sensor 105D are arranged such that the scanning plane SC2 and the scanning plane SC4 intersect. As an example, the scanning plane SC2 and the scanning plane SC4 are orthogonal to each other.

[0093] The laser sensors 105C and 105D are arranged such that the scanning planes SC3 and SC4 intersect. As an example, the scanning planes SC3 and SC4 are orthogonal to each other.

[0094] <I. Modification Example 3> Next, with reference to FIGS. 13 and 14, Modification Example 3 of the self-propelled device 100 will be described. FIG. 13 is a view showing the self-propelled device 100 according to Modification Example 3 right plane SF 2 as viewed from the side. FIG. 14 is a view showing the self-propelled device 100 according to Modification Example 3 as viewed from above.

[0095] In the self-propelled device 100 shown in FIGS. 11 and 12 described above, each of the laser sensors 105A to 105D was provided at a corner of the traveling body 10. In contrast, in the self-propelled device 100 according to this modification example, two laser sensors 105F and 105G are provided on the front surface SF1, and two laser sensors 105H and 105I are provided on the rear surface SF4.

[0096] The functions and structures of the laser sensors 105F to 105I are the same as those of the laser sensor 105 described above, and thus the description thereof will not be repeated.

[0097] The laser sensor 105F is provided on the front surface SF1. Typically, the laser sensor 105F is provided at the center position of the front surface SF1 in the horizontal direction.

[0098] The laser sensor 105F is provided on the traveling body 10 such that the scanning plane SC6 of the laser beam forms a predetermined angle θF (not shown) with the horizontal plane H. In other words, the laser sensor 105F is provided on the traveling body 10 such that the scanning plane SC6 is not parallel to the horizontal plane H. Typically, the angle θF is greater than 0 degrees and less than 90 degrees. The positive angle θF represents an angle on the upper air side with respect to the horizontal plane H. FIG. 13 shows an example in which the angle θF is about 45 degrees.

[0099] The laser sensor 105G is provided on the front surface SF1. Typically, the laser sensor 105G is provided at the center position of the front surface SF1 in the horizontal direction. The laser sensor 105F and the laser sensor 105G are provided coaxially in the vertical direction. Typically, the laser sensor 105G is disposed above the laser sensor 105F.

[0100] The laser sensor 105G is provided on the traveling body 10 so that the scanning surface SC7 of the laser light forms a predetermined angle θG (not shown) with the horizontal plane H. In other words, the laser sensor 105G is provided on the traveling body 10 so that the scanning surface SC7 is not parallel to the horizontal plane H. Typically, the angle θG is greater than -90 degrees and less than 0 degrees. A negative angle θG represents an angle underground of the horizontal plane H. FIG. 13 shows an example in which the angle θG is approximately -45 degrees.

[0101] The laser sensor 105F and the laser sensor 105G are disposed so that the scanning plane SC6 and the scanning plane SC7 intersect with each other. As an example, the scanning plane SC6 and the scanning plane SC7 are perpendicular to each other.

[0102] The laser sensor 105H is provided on the rear surface SF4. Typically, the laser sensor 105H is provided at the center position of the rear surface SF4 in the horizontal direction.

[0103] The laser sensor 105H is provided on the traveling body 10 so that the scanning surface SC8 of the laser light forms a predetermined angle θH (not shown) with the horizontal plane H. In other words, the laser sensor 105H is provided on the traveling body 10 so that the scanning surface SC8 is not parallel to the horizontal plane H. Typically, the angle θH is greater than 0 degrees and less than 90 degrees. A positive angle θH represents an angle above the horizontal plane H. FIG. 13 shows an example in which the angle θH is about 45 degrees.

[0104] The laser sensor 105I is provided on the rear surface SF4. Typically, the laser sensor 105I is provided at the center position of the rear surface SF4 in the horizontal direction. The laser sensor 105H and the laser sensor 105I are provided coaxially in the vertical direction. Typically, the laser sensor 105I is disposed above the laser sensor 105H.

