JP7065342B2 - Mobile devices, mobile device control systems, object detection methods for mobile devices, and programs - Google Patents

Description

The present disclosure relates to a mobile device, a mobile device control system, an object detection method for the mobile device, and a program. More specifically, the present disclosure relates to a mobile device moving in space, a mobile device control system, an object detection method for the mobile device, and a program.

Conventionally, there has been an automatic guided vehicle that moves in a traveling area according to route data (see, for example, Patent Document 1). The automatic guided vehicle (moving device) includes a laser ranging sensor capable of measuring the distance to an object around the automatic guided vehicle. The laser distance sensor (wave transmitting unit, receiving unit, and object detecting unit) emits laser light, detects the reflected light (reflected wave), and measures the distance to an obstacle.

Japanese Unexamined Patent Publication No. 2012-53838

When a plurality of automatic guided vehicles described in Patent Document 1 travel in a traveling area, when the laser distance measuring sensor of one automatic guided vehicle receives the laser light emitted from the laser distance measuring sensor of another automatic guided vehicle, There was a possibility of erroneously detecting the distance to the object.

An object of the present disclosure is to provide a mobile device, a mobile device control system, an object detection method for the mobile device, and a program capable of reducing the possibility of false detection of an object.

The moving device of one aspect of the present disclosure includes a moving main body portion and an object detecting portion. The object detection unit is provided in the main body unit. The object detection unit transmits an exploration wave from the wave transmission unit. The object detection unit detects the object based on the received signal output from the receiving unit by receiving the reflected wave reflected by the object by the object. The object detection unit includes a mask processing unit. The mask processing unit masks a part of the received signal output from the receiving unit based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration wave is incident on the receiving unit. Perform mask processing.

The mobile device control system of one aspect of the present disclosure includes a plurality of the mobile devices, and further includes a transmission device for transmitting mask information including position information regarding the positions of the plurality of mobile devices to each of the plurality of mobile devices. .. The mask processing unit of each of the plurality of mobile devices masks a part of the received signal output from the receiving unit based on the position information.

The object detection method of the mobile device according to one aspect of the present disclosure is an object detection method of the mobile device in which the moving mobile device detects a surrounding object, and includes a wave transmission step, a wave receiving step, and a mask processing step. , Detect step, and include. In the wave transmission step, the wave transmission unit transmits the exploration wave. In the receiving step, the receiving unit receives the incident wave and outputs a received signal corresponding to the incident wave. In the mask processing step, a part of the received signal output from the receiving portion is masked based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration wave is incident on the receiving portion. .. In the detection step, the object is detected based on the received signal partially masked in the mask processing step.

The program of one aspect of the present disclosure is a program for causing a computer system to execute a wave transmission step, a wave reception step, a mask processing step, and a detection step. In the wave transmission step, the probe wave is transmitted to the wave transmission unit. In the receiving step, the received signal is received from the receiving unit that outputs the received signal corresponding to the incident wave. In the mask processing step, a part of the received signal output from the receiving portion is masked based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration wave is incident on the receiving portion. do. In the detection step, an object is detected based on the received signal partially masked in the mask processing step.

According to the present disclosure, it is possible to provide a mobile device, a mobile device control system, an object detection method for the mobile device, and a program capable of reducing the possibility of false detection of an object.

FIG. 1 is an external perspective view of the mobile device according to the first embodiment of the present disclosure. FIG. 2 is an explanatory diagram illustrating an example of using the mobile device of the same as above. FIG. 3 is a block diagram of the mobile device of the same as above. FIG. 4 shows a wave receiving signal of one of the two mobile devices and a wave transmitting signal of the other of the two mobile devices when there are two mobile devices of the same as above. It is a time chart. FIG. 5 is a flowchart illustrating the operation of the mobile device as described above. FIG. 6 is an explanatory diagram illustrating an example of using the mobile device according to the first modification of the first embodiment of the present disclosure. FIG. 7 is an explanatory diagram illustrating the mask processing of the mobile device of the same as above. FIG. 8 is a block diagram of a mobile device control system including the mobile device according to the second modification of the first embodiment of the present disclosure.

(Embodiment 1)
(1) Overview As shown in FIGS. 1 and 2, the moving device 10 according to the present embodiment is a device that travels on the moving surface 200 with a plurality of wheels 13. The mobile device 10 is introduced into facilities such as a distribution center (including a distribution center), a factory, an office, a store, a school, and a hospital, and the floor surface of the facility is set as the moving surface 200, and the moving device 10 is placed on the moving surface 200. Run. The moving surface 200 is a surface on which the moving device 10 moves, the floor surface of the facility becomes the moving surface 200 when the moving device 10 moves in the facility, and the ground when the moving device 10 moves outdoors. Etc. become the moving surface 200. In the present embodiment, as an example, a case where the moving device 10 is a transporting device for transporting the transported object X1 will be described.

In FIG. 2, a plurality of moving devices 10A and 10B (for example, two in FIG. 2) are running on the moving surface 200. Since the plurality of mobile devices 10A and 10B have a common configuration, when the plurality of mobile devices 10A and 10B are described without particular distinction, they are referred to as the mobile device 10. The number of mobile devices 10 is not limited to two, and may be one or three or more.

The moving device 10 according to the present embodiment includes a moving main body unit 1 and an object detecting unit 3 (see FIG. 3). The object detection unit 3 is provided in the main body unit 1. The object detection unit 3 transmits an exploration wave from the wave transmission unit 5. The object detection unit 3 detects an object based on the received signals S21 and S22 output from the receiving unit 6 when the receiving unit 6 receives the reflected wave reflected by the object. do. The object detection unit 3 includes a mask processing unit 31. The mask processing unit 31 partially receives the received signals S21 and S22 output from the receiving unit 6 based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration wave is incident on the receiving unit 6. Perform masking processing.

