JP7312582B2 - unmanned mobile device - Google Patents

Description

The present invention relates to unmanned mobile devices.

2. Description of the Related Art Conventionally, in a mobile device, there is known a technique for indicating an action such as a next traveling direction to surrounding people by irradiating light or the like. For example, Patent Literature 1 discloses a road illumination device that is mounted on a vehicle, specifies the next motion of the vehicle based on vehicle information acquired from on-vehicle equipment, and illuminates the road surface with an animation of light that expresses the next motion. Specifically, based on the vehicle information including the operation of the shift lever and the steering wheel, for example, the next movement of the vehicle, such as forward movement, backward movement, and right/left turn, is specified, and an animation such as an arrow is projected in the movement direction.

WO2016/027315

By the way, the moving device is not limited to the vehicle described in Patent Document 1, but there are unmanned moving devices that move automatically, such as mobile trolleys, flying objects such as drones, and robots. Unmanned mobile devices may be used in a variety of applications at work sites, such as construction sites. In such an unmanned mobile device as well, it is preferable to present the planned next travel route and action in an easy-to-understand manner to surrounding people. However, an unmanned mobile device may move automatically without a user operating equipment included in the vehicle, such as the vehicle described in Patent Document 1 above. Therefore, in an unmanned mobile device that moves automatically, a specific method is required to indicate behavior such as the next movement route and action to people around the device.

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and it is an object of the present invention to present information about the next behavior in an unmanned mobile device that moves automatically to the surroundings in an easy-to-understand manner.

In order to solve the above-described problems and achieve the object, the present invention includes an unmanned mobile body, a projection device mounted on the unmanned mobile body for projecting an image within a predetermined projection range, and a control device for controlling the unmanned mobile body and the projection device. is characterized by projecting a line indicating

Further, it is preferable that an action scheduled to be performed by the device is predetermined on the movement path, and the control device causes the projection device to project an icon that schematically represents the content of the action scheduled to be performed onto the line.

Moreover, it is preferable that the control device causes the projection device to project an icon indicating a traveling direction, which is a direction in which the unmanned mobile body travels along the planned movement route.

Moreover, it is preferable that the control device identifies the traveling direction based on the planned movement route, and causes the projection device to project the icon pointing to the identified traveling direction.

Further, it is preferable that the icon indicating the traveling direction is predetermined on the movement route, and the control device causes the projection device to project the icon indicating the traveling direction predetermined on the movement route.

Preferably, the apparatus further comprises obstacle detection means mounted on the unmanned mobile body for detecting an obstacle around the unmanned mobile body, and when the obstacle detection means detects the obstacle within the projection range, the control device causes the projection device to project an icon pointing to the obstacle at the position of the obstacle.

Also, the unmanned mobile object is preferably any one of a mobile trolley, a multi-legged robot having two or more legs, and a flying object.

INDUSTRIAL APPLICABILITY The unmanned mobile device according to the present invention has the effect of being able to present information about the next behavior to the surroundings in an easy-to-understand manner in the unmanned mobile device that moves automatically.

FIG. 1 is a schematic configuration diagram showing an unmanned mobile device according to the first embodiment. FIG. 2 is an explanatory diagram schematically showing the operation of the unmanned mobile device according to the first embodiment. 3 is a flowchart illustrating an example of a control procedure of the unmanned mobile device according to the first embodiment; FIG. FIG. 4 is a flowchart illustrating an example of a control procedure for an unmanned mobile device according to a modification; FIG. 5 is an explanatory diagram schematically showing the operation of the unmanned mobile device according to the modification. FIG. 6 is an explanatory diagram schematically showing the operation of the unmanned mobile device according to the modification. FIG. 7 is an explanatory diagram showing an example in which all icons indicating the direction of travel are drawn on a line. FIG. 8 is a schematic configuration diagram showing an unmanned mobile device according to the second embodiment. FIG. 9 is an explanatory diagram schematically showing the operation of the unmanned mobile device according to the second embodiment. FIG. 10 is a flowchart illustrating an example of a control procedure for an unmanned mobile device according to the second embodiment; FIG. 11 is an explanatory diagram showing a configuration example of an unmanned mobile device having a plurality of projectors.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of an unmanned mobile device according to the present invention will be described in detail below with reference to the drawings. In addition, this invention is not limited by this embodiment.

