JP5506332B2 - Autonomous mobile robot, autonomous mobile robot system using this - Google Patents

Description

The present invention autonomously to travelable unmanned vehicles or the like of the autonomous mobile robot, regarding the autonomous mobile robot system using the same.

As a technology related to this type of autonomous mobile robot, there is a configuration disclosed in Patent Document 1 under the name “firearm device”.
The firearm device disclosed in Patent Document 1 includes a peripheral image capturing unit that captures an image of the vicinity of a firearm, an aiming point image capturing unit that captures an image of an aiming point of the firearm, and a firearm based on a firearm drive command. A firearm driving means for driving, an image transmitting means for transmitting an image captured by the peripheral image capturing means and an image captured by the aiming point imaging means, and a firearm drive command receiving means for receiving a firearm drive command are provided in the firearm. An image receiving means for receiving an image transmitted from a firearm, an image display means for displaying an image received by the image receiving means, and a firearm for transmitting a firearm drive command to the firearm. Drive command transmission means is provided.

JP 2005-308282 A

However, in the above-mentioned conventional firearm device, it is necessary to know the position of the enemy to be searched to some extent and to possess a detailed map of the surrounding area.
In addition, reconnaissance targeting people such as guerrilla commands and violent crimes requires that the firearm device be moved over a wide range. In the described firearm device, safety during movement is not ensured.

  On the other hand, it is conceivable that the firearm device is armored to have anti-elasticity, but in this case, not only the weight is increased and the mobility is decreased, but also the mounting capability of the reconnaissance sensor is decreased. The challenge of doing so remains unresolved.

Accordingly, the present invention provides an autonomous mobile robot that can ensure safety during movement by avoiding discovery or shooting by a searched enemy while avoiding an increase in its own weight and ensuring mobility, and an autonomous mobile robot using the same It is the object of the present invention to provide a system.

In order to achieve the above object, an autonomous mobile robot according to the present invention includes a ranging unit for acquiring ranging data in a moving region, a searching unit for acquiring searching data, and a driving mechanism for moving. An autonomous mobile robot that autonomously moves along a movement route generated based on distance measurement data acquired by a distance measurement unit, and that is a candidate for an occlusion position capable of seeing itself from a search target. Based on the search target candidate extraction means to be extracted, search enemy data acquired by the search part, search target enemy search means for searching the target enemy, and searched target enemy searched from the extracted intercept position candidate An occlusion position selection means for selecting an occlusion position that can be obscured from the body, a movement path generation means for generating a movement path toward the selected occlusion position, and a driving mechanism along the generated movement path. Moving means for moving Parts includes a 3D laser scanner, shielding viewing position candidate extraction unit, as a candidate for Saegishi possible barrier viewing position itself from the search operation body, the measurement values of different values in the vertical direction of the same position by 3D laser scanner The solid surface, which is a large number of standing surfaces, is extracted, and the obscuration position selection means determines the sighted enemy body from the extracted obscuration position candidates based on the relative positional relationship between the sighted enemy object and the obscuration position. A means for selecting an occlusion position capable of obscuring self from the image, and comparing the minimum height of the solid surface with the height at the position of the enemy to be searched, and providing an occlusion that can be seen from the searched enemy. It is characterized by selecting the viewing position.

  In order to achieve the above object, a mobile system using an autonomous mobile robot according to the present invention instructs the above-described autonomous mobile robot and the movement of the autonomous mobile robot to an obscured area where it can be shielded from a search target. And a control device capable of transmitting control information including a movement instruction command for performing the control.

  ADVANTAGE OF THE INVENTION According to this invention, the safety in movement can be ensured so that it may not be discovered or shot by the to-be-searched enemy body, avoiding the increase in dead weight and ensuring mobility.