Here, the exploration wave is, for example, at least one of light (light wave), radio wave, and sound wave, and is transmitted from the wave transmitting unit 5 toward the space around the main body unit 1. The reflected wave is generated when the exploration wave hits an object existing around the moving device 10 and is reflected. Further, the disturbance wave that does not depend on the exploration wave refers to an incident wave other than the reflected wave that the exploration wave hits the object and is reflected among the incident waves incident on the receiving portion 6. Further, masking a part of the received signals S21 and S22 is a switch or the like provided in front of the input circuit to which the received signals S21 and S22 are input, and a part of the received signals S21 and S22 is an input circuit. It may be prohibited to be input to, or a part of the input received signals S21 and S22 may be invalidated.

In the mobile device 10 of the present embodiment, when the exploration wave transmitted from the wave transmitting unit 5 is reflected by the object, the receiving unit 6 outputs the received signals S21 and S22 corresponding to the reflected wave. The object detection unit 3 can detect an object by the wave reception signals S21 and S22 output from the wave reception unit 6. Further, in the mobile device 10 of the present embodiment, the mask processing unit 31 is output from the receiving unit 6 based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration wave is incident on the receiving unit 6. Mask processing is performed to mask a part of the received wave signals S21 and S22. Therefore, in the mobile device 10 of the present embodiment, it is possible to reduce the possibility that an object is erroneously detected due to a disturbance wave.

(2) Configuration Hereinafter, the configuration of the mobile device 10 according to the present embodiment will be described in detail with reference to FIGS. 1 to 7. Hereinafter, unless otherwise specified, the direction orthogonal to the moving surface 200 is defined as the vertical direction, and the moving device 10 side as viewed from the moving surface 200 is referred to as “upward”. Further, the direction in which the moving device 10 advances when the moving device 10 moves forward is defined as "forward", and the direction orthogonal to both the vertical direction and the front-back direction is described as the left-right direction. That is, in FIG. 1 and the like, each direction of up, down, left, right, front, and back is shown by the arrows of "top", "bottom", "left", "right", "front", and "rear". Is specified. However, these directions are not intended to define the direction in which the moving device 10 is used. In addition, the arrows indicating each direction in the drawing are shown only for the sake of explanation, and are not accompanied by an entity. Similarly, in the drawings, the arrows indicating the directions of movement of each part such as the main body part 1 are shown only for the sake of explanation, and are not accompanied by an entity.

As described above, the moving device 10 includes a main body unit 1 and an object detecting unit 3. Further, in the present embodiment, the moving device 10 further includes a control unit 2, a sensor unit 4 (41, 42), a position detection unit 7, and a traveling system drive unit 8. In the present embodiment, the control unit 2, the object detection unit 3, the sensor unit 4 (41, 42), and the traveling system drive unit 8 are all mounted on the main body unit 1.

The moving device 10 autonomously travels on a flat moving surface 200 made of, for example, the floor surface of a facility. Here, as an example, the mobile device 10 includes a storage battery and operates using the electric energy stored in the storage battery.

In the present embodiment, the moving device 10 is a "transport device" for transporting the transported object X1 as described above. Therefore, the moving device 10 travels on the moving surface 200 with the conveyed object X1 loaded on the main body 1. Thereby, the mobile device 10 can, for example, transport the transported object X1 placed in a certain place in the facility to another place in the facility.

The main body 1 has a rectangular parallelepiped shape that is longer in the front-rear direction than in the left-right direction and has smaller vertical dimensions than the left-right direction and the front-rear direction. The main body portion 1 has a vehicle body portion 11 and a loading platform portion 12. In this embodiment, the main body 1 is made of metal. However, the main body 1 is not limited to metal, and may be made of resin, for example.

The vehicle body portion 11 is supported on the moving surface 200 by the four wheels 13. The four wheels 13 are arranged at the four corners of the vehicle body portion 11 in a plan view.

The loading platform portion 12 is arranged above the vehicle body portion 11 so as to cover at least a part of the upper surface of the vehicle body portion 11. In the present embodiment, the loading platform portion 12 covers substantially the entire upper surface of the vehicle body portion 11 except for the front end portion and the rear end portion of the vehicle body portion 11. The upper surface of the loading platform 12 is a loading surface for loading the conveyed object X1. That is, when the conveyed object X1 is conveyed by the moving device 10, the conveyed object X1 is loaded on the upper surface of the loading platform portion 12.

Each of the plurality of wheels 13 can rotate individually by receiving a driving force from the traveling system drive unit 8 mounted on the vehicle body unit 11. Each wheel 13 is held by the main body portion 1 (vehicle body portion 11) in a state of being rotatable about a rotation axis extending in the left-right direction.

In the present embodiment, all four wheels 13 are drive wheels driven by the traveling system drive unit 8. By individually driving these a plurality of wheels 13, the main body 1 can move in all directions. That is, the main body 1 supported by the plurality of wheels 13 can move on the moving surface 200 in all directions of front, rear, left, and right by the rotation of each of the plurality of wheels 13. Each of the plurality of wheels 13 may be an omnidirectional movable wheel such as an omni wheel.

The traveling system drive unit 8 directly or indirectly applies a driving force to the driving wheels which are at least a part of the plurality of wheels 13. In the present embodiment, as described above, all of the plurality (four) wheels 13 are drive wheels, so that the traveling system drive unit 8 applies a driving force to all of the plurality of wheels 13. The traveling system drive unit 8 is built in the vehicle body unit 11. The traveling system drive unit 8 includes, for example, an electric motor (motor), and indirectly applies a driving force generated by the electric motor to the wheels 13 via a gearbox, a belt, or the like. Further, the traveling system drive unit 8 may be configured to directly apply a driving force to each wheel 13 like an in-wheel motor. The traveling system drive unit 8 drives each of the plurality of wheels 13 in a rotation direction and a rotation speed according to the control signal, based on the control signal input from the control unit 2.

