Autonomous driving device and control method thereof

Abstract

To provide a travel device allowed to select a travel route using appropriate map information.SOLUTION: An autonomous travel device, for carrying an object of transport, comprises a route determining section that determines a travel route based on map information, a travel unit that travels the travel route, a damping unit that is mounted on the travel unit and suppresses vibration of the object of transport, an acquiring section that acquires information given to the damping unit in order to suppress vibration of the object of transport, and an update section that updates the map information based on the information acquired by the acquiring section. The route determining section determines the travel route based on the map information updated by update section.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an autonomous driving device and a control method thereof. [Background technology]

[0002] Conventionally, autonomous mobile devices that carry an object and automatically transport it based on map information inside a building such as a factory have been known. As the application fields of autonomous mobile devices expand, autonomous mobile devices equipped with a vibration damping device that suppresses vibrations of the object have also become known.

[0003] Patent Document 1 discloses a traveling device equipped with a vibration control device that reduces vibration of a target to be controlled by vibrating an auxiliary mass with a vibration excitation means. The traveling device of Patent Document 1 switches between adaptive control and mapping control based on acceleration detected by a vibration detection unit. Therefore, Patent Document 1 can perform mapping control based on information corresponding to the traveling environment. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-206720 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the mapping control in Patent Document 1 is executed using given mapping data (map information). That is, even if the given map information is not map information appropriate for the traveling device, the mapping control is executed using the given map information. Therefore, one object of the present invention is to provide a traveling device that can select a traveling route using appropriate map information. [Means for solving the problem]

[0006] In order to achieve the above object, according to one aspect of the present invention, a traveling device for transporting an object to be transported is provided, comprising: a route determination unit that determines a travel route based on map information; a traveling unit that travels along the travel route; a vibration control unit that is mounted on the traveling unit and suppresses vibrations of the object to be transported; an acquisition unit that acquires information provided to the vibration control unit for suppressing vibrations of the object to be transported; and an update unit that updates the map information based on the information acquired by the acquisition unit, wherein the route determination unit determines the travel route based on the map information updated by the update unit.

[0007] The vibration suppression unit may include a vibration suppression control unit that generates the information, and a vibration suppression driving unit that performs vibration suppression operation based on the information. The information generated by the vibration suppression control unit may be a drive torque value or a current value supplied to the vibration suppression drive unit. The traveling device may further include a vibration sensor that detects vibrations of the object to be transported. The information generated by the vibration suppression control unit may be a detected value of the vibration sensor. The update unit may update the map information each time the acquisition unit acquires the information. The update unit may also update the map information while the traveling device is traveling. The update unit may acquire a road load using information provided to the vibration damping unit. The route determination unit may select a road route that minimizes the road distance and the road load of the traveling device.

[0008] When the travel distance and the travel load of one travel route are equal to the travel distance and the travel load of another travel route, the route determination unit may select the travel route based on the number of bends of the travel route. When the travel distance and the travel load of one travel route are equal to the travel distance and the travel load of another travel route, the route determination unit may select the travel route based on the power consumption of the vibration control unit. When the travel distance and the travel load of one travel route are equal to the travel distance and the travel load of another travel route, the route determination unit may select the travel route based on the contents of the object to be transported. The traveling device may include a storage unit that stores the map information. [Effects of the Invention]

[0009] According to the present invention, a driving route can be selected using appropriate map information. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram illustrating an autonomous driving device according to an embodiment 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 of the autonomous driving device. [Figure 4] FIG. 10 is a diagram showing the relationship between the travel cost and vibration damping strength information. [Figure 5] FIG. 1 is a diagram illustrating map information and route selection. [Figure 6] 10A and 10B are diagrams illustrating map information and route selection in a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the scope of the present invention is not limited to the following embodiments, and changes and modifications can be made within the scope of the technical concept of the present invention. Furthermore, to avoid unnecessary redundancy and to facilitate understanding by those skilled in the art, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially identical configurations may be omitted.