[First embodiment]
FIG. 1 is a schematic configuration diagram showing the unmanned mobile device according to the first embodiment, and FIG. 2 is an explanatory diagram schematically showing the operation of the unmanned mobile device according to the first embodiment. The unmanned mobile device 100 according to the first embodiment patrols a work site such as a construction site for various purposes. The unmanned mobile device 100 may be a device that automatically moves around the work site. For example, the unmanned mobile device 100 may be a transport device that transports various materials at a work site, or an automatic follow-up device (for example, an automatic walking workbench) that automatically follows a follow-up target for the purpose of assisting a follow-up target such as a worker at the work site. The unmanned mobile device 100 can also be remotely moved around the work site by a user (eg, a worker). The unmanned mobile device 100 includes an unmanned mobile body 10, a projector 20 (projection device), a camera 30 (image capture device), a position detection means 40, and a control device 50, as shown in FIG. In the first embodiment, the projector 20 , the camera 30 , the position detection means 40 and the control device 50 are mounted on the unmanned mobile body 10 . However, any of the functional units of the control device 50 may be provided in a control device separate from the unmanned mobile body 10 .

As shown in FIG. 2, the unmanned mobile body 10 is a mobile cart that moves on a plurality of wheels 10a. The unmanned mobile body 10 has a main body 11 provided with a plurality of wheels 10a, and a driving device 12 that drives the plurality of wheels 10a. The unmanned mobile body 10 can drive a plurality of wheels 10a via a drive device 12 housed inside a main body 11 to move around a work site. The driving device 12 transmits power to the plurality of wheels 10a for causing the unmanned mobile body 10 to travel on a travel surface such as the ground, floor, or road surface of the work site. The driving device 12 is driven and controlled by the control device 50 . Although not shown, the unmanned mobile body 10 may be provided with an arm portion for performing various operations at the work site.

The projector 20 is mounted on the main body 11 of the unmanned mobile body 10 . The projector 20 is attached to the upper surface of the main body 11, as shown in FIG. The projector 20 is a projection device that projects an image 6 by irradiating a predetermined projection range 5 with light. Projector 20 is controlled by control device 50 . In the first embodiment, as shown in FIG. 2, the projector 20 irradiates light toward the travel direction side (left side in FIG. 2) of the unmanned vehicle 10 using at least a traveling surface such as the ground, floor, or road surface of the work site as a projection surface. Note that if the projection area 5 is not rectangular (or square) because the projector 20 is not perpendicular to the projection surface when the driving surface is the projection surface, the projection area 5 may be keystone-corrected. Also, the projector 20 may be attached to an arm (not shown) so that the projector 20 is perpendicular to the running surface.

The camera 30 is a photographing device that photographs a predetermined photographing range (not shown). The camera 30 is attached to the front of the main body 11 of the unmanned mobile body 10 . However, the camera 30 may be attached to any position on the main body 11 or may be attached to an arm (not shown) as long as the unmanned mobile body 10 can photograph the work site. Also, a plurality of cameras 30 may be mounted on the unmanned mobile body 10 . Image data captured by the camera 30 is stored in the storage unit 51 of the control device 50 .

The position detection means 40 is means for detecting the current position of the unmanned mobile body 10 at the work site, and is mounted on the unmanned mobile body 10 . The position detection means 40 is GPS, for example. The position detection means 40 may be an infrared sensor. Further, the position detection means 40 may include a sensor that detects the distance and direction that the unmanned vehicle 10 has moved from an initial position predetermined by the user, and a calculator that calculates the current position relative to the initial position based on the distance and direction detected by the sensor. The current position of the unmanned mobile body 10 detected by the position detection means 40 is output to the control section 52 of the control device 50 .

The control device 50 has a storage section 51 and a control section 52 .

The storage unit 51 is, for example, a semiconductor memory device such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 51 stores data required for various processes in the control device 50 and various processing results. The storage unit 51 also stores image data captured by the camera 30 .

