Autonomous Driving Device

Abstract

To provide a traveling device with a high degree of freedom in changing damping characteristics.SOLUTION: One aspect of the autonomous traveling device includes a traveling unit that travels in an area indicated by map information based on the map information, a vibration damping unit mounted on the traveling unit to suppress vibration of an object to be transported, and a damping control unit that changes the characteristics of the damping unit according to a traveling position on the area.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an autonomous driving device. [Background technology]

[0002] Conventionally, autonomous mobile devices that automatically transport objects such as people and goods based on map information have been known in factories, medical facilities, restaurants, etc. Furthermore, as the application fields of autonomous mobile devices expand, there is a demand for autonomous mobile devices equipped with vibration control devices that suppress the effects of vibrations on the objects being transported.

[0003] Known vibration control device technologies include those mounted on vehicles driven by humans, such as automobiles. For example, Patent Document 1 proposes a technology for an automobile vibration control device that reduces vibration of an object to be damped by vibrating an auxiliary mass with a vibration excitation means, in which a mapping control means that controls the vibration excitation means based on an excitation force command value read from a vibration control information table, and an adaptive control means that controls the vibration excitation means based on an excitation force command value calculated using an adaptive filter are switched between in accordance with a detected value of acceleration that indicates the vibration state at an observation point of the object to be damped. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5585619 Summary of the Invention [Problem to be solved by the invention]

[0005] One possible technique for achieving the necessary vibration control performance in an autonomous mobile device equipped with a vibration control device is to set the vibration control level according to the most adverse conditions on the transport route and always operate the vibration control device at that vibration control level. However, this technique results in the vibration control device being operated unnecessarily when traveling in a relatively level environment, when the vibration control performance required for each transport object differs, or when there is no transport object.

[0006] When the technology of Patent Document 1 is applied to an autonomous driving device, it becomes possible to change the vibration control level (vibration control characteristics), but since the change is based on the acceleration of the object to be damped, it is difficult to change the vibration control characteristics in cases such as those described above that are required for an autonomous driving device. SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a traveling device that allows a high degree of freedom in changing vibration damping characteristics. [Means for solving the problem]

[0007] For the above purpose, one aspect of the autonomous driving device of the present invention comprises a driving unit that drives an area indicated by map information based on the map information, a vibration control unit mounted on the driving unit that suppresses vibrations of the object being transported, and a vibration control unit that changes the characteristics of the vibration control unit depending on the driving position in the area.

[0008] Autonomous mobile devices are generally operated according to a plan, traveling along a predetermined route and loading and unloading transported objects at designated locations. Therefore, by changing the characteristics of the vibration control unit according to the traveling position, it becomes possible to flexibly change the characteristics to correspond to various operational plans, and there is a high degree of freedom in changing the vibration control characteristics.

[0009] In the autonomous mobile device, the vibration suppression control unit preferably changes the characteristics of the vibration suppression unit to characteristics with different vibration suppression intensities. With this preferred autonomous mobile device, the vibration suppression intensity can be changed in accordance with planned road surface changes, planned reloading of the transported object, etc. As a result, efficient operation of the vibration suppression unit in accordance with the road surface conditions, the properties of the transported object, etc. is realized.

[0010] In the autonomous driving device, it is also preferable that the vibration control unit changes the characteristics of the vibration control unit to characteristics that change the direction of vibration suppression. With this preferable autonomous driving device, it is possible to suppress vibration in a desired direction, for example, by suppressing vibration in the horizontal direction during acceleration / deceleration sections and suppressing vibration in the vertical direction during constant velocity sections.

[0011] In the autonomous mobile device, the vibration control unit may change the characteristics of the vibration control unit to characteristics that change the tilt control of the transported object. This autonomous mobile device can be operated, for example, by controlling the vehicle to maintain horizontality when transporting a liquid object.