[0012] <Outline of the autonomous driving device> FIG. 1 is a schematic diagram showing the configuration of an embodiment of an autonomous mobile device 100 of the present invention. The autonomous mobile device 100 is a device that transports (conveys) an object to be transported (carried object) 200 while suppressing vibrations of the object to be transported (carried object) 200. The autonomous mobile device 100 may also be called an autonomous mobile robot. The autonomous mobile device 100 travels on roads or floors indoors or outdoors.

[0013] The autonomous mobile device 100 includes a traveling unit 110 and a vibration suppression unit 120 mounted on the traveling unit 110. The traveling unit 110 and the vibration suppression unit 120 are connected by wire or wirelessly, and can transmit and receive data and the like between them. The object to be transported 200 is placed on the vibration suppression unit 120.

[0014] The autonomous mobile device 100 is a device that transports an object 200, and the object 200 is an object (e.g., a liquid) that corresponds to the intended use and design of the autonomous mobile device 100. The direction perpendicular to the plane of FIG. 1 is referred to as the X direction, the left-right direction in FIG. 1 is referred to as the Y direction, and the up-down direction in FIG. 1 is referred to as the Z direction. The X direction in FIG. 1 is the width direction of the autonomous mobile device 100, the Y direction is the length direction of the autonomous mobile device 100, and the Z direction is the height direction of the autonomous mobile device 100. The traveling unit 110 has two drive wheels 110a arranged at a predetermined interval in the X direction (one of which is shown in FIG. 1). The two drive wheels 110a can be driven independently. In other words, the autonomous mobile device 100 is a traveling device with left and right independent drive. The traveling unit 110 also has two driven wheels 110b arranged at a predetermined interval in the X direction (one of which is shown in FIG. 1). Examples of liquid objects include a petri dish containing liquid, a glass of juice, and a container of liquid containing ice.

[0015] The autonomous mobile device 100 may be a so-called AGV (Automatic Guided Vehicle) or AMR (Autonomous Mobile Robot), a medical robot, or a self-driving car. The traveling unit 110 has a function of autonomously traveling based on map information. The traveling unit 110 has a communication function for communicating with the vibration suppression unit 120. The vibration suppressing unit 120 suppresses vibration of the transport object 200 caused by the travel of the traveling unit 110. The vibration suppressing unit 120 has a communication function for communicating with the traveling unit 110.

[0016] <Outline of vibration control unit configuration> FIG. 2 is a diagram showing a conceptual configuration of the vibration suppression unit 120. As shown in FIG. The vibration suppression unit 120 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 124. Reference numeral 123 denotes a loading platform, on which the object to be transported 200 shown in FIG.

[0017] The vertical drive units 121 are actuators that are driven under the control of the controller 124, and the multiple vertical drive units 121 suppress vibrations in the vertical direction (Z direction) and adjust the inclination of the transport object 200 on the loading platform 123. Specifically, the vertical drive units 121 move the loading platform 123 so as to cancel out the vibration acceleration in the Z direction that occurs in the transport object 200. If the vertical drive units 121 have an active mass, the operation of the active mass is controlled based on a control signal from the controller 124, thereby absorbing the vibrations in the Z direction of the loading platform 123. Note that the multiple vertical drive units 121 may be individually controllable. The inclination of the loading platform 123 can be adjusted by individually controlling the vertical drive units 121. The lateral driving unit 122 is also an actuator that is driven under the control of the controller 124, and performs horizontal vibration suppression and impact suppression on the transport object 200 placed on the loading platform 123. Specifically, the lateral driving unit 122 moves the loading platform 123 so as to cancel out the horizontal vibration acceleration occurring in the transport object 200. The vibration suppression unit 120 performs vibration suppression using actuators (121, 122), and is therefore a vibration suppression unit that performs active vibration suppression. Note that the horizontal vibration suppression performed by the lateral driving unit 122 is horizontal vibration suppression defined by the X and Y directions.

[0018] The controller 124 of the vibration suppression unit 120 controls the vertical drive unit 121 and the horizontal drive unit 122 in a predetermined control mode (for example, a vibration suppression mode with high vibration suppression strength or a vibration suppression mode with low vibration suppression strength). The controller 124 may also control the vertical drive unit 121 and the horizontal drive unit 122 in a control mode corresponding to a vibration suppression mode selected from a plurality of vibration suppression modes. The vibration suppression mode is, for example, a control mode of the actuators (121, 122).