It is explanatory drawing which shows schematic structure of the autonomous mobile robot system using the autonomous mobile robot which concerns on one Embodiment of this invention. It is a block diagram which shows schematic structure of an autonomous mobile robot same as the above. It is a block diagram which shows the detailed structure of an autonomous mobile robot system same as the above. It is a flowchart which shows the whole operation | movement of the autonomous mobile robot system same as the above. It is a flowchart which shows the detail of the extraction process of an occlusion position candidate. (A) is an explanatory diagram when the moving region is divided by the height threshold processing, (B) is a flowchart for extracting the solid surface by the search window, and (C) calculates the coordinates of both ends of the solid surface. It is a flowchart. It is explanatory drawing which calculates an occlusion position candidate. It is a flowchart which shows the selection process of an occlusion position. It is a flowchart which shows the selection process based on an evacuation position list. It is explanatory drawing which shows the selection process of an occlusion position.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated with reference to drawings. FIG. 1 is an explanatory diagram showing a schematic configuration of an autonomous mobile robot system using an autonomous mobile robot according to an embodiment of the present invention, and FIG. 2 is a block diagram showing a schematic configuration of the autonomous mobile robot. FIG. 3 is a block diagram showing a detailed configuration of the autonomous mobile robot system.

The autonomous mobile robot system A is configured to include a control device B and an autonomous mobile robot C.
Since the autonomous mobile robot C shown in the present embodiment is an autonomous traveling vehicle as an example, the autonomous mobile robot will be described as an autonomous traveling vehicle C and the autonomous mobile robot system will be described as an autonomous traveling vehicle system.

  As shown in FIG. 3, the control device B in the present embodiment includes a computer 10 having a display unit (not shown) and a wireless LAN device 11 for transmitting and receiving various information between the autonomous traveling vehicle C. It is configured integrally and is intended to be carried and used by a driver (operator) O.

The display unit shown in the present embodiment is a monitor with a touch panel (hereinafter simply referred to as “monitor”).
The monitor can touch-input operation information including a movement instruction command for instructing movement from the searched enemy M to an unoccupied position where the autonomous traveling vehicle C can be obstructed, a position of the searched enemy M, and the like. A touch button (not shown) associated with the movement instruction command is displayed.
Since the “target enemy” is assumed to be “person” in the present embodiment, it is hereinafter referred to as “enemy M”.

The enemy M is, for example, a latent person who is hiding using a building or the like.
As will be described later, the autonomous traveling vehicle C has a function of autonomously moving to the shielding position, but if necessary, the autonomous traveling vehicle C moves to the shielding position where the shielding is possible. Can be instructed from the control device B.

The computer 10 has the following functions by executing a required program.
A function for displaying on the monitor an image transmitted from the autonomous vehicle C, the details of which will be described later. This function is referred to as “display means 10a”.
The pilot O can find the enemy M while looking at the image displayed on the monitor.

A function of transmitting operation information such as a movement instruction command for instructing movement from the enemy M to an occluding position where obscuration is possible toward an autonomous traveling vehicle C described later in detail. This function is referred to as “steering information transmission function 10b”.
Specifically, the command is transmitted to the autonomous vehicle C by operating the touch panel associated with the movement instruction command.

  The autonomously traveling vehicle C has a configuration in which various actuators constituting a drive mechanism are added so that the steering wheel / accelerator / brake of a general passenger vehicle can be operated by the following vehicle control computer 51. It is as follows.

  That is, as shown in FIG. 2, the autonomously traveling vehicle C includes an environment recognition / self-position measuring device 20, a reconnaissance device 30, a route generation device 40, and a vehicle control device 50.

  As shown in FIG. 3, the environment recognition / self-position measuring device 20 includes a dead reckoning 21, a GPS 22, a 3D laser scanner 23, a gyro 26, a self-position assessment computer 24, and a cost map generation computer 25.

The dead reckoning 21 is for outputting a relative movement vector from the reference position based on the movement information to estimate the self position. In this embodiment, odometry is employed.
The GPS 22 is for measuring the self-position of the autonomous traveling vehicle C.
The 3D laser scanner 23 is for acquiring geometric information including the height data of the solid surface, which will be described later in detail and the generation of the cost map.
The gyro 26 is for acquiring attitude data of the autonomous traveling vehicle C.