[0012] In the autonomous mobile device, the vibration control unit may change the characteristics of the vibration control unit depending on the traveling direction. This autonomous mobile device enables efficient operation, for example, by changing the characteristics between the outbound journey when the transport object is loaded and the return journey when the transport object is unloaded. [Effects of the Invention]

[0013] According to the present invention, there is a high degree of freedom in changing the vibration damping characteristics. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a schematic configuration diagram showing an embodiment of an autonomous driving device of the present invention; [Figure 2] FIG. 2 is a diagram illustrating a conceptual configuration of a vibration suppression unit. [Figure 3] FIG. 2 is a functional block diagram showing the functional structure of the autonomous driving device. [Figure 4] FIG. 10 is a diagram showing a first specific example of switching of vibration damping modes. [Figure 5] FIG. 10 is a diagram showing a second specific example of switching of vibration damping modes. [Figure 6] FIG. 10 is a diagram illustrating a third specific example of switching of vibration damping modes. [Figure 7] FIG. 10 is a diagram showing a fourth specific example of switching of vibration damping modes. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art, more detailed description than necessary may be omitted. For example, detailed description of already well-known matters or redundant description of substantially identical configurations may be omitted. Furthermore, elements shown in earlier-described figures may be appropriately referenced in the description of later figures. FIG. 1 is a schematic diagram showing the configuration of an autonomous driving device according to an embodiment of the present invention.

[0016] The autonomous mobile device 100 includes a travel unit 110 and a vibration suppression unit 120. The autonomous mobile device 100 is a device that transports an object 200, which may be an object or a person depending on the intended use and design of the autonomous mobile device 100. In this specification, the term "autonomous mobile device" is used in a broad sense to include not only so-called AGVs (Automatic Guided Vehicles) and AMRs (Autonomous Mobile Robots), but also medical robots and self-driving cars. The traveling unit 110 has a function of autonomously traveling based on map information. The traveling unit 110 corresponds to an example of the traveling unit referred to in the present invention. The vibration suppressing section 120 suppresses vibration of the transport object 200 caused by the travel of the travel section 110. The vibration suppressing section 120 corresponds to an example of the vibration suppressing section referred to in the present invention. FIG. 2 is a diagram showing a conceptual configuration of the vibration suppression unit 120. As shown in FIG.

[0017] The vibration suppression unit 120 in this embodiment is capable of active control in all of the X, Y, and Z directions, and includes a plurality of vertical drive units 121, a plurality of horizontal drive units 122, and a controller .

[0018] The vertical drive units 121 are actuators that are driven under the control of the controller 124, and the multiple vertical drive units 121 perform vertical vibration suppression and tilt adjustment for the transport object 200 on the loading platform 123. The horizontal drive units 122 are also actuators that are driven under the control of the controller 124, and the horizontal drive units 122 perform horizontal vibration suppression and impact suppression for the transport object 200 on the loading platform 123.

[0019] The controller 124 of the vibration suppression unit 120 has a plurality of vibration suppression modes as will be described later, and controls the vertical drive unit 121 and the horizontal drive unit 122 in different control forms according to the vibration suppression mode. Note that in this specification, the vibration suppression mode corresponds to an example of the "characteristics of the vibration suppression unit" as referred to in the present invention, and does not mean only the form of vibration suppression, but broadly means all forms of controlling actuators capable of vibration suppression operation. Although the vibration suppression unit 120 may be provided with passive elements such as springs and dampers, the following description focuses on active vibration suppression using actuators. FIG. 3 is a functional block diagram showing the functional structure of the autonomous mobile device 100.

[0020] As described above, autonomous driving device 100 includes traveling unit 110 and vibration suppression unit 120. Traveling unit 110 includes controller 111, memory unit 112, drive unit 113, and position sensor 114, while vibration suppression unit 120 includes controller 124, drive unit 125, and sensor 126. The combination of controller 111 of traveling unit 110 and controller 124 of vibration suppression unit 120 corresponds to an example of a vibration suppression control unit referred to in the present invention.