[0019] <Functional configuration of autonomous driving device> FIG. 3 is a functional block diagram of the autonomous mobile device 100. As described above, the autonomous driving device 100 includes a driving unit 110 and a vibration suppression unit 120. The driving unit 110 includes a controller 111, a memory unit 112, a drive unit 113, and a position sensor 114. The controller 111 of the driving unit 110 includes a vibration suppression strength cost calculation unit 116, a self-position calculation unit 117, a driving command calculation unit 118, and a drive control unit 119. The vibration suppression unit 120 includes a controller 124, a drive unit 125, and a vibration sensor 126. The controller 124 of the vibration suppression unit 120 includes a vibration suppression strength information transmission unit 130 and a vibration suppression control unit 132.

[0020] <Functional configuration of the running unit> The drive unit 113 of the traveling unit 110 is a functional part for traveling that includes a motor, wheels, a power supply, and the like. The motor is, for example, a servo motor. The controller 111 of the traveling unit 110 controls the drive unit 113 based on position information supplied from the position sensor 114 and map information 112a. That is, the controller 111 performs calculations to select (determine) a traveling route for the autonomous traveling device 100 and controls autonomous traveling by the traveling unit 110. The controller 111 also updates the map information 112a in the memory unit 112 based on vibration damping strength information supplied from the vibration damping unit 120. Therefore, the controller 111 generates a drive command for the drive unit 113 based on the position of the autonomous traveling device 100 and the updated map information 112a, and transmits the drive command to the drive unit 113. The controller 111 can be said to be an update unit that updates the map information 112a.

[0021] The storage unit 112 of the traveling unit 110 stores map information 112a. The map information 112a includes, for example, information on paths X1, X2, Y1, and Y2 as shown in FIG. The position sensor 114 of the driving unit 110 is a functional part for detecting the position and orientation of the autonomous mobile device 100. The orientation of the autonomous mobile device 100 is, for example, the orientation of the drive wheels 110a (wheel angle). The position sensor 114 of this embodiment can also measure the distance to an object in a non-contact manner. For example, if there is an obstacle ahead of the autonomous mobile device 100, the position sensor 114 can detect the presence of the obstacle. When the position sensor 114 detects an obstacle, the autonomous mobile device 100 returns to a predetermined position (for example, the starting point) along the path (path) it has traveled so far. When the autonomous mobile device 100 is traveling outdoors, the position sensor 114 may detect the position using GPS. When the autonomous mobile device 100 is traveling indoors, the position sensor 114 detects the position of the autonomous mobile device 100 using, for example, laser, sound waves, infrared rays, or the like. In this case, the position sensor 114 will have a non-contact sensor such as a laser sensor, sound wave sensor, or infrared sensor. Furthermore, when the position sensor 114 does not use a non-contact sensor, the position sensor 114 may calculate the position of the autonomous mobile device 100 based on the detection value of a rotation speed sensor of the drive wheel 110a. Map information may be used in this calculation. The position sensor 114 may detect and determine the position of the autonomous mobile device 100 using a combination of multiple sensors (non-contact sensors, contact sensors).

[0022] Next, the function of the controller 111 of the traveling unit 110 will be described in detail. The self-position calculation unit 117 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 112a in the memory unit 112. This calculation is performed by comparing the map information of objects with a low probability of change, such as walls, with the information detected by the sensor, for example.

[0023] The driving command calculation unit 118 calculates a driving command for heading toward a target point (destination point) based on the position and orientation of the autonomous mobile device 100 calculated by the self-position calculation unit 117 and the map information 112a. In other words, the driving command calculation unit 118 is a route determination unit that determines a driving route based on the map information 112a, etc. The drive control unit 119 controls the drive unit 113 in accordance with the driving command calculated by the driving command calculation unit 118, and causes the autonomous mobile device 100 to head toward the destination point. The driving command calculation unit 118 selects a route that has the shortest driving distance to the destination point and has a low driving cost, which will be described later.