  The dead reckoning 21 and the GPS 22 are connected to the input port of the self-position assessment computer 24, and the 3D laser scanner 23 and the gyro 26 are connected to the input port of the cost map generating computer 25.

The self-position evaluation computer 24 has the following functions by executing a required program.
A function for calculating the self position based on the position information acquired by the dead reckoning 21 and the GPS 22. This function is referred to as “self-position calculating means 24a”.

The cost map generating computer 25 has the following functions by executing a required program.
A function for generating a cost map based on the distance information acquired by the 3D laser scanner 23 and the attitude data acquired by the gyro 26. This function is referred to as “cost map generation means 25a”.

The reconnaissance device 30 includes a far-infrared camera 31 for obtaining a far-infrared image, a visible camera 32 for obtaining a visible image, and a laser distance measuring device 33 for obtaining distance measurement data. The configuration is connected to the port.
In the present embodiment, the far-infrared camera 31, the visible camera 32, and the laser distance measuring device 33 constitute a search unit 35 for acquiring search data.

The reconnaissance computer 34 has the following functions by executing a required program.
A function for distinguishing at least a movable area and an occlusion area based on the generated cost map. This function is referred to as “region sorting means 34a”.

A function of searching for an enemy (searched enemy body) M based on the search data acquired by the search unit 35. This function is referred to as “searched enemy search means 34b”.
In the present embodiment, the enemy M is searched based on the far-infrared image and the visible image acquired by the far-infrared camera 31 and the visible camera 32 and the distance measurement data acquired by the laser distance measuring device 33.

Specifically, the temperature adjustment process is performed on the far-infrared image, and after the far-infrared image subjected to the process is clustered, the distance is measured based on the distance measurement data, and the enemy M is extracted by template matching. By doing so, the number and position of the enemy M is obtained.
Note that the operator (operator) O can also grasp the number and positions of the enemy M on the display screen of the monitor.

A function of extracting a candidate for an occlusion position capable of seeing the self from the searched enemy body (enemy M) based on the cost map. This function is referred to as “occlusion position candidate extraction means 34c”.
This function will be described in detail in FIGS.

A function of selecting an occlusion position that can be occluded from the searched enemy body (enemy M) from the extracted occlusion position candidates. This function is referred to as “occlusion position selection means 34d”.
This function will be described in detail with reference to FIGS.
In the present embodiment, the blocking position is also referred to as a retracted position. A mode in which a movement path is generated with the retreat position as a movement target point and moved is referred to as a retreat mode.
When the evacuation mode is off, the robot moves toward the movement target point given to the operator (operator) O regardless of whether or not the enemy M is detected.

A function for determining whether or not it is possible to generate a movement route toward the selected interception position. This function is referred to as “route generation availability determination unit 34e”.
In this case, the occlusion position selection unit 34d selects an occlusion position from which a movement route can be generated.

・ A function to calculate the travel time to the selected occlusion position. This function is referred to as “travel time calculation means 34f”.
In this case, the occlusion position selection unit 34d selects an occlusion position that can generate a movement path and has the shortest movement time.

The route generation device 40 has a route generation computer 41, and the above-described self-position evaluation computer 24, cost map generation computer 25, and reconnaissance computer 34 are, for example, Ethernet (registered trademark) at input ports thereof. Connected by.
Further, the wireless LAN device 11 of the control device B described above is wirelessly connected to the transmission / reception port, and the vehicle control computer 51 of the vehicle control device 50 is connected to the output port.

  The route generation computer 41 has the following functions by executing a required program.

-A function to generate a movement path toward the selected occlusion position. This function is referred to as “movement route generation means 41a”.
In other words, a movement route for autonomous movement in the movable area a1 is generated based on the generated cost map and the above-described movement target point.
The “movement route” is a movement route of the autonomous traveling vehicle C in the movable area a1, and is calculated using the potential method in the present embodiment.
Specifically, based on the potential field generated based on the self-position and a preset passing point (waypoint), the moving path and the moving path toward the selected intercepted position are generated by the steepest descent method.