The control unit 2 controls the object detection unit 3 and the traveling system drive unit 8. In the present embodiment, the control unit 2 mainly includes a computer system having a processor and a memory. The function of the control unit 2 is realized by the processor of the computer system executing the program recorded in the memory of the computer system. The program may be recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The object detection unit 3 of the present embodiment drives the sensor unit 4, causes the exploration wave L1 composed of light waves to be projected from the wave transmission unit 5, and receives the reflected wave (reflected light) reflected by the object. The object is detected by receiving light with.

The sensor unit 4 is, for example, LIDAR (Light Detection and Ranging) or the like, and detects an object in the target space around the main body unit 1.

The sensor unit 4 has a wave transmitting unit 5 and a receiving unit 6.

The wave transmitting unit 5 includes, for example, a light source such as a laser diode and a floodlight optical system. The exploration wave L1 such as the laser light (pulse light or continuous light) output from the light source is irradiated to the target space by the projection optical system.

The wave receiving unit 6 includes, for example, a light receiving element such as a photodiode array and a light receiving optical system. When the incident light from the target space is guided by the light receiving optical system and incident on the light receiving element, the receiving unit 6 outputs the received signal S21 or S22 according to the incident wave.

Further, the sensor unit 4 has a scanning mechanism for scanning the exploration wave L1 in a plane parallel to the moving surface 200. The scanning mechanism scans the exploration wave L1 output from the wave transmitting unit 5 in a certain angle range by, for example, rotating the projection optical system and the light receiving optical system in a plane parallel to the moving surface 200 in the left-right direction. The wave transmitting unit 5 periodically floods the exploration wave L1 with respect to the target space so as to scan the target space at a predetermined cycle. As a result, the exploration wave L1 output from the wave transmission unit 5 is irradiated toward the space around the main body unit 1. In other words, the wave transmitting unit 5 transmits an exploration wave (exploration light) in a plane parallel to the moving surface 200. Furthermore, the wave transmitting unit 5 transmits an exploration wave (exploration light) so as to scan in a plane parallel to the moving surface 200. Here, the range within which the exploration wave L1 (laser light) projected from the wave transmission unit 5 reaches is the target space in which the object can be detected.

The light receiving optical system guides incident light incident from the target space to a light receiving element composed of a photodiode array or the like in an angle range in which the exploration light is scanned by the scanning mechanism, and the reflected light of the exploration light is guided by the light receiving element. Can receive light. Here, when an object exists in the target space, the exploration light output from the wave transmitting unit 5 is reflected by the object, the reflected light is received by the light receiving element, and the receiving signal S21 or the receiving signal S21 is received from the receiving unit 6. S22 is output. That is, the wave transmitting unit 5 transmits the exploration light (exploration wave) which is light, and the receiving unit 6 receives the incident light including the reflected light reflected by the object. Further, when the incident light that does not depend on the exploration light (exploration wave) is incident on the light receiving optical system, the incident light is also guided to the light receiving element by the light receiving optical system, so that the incident light that does not depend on the exploration light is also received by the light receiving element. Will be done.

In the present embodiment, in order to detect an object within a range of 360 degrees centered on the main body 1 on a plane parallel to the moving surface 200, one of the above sensor units 4 is arranged before and after the main body 1. There is. When distinguishing between the two sensor units 4, the sensor unit 4 arranged on the front side of the main body unit 1 is referred to as a sensor unit 41, and the sensor unit 4 arranged on the rear side of the main body unit 1 is referred to as a sensor unit 42. The number and arrangement of the sensor units 4 can be changed as appropriate.

The object detection unit 3 mainly includes, for example, a computer system having a processor and a memory. The function of the object detection unit 3 is realized by executing the program recorded in the memory of the computer system by the processor of the computer system. The program may be recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card. Here, the control unit 2 and the object detection unit 3 may be realized by one computer system. Further, the object detection unit 3 is not limited to a computer system as a main configuration, and an electric circuit composed of a plurality of circuit elements may be the main configuration.

The object detection unit 3 outputs the wave transmission signal S11 to the wave transmission unit 5 of the sensor unit 41 and outputs the wave transmission signal S12 to the wave transmission unit 5 of the sensor unit 42, so that the sensor units 41 and 42, respectively. The exploration light is output from the wave transmission unit 5. When the exploration light output from the sensor unit 4 is reflected by the object and the reflected light is incident on the receiving unit 6, the receiving unit 6 outputs the receiving signals S21 and S22 corresponding to the incident light (reflected light) to the object. Output to the detection unit 3. The object detection unit 3 determines the distance to the object based on the flight time from when the exploration light is projected to when the received signals S21 and S22 corresponding to the reflected light (reflected wave) are input. It can be measured, thereby detecting the presence of an object in the target space. Here, the object detection unit 3 of the present embodiment includes the mask processing unit 31. The mask processing unit 31 is one of the received signals S21 and S22 output from the receiving unit 6 based on the timing at which the disturbance light (disturbing wave) that does not depend on the exploration light (exploration wave) is incident on the receiving unit 6. Performs masking to mask the part. Therefore, the object detection unit 3 can detect the object based on the received signals S21 and S22 after the mask processing unit 31 partially masks the object.

The position detection unit 7 measures the position of the main body unit 1. The position detection unit 7 includes, for example, a reception unit that receives beacon signals transmitted by radio waves from a plurality of transmitters. The plurality of transmitters are arranged at a plurality of locations within the range in which the mobile device 10 moves. The position detection unit 7 measures the position of the main body 1 based on the positions of the plurality of transmitters and the received radio wave strength of the beacon signals transmitted from the plurality of transmitters. The position detection unit 7 may specify the position of the main body unit 1 by using GPS (Global Positioning System) or the like.

The traveling system drive unit 8 controls the moving speed and the moving direction of the vehicle body unit 11 by controlling the rotation speed, the rotation direction, and the like of the wheels 13 in response to the control signal from the control unit 2.

Further, the mobile device 10 is appropriately provided with a configuration other than the above, for example, a charging circuit for a storage battery.

(3) Operation Hereinafter, the operation of the mobile device 10 according to the present embodiment will be described.