[0024] The vibration suppression strength cost calculation unit 116 derives (generates) driving cost information for the position based on the position (and orientation) of the autonomous mobile device 100 calculated by the self-position calculation unit 117 and the vibration suppression strength information received from the vibration suppression unit 120 (more specifically, the vibration suppression strength information transmission unit 130). The vibration suppression strength cost calculation unit 116 records the calculated cost value (driving cost information) together with the self-position in the map information 112a. The vibration suppression strength cost calculation unit 116 can be considered an acquisition unit that acquires instructions (vibration suppression strength information) given to the vibration suppression unit 120 to suppress vibrations of the transport object 200. The vibration suppression strength cost calculation unit 116 updates the map information 112a every time it acquires vibration suppression strength information. The vibration damping strength information is, for example, information representing a command (driving torque value, current value) sent from the vibration damping control unit 132 to the driving unit 125. In other words, the vibration damping strength indicates the magnitude of the command value (for example, the magnitude of the driving current value) to the driving unit 125. If the vibration damping strength is high, the driving current value is large (large vibration damping force is required), and therefore the driving cost, which will be explained below, will also be high. The driving cost is a numerical value indicating the vibration generated by driving the route, and if large vibrations occur during driving, the driving cost will be high. Therefore, the higher the vibration damping strength, the higher the driving cost. Note that the vibration damping strength information may be a detection value of the driving unit sensor 126. It can be said that the driving cost indicates the driving load when the autonomous mobile device 100 is driving.

[0025] <Relationship between vibration damping strength and running costs> FIG. 4 is a diagram showing an example of the relationship between vibration damping strength and travel cost. A "travel cost of 0" indicates that no vibration occurs in the transported object 200 when the autonomous mobile device 100 travels. In other words, this indicates that there are no unevennesses on the traveled road surface (floor surface). A "travel cost of 100" indicates that very large vibrations occur in the transported object 200 when the autonomous mobile device 100 travels. A "travel cost of 50" indicates, for example, that moderate vibrations occur in the transported object 200 when the autonomous mobile device 100 travels. In the relationship between vibration damping strength and travel cost shown in FIG. 4, the travel cost remains 0 until the vibration damping strength reaches a predetermined value P. This is because the range of vibration damping strength from 0 to the value P is considered an "acceptable range," and it is not necessary to reflect the vibration damping strength in the travel cost. The predetermined value P is determined by factors such as the suspension of the drive wheels 110a and driven wheels 110b of the autonomous mobile device 100.

[0026] The autonomous mobile device 100 may include an input unit (not shown). If the autonomous mobile device 100 includes an input unit, the user of the autonomous mobile device 100 can specify and input a start point S (FIG. 5(a)) and a destination point F (FIG. 5(b)) of the travel route of the autonomous mobile device 100 via the input unit.

[0027] <Functional configuration of vibration control unit> Next, the vibration suppression section 120 will be described. The driving section 125 of the vibration suppression section 120 refers to the plurality of vertical driving sections 121 and the plurality of horizontal driving sections 122 shown in FIG. The vibration sensor 126 of the vibration suppression unit 120 measures information necessary for vibration suppression (for example, acceleration in the X, Y, and Z directions and acceleration in the turning direction of the autonomous mobile device 100). More specifically, the vibration sensor 126 is attached to, for example, the loading platform 123 shown in FIG. 2, and detects vibrations, acceleration, and the like of the loading platform 123. The vibration sensor 126 may also be attached to the transport object 200 shown in FIG. 1. The vibration sensor 126 transmits the detected value to the vibration suppression control unit 132.

[0028] The vibration control unit 132 generates vibration control intensity information (acquires the running load) based on the detection value of the vibration sensor 126. Furthermore, the vibration control unit 132 performs vibration control calculations based on the detection value of the vibration sensor 126, and transmits instructions (control signals) according to the calculation results to the drive unit 125. In other words, the vibration control unit 132 controls the operation of the drive unit 125 based on the detection value of the vibration sensor 126 (by this control, the vertical drive unit 121 and the horizontal drive unit 122 move the loading platform 123 so as to cancel out the vibration acceleration occurring in the transport object 200). It can be said that the drive unit 125 is a vibration control drive unit that performs vibration control operations based on the information (control signals) generated by the vibration control unit 132. While the autonomous mobile device 100 is traveling, the vibration control strength information transmitter 130 transmits the latest vibration control strength information to the traveling unit 110 by sequential communication (that is, in response to a request from the traveling unit 110).