The storage unit 51 stores map data 51A including map information of the work site and route data 51B of the unmanned mobile body 10 . The route data 51B is a movement route along which the unmanned mobile body 10 should be automatically moved at the work site, and is created and stored in advance by the user. The route data 51B is created corresponding to the map information of the work site stored as the map data 51A. The route data 51B may be created by, for example, the user actually moving the unmanned mobile body 10 by remote control, and the control unit 52 making the route actually traveled by the unmanned mobile body 10 correspond to the map information of the map data 51A.

Further, the route data 51B stores not only the movement route but also the information of the planned execution operation that the unmanned mobile device 100 should execute on the movement route in association with each other. The scheduled execution motions of the unmanned mobile device 100 are stored in advance by the user in association with arbitrary positions on the travel route as motions corresponding to the purposes for which the unmanned mobile device 100 is used at the work site and motions for maintaining safety at the work site. The operations scheduled to be executed by the unmanned mobile device 100 include, for example, operations such as pausing the unmanned mobile device 10 and photographing the work site with the camera 30 .

Further, storage unit 51 stores a plurality of icon data 51C used for image 6 projected from projector 20 . The icon data 51C is data including image data of a plurality of icons ICa (see FIG. 2) created corresponding to the scheduled execution actions to be executed by the unmanned mobile device 100 described above. The icons ICa include, for example, as shown in FIG. 2, a pause icon ICa1 indicating that the unmanned mobile body 10 is to be temporarily stopped on the movement path, and a photographing icon ICa2 indicating that the work site is to be photographed by the camera 30. Note that the shooting icon ICa2 may include a symbol indicating the direction of shooting with the camera 30 . The symbol indicating the shooting direction of the camera 30 may be two lines extending in the shooting direction, as exemplified by the dashed line L2 in FIG. 2, or an arrow extending in the shooting direction. Note that the icon ICa (and icons ICb and ICc to be described later) may be animation.

The control unit 52 is an arithmetic processing device including, for example, a CPU (Central Processing Unit). The control unit 52 loads a program stored in the storage unit 51 into memory and executes instructions included in the program. The control unit 52 has a movement control unit 52A, a movement/motion specifying unit 52B, a projection determination unit 52C, and a projection control unit 52D.

The movement control unit 52A controls movement of the unmanned mobile body 10 . More specifically, the movement control section 52A acquires information on the current position of the unmanned mobile body 10 from the position detection means 40 . Further, the movement control unit 52A acquires the route data 51B from the storage unit 51. FIG. The movement control unit 52A drives and controls the driving device 12 so that the unmanned mobile body 10 moves within the work site along a previously created movement route based on the acquired current position information of the unmanned mobile body 10 and the route data 51B. Further, as described above, the movement route of the route data 51B includes information on the scheduled execution operation of the unmanned mobile device 100. FIG. Therefore, the movement control unit 52A temporarily stops the unmanned mobile device 10 when it is necessary to stop the unmanned mobile device 100 on the travel route in order to execute the scheduled operation.

The scheduled execution operations of the unmanned mobile device 100 determined on the movement route are realized by the control unit 52 executing various programs that cause the unmanned mobile device 100 to exhibit its functions. For example, when the unmanned mobile body 10 is temporarily stopped as the scheduled execution operation, the movement control unit 52A controls the driving device 12 to realize this. Further, for example, when the work site is photographed by the camera 30 as an operation to be executed, the movement control unit 52A controls the driving device 12 to temporarily stop the unmanned mobile body 10, and further controls the attitude of the unmanned mobile body 10 so that the camera 30 faces a predetermined shooting direction (the direction illustrated by the dashed line in FIG. 2). A photographing control unit (not shown) controls the camera 30 to photograph a necessary image.