The moving device 10 autonomously travels on the moving surface 200 as a basic operation in a steady state. In the moving device 10, the object detection unit 3 detects the presence / absence of an object, the distance to the object, and the like in the target space around the main body unit 1, and the position detection unit 7 specifies the position of the main body unit 1. The control unit 2 of the moving device 10 determines a moving route based on information such as the current position, destination, and surrounding objects of the main body 1, and controls the traveling system drive unit 8 to control the wheels 13. Drive and run independently.

In the moving device 10, the object detection unit 3 periodically (intermittently) transmits (projects) the exploration light from the wave transmission unit 5 of the sensor unit 4 (41, 42) to receive the light receiving unit while traveling. The presence / absence of the object, the distance to the object, and the like are detected based on the received waves S21 and S22 output from 6.

Here, as shown in FIG. 2, when two moving devices 10A and 10B are moving on the moving surface 200, the operation of the moving device 10A will be described. In the mobile device 10A, the object detection unit 3 outputs the exploration light from the wave transmission unit 5. Then, the object detection unit 3 detects the presence / absence of the object, the distance to the object, and the like based on the received signals S21 and S22 output from the receiving unit 6. Here, as shown in FIG. 2, when the mobile device 10A passes by another mobile device 10B, the wave receiving unit 6 may receive the exploration light output from the other mobile device 10B, and the other movement may occur. False detection may occur due to the exploration light from the device 10B. In FIG. 2, the exploration light of the mobile device 10B is conceptually represented by a dotted line.

In the moving device 10A of the present embodiment, the mask processing unit 31 of the object detection unit 3 receives light (incident light) at the receiving unit 6 at the timing when the search light is not transmitted by the wave transmitting unit 5. If so, it is determined that ambient light such as exploration light from another mobile device 10B has been incident. When the disturbance light is the exploration light from the other mobile device 10B, the sensor unit 4 of the other mobile device 10B also periodically scans the target space. Therefore, the mask processing unit 31 of the moving device 10A can detect the timing and period at which the ambient light is incident based on the received signals S21 and S22 of the receiving unit 6.

Here, FIG. 4 is a timing chart showing an example of a wave receiving signal S21 output from the wave receiving unit 6 of the mobile device 10A and a wave transmitting signal S11 output to the wave transmitting unit 5 of the mobile device 10B. .. In the example of FIG. 4, among the exploration light output by the wave transmission unit 5 of the mobile device 10B in response to the wave transmission signal S11 , the exploration light output during the period t21 is received by the wave reception unit 6 of the mobile device 10A. .. In this case, the mask processing unit 31 sets the mask period t11 so as to include the timing (that is, the period t21) in which the ambient light is incident on the wave receiving unit 6. Then, the mask processing unit 31 performs mask processing for invalidating a part of the received signal S21 (that is, the signal portion in the mask period t11) input from the receiving unit 6.

Then, the object detection unit 3 detects the object based on the received signals S21 and S22 whose part (the signal part in the mask period t11) is invalidated by the mask processing unit 31. As a result, the possibility that the object detection unit 3 of the mobile device 10A receives the exploration light (exploration wave) from the other mobile device 10B can be reduced, and the exploration light (exploration wave) from the other mobile device 10B can be used. The possibility of false positives can be reduced. Here, when the receiving unit 6 receives the disturbance light (disturbance wave), the mask processing unit 31 uses the disturbance light (disturbance wave) among the received signals S21 and S22 output from the receiving unit 6. Mask the corresponding signal portion. Therefore, even when the moving device 10A moves, the mask processing unit 31 can perform mask processing according to the ambient light incident on the receiving unit 6 at the current position of the moving device 10A. That is, the mask processing unit 31 can detect the ambient light around the moving device 10A and perform the mask processing.

The ambient light is not limited to the exploration light from the other mobile device 10B, and is output from, for example, natural light such as sunlight, illumination light, a reflection type optical sensor installed in the range where the mobile device 10 moves, and the like. The exploration light and the like to be generated can also be disturbance light. Further, in the example of FIG. 4, the mask processing unit 31 masks one portion of the received signals S21 and S22 within one cycle in which the transmitting unit 5 scans the target space, but the transmitting unit 5 does. A plurality of parts of the received signals S21 and S22 may be masked within one cycle of scanning the target space. For example, when a plurality of disturbance lights are incident on the receiving unit 6, there is a possibility that the plurality of disturbance lights are incident on the receiving unit 6 at different timings within one cycle in which the transmitting unit 5 scans the target space. There is. In this case, the mask processing unit 31 masks a plurality of parts of the received signals S21 and S22 within one cycle in which the wave transmitting unit 5 scans the target space, whereby a plurality of disturbance lights (disturbance waves) are generated. Even if there is, the possibility of false positives can be reduced.

Here, the operation of the moving device 10 to detect an object will be described with reference to the flowchart of FIG. The object detection unit 3 of the mobile device 10 performs a process (wave transmission step) of transmitting exploration light (exploration wave) from the wave transmission unit 5 to the target space (S1). Further, the object detection unit 3 performs a process (reception step) of receiving the reception signals S21 and S22 output from the reception unit 6 when the reception unit 6 receives the incident light (S2). The mask processing unit 31 of the object detection unit 3 masks a part of the received signals S21 and S22 based on the timing at which the disturbance light independent of the exploration light from the moving device 10A is incident on the receiving unit 6 (a process of masking a part of the received signals S21 and S22. Mask processing step) is performed (S3). The ambient light is, for example, exploration light from another mobile device 10B. Then, the object detection unit 3 performs a process (detection step) of detecting an object based on the received signals S21 and S22 after being partially masked by the mask processing unit 31 (S4). In the mobile device 10B as well, the mask processing unit 31 performs the same mask processing as the mobile device 10A, so that the possibility of erroneous detection due to the exploration light from the other mobile device 10A can be reduced.