[0029] Hereinafter, route selection (route determination) of the autonomous mobile device 100 of this embodiment will be described with reference to FIG. FIG. 5(a) shows map information 112a stored in the memory unit 112 of the traveling unit 110. The map information 112a shows passages X1 and X2 extending horizontally and passages Y1 and Y2 extending vertically. The passages X1, X2, Y1, and Y2 are, for example, indoor passages (floor surfaces). The dashed rectangles in FIG. 5(a) are virtual areas obtained by dividing the passages X1, X2, Y1, and Y2 into predetermined sizes. The travel cost of each area is shown by a number within each area. In the map information in FIG. 5(a), the travel cost is 0 in all areas.

[0030] The following description explains route selection when the autonomous mobile device 100 travels from a start point S to a destination point F. The start point S is the intersection of passages X1 and Y1. The destination point F is the intersection of passages X2 and Y2. As shown in FIG. 5(b), route 1 is a route that travels from the start point S through passage Y1, then turns right at the intersection with passage X2, and travels through passage X2 to reach the destination point F. Route 2 is a route that travels from the start point S through passage X1, then turns left at the intersection with passage Y2, and travels through passage Y2 to reach the destination point F. In this embodiment, as shown in FIG. 5(b), it is assumed that an uneven surface V that is not listed in the current map information (FIG. 5(a)) actually exists on passage X1. It is assumed that the uneven surface V generates very large vibrations in the autonomous mobile device 100 when the autonomous mobile device 100 travels. There are no uneven surfaces on route 1. The start point S and the destination point F are designated, for example, by a user of the autonomous mobile device 100. The distance traveled when traveling along Route 1 is equal to the distance traveled when traveling along Route 2.

[0031] The map information in FIG. 5(a) indicates that there are no bumps or depressions on Route 1 and Route 2 from start point S to destination point F. Therefore, the travel cost is 0 for all sections of Route 1 and Route 2. In this embodiment, it is assumed that the autonomous mobile device 100 first selects Route 2 based on the map information in FIG. 5(a). Then, the autonomous mobile device 100 will proceed from start point S along path X1. However, in reality, passage X1 has an uneven surface V, and when autonomous mobile device 100 passes over uneven surface V, vibration sensor 126 detects extremely large vibrations. The detected vibration value is input from vibration sensor 126 to vibration suppression control unit 132, which inputs an instruction for vibration suppression to drive unit 125. Furthermore, vibration suppression control unit 132 generates vibration suppression intensity information based on the detected value of vibration sensor 126, and inputs the vibration suppression intensity information to vibration suppression intensity information transmission unit 130. Then, vibration suppression intensity information transmission unit 130 transmits (inputs) the vibration suppression intensity information to vibration suppression intensity cost calculation unit 116 of traveling unit 111.

[0032] The vibration control strength cost calculation unit 116 acquires the traveling cost using the vibration control strength information received from the vibration control strength information transmission unit 130 and the graph of FIG. 4. In this embodiment, the unevenness V of the passage X1 is a portion that generates very large vibrations, and therefore the traveling cost for the current position (area) of the autonomous mobile device 100 is 100. The vibration control strength cost calculation unit 116 inputs the traveling cost (100) acquired by the vibration control strength cost calculation unit 116 and the current position information of the autonomous mobile device 100 received from the self-position calculation unit 117 into the storage unit 112, and reflects them in the map information 112a (updates the map information 112a). In other words, the controller 111 updates the map information 112a based on the latest vibration control information.