The movement/motion identification unit 52B identifies the planned movement route of the unmanned mobile body 10 and the planned execution action of the unmanned mobile device 100 . More specifically, the movement/motion specifying unit 52B acquires the information on the current position of the unmanned mobile body 10 from the position detection means 40 and the route data 51B from the storage unit 51 . The movement/motion identification unit 52B identifies the planned movement route of the unmanned mobile body 10 based on the acquired information on the current position of the unmanned mobile body 10 and the route data 51B. Here, the “planned movement route of the unmanned mobile body 10” is the planned movement route of the unmanned mobile body 10 in the projection range 5 where the image 6 is projected from the projector 20 at the current position of the unmanned mobile body 10. The movement/motion identification unit 52B identifies the planned movement path by associating the current position of the unmanned mobile body 10, the movement path included in the route data 51B, and the current position of the projection range 5. FIG. Further, the movement/motion identifying unit 52B identifies the content of the scheduled movement on the identified scheduled movement route based on the information about the scheduled movement of the unmanned mobile device 100 included in the route data 51B. The movement/motion identification unit 52B outputs information on the identified planned movement route of the unmanned mobile body 10 and the planned execution action of the unmanned mobile device 100 to the projection determination unit 52C.

The projection determination unit 52C determines the content to be projected from the projector 20. FIG. That is, the projection determination unit 52C is a projection image generation unit that generates data of the image 6 projected from the projector 20. FIG. More specifically, the projection determining unit 52C acquires information on the specified planned movement route of the unmanned mobile body 10 and the planned execution operation of the unmanned mobile device 100 from the movement/motion specifying unit 52B. The projection determination unit 52C generates an image 6 including a line L1 (see FIG. 2) indicating the planned travel route based on the acquired planned travel route. In other words, the unmanned mobile object 10 is scheduled to travel along the line L1 drawn in the image 6 projected onto the projection range 5 .

Further, the projection determination unit 52C acquires necessary icon ICa data included in the icon data 51C from the storage unit 51, that is, icon ICa data corresponding to the acquired scheduled execution action, based on the acquired information about the scheduled action of the unmanned mobile device 100. The projection determination unit 52C generates the image 6 by drawing the acquired icon ICa so as to be superimposed on the corresponding position of the line L1. For example, as shown in FIG. 2, a pause icon ICa1 indicating that the unmanned mobile body 10 is to be temporarily stopped on the movement route and a photographing icon ICa2 indicating that the work site is to be photographed by the camera 30 are drawn at corresponding positions on the line L1. The projection determination unit 52C outputs data of the generated image 6 to the projection control unit 52D.

The projection control unit 52D controls projection of the image 6 by the projector 20. FIG. The projection control unit 52D acquires the data of the image 6 generated by the projection determination unit 52C, and controls the projector 20 so that the acquired image 6 is projected onto the projection range 5. FIG.

Next, the operation of projecting the image 6 by the unmanned mobile device 100 according to the first embodiment will be described. 3 is a flowchart illustrating an example of a control procedure of the unmanned mobile device according to the first embodiment; FIG. The processing procedure shown in FIG. 3 is repeatedly executed by the control unit 52 at predetermined time intervals while the unmanned vehicle 10 is moving along the movement route. As described above, the control for moving the unmanned mobile body 10 along the movement path and the control for executing the scheduled execution operation of the unmanned mobile device 100 are realized by the control unit 52 executing various programs. Details of these control procedures are omitted.

The control unit 52 acquires the current position of the unmanned mobile body 10 and the route data 51B as step S1. More specifically, the movement/motion identifying unit 52B acquires information on the current position of the unmanned mobile body 10 detected by the position detecting means 40 and the route data 51B stored in the storage unit 51. FIG.

In step S2, the control unit 52 identifies the planned movement route of the unmanned mobile body 10 and the content of the scheduled operation of the unmanned mobile device 100 based on the acquired current position of the unmanned mobile body 10 and the route data 51B. More specifically, the movement/motion identification unit 52B identifies the planned movement route of the unmanned vehicle 10 in the current projection range 5 based on the current position of the unmanned vehicle 10 and the route data 51B. Further, the movement/motion identifying unit 52B identifies the scheduled execution motion of the unmanned mobile device 100 on the specified scheduled movement route based on the information of the scheduled execution motion of the unmanned mobile device 100 included in the route data 51B.