(4) Modification Example 1 is only one of various embodiments of the present disclosure. The first embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. Further, the same function as that of the mobile device 10 according to the first embodiment may be embodied by an object detection method of the mobile device 10, a (computer) program, a non-temporary recording medium on which the program is recorded, or the like. The object detection method of the moving device 10 according to one embodiment is a method in which the moving moving device 10 detects a surrounding object, and includes a wave transmission step, a wave reception step, a mask processing step, and a detection step. include. In the wave transmission step, the wave transmission unit 5 transmits the exploration light (exploration wave). In the wave receiving step, the receiving unit 6 receives the incident wave and outputs the receiving signals S21 and S22. In the mask processing step, a part of the received signals S21 and S22 output from the receiving unit 6 is masked based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration light is incident on the receiving unit 6. do. In the detection step, the object is detected based on the received signals S21 and S22 partially masked in the mask processing step.

Further, the (computer) program according to one aspect is a program for causing a computer system to execute a wave transmission step, a wave reception step, a mask processing step, and a detection step. In the wave transmission step, the exploration light is transmitted to the wave transmission unit 5. In the receiving step, the receiving signals S21 and S22 are received from the receiving unit 6 that outputs the receiving signals S21 and S22 corresponding to the incident wave. In the mask processing step, a part of the received signals S21 and S22 output from the receiving unit 6 is masked based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration light is incident on the receiving unit 6. do. In the detection step, the object is detected based on the received signals S21 and S22 partially masked in the mask processing step.

Hereinafter, modifications of the first embodiment will be listed. The modifications described below can be applied in combination as appropriate.

The mobile device 10 in the present disclosure includes, for example, a computer system in a control unit 2, an object detection unit 3, and the like. The computer system mainly consists of a processor and a memory as hardware. When the processor executes the program recorded in the memory of the computer system, the functions of the control unit 2, the object detection unit 3, and the like in the present disclosure are realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided. The processor of a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). A plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.

(4.1) Modification 1
The moving device 10 according to the first modification is different from the first embodiment in that the mask processing unit 31 performs the mask processing based on the incident direction in which the disturbance light (disturbance wave) is incident on the receiving unit 6. Since the configuration of the mobile device 10 is the same as that of the first embodiment, the description thereof will be omitted.

As shown in FIG. 6, when the mobile device 10A passes by another mobile device 10B, the receiving unit 6 of the mobile device 10A receives (receives) the exploration light (exploration wave) from the other mobile device 10B. there's a possibility that.

In the mobile device 10A, the object detection unit 3 outputs the exploration light from the wave transmission unit 5. Then, the object detection unit 3 detects the presence / absence of the object, the distance to the object, and the like based on the received signals S21 and S22 output from the receiving unit 6. Further, the wave receiving unit 6 includes a light receiving element such as a photodiode array, and can detect an incident position where light is incident on the photodiode array via the light receiving optical system. The object detection unit 3 can detect the incident direction in which the incident light is incident on the receiving unit 6 based on the incident position where the light is incident on the photodiode array via the light receiving optical system.

Here, when the moving devices 10A and 10B are in the positional relationship as shown in FIG. 6, assuming that the traveling direction of the moving device 10A (direction of arrow D1) is 0 degree, the moving device 10A is parallel to the moving surface 200. The moving device 10B can be seen in the direction of the angle θ1 in the plane. Therefore, the exploration light of the moving device 10B is incident on the receiving portion 6 of the moving device 10A from the direction of the angle θ1. FIG. 7 is a plan view showing a range in which the receiving unit 6 receives incident light when the position of the main body 1 is the origin and the traveling direction of the main body 1 is the Y-axis direction. When it is set to 0 degree, the exploration light L1 of the moving device 10B is incident from the direction of the angle θ1.

In the moving device 10A of the first modification, the angle difference between the transmitting direction in which the transmitting unit 5 outputs the exploration light and the incident direction when the receiving unit 6 receives the incident light is a threshold value (for example, several degrees or more). When the angle exceeds a dozen degrees), the mask processing unit 31 determines that ambient light has been incident. The mask processing unit 31 determines the incident range A1 having an angular width centered on the incident direction in which the ambient light is incident, as the angle range to be masked. Here, the threshold value for determining whether or not the incident light is ambient light and the angle width for determining the incident range A1 to be masked can be appropriately changed according to the intended use, the configuration of the sensor unit 4, and the like. be.

Then, the mask processing unit 31 masks a part of the received signal S2 1 output from the receiving unit 6 based on the incident direction (direction of the angle θ1) at which the ambient light is incident on the receiving unit 6. That is, the mask processing unit 31 masks the signal portion of the received signal S21 output from the receiving unit 6 that corresponds to the incident range A1 determined based on the incident direction of the ambient light.

As a result, the object detection unit 3 detects the object based on the received wave signals S21 and S22 whose part (the signal portion corresponding to the incident range A1) is invalidated by the mask processing unit 31. The possibility that the object detection unit 3 of the mobile device 10A receives the exploration light from the other mobile device 10B can be reduced, and the possibility that false detection occurs can be reduced. The disturbance light is not limited to the exploration light from the other mobile device 10B, and is output from, for example, natural light such as sunlight, illumination light, a reflection type optical sensor installed in the range where the mobile device 10 moves, and the like. Exploration light can also be disturbance light. Further, in the modification 1, when the disturbance light is incident on the wave receiving unit 6 from a plurality of incident directions, the mask processing unit 31 receives a plurality of disturbance light within one cycle in which the wave transmitting unit 5 scans the target space. A plurality of portions corresponding to the incident directions may be masked.

(4.2) Modification 2
As shown in FIG. 8, the mobile device 10 (10A, 10B) according to the second modification has a communication unit 9 that communicates with the transmission device 20 and a mask information acquisition unit 32 that acquires mask information transmitted from the transmission device 20. It is different from the first embodiment and the first modification in that it further includes. Hereinafter, the same configurations as those of the first embodiment and the first modification will be designated by a common reference numeral and description thereof will be omitted as appropriate.