[0033] Figure 5(c) shows the updated map information. Next, route selection after the map information has been updated will be explained. The driving command calculation unit 118 selects a route based on the updated map information. As shown in FIG. 5(c), passage X1 of route 2 has an area with a driving cost of 100. Therefore, when the driving costs from the start point S to the destination point F are added for route 2, the total driving cost becomes 100. This addition is performed by the driving command calculation unit 118. On the other hand, when the driving costs from the start point S to the destination point F are added for route 1, the total driving cost becomes 0. Therefore, the driving command calculation unit 118 selects route 1, which has the smaller total driving cost. Because the autonomous mobile device 100 is equipped with the vibration damping unit 120, using the vibration damping unit 120 can reduce the vibrations applied to the loading platform 123. However, traveling along route 1 causes less vibration to be applied to the loading platform 123 than traveling along route 2. In this embodiment, route 1 is selected, which is a route that allows the autonomous mobile device 100 to reach the target point F without using the vibration damping unit 120 as much as possible. In this way, the autonomous mobile device 100 selects route 1 and reaches the target point F along route 1.

[0034] In this embodiment, vibration suppression unit 120 transmits vibration suppression intensity information required for vibration suppression successively to traveling unit 110 while traveling, and the vibration suppression intensity information is reflected (feeded back) in map information 112a. This feedback (map information update) makes it possible to select a route that requires as little vibration suppression as possible, that is, a route that does not generate vibration, when autonomous traveling device 100 travels autonomously after the map information update. In this embodiment, a route that uses vibration suppression unit 120 as little as possible is selected, thereby reducing the power required to drive actuators (121, 122) of vibration suppression unit 120. In other words, power consumption by vibration suppression unit 120 can be suppressed.

[0035] As shown in Fig. 5(a), when a passage in the map information is divided into multiple areas, the autonomous mobile device 100 may sequentially request vibration control intensity information from the vibration control unit 120 while traveling. "Sequentially" means, for example, each time the autonomous mobile device 100 passes through each area of ​​the passage. In this configuration, in response to the request, the vibration control unit 120 transmits to the traveling unit 110 the vibration control intensity information required for vibration control at the time the request is received. The traveling unit 110 records the vibration suppression strength information received from the vibration suppression unit 120 on the map as an area where vibration suppression was necessary (i.e., an area on the map that should be avoided as much as possible), along with the traveling cost (load information). The autonomous mobile device 100 selects a route that minimizes the traveling distance and traveling cost. When multiple routes with the same traveling distance can be selected through this route selection, the route with the lowest traveling cost is selected.

[0036] As described above, according to this embodiment, map information is updated as needed, and a route is selected based on the updated map information. Even if the floor surfaces of the passages X1, X2, Y1, and Y2 are smooth, wiring cords and the like may be installed on the floor surface. Also, the floor surface of the passage may have damaged areas due to the passage of people, luggage, etc. By updating the map information stored in the memory unit 112, it is possible to select a route that is suited to the actual condition of the floor surface.

[0037] <Variation 1> A modification of the above embodiment will be described with reference to FIG. FIG. 6 illustrates a case where map information includes paths X1, X2, and X3 and paths Y1 and Y2. Destination point F is the intersection of paths X3 and Y2. In this case, there are two routes with a total travel cost of zero. One route is from start point S through path Y1, then turns right at the intersection with path X3, and then travels through path X3 to reach destination point F. The other route is from start point S through path Y1, then turns right at the intersection with path X2, travels through path X2, then turns left at the intersection with path Y2, and then travels through path Y2 to reach destination point F. Each of these two routes has a total travel cost of zero and a shortest travel distance. In a case like FIG. 6, the autonomous mobile device 100 may select the route indicated by arrow 3, which has the fewest bends. The route indicated by arrow 3 has only one bend, at the intersection of path Y1 and path X3. The other route has two bends (the intersection of aisle Y1 and aisle X2, and the intersection of aisle X2 and aisle Y2). In this way, when there are multiple routes with the same total travel cost and the same shortest distance, route selection may be performed based on the number of bends in the route.