The control unit 52 determines the content to be projected from the projector 20 as step S3. More specifically, the projection determination unit 52C acquires information on the planned movement route of the unmanned vehicle 10 from the movement/motion identification unit 52B, and generates the image 6 including the line L1 indicating the planned movement route of the unmanned vehicle 10. Further, the projection determination unit 52C acquires the scheduled execution motion of the unmanned mobile device 100 on the scheduled movement route from the movement/motion specifying unit 52B, acquires the icon ICa corresponding to the scheduled execution motion from the storage unit 51, and generates the image 6 by drawing the acquired icon ICa at the corresponding position on the line L1.

In step S4, the control unit 52 causes the projector 20 to project the image 6 generated in step S3. More specifically, the projection control unit 52D acquires the data of the image 6 generated by the projection determination unit 52C, and controls the projector 20 so that the acquired image 6 is projected onto the projection range 5 of the running surface.

The control unit 52 repeatedly executes the processing from step S1 to step S4 at predetermined time intervals. As a result, as shown in FIG. 2, a line L1 along which the unmanned vehicle 10 is scheduled to travel within the projection range 5 and an icon ICa indicating an action scheduled to be performed by the unmanned mobile device 100 on the line L1 are projected onto the projection range 5 of the projector 20. The image 6 including the line L1 and the icon ICa is constantly updated as the unmanned mobile body 10 moves.

As described above, the unmanned mobile device 100 according to the first embodiment includes the unmanned mobile body 10, the projector 20 (projection device) that is mounted on the unmanned mobile body 10 and projects the image 6 within the predetermined projection range 5, and the control device 50 that controls the unmanned mobile body 10 and the projector 20. , a line L1 indicating a planned movement route, which is a movement route along which the unmanned vehicle 10 is scheduled to move, is projected.

With this configuration, a line L1 indicating a predetermined planned moving route of the unmanned mobile body 10 is projected from the projector 20 onto the traveling surface, so that a person around the unmanned mobile body 10, that is, a worker 7 can visually recognize the line L1 projected from the projector 20.例文帳に追加As a result, a person (worker 7) around the unmanned mobile body 10 can easily grasp how the unmanned mobile body 10 moves next. Therefore, according to the first embodiment, in the unmanned mobile device 100 that moves automatically, information regarding the next behavior can be presented to the surroundings in an easy-to-understand manner.

Further, an action to be executed by the unmanned mobile device 100 is predetermined on the movement route, and the control device 50 causes the projector 20 to project an icon ICa that schematically represents the content of the action to be executed onto the line L1.

With this configuration, an icon ICa representing an operation scheduled to be performed by the unmanned mobile device 100 is projected on the line, so that the worker 7 around the unmanned mobile device 100 can grasp what kind of operation the unmanned mobile device 100 will perform next.

Next, modified examples of the control procedure of the unmanned mobile device according to the first embodiment will be described with reference to FIGS. 4 to 6. FIG. FIG. 4 is a flowchart showing an example of the control procedure of the unmanned mobile device according to the modification, and FIGS. 5 and 6 are explanatory diagrams schematically showing the operation of the unmanned mobile device according to the modification. FIG. 6 shows a state in which the unmanned mobile body 10 has advanced further from the position shown in FIG.

The processing procedure shown in FIG. 4 is repeatedly executed by the control unit 52 at predetermined time intervals while the unmanned vehicle 10 is moving along the movement route. Since the processing of steps S11 and S12 in FIG. 4 is the same as the processing of steps S1 and S2 in FIG. 3, description thereof is omitted.

The control unit 52 identifies the traveling direction of the unmanned mobile body 10 on the planned movement route within the projection range 5 as step S13. More specifically, the movement/motion identifying unit 52</b>B identifies the traveling direction of the unmanned mobile body 10 on the planned movement route within the projection range 5 . The "moving direction of the unmanned mobile body 10" is the direction in which the unmanned mobile body 10 travels along the planned movement route (that is, the line L1 in FIGS. 5 and 6). When the unmanned mobile body 10 travels with no change in the orientation of the unmanned mobile body 10, it travels straight. The movement/motion identification unit 52B outputs information on the identified traveling direction of the unmanned mobile body 10 to the projection determination unit 52C.