[0105] The laser sensor 105I is provided on the traveling body 10 so that the scanning surface SC9 of the laser light forms a predetermined angle θI (not shown) with the horizontal plane H. In other words, the laser sensor 105I is provided on the traveling body 10 so that the scanning surface SC9 is not parallel to the horizontal plane H. Typically, the angle θI is greater than -90 degrees and less than 0 degrees. A negative angle θI represents an angle underground of the horizontal plane H. FIG. 13 shows an example in which the angle θI is approximately -45 degrees.

[0106] The laser sensor 105H and the laser sensor 105I are disposed so that the scanning plane SC8 and the scanning plane SC9 intersect with each other. As an example, the scanning plane SC8 and the scanning plane SC9 are perpendicular to each other.

[0107] <J.まとめ> As described above, the laser sensor 105 is provided on the traveling body 10 so that the scanning plane SC of the laser light LA ​​has a predetermined angle θ with respect to the horizontal plane H. This enables the self-propelled device 100 to detect obstacles present above or below the traveling body 10. Furthermore, the self-propelled device 100 can three-dimensionally scan the surrounding shape by sequentially acquiring two-dimensional distance data D from the laser sensor 105 while self-propelling.

[0108] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0109] 10 Travel body, 20 Arm robot, 100 Self-propelled device, 101 Control device, 102 ROM, 103 RAM, 104 Communication interface, 105, 105A, 105B, 105C, 105D, 105F, 105G, 105H, 105I Laser sensors, 106 Motor drive device, 109 Bus, 110 Cover, 120 Storage device, 122 Control program, 124 3D map, 152 Map generation unit, 154 Travel control unit, 156 Rotational scan unit.

Claims

1. A self-propelled device, A wheel-driven running body; and one or more laser sensors configured to irradiate a laser beam while rotating the laser beam around the one or more laser sensors and receive reflected light of the laser beam, thereby outputting two-dimensional distance data representing distances to objects around the one or more laser sensors by angle around the one or more laser sensors; A control device for controlling the traveling of the traveling body based on the two-dimensional distance data output from the one or more laser sensors, The one or more laser sensors are provided on the traveling body so that a scanning plane, which is a range through which the laser light passes during rotation of the laser light, has a predetermined angle other than 0 degrees with respect to a horizontal plane, At least one of the one or more laser sensors is configured to emit a laser diagonally upward from the traveling body, with a scanning surface facing upward relative to a horizontal plane, and is configured to receive a laser light reflected above the laser sensor that emits the laser diagonally upward, and output the two-dimensional distance data that represents the distance to an object above the laser sensor that emits the laser diagonally upward by an angle centered on the laser sensor, The self-propelled device further includes an arm robot provided on the traveling body, At least one of the one or more laser sensors is provided on the traveling body so that the scanning surface includes a movable range of the arm robot, The control device is configured to execute a process of generating three-dimensional data representing the space around the traveling body based on the two-dimensional distance data obtained from a laser sensor that emits a laser diagonally upward.

2. the self-propelled device further includes a cover for housing the one or more laser sensors; The self-propelled device according to claim 1 , wherein the one or more laser sensors or the cover are provided on the traveling body such that an incident angle of the laser light with respect to the cover is greater than 0 degrees and smaller than 90 degrees.

3. The self-propelled device of claim 2, wherein the one or more laser sensors or the cover are provided on the traveling body such that the shorter the distance between the one or more laser sensors and the cover, the larger the minimum angle of incidence of the laser light incident on the cover during rotation of the laser light.

4. The self-propelled device according to claim 1 , wherein the process of generating the three-dimensional data is executed based on the self-propelled device being within a preset range.

5. The self-propelled device is configured to be able to communicate with a user terminal for operating the self-propelled device, and the process of generating the three-dimensional data is executed based on receiving an execution command based on an execution operation of the process from the user terminal. The self-propelled device described in any one of claims 1 to 4.

6. The self-propelled device according to any one of claims 1 to 5, wherein the traveling body has three or more drive wheels.

7. The traveling body has a front surface, a right surface, and a left surface, One laser sensor is provided at the right front corner formed by the front surface and the right surface, Another laser sensor is provided at the left front corner formed by the front surface and the left surface, The self-propelled device according to any one of claims 1 to 6, wherein each laser sensor provided at the right front corner and the left front corner is configured to emit a laser diagonally upward and have a scanning surface facing upward relative to a horizontal plane.

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