[0021] The drive unit 113 of the traveling unit 110 is a functional part for traveling that includes a motor, wheels, power supply, etc., and the position sensor 114 of the traveling unit 110 is a functional part for detecting the position and orientation of the autonomous traveling device 100.

[0022] The memory unit 112 of the traveling unit 110 stores map information 112a, and the map information 112a includes mode information that indicates a vibration control mode and is associated with a position on the map. Note that the mode information may also be associated with a position and orientation on the map. The controller 111 of the traveling unit 110 controls the autonomous traveling of the traveling unit 110, and also instructs the vibration suppression unit 120 to select a vibration suppression mode.

[0023] The controller 124 of the vibration suppression unit 120 is the controller 124 also shown in Fig. 2, and the drive unit 125 of the vibration suppression unit 120 refers to the entire unit including the multiple vertical drive units 121 and the multiple horizontal drive units 122 shown in Fig. 2. In this embodiment, the power source for the drive unit 125 of the vibration suppression unit 120 and the like is a battery that is also used as the power source for the drive unit 113 of the traveling unit 110 and the like. The sensor 126 of the vibration suppression unit 120 is, for example, an inertial measurement unit (IMU) equipped with a three-axis acceleration sensor and a three-axis gyroscope, and is attached to the loading platform 123 or the object to be transported 200 shown in Figure 2 to detect vibrations, acceleration, angular velocity, etc. The functions of the controller 111 of the traveling unit 110 and the controller 124 of the vibration suppression unit 120 will be described in detail below.

[0024] The controller 111 of the traveling unit 110 includes a vibration control mode transmission unit 1111 , a vibration control mode derivation unit 1112 , a self-position calculation unit 1113 , a traveling command calculation unit 1114 , and a drive control unit 1115 .

[0025] The self-position calculation unit 1113 calculates the position and orientation of the autonomous mobile device 100 on the map based on the position and orientation of the autonomous mobile device 100 detected by the position sensor 114 and the map information 112 a in the storage unit 112 .

[0026] The driving command calculation unit 1114 calculates a driving command to head towards the destination point based on the position and orientation of the autonomous mobile device 100 calculated by the self-position calculation unit 1113 and the map information 112a. The drive control unit 1115 controls the drive of the drive unit 113 in accordance with the driving command, and directs the autonomous mobile device 100 to the destination point.

[0027] The vibration control mode derivation unit 1112 derives the vibration control mode based on the position (and orientation) of the autonomous mobile device 100 calculated by the self-position calculation unit 1113 and the map information 112a. That is, the vibration control mode derivation unit 1112 derives mode information associated with the position (and orientation) of the autonomous mobile device 100 on the map from the map information 112a. The vibration control mode transmission unit 1111 transmits the vibration control mode (mode information) derived by the vibration control mode derivation unit 1112 to the controller 124 of the vibration control unit 120.

[0028] The controller 124 of the vibration suppression unit 120 includes a vibration suppression mode receiving unit 1241 and a mode switching unit 1242, and the mode switching unit 1242 includes a plurality of (for example, n) vibration suppression control units 1245. Each vibration suppression control unit 1245 can control the operation of the drive unit 125 in a vibration suppression mode assigned to each vibration suppression control unit 1245 in advance, based on the detection value by the sensor 126. The vibration control mode receiving unit 1241 receives the vibration control mode (mode information) transmitted from the traveling unit 110 and sends it to the mode switching unit 1242 .

[0029] The mode switching unit 1242 selects, from among the plurality of vibration control units 1245, a vibration control unit 1245 to which the vibration control mode indicated by the mode information is assigned, and causes the selected vibration control unit 1245 to perform operation control of the drive unit 125.