As shown in FIG. 3, the vehicle control device 50 has a configuration in which a motor and actuators 53 and 55 are connected to an output port of a vehicle control computer 51 via a driver 52.
In the present embodiment, the driver 52 and the motors and actuators 53 and 55 constitute a drive mechanism 54 for moving in the moving area.

The vehicle control computer 51 has the following functions by executing a required program.
A function of moving along the movement path generated based on a preset passing point and the movement path generated toward the selected blocking position via the driving mechanism 54. This function is referred to as “moving means 51a”.

The overall operation of the autonomous mobile robot system A having the above configuration will be described with reference to FIG. FIG. 4 is a flowchart showing the overall operation of the autonomous mobile robot system.
First, an autonomous mobile robot moving method according to an embodiment is based on an occlusion position candidate extraction step for extracting an occlusion position candidate capable of obscuring self from an enemy object to be searched, and search enemy data acquired by the search enemy unit. A searching enemy body searching step for searching the enemy object to be searched; an intercepting position selecting step for selecting an intercepting position that can be shielded from the retrieved enemy object to be retrieved from the extracted candidate intercepting positions; The contents include a movement path generation step for generating a movement path toward the selected occlusion position, and a movement step for moving along the generated movement path via the drive mechanism, the details of which are as follows. It is.

<< Processing in Route Generation Computer 41 >>
Step 1 (abbreviated as “Sa1” in the figure. The same applies hereinafter): A potential field is generated based on the cost map, the self position, and a preset passing point (waypoint), and the process proceeds to Step 2.

Step 2: Based on the generated potential field, a moving path is generated (set) by the steepest descent method.
Step 3: A target value of the moving speed is set from the turning radius of the generated moving route.

<< Processing in Reconnaissance Computer 34 >>
Step 1 (abbreviated as “Sb1” in the figure. The same applies hereinafter): Temperature threshold processing is performed based on the far infrared image.
Step 2: Clustering processing is performed on the far infrared image that has been subjected to the temperature threshold processing.
Step 3: Measure the distance by laser distance measurement of each class.
Step 4: Extract the enemy M by template matching.
Step 5: Obtain the number of enemies M and their positions.
Step 6: Based on the number of enemies M and their positions, an occlusion position (retreat area) is selected from candidates.

Step 7: Set the selected blocking position as a target.
Step 8: It is determined whether or not it is the save mode described above. If it is determined that the save mode is set, the process returns to step 1 (Sa1) of the process in the route generation computer 41, otherwise returns to step 6. .

Step 9: Data transmission is performed for the far-infrared image and the visible image toward the control device B.
Step 10: Measure the visibility position of the enemy M identified in the control device B, and return to Step 6.
Step 11: Based on the cost map, a specific extraction process for the occlusion position candidate is performed.

<Extraction processing for occluding position candidates>
Details of the extraction process of the occlusion position candidate in step 11 (indicated by “Sb11” in the drawing) shown in FIG. 4 will be described with reference to FIGS. FIG. 5 is a flowchart showing details of the extraction process of the occlusion position candidate, FIG. 6A is an explanatory diagram when the area is divided by the height threshold process, and FIG. 5B is an extraction of the solid surface by the search window. FIG. 7C is a flowchart for calculating the coordinates of both ends of the solid surface, and FIG. 7 is an explanatory diagram for calculating the occlusion position candidate.

Step 1 (abbreviated as “Sc1” in the figure. The same applies hereinafter): Height threshold processing is performed based on the above-described cost map, and the moving region is divided as shown in FIG.
6A to 6C, a1 indicates a travelable area (movable area), and a2 indicates an unmeasured area or an unmeasured area such as a structure lower or narrower than the autonomous vehicle C. The area, a3, is an occlusion area.