[0038] <Variation 2> In the example of FIG. 5, the case where the travel cost of route 1 is 0 in the entire area and route 2 has one area with a travel cost of 100 is described. However, a case where route 1 has two areas with a travel cost of 50 and route 2 has one area with a travel cost of 100 is also possible. Routes 1 and 2 have a total travel cost of 100 and the travel distance is also the shortest. In such a case, the autonomous mobile device 100 may select route 2. This is because, when route 2 is selected, the vibration control unit 120 only needs to be driven once, whereas when route 1 is selected, the vibration control unit 120 needs to be driven twice. Driving the vibration control unit 120 fewer times can reduce the drive power of the vibration control unit 120. In other words, when there are multiple routes with the same total travel cost and the same shortest distance, route selection may be performed based on the power consumption of the vibration control unit 120. Depending on the transport object 200, it may be determined that the area with a travel cost of 100 should not be passed through. Therefore, depending on the contents of the transport object 200, route 1 may need to be selected instead of route 2. In other words, if there are multiple routes with the same total travel cost and the same shortest distance, route selection may be performed based on the contents of the transport object 200. For example, if the contents of the transport object 200 are liquid, the liquid may not spill when passing through an area with a travel cost of 50, but may spill when passing through an area with a travel cost of 100. In such a case, a route that does not spill the liquid (i.e., route 1 that does not include a travel cost of 100) is selected.

[0039] <Effects> As described above, the autonomous driving device 100 of this embodiment is a driving device that drives while autonomously selecting a driving route toward a target position F set by the user, and can appropriately suppress vibrations of the transported object 200 being loaded. According to the autonomous driving device 100 of this embodiment, vibration control strength information obtained during autonomous driving is fed back to map information and used for route selection during autonomous driving, making it possible to actively select a route with less vibration from the next time onwards. According to this embodiment, vibration control strength information required for vibration control is transmitted from the vibration control unit 120 to the driving unit 110 as it progresses, and this information is fed back to the map information 112a. As a result, when the vehicle subsequently drives autonomously, route 1 can be selected that requires as little vibration control as possible (i.e., a route where vibration does not occur).

[0040] The present invention is not limited to the above-described embodiment and modifications. In the above-described embodiment, the driving command calculation unit 118 is included in the driving unit 110, but the driving command calculation unit 118 may be provided outside the driving unit 110. Also, the memory unit 112 and the position sensor 114 are included in the driving unit 110, but the memory unit 112 and / or the position sensor 114 may be provided outside the driving unit 110. Furthermore, the map information 112a may be stored in a storage device other than the memory unit 112. For example, the map information 112a may be stored in a server or the like provided outside the autonomous driving device 100. In the above embodiment, the traveling unit 110 includes the controller 111 and the drive unit 113 , but the controller 111 may be provided outside the traveling unit 110 .

[0041] In the above embodiment, the autonomous mobile device 100 is a left-right independent drive type mobile device (two-wheel drive mobile device), but the autonomous mobile device 100 may be a four-wheel drive type mobile device (the driven wheel 110b in FIG. 1 is also a drive wheel). Alternatively, the autonomous mobile device 100 may be a one-wheel drive one-steering type mobile device. Alternatively, the autonomous mobile device 100 may be an omnidirectional mobile device equipped with an omniwheel or the like. In the above embodiment, the vibration control strength information sending unit 130 transmits vibration control strength information to the driving unit 110 in response to a request from the driving unit 110 while the autonomous driving device 100 is driving, but the vibration control strength information may also be transmitted to the driving unit 110 at a predetermined interval. In the above embodiment, only the vibration sensor 126 inputs detected values ​​to the vibration control unit 132. However, detected values ​​from a sensor other than the vibration sensor 126 may also be input to the vibration control unit 132. Also, an IMU (Inertial Measurement Unit) may be used instead of the vibration sensor 126. The IMU can measure acceleration in the X, Y, and Z directions and acceleration in the rotational direction. The vibration control unit 132 generates vibration control intensity information based on information (detected values, measured values) input from one or more sensors / measurement devices.

[0042] The transport object 200 may be a person, an animal, a plate of food, powder, fragile items (including glass products such as wine glasses), stacked items, etc. Furthermore, although the vibration control unit 120 has an actuator and performs active vibration control, it may also be equipped with passive elements such as springs and dampers.