[0030] As a result of cooperation between the controller 111 of the traveling unit 110 and the controller 124 of the vibration control unit 120, the vibration control mode is changed according to the position (and orientation) of the autonomous mobile device 100. Here, "changed according to the position (and orientation)" means "changed based on the calculated position (and orientation)," and the vibration control mode does not need to be changed continuously every time the position (and orientation) changes. In other words, the vibration control mode may be changed continuously, or discontinuously depending on the area or route. In this embodiment, a discontinuous switching method is used as an example. A specific example of switching the vibration suppression mode will be described below. FIG. 4 is a diagram showing a first specific example of switching the vibration damping mode.

[0031] 4 illustrates switching of vibration control modes during material transportation in a factory, etc. In the first example, autonomous mobile device 100 moves along path 101 indicated by the arrow in the figure from start point S in first room 301 where materials are stored to goal point G in second room 302 where the materials are used.

[0032] Furthermore, while the floor of first room 301 is smooth, the floor of second room 302 may have areas where wiring cords and the like are installed, or areas that have been damaged by foot traffic. Therefore, vibration control modes with different vibration control intensities are assigned to the areas of first room 301 and second room 302 on the map. While autonomous mobile device 100 is traveling in the area of ​​first room 301, vibration control unit 120 is controlled in a vibration control mode with low vibration control intensity, and when autonomous mobile device 100 enters the area of ​​second room 302, the vibration control unit 120 is controlled in a vibration control mode with high vibration control intensity. As a result, the power required to drive the actuator is reduced, while the required vibration control function is achieved. Note that the "vibration control mode with low vibration control strength" may be, for example, a vibration control mode in which no active vibration control is performed at all. By stopping active vibration control, power consumption by the actuators is further reduced, thereby extending the operating time of the battery of autonomous mobile device 100. FIG. 5 is a diagram showing a second specific example of switching the vibration suppression mode. The second specific example shown in FIG. 5 illustrates switching of vibration suppression modes when serving food in a restaurant.

[0033] In the second example, autonomous mobile device 100 travels along corridor 305 on first path 102 from start point S in front of kitchen 303 to goal point G in front of guest room 304, delivering food. Autonomous mobile device 100 then travels along corridor 305 on second path 103 from goal point G to start point S, and returns empty or with the dishes removed.

[0034] Since the first route 102 and the second route 103 carry different items and require different vibration control intensities, vibration control modes with different vibration control intensities are assigned to the parts of the corridor 305 on the map that are passed through as the first route 102 and the parts that are passed through as the second route 103.

[0035] While the autonomous mobile device 100 is traveling on the first path 102, the vibration control unit 120 is controlled in a vibration control mode with high vibration control strength, and when the autonomous mobile device 100 moves to the second path 103, the vibration control unit 120 is switched to a vibration control mode with low vibration control strength. In the second specific example, an appropriate vibration control function is achieved according to the object 200 to be transported that is mounted on the autonomous mobile device 100. FIG. 6 is a diagram showing a third specific example of switching of vibration suppression modes. The third specific example shown in FIG. 6 also illustrates switching of vibration control modes when serving food in a restaurant.

[0036] In the third specific example, autonomous mobile device 100 travels back and forth in a straight line along corridor 306 from start point S in front of kitchen 303 to goal point G in front of guest room 304. Autonomous mobile device 100 carries food on outbound route 104, and returns empty or with removed dishes on return route 105.

[0037] The intermediate area 306a of the corridor 306 is a sloped path, and although there is no problem with empty loads or tableware being hung up, it is desirable to transport food without spilling soup, etc. Therefore, in the third specific example, each vibration control mode is assigned to the outbound path 104 and the inbound path 105. Then, while the autonomous mobile device 100 is traveling on the outbound path 104, tilt control is performed to keep the object to be transported 200 (i.e., food) horizontal, and while the autonomous mobile device 100 is traveling on the return path 105, control is performed only to suppress vibration. That is, in the third specific example, the vibration suppression mode is changed based on both the traveling position and traveling direction. In the third specific example as well, an appropriate vibration suppression function is achieved according to the object to be transported 200 being loaded. FIG. 7 is a diagram showing a fourth specific example of switching of vibration suppression modes. A fourth specific example shown in FIG. 7 illustrates switching of vibration suppression modes when a medical robot transports a specimen.