The blocking area a3 is a blocking object (blocking object) that can block the autonomous traveling vehicle C from being seen from the enemy M, which is a reference for calculating the blocking position. Will be referred to as the solid surface a3 '.
The “obscured object (shielded object)” includes a brick fence, a block fence, a tin board, a fence such as a tree, and a flexible thing such as a stretched tent site.

Step 2: Calculate the density at the position of the extracted occlusion area a3.
That is, a large number of different values (in the height direction) at the same position by the 3D laser scanner 23 shown in FIGS. 1 and 3 (a wide distribution of measurement values) means that the density is high. The high surface is set as a solid surface candidate a3 ′ serving as a reference for calculating the occlusion position.

Step 3: Remove isolated points due to enlargement / reduction.
Step 4: Based on the classified results, a solid surface a3 ′ in the vicinity of the movable region a1 is extracted by, for example, search windows b1 to b5 shown in FIG.

  In the present embodiment, the solid surface a3 ′ is extracted by moving the search window along the boundary of the movable region a1 in which the autonomous vehicle C can travel. The solid surface a3 ′ included in any one of the search windows b1 to b5 is left as a candidate, and the others are deleted.

  The solid surface a3 ′ in the vicinity of the movable region a1 is extracted from the enemy M on the solid surface a3 ′ at a position away from the movable region a1, even if the autonomous mobile robot C is retreated in the vicinity. This is because the probability of being discovered is high.

That is, “the vicinity of the movable region” is not limited to the boundary of the movable region a1, and includes a solid surface located near the boundary in consideration of the size of the autonomous vehicle C and the like. It is.
Note that the size of the “search window” is set in consideration of the size of the autonomous mobile robot C and the like.

Step 5: Clustering is performed on the solid surface a3 ′.
Step 6: Obtain the number of clusters (solid surfaces).
Step 7: Extract both end coordinates of the clustered solid surface a3 ′. Specifically, as shown in FIG. 6C, the coordinates of both ends a3 ″ and a3 ″ of the solid surfaces a3 ′ and a3 ′ divided by the search windows b2 and b3 are calculated.

Step 8: Based on the solid surface a3 ′, a candidate for an occlusion position is calculated.
Specifically, as shown in FIG. 7, from the coordinates of the intermediate positions of the two ends a3 ″, a3 ″ of the solid surfaces a3 ′, a3 ′, the line is orthogonal to the straight line passing through the ends a3 ″, a3 ″. This is a position P that is perpendicular to the movable area a1 on the perpendicular to the movable region a1 side by a predetermined distance (a constant value offset).
The “constant value offset” shown in FIG. 7 is, for example, the size of the search window.

Step 9: Register the representative height (minimum height) of each solid surface a3 ′.
Step 10: It is determined whether or not an occlusion position candidate has been calculated. If it is determined that an occlusion position candidate has been calculated, the process proceeds to step 11; otherwise, the process returns to step 6.

  Step 11: The coordinates of both ends of each solid surface a3 ', a3' used for calculation of the shielding position candidate, the shielding area candidate (position P), and the representative height of the solid surface a3 'are stored in the reconnaissance computer 34. Registered in a storage unit (not shown).

<Selection process of the occlusion position>
Next, the process of selecting the shielding position in step 6 (indicated by “Sb6” in FIG. 4) will be described with reference to FIGS. FIG. 8 is a flowchart showing the selection process of the shielding position, FIG. 9 is a flowchart showing the selection process based on the retreat position list, and FIG. 10 is an explanatory diagram showing the selection process of the shielding position.
In step Sb6 shown in FIG. 4, the selection of the blocking position is referred to as “retraction position selection”.