The control unit 52 determines the content to be projected from the projector 20 as step S14. More specifically, similarly to step S3 in FIG. 3, the projection determination unit 52C generates an image 6 that includes a line L1 indicating the planned movement route of the unmanned mobile body 10 acquired from the movement/action identification unit 52B and an icon ICa indicating the planned action of the unmanned mobile device 100 on the planned movement route. Furthermore, the projection determination unit 52C acquires information on the identified traveling direction of the unmanned mobile body 10 from the movement/motion identification unit 52B. Based on the obtained traveling direction of the unmanned mobile body 10, the projection determining unit 52C generates an image 6 in which an icon ICb indicating the traveling direction is superimposed on the corresponding position of the line L1.

If the traveling direction is the straight direction, the icon ICb is an arrow-shaped icon ICb1 extending in the straight direction, as shown in FIG. 5, for example. Further, if the traveling direction is the left-right turn direction, the icon ICb is a single arrow-shaped icon ICb2 extending in the right-left turn direction, as shown in FIG. 6, for example. Note that the icon ICb may be a series of arrow-shaped icons, or may be an animation. In any case, the icon ICb may have a shape that allows a viewer to recognize that it points in the direction of travel. The data of these icons ICb may be generated by, for example, storing a plurality of basic arrow-shaped data in the storage unit 51, and editing the basic arrow-shaped data by extending or curving it according to the direction of travel, or by combining a plurality of data.

Further, the projection determination unit 52C draws the icon ICb according to the current position of the unmanned mobile body 10. FIG. That is, the projection determination unit 52C draws the icon ICb on the line L1 within a predetermined distance from the current position of the unmanned mobile body 10 according to the current position. As a result, as shown in FIGS. 5 and 6, the icon ICb1 and the icon ICb2 are drawn in sequence according to the progress of the unmanned mobile body 10. FIG. However, the icon ICb may be drawn entirely on the line L1 of the current projection range 5. FIG. FIG. 7 is an explanatory diagram showing an example in which all icons indicating the direction of travel are drawn on a line. The projection determining section 52C outputs the image 6 generated by the above procedure to the projection determining section 52C.

In step S15, the control unit 52 causes the projector 20 to project the image 6 generated in step S14. That is, the projection control unit 52D controls the projector 20 so that the image 6 acquired from the projection determination unit 52C is projected onto the projection range 5 of the running surface.

The control unit 52 repeatedly executes the processing from step S11 to step S15 described above at predetermined time intervals. As a result, as shown in FIGS. 5 and 6, an image 6 including the icon ICb is projected onto the projection range 5 of the projector 20 in addition to the line L1 and the icon ICa. The image 6 including the line L1, the icon ICa and the icon ICb is constantly updated as the unmanned mobile body 10 moves.

As described above, the control device 50 causes the projector 20 to project the icon ICb indicating the traveling direction, which is the direction in which the unmanned mobile body 10 travels. With this configuration, the worker 7 around the unmanned mobile body 10 can more easily grasp how the unmanned mobile body 10 moves next by visually recognizing the arrow-shaped icon ICb.

Further, the control device 50 identifies the traveling direction based on the planned travel route, and causes the projector 20 to project an icon ICb pointing to the identified traveling direction. With this configuration, the icon ICb corresponding to the direction of travel can be projected as the unmanned mobile body 10 moves. That is, it is not necessary to store in advance the icon ICb in association with all the information of the movement route. Therefore, an increase in the amount of information stored in the unmanned mobile device 100 can be suppressed.

However, the icon ICb may be stored in advance in association with the moving route of the route data 51B. That is, after the route data 51B is created, the control unit 52 specifies in advance all the traveling directions of the unmanned mobile body 10 along the travel route, creates all the icons ICb in advance corresponding to the traveling directions, and stores them in the storage unit 51. Then, when the unmanned mobile body 10 actually moves along the movement route, the projection determination unit 52C may sequentially read the icons ICb to be drawn on the line L1 from the storage unit 51 according to the current position of the unmanned mobile body 10, and generate the image 6. With this configuration, it is not necessary to sequentially specify the traveling direction of the unmanned mobile body 10 or create an icon ICb corresponding to the traveling direction in accordance with the movement of the unmanned mobile body 10 . Therefore, an increase in the calculation load of the control unit 52 can be suppressed.