The communication unit 9 includes, for example, a communication module that performs wireless communication by a communication method that does not require a license for a wireless station. As this type of communication method, there are communication methods compliant with standards such as Bluetooth (registered trademark), ZigBee (registered trademark), and specified low power radio. The communication unit 9 has a communication function for communicating with the transmission device 20 which is a higher-level system.

In the moving device 10 (10A, 10B) according to the second modification, the object detection unit 3 has the function of the mask information acquisition unit 32. The mask information acquisition unit 32 acquires mask information regarding ambient light. In the present embodiment, the communication unit 9 receives the mask information transmitted from the transmission device 20. The mask information includes, for example, information about the exploration light output from another moving device 10 existing in the target space. In the present embodiment, the mask information includes position information regarding the position of another mobile device 10 that is a source of the exploration light. The mask information acquisition unit 32 acquires the mask information received by the communication unit 9 via the control unit 2. Since the control unit 2 and the object detection unit 3 are configured by one computer system, the object detection unit 3 may directly acquire mask information from the communication unit 9.

The mask processing unit 31 performs a process of masking a part of the received signals S21 and S22 of the receiving unit 6 based on the mask information acquired by the mask information acquiring unit 32. The mask information is information on the exploration light output from the mobile device 10 different from the mobile device 10A. As a result, the mask processing unit 31 can perform mask processing according to the mask information acquired from the outside of the moving device 10A by the mask information acquisition unit 32. Further, the mask processing unit 31 can perform mask processing based on the information of the exploration light output from another mobile device 10.

Here, the mask information includes information on the timing and period at which the mobile device 10 different from the mobile device 10A outputs the exploration light as information on the exploration light output from the mobile device 10 different from the mobile device 10A. The mask processing unit 31 acquires information on the timing and period at which another mobile device 10 outputs a search wave based on the mask information acquired by the mask information acquisition unit 32. Therefore, the mask processing unit 31 determines the timing of masking a part of the received signals S21 and S22 based on the mask information which is the information of the exploration light output from another mobile device 10, and at the determined timing. Mask processing is performed based on this. As a result, the possibility that the object detection unit 3 of the mobile device 10A receives the exploration light from the other mobile device 10B can be reduced, and the possibility that false detection occurs can be reduced.

The transmission device 20 may transmit mask information including position information regarding the position of another moving device 10 to the moving device 10. In this case, the mask processing unit 31 of the mobile device 10 receives the exploration light (turbulent light) from the other mobile device 10 based on the position information (mask information) regarding the position of the other mobile device 10. The incident direction incident on the light is determined, and mask processing is performed based on the determined incident direction. As a result, the mask processing unit 31 of the moving device 10A determines the incident direction in which the disturbance light is incident based on the information of the exploration light (mask information including the position information) output from another moving device 10B, and masks. Processing can be performed.

In the mobile device 10B as well, the mask processing unit 31 performs mask processing based on the mask information received from the transmission device 20, so that the possibility of erroneous detection due to the exploration light from the mobile device 10A can be reduced.

As described above, the mobile device control system 100 includes a plurality of mobile devices 10 and a transmission device 20. The transmission device 20 transmits mask information including position information regarding the positions of the plurality of mobile devices 10 to each of the plurality of mobile devices 10. Each mask processing unit 31 of the plurality of mobile devices 10 masks a part of the received signals S21 and S22 output from the received unit 6 based on the position information. As a result, in each of the plurality of mobile devices 10, the mask information acquisition unit 32 can perform mask processing according to the mask information acquired from the transmission device 20.

Further, in the second modification, the plurality of mobile devices 10 (10A, 10B) receive the mask information from the transmission device 20, but each of the plurality of mobile devices 10 directly receives the mask information from another mobile device 10. You may receive it.

Further, in the above embodiment, the function of the object detection unit 3 is provided in the moving device 10, but the function of the object detection unit 3 may be provided in the transmission device 20. Some functions of the mobile device 10, for example, a function of the object detection unit 3, may be realized by, for example, a cloud (cloud computing).

(4.3) Other Modifications In Embodiment 1 and Modifications 1 and 2, the wave transmission unit 5 irradiates an exploration wave composed of light (light wave), and the reflected wave (reflected light) reflected by the object is emitted. The object is detected by receiving light, but the exploration wave is not limited to light (light wave). The wave transmitting unit 5 may include a radar that transmits radio waves such as microwaves and millimeter waves, or may include a sonar sensor that transmits sound waves such as ultrasonic waves.

In the first embodiment, the case where the moving device 10 is used for transporting the transported object X1 is illustrated, but the use of the mobile device 10 is not limited to the transporting of the transported object X1. The moving device 10 may be, for example, a device for transporting a person (that is, a passenger), or a device such as a monitoring robot and a guiding robot that moves without performing any transport.

Further, the control unit 2, the object detection unit 3, and the like provided in the main body 1 in the first embodiment may be provided in addition to the main body 1. For example, some functions of the control unit 2 and the object detection unit 3 may be provided in the transmission device 20 or the like, which is a higher-level system capable of communicating with the main body unit 1.

Further, the mobile device 10 may have a communication function with the transmission device 20 which is a higher-level system. Further, autonomous traveling is not an essential function of the mobile device 10, and for example, the mobile device 10 may be remotely controlled by receiving an operation signal from a transmitter 20 or a transmitter, which is a higher-level system.

(summary)
As described above, the moving device (10, 10A, 10B) according to the first aspect includes a moving main body unit (1) and an object detecting unit (3). The object detection unit (3) is provided in the main body unit (1). The object detection unit (3) transmits an exploration wave from the wave transmission unit (5). The object detection unit (3) receives the received signal (S21, S22) output from the receiving unit (6) when the receiving unit (6) receives the reflected wave reflected by the object. ) Is used to detect the object. The object detection unit (3) includes a mask processing unit (31). The mask processing unit (31) receives a received signal (6) output from the receiving unit (6) based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration wave is incident on the receiving unit (6). Mask processing is performed to mask a part of S21 and S22).