[0043] In the above embodiment, the vibration suppression unit 120 suppresses vibrations in the X, Y, and Z directions, but the vibration suppression unit may also use a gimbal mechanism that drives and controls the roll angle and pitch angle of the traveling unit 110. For example, if the transport object 200 is a liquid, a vibration suppression unit using a gimbal mechanism can prevent the liquid surface from shaking (the liquid from spilling) due to acceleration caused by traveling. [Explanation of symbols]

[0044] 100...autonomous driving device, 110...driving unit, 111...controller, 112...storage unit, 112a...map information, 113...driving unit, 114...position sensor, 116...vibration suppression strength cost calculation unit, 117...self-position calculation unit, 118...driving command calculation unit, 119...driving control unit, 120...vibration suppression unit, 121...longitudinal driving unit, 122...lateral driving unit, 123...loading platform, 124...controller, 125...driving unit, 126...vibration sensor, 130...vibration suppression strength information transmission unit, 132...vibration suppression control unit, 200...transported object

Claims

1. A traveling device for transporting an object to be transported, a route determination unit that determines a travel route based on map information; a traveling unit that travels along the travel path; a vibration damping unit mounted on the traveling unit to suppress vibrations of the object to be transported; an acquisition unit that acquires information provided to the vibration suppression unit in order to suppress vibration of the transported object; an update unit that updates the map information based on the information acquired by the acquisition unit, the route determination unit determines the driving route based on the map information updated by the update unit; the update unit acquires a road load using information provided to the vibration damping unit; the route determination unit selects a travel route that minimizes the travel distance of the traveling device and minimizes the travel load; A traveling device in which, when the traveling distance and the traveling load of one traveling route are the same as the traveling distance and the traveling load of another traveling route, the route determination unit selects the traveling route based on the type of the object to be transported.

2. The traveling device according to claim 1 , wherein the vibration suppression unit includes a vibration suppression control unit that generates the information, and a vibration suppression drive unit that performs vibration suppression operation based on the information.

3. The traveling device according to claim 2 , wherein the information generated by the vibration damping control unit is a drive torque value or a current value supplied to the vibration damping drive unit.

4. The traveling device further includes a vibration sensor that detects vibrations of the object to be transported, The traveling device according to claim 2 , wherein the information generated by the vibration damping control unit is a detected value of the vibration sensor.

5. The traveling device according to any one of claims 1 to 4, wherein the update unit updates the map information every time the acquisition unit acquires the information.

6. The traveling device according to any one of claims 1 to 5, wherein the update unit updates the map information while the traveling device is traveling.

7. A traveling device as described in claim 1, wherein when the traveling distance, the traveling load, and the type of transported object of one traveling route are the same as the traveling distance, the traveling load, and the type of transported object of another traveling route, respectively, the route determination unit selects the traveling route based on the number of bends of the traveling route.

8. A traveling device as described in Claim 1, wherein selecting the traveling route based on the type of the object to be transported means selecting the traveling route based on whether the object to be transported is a liquid or not.

9. A traveling device as described in Claim 8, wherein when the object to be transported is a liquid, the route determination unit selects the traveling route with the smaller maximum value of the traveling cost value that determines the traveling load.

10. The traveling device according to any one of claims 1 to 9, further comprising a storage unit that stores the map information.

11. A control method for a traveling device that transports an object to be transported, determining a travel route based on map information; traveling the traveling device along the traveling path; suppressing vibrations of the object to be transported by a vibration damping unit mounted on the traveling device; acquiring information provided to the vibration suppression unit for suppressing vibration of the transported object; updating the map information based on the acquired information; The step of determining the travel route determines the travel route based on updated map information; The step of updating the map information includes a step of acquiring a road load using information provided to the vibration damping unit, the step of determining the travel route selects a travel route that minimizes the travel distance of the travel device and minimizes the travel load; A control method in which, when the travel distance and the travel load of one travel route are the same as the travel distance and the travel load of another travel route, the step of determining the travel route selects the travel route based on the type of the transported object.

12. A control method as described in Claim 11, wherein selecting the travel route based on the type of the object to be transported means selecting the travel route based on whether the object to be transported is a liquid or not.

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