Step 1 (abbreviated as “Sd1” in the figure. The same applies hereinafter): The enemy M is detected and the process proceeds to Step 2.
Step 2: Acquire the number of enemies M.
Step 3: Obtain the number of solid surfaces (number of interception position candidates).
Step 4: The representative height of the solid surface is compared with the height at the position of the enemy M.
Step 5: When it is determined that the representative height (minimum height) of the solid surface is lower than the height at the position of the enemy M, the process returns to Step 3;

  Step 6: The relationship between the position of the enemy M and the blocking position (indicated as “retraction position” in the figure) P is compared with the solid surface as a reference. That is, as shown in FIG. 10A, it is compared whether or not the solid surface a3 ′ exists between the enemy M and the blocking position P.

The relationship shown on the left side of FIG. 9A shows the case where the solid surface a3 ′ does not exist between the enemy M and the shielding position P, and the relationship shown on the right side shows the relationship between the enemy M and the shielding position P. The solid surface a3 ′ is present between the two.
That is, if there is no solid surface a3 ′ between the enemy M and the autonomous traveling vehicle C, the enemy M will visually recognize the autonomous traveling vehicle C.

  Step 7: It is determined whether or not the enemy M and the blocking position are divided by the solid surface a3 ′. If it is determined that the enemy M and the blocking position are divided by the solid surface a3 ′, the process proceeds to Step 8. Otherwise, Step 3 is performed. Return to.

  Step 8: It is determined whether or not a movement route can be generated from the current position to the blocking position. If it is determined that the movement route can be generated, the process proceeds to Step 9; Return to 3.

Step 9: Calculate the movement time (evacuation time) to the shielding position.
Step 10: Register in the intercept position list.
Step 11: Select an occlusion position from the occlusion position list.

  Next, with reference to FIG. 9, a description will be given of the selection process of an obscuration position to be actually evacuated from the obscuration position list in step 11 described above (indicated by “Sd11” in FIG. 8).

<Process to select the occlusion position from the occlusion position list>
Step 1 (abbreviated as “Se1” in the figure. The same applies hereinafter): An obstruction position list in which coordinates of the extracted obstruction position candidates and a movement time (retraction time) are listed is acquired.

  Step 2: It is determined whether or not each obscuration position is obscured by all enemies M. If it is determined that the obscuration position is obscured by all enemies M, the process proceeds to Step 6; If so, go to Step 3.

  Step 3: It is determined whether or not there is an occlusion position that can be obstructed from the nearest enemy M. If it is determined that the occlusion position exists, the process proceeds to Step 4; otherwise, the process proceeds to Step 5.

Step 4: A list of occlusion positions that can be occluded from the nearest enemy M is created.
That is, based on the distance measurement data, it has a function of selecting an occlusion position that can be occluded from the enemy to be searched (enemy) located closest to the self. This function is called “proximity blocking position selection means”.

Step 5: Select an occlusion position that minimizes the number of enemies that can be occluded.
That is, it has a function of selecting an occlusion position that minimizes the target object (enemy M) that can be occluded from the occlusion positions selected by the proximity occlusion position selection means based on the distance measurement data. Yes. This function is called “minimum selection means for search target”.
Step 6: List the shielding positions that can be shielded from all enemies M.
Step 7: Select the one with the shortest evacuation time.

  Even if it is not possible to select an obscuration position that can be obscured from all the enemy M by the process shown in Step 5 above, an obscuration position that is highly likely to be detected and can be obscured from the nearest enemy M. And since the occlusion position where the enemy M that can be occluded becomes the minimum can be selected, it becomes difficult to be found.

<Processing in Vehicle Control Computer 51>
Hereinafter, a description will be given with reference to FIG.
Step 1 (abbreviated as “Sf1” in the figure. The same applies hereinafter): The accelerator / brake position target value is set.
Step 2: A steering phase target value is set based on the turning radius of the moving route.
Step 3: Operate the motor / actuator and proceed to Step 4.
Step 4: Add Δt to time t and return to step 1 (Sa1).

<Processing in the control device B>
Step 1 (abbreviated as “Sg1” in the figure. The same applies hereinafter): A far-infrared image and a visible image are displayed on the monitor.
Step 2: The enemy M is identified by a touch operation in the far-infrared and visible images displayed on the monitor, and the position of the enemy M identified on the image is transmitted to the reconnaissance computer 34. In FIG. 4, the process proceeds to step Sb10.