According to this aspect, the mask processing unit (31) masks a part of the received signal (S21, S22) based on at least one of the timing and the incident direction in which the disturbance wave is incident on the receiving unit (6). Therefore, the influence of disturbance waves can be reduced. Therefore, it is possible to reduce the possibility of false detection of the object.

In the mobile device (10, 10A, 10B) according to the second aspect, in the first aspect, the mask processing unit (31) performs mask processing based on the timing at which the disturbance wave is incident on the receiving unit (6). conduct.

According to this aspect, since the mask processing unit (31) masks a part of the received signal (S21, S22) based on the timing at which the disturbance wave is incident on the receiving unit (6), the disturbance wave. The influence of can be reduced.

In the mobile device (10, 10A, 10B) according to the third aspect, in the first aspect, the mask processing unit (31) is masked based on the incident direction in which the disturbance wave is incident on the receiving unit (6). I do.

According to this aspect, since the mask processing unit (31) masks a part of the received signal (S21, S22) based on the incident direction in which the disturbance wave is incident on the receiving unit (6), the disturbance The influence of waves can be reduced.

In the mobile device (10, 10A, 10B) according to the fourth aspect, in any one of the first to third aspects, the mask processing unit (31) receives the disturbance wave and the receiving unit (6) receives the disturbance wave. At this time, of the received signals (S21, S22) output from the receiving unit (6), the signal portion corresponding to the disturbance wave is masked.

According to this aspect, when the receiving unit (6) receives the disturbance light, the mask processing unit (31) masks the signal portion of the received signals (S21, S22) corresponding to the disturbance wave. Therefore, even when the moving device (10, 10A, 10B) moves, the mask processing unit (31) still receives the disturbance wave incident on the receiving unit (6) at the current position of the moving device (10, 10A, 10B). It is possible to perform mask processing according to the above.

The mobile device (10, 10A, 10B) according to the fifth aspect further includes a mask information acquisition unit (32) for acquiring mask information regarding disturbance waves in any one of the first to fourth aspects. The mask processing unit (31) performs mask processing based on the mask information.

According to this aspect, the mask information acquisition unit (32) can perform mask processing according to the mask information acquired from the outside of the mobile device (10, 10A, 10B).

In the mobile device (10, 10A, 10B) according to the sixth aspect, in the fifth aspect, the mask information is output from the mobile device (10, 10A, 10B) different from the mobile device (10, 10A, 10B). It is the information of the exploration wave to be done.

According to this aspect, the mask processing unit (31) of the mobile device (10, 10A, 10B) is output from a mobile device (10, 10A, 10B) different from the mobile device (10, 10A, 10B). Mask processing can be performed based on the information of the exploration wave.

In the mobile device (10, 10A, 10B) according to the seventh aspect, in the sixth aspect, the mask processing unit (31) receives the received signal (6) output from the receiving unit (6) based on the mask information. The timing for masking a part of S21, S22) is determined, and the masking process is performed based on the determined timing.

According to this aspect, the mask processing unit (31) of the mobile device (10, 10A, 10B) receives a received signal based on the information of the exploration wave output from another mobile device (10, 10A, 10B). The timing for masking (S21, S22) can be determined, and the masking process can be performed.

In the moving device (10, 10A, 10B) according to the eighth aspect, in the sixth aspect, the mask processing unit (31) has an incident direction in which the disturbance wave is incident on the receiving unit (6) based on the mask information. Is determined, and masking is performed based on the determined incident direction.

According to this aspect, the mask processing unit (31) of the mobile device (10, 10A, 10B) generates a disturbance wave based on the information of the exploration wave output from another mobile device (10, 10A, 10B). The incident direction can be determined and mask processing can be performed.

In the mobile device (10, 10A, 10B) according to the ninth aspect, in any one of the first to eighth aspects, the wave transmitting unit (5) transmits the exploration wave which is light and receives the wave. Part (6) receives incident light including reflected light reflected by an object for exploration.

According to this aspect, when the wave transmitting unit (5) irradiates the exploration light to detect the object, the possibility of erroneous detection of the object can be reduced.

In the moving device (10, 10A, 10B) according to the tenth aspect, in any one of the first to ninth aspects, the main body portion (1) is moving on the moving surface (200) and is fed. The wave portion (5) sends an exploration wave in a plane parallel to the moving surface (200).

According to this aspect, even when the wave transmitting unit (5) transmits the exploration wave in a plane parallel to the moving surface (200), the wave is transmitted from another moving device (10, 10A, 10B). It is possible to reduce the possibility that the exploration wave becomes a disturbance wave and false detection of the object occurs.

In the moving device (10, 10A, 10B) according to the eleventh aspect, in the tenth aspect, the wave transmitting unit (5) sends an exploration wave so as to scan in a plane parallel to the moving surface (200). Wave.

According to this aspect, even when the wave transmitting unit (5) transmits the exploration wave so as to scan in a plane parallel to the moving surface (200), it is transmitted from another moving device (10, 10A, 10B). It is possible to reduce the possibility that the transmitted exploration wave becomes a disturbance wave and false detection of the object occurs.

In the mobile device (10, 10A, 10B) according to the twelfth aspect, in any one of the first to eleventh aspects, the mask processing unit (31) receives a wave output from the receiving unit (6). A plurality of parts of the signal (S21, S22) are masked.

According to this aspect, even when a plurality of disturbance waves are present, it is possible to reduce the possibility that the disturbance waves cause erroneous detection of the object.

The mobile device control system (100) according to the thirteenth aspect includes a plurality of mobile devices (10, 10A, 10B) according to any one of the first to twelfth aspects. The mobile device control system (100) transmits mask information including position information regarding the positions of the plurality of mobile devices (10, 10A, 10B) to each of the plurality of mobile devices (10, 10A, 10B). 20) is further provided. Each mask processing unit (31) of the plurality of mobile devices (10, 10A, 10B) receives a part of the received signal (S21, S22) output from the receiving unit (6) based on the position information. Mask.

According to this aspect, in each of the plurality of mobile devices (10, 10A, 10B), the mask information acquisition unit (32) can perform mask processing according to the mask information acquired from the transmission device (20). ..