[0038] In the fourth specific example, the autonomous mobile device 100 moves back and forth in a straight line along a corridor 309 from a start point S in front of a sampling room 307 where a sample is sampled to a goal point G in front of an examination room 308 where the sample is examined. In acceleration and deceleration regions 309a near the start point S and the goal point G, the autonomous mobile device 100 accelerates and decelerates, and in an intermediate constant speed region 309b, the autonomous mobile device 100 moves at a constant speed.

[0039] For this reason, vibration damping modes with different vibration damping directions are assigned to acceleration / deceleration region 309a and constant velocity region 309b. When autonomous mobile device 100 is traveling in acceleration / deceleration region 309a, vibration damping unit 120 is controlled in a vibration damping mode that mainly suppresses horizontal vibrations and impacts, and when autonomous mobile device 100 moves to constant velocity region 309b, the vibration damping mode is switched to a vibration damping mode that mainly suppresses vertical vibrations and impacts. As a result, in the fourth specific example, vibration damping control in a desired direction according to the traveling mode of autonomous mobile device 100 is realized. Note that the vibration damping direction may be switched, for example, between a straight traveling region and a direction change region. As described above, the autonomous driving device of the present invention makes it possible to change the vibration damping characteristics in a flexible manner to accommodate various cases.

[0040] In the above explanation, an example is shown in which vibration damping characteristics are changed by changing the drive control of an actuator, but the autonomous driving device of the present invention may also change vibration damping characteristics, for example, by changing the air pressure of an air spring, which is a passive element, or by locking or unlocking active elements or passive elements. [Explanation of symbols]

[0041] 1...power supply device, 100...autonomous driving device, 110...driving unit, 111...controller, 1111... vibration control mode transmission unit, 1112... vibration control mode derivation unit, 1113...self-position calculation unit, 1114...travel command calculation unit, 1115...drive control unit, 112...storage unit, 112a...map information, 113...driving unit, 114...position sensor, 120... vibration damping unit, 121... vertical drive unit, 122... horizontal drive unit, 123... loading platform, 124...controller, 1241...vibration control mode receiving unit, 1242...mode switching unit, 1245... vibration damping control unit, 125... drive unit, 126... sensor, 200... transported object

Claims

1. a traveling unit that travels in an area indicated by map information based on the map information; a vibration damping unit mounted on the traveling unit to suppress vibrations of the object to be transported; a plurality of vibration control units that change characteristics of the vibration control units based on a running position on the area, the plurality of vibration control units having vibration control modes assigned thereto in advance; a sensor for detecting vibration, acceleration, and angular velocity of the autonomous mobile device or the object to be transported; a mode switching unit that selects a vibration suppression control unit based on the detected value by the sensor; Equipped with the mode switching unit selects a different vibration damping control unit depending on whether the traveling unit is traveling on an outbound route including a slope or a return route including the slope, While the traveling unit is traveling on the outbound path, a vibration suppression control unit selected by the mode switching unit performs tilt control to keep the transported object horizontal, and while the traveling unit is traveling on the return path, another vibration suppression control unit selected by the mode switching unit suppresses vibration without performing the tilt control. An autonomous driving device characterized by:

2. The autonomous driving device according to claim 1 , wherein the vibration suppression control unit selected by the mode switching unit changes the characteristics of the vibration suppression unit to characteristics with different vibration suppression strengths.

3. 3. The autonomous driving device according to claim 1, wherein the vibration suppression control unit selected by the mode switching unit changes the characteristics of the vibration suppression unit to characteristics that change the direction of vibration suppression.

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