Step 3: When the evacuation is instructed when the evacuation mode is on, the process proceeds to Step 4.
Step 4: Send evacuation points.
Step 5: Send the evacuation mode ON to the reconnaissance computer 34. In FIG. 4, the process proceeds to step Sb8.

According to the autonomous mobile robot system according to the above-described embodiment, the following effects can be obtained.
-Since it is not necessary to apply strong armor to ensure safety while moving, an increase in weight can be avoided.
・ Because it is possible to avoid an increase in its own weight, the mounting of sensors necessary for reconnaissance is not impaired.

-By sending a movement instruction command for instructing the movement of the autonomous mobile robot from the enemy to be detected to an obscured position from the control device, the pilot O can also identify the autonomous mobile robot at a specific obscured position. Can be moved to.

The present invention is not limited to the above-described embodiments, and the following modifications can be made.
-When a pilot or the like possesses a map of an area where the autonomous traveling vehicle may move, an occlusion position at which the operator or the like can obstruct may be set and registered in advance. In this case, it is not necessary to provide the above-described occlusion position candidate extraction means.

-In embodiment mentioned above, although the person was mentioned as an example as a to-be-searched enemy body, a vehicle etc. other than a person are also included.

2 3 3D laser scanner ( ranging unit )
34b occluding position candidate extracting means 34c enemies searching means 34d obscuring position selecting means 34e route generation possibility determining means 34f moving time calculating means 35 searching portion 41a moving path generating means 51a moving means 54 driving mechanism

Claims (5)

A ranging unit for acquiring ranging data in the moving area, an searching unit for acquiring enemy data, and a drive mechanism for moving, and generated based on the ranging data acquired by the ranging unit An autonomous mobile robot that moves autonomously along the travel path,
An occlusion position candidate extracting means for extracting an occlusion position candidate capable of obscuring self from the enemy to be searched;
A searched enemy body search means for searching for a searched enemy body based on the search enemy data acquired by the search enemy section;
An occlusion position selection means for selecting an occlusion position that can be occluded from the searched enemy object, from the extracted occlusion position candidates;
A movement path generation means for generating a movement path toward the selected interception position;
Moving means for moving along the generated movement path via a drive mechanism;
The ranging unit includes a 3D laser scanner,
The obscuration position candidate extraction means extracts a solid surface that is a rising surface with many different measured values in the vertical direction of the same position by the 3D laser scanner as a candidate for an occluding position that can see itself from the enemy to be searched. And
The obscuration position selection means selects an obscuration position where the sighted enemy can see itself from the extracted obscuration position candidates based on the relative positional relationship between the sighted enemy and the occluding position. A means for selecting, comprising comparing the minimum height of the solid surface with the height at the position of the enemy to be searched, and selecting a hiding position that can be blocked from the searched enemy Mobile robot.
A cost map generating means;
Based on the generated cost map, it has at least area classification means for classifying its own movable area and occlusion area,
The occlusion position candidate extracting means extracts an occlusion position candidate capable of obscuring itself from the search target by moving the search window along the vicinity of the divided movable area in the cost map. The autonomous mobile robot according to claim 1. A route generation availability determination means for determining whether or not a movement route toward the selected interception position can be generated is provided,
The autonomous mobile robot according to claim 1, wherein the shielding position selection unit selects a shielding position from which a movement route can be generated. It has movement time calculation means to calculate the movement time to the selected occlusion position,
The autonomous mobile robot according to any one of claims 1 to 3, wherein the shielding position selecting means selects the shielding position having the shortest movement time.   The autonomous mobile robot according to any one of claims 1 to 4, and a maneuver capable of transmitting a movement instruction command for instructing the autonomous mobile robot to move from a search target to an obscured position where it can be obscured And an autonomous mobile robot system.

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