The object detection method of the moving device (10, 10A, 10B) according to the fourteenth aspect is a method in which the moving moving device (10, 10A, 10B) detects a surrounding object, and is a wave transmission step and a receiving step. It includes a wave step, a masking step, and a detection step. In the wave transmission step, the wave transmission unit (5) transmits the exploration wave. In the wave receiving step, the receiving unit (6) receives the incident wave and outputs the received signals (S21, S22) corresponding to the incident wave. In the mask processing step, the received signal (S21, S22) output from the receiving portion (6) is based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration wave is incident on the receiving portion (6). ) Is partly masked. In the detection step, the object is detected based on the received signals (S21, S22) partially masked in the mask processing step.

According to this aspect, it is possible to reduce the possibility of false detection of the object.

The program according to the fifteenth aspect is a program for causing a computer system to execute a wave transmission step, a wave reception step, a mask processing step, and a detection step. In the wave transmission step, the exploration wave is transmitted to the wave transmission unit (5). In the wave receiving step, the received signal (S21, S22) is received from the receiving unit (6) that outputs the received signal (S21, S22) corresponding to the incident wave. In the mask processing step, the received signal (S21, S22) output from the receiving portion (6) is based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration wave is incident on the receiving portion (6). ) Is partly masked. In the detection step, the object is detected based on the received signals (S21, S22) partially masked in the mask processing step.

According to this aspect, it is possible to reduce the possibility of false detection of the object.

Not limited to the above aspects, various configurations (including modifications) of the mobile devices (10, 10A, 10B) according to the first to twelfth embodiments are the object detection method of the mobile device (10, 10A, 10B), (computer). ) It can be embodied in a program or a non-temporary recording medium on which the program is recorded. The configuration according to the second to twelfth aspects is not an essential configuration for the mobile device (10, 10A, 10B) and can be omitted as appropriate.

1 Main unit 2 Control unit 3 Object detection unit 4,41,42 Sensor unit 5 Wave transmission unit 6 Wave receiving unit 10,10A, 10B Mobile device 20 Transmission device 31 Mask processing unit 32 Mask information acquisition unit 100 Mobile device control system 200 Moving surface S11, S12 Wave transmission signal S21, S22 Received signal

Claims (15)

The moving body and
A receiver provided in the main body, which sends an exploration wave from a wave transmission unit, and a receiving unit receives a reflected wave reflected by an object, so that the wave is output from the receiving unit. It is equipped with an object detection unit that detects the object based on the wave signal.
The object detection unit masks a part of the received signal output from the receiving unit based on at least one of the timing and the incident direction in which the disturbance wave independent of the exploration wave is incident on the receiving unit. A mobile device that includes a mask processing unit that performs mask processing. The moving device according to claim 1, wherein the mask processing unit performs the mask processing based on the timing at which the disturbance wave enters the receiving unit. The moving device according to claim 1, wherein the mask processing unit performs the mask processing based on the incident direction in which the disturbance wave is incident on the receiving unit. The mask processing unit masks the signal portion corresponding to the disturbance wave among the received signals output from the receiving unit when the receiving unit receives the disturbance wave. The mobile device according to any one of 3. Further, a mask information acquisition unit for acquiring mask information related to the disturbance wave is provided.
The moving device according to any one of claims 1 to 4, wherein the mask processing unit performs the mask processing based on the mask information. The mobile device according to claim 5, wherein the mask information is information on exploration waves output from a mobile device different from the mobile device. Further, a mask information acquisition unit for acquiring mask information related to the disturbance wave is provided.
The mask processing unit determines a timing for masking a part of the received signal output from the receiving unit based on the mask information, and performs the mask processing based on the determined timing. The mobile device described in. Further, a mask information acquisition unit for acquiring mask information related to the disturbance wave is provided.
The moving device according to claim 3 , wherein the mask processing unit determines an incident direction in which the disturbance wave is incident on the receiving unit based on the mask information, and performs the mask processing based on the determined incident direction. .. The wave transmitting unit transmits the exploration wave, which is light, to transmit the exploration wave.
The moving device according to any one of claims 1 to 8, wherein the receiving portion receives incident light including reflected light reflected by the exploration wave by the object. The main body is moving on the moving surface.
The moving device according to any one of claims 1 to 9, wherein the wave transmitting unit transmits the exploration wave in a plane parallel to the moving surface. The moving device according to claim 10, wherein the wave transmitting unit transmits the exploration wave so as to scan in a plane parallel to the moving surface. The mobile device according to any one of claims 1 to 11, wherein the mask processing unit masks a plurality of parts of the received signal output from the receiving unit. A plurality of mobile devices according to any one of claims 1 to 12 are provided.
Each of the plurality of mobile devices is further provided with a transmission device for transmitting mask information including position information regarding the positions of the plurality of mobile devices.
A mobile device control system in which the mask processing unit of each of the plurality of mobile devices masks a part of the received signal output from the wave receiving unit based on the position information. A moving mobile device is an object detection method for a mobile device that detects surrounding objects.
The wave transmission step in which the wave transmission unit sends the exploration wave,
A receiving step in which the receiving unit receives an incident wave and outputs a received signal corresponding to the incident wave.
A mask processing step that masks a part of the received signal output from the receiving portion based on at least one of the timing and the incident direction at which the disturbance wave independent of the exploration wave is incident on the receiving portion.
A method for detecting an object of a mobile device, comprising a detection step of detecting the object based on the received signal partially masked in the mask processing step. For computer systems
A wave transmission step that sends an exploration wave to the wave transmission part,
A receiving step that receives the received signal from a receiving unit that outputs a received signal corresponding to an incident wave, and a receiving step.
A mask processing step that masks a part of the received signal output from the receiving portion based on at least one of the timing and the incident direction at which the disturbance wave independent of the exploration wave is incident on the receiving portion.
A detection step for detecting an object based on the received signal partially masked in the mask processing step, and a detection step.
A program to execute.

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