Further, in this embodiment, the icon ICb is drawn on the line L1, but the icon ICb may be drawn at a position adjacent to the line L1.

[Second embodiment]
Next, an unmanned mobile device 200 according to a second embodiment will be described. FIG. 8 is a schematic configuration diagram showing an unmanned mobile device according to the second embodiment, FIG. 9 is a flowchart showing an example of a control procedure of the unmanned mobile device according to the second embodiment, and FIG. 10 is an explanatory diagram schematically showing the operation of the unmanned mobile device according to the second embodiment.

As shown in FIGS. 8 and 9, the unmanned mobile device 200 according to the second embodiment includes obstacle detection means 60 in addition to the configuration of the unmanned mobile device 100 of the first embodiment. Since other configurations of the unmanned mobile device 200 are the same as those of the unmanned mobile device 100, descriptions of the same configurations are omitted and the same reference numerals are used.

The obstacle detection means 60 is a means mounted on the unmanned mobile body 10 to detect obstacles 8 around the unmanned mobile body 10 . The obstacle detection means 60 is a sensor that outputs radio waves other than visible light, such as infrared rays, and detects obstacles 8 by reflected waves of the radio waves. In this embodiment, the obstacle detection means 60 is attached to the upper surface of the unmanned mobile body 10, as shown in FIG. However, the obstacle detection means 60 may be attached to any position of the unmanned mobile body 10 as long as it can detect the surrounding obstacles 8 . Also, a plurality of obstacle detection means 60 may be attached to the unmanned mobile body 10 . Further, the obstacle detection means 60 may also be used as the camera 30, for example. That is, the obstacle 8 present in the image captured by the camera 30 may be detected. The obstacle detection means 60 detects that there is an obstacle 8 including a human (worker 7) within a predetermined range around the unmanned mobile body 10 . The detection result of the obstacle detection means 60 is output to the projection determination section 52C of the control section 52. FIG.

The movement control unit 52A acquires the detection result of the obstacle 8 from the obstacle detection means 60. FIG. The movement control unit 52A stops the movement of the unmanned mobile body 10 based on the detection result obtained from the obstacle detection means 60 when the obstacle 8 is within the predetermined range from the unmanned mobile body 10 .

The projection determination unit 52C also acquires the obstacle detection result from the obstacle detection means 60 . The projection determination unit 52C determines whether or not the obstacle 8 is within the projection range 5, and if the obstacle 8 is within the projection range 5, as shown in FIG. The icon ICc is, for example, a circular icon that has a predetermined size and surrounds the obstacle 8 . Note that the shape of the icon ICc is not limited to a circular shape. The icon ICc is pre-stored in the storage unit 51 .

Next, the operation of projecting the image 6 by the unmanned mobile device 200 according to the second embodiment will be described with reference to FIG. The processing procedure shown in FIG. 9 is repeatedly executed by the control unit 52 at predetermined time intervals while the unmanned vehicle 10 is moving along the movement route. Since the processes of steps S21, S22, and S23 in FIG. 10 are the same as the processes of steps S1, S2, and S3 in FIG. 3, description thereof is omitted.

The controller 52 determines whether or not there is an obstacle 8 within the projection range 5 in step S24. More specifically, the projection determination unit 52C determines whether or not the obstacle 8 exists within the projection range 5 based on the detection result of the obstacle 8 from the obstacle detection means 60 . When the projection determination unit 52C determines that the obstacle 8 exists within the projection range 5 (Yes in step S24), the control unit 52 generates the image 6 including the icon ICc pointing to the obstacle 8 in step S25. That is, the icon ICc is added to the image 6 generated in step S23. The control unit 52 causes the projection determination unit 52C to output the generated image 6 to the projection control unit 52D, and the process proceeds to step S26. On the other hand, when the projection determination unit 52C determines that there is no obstacle 8 within the projection range 5 (No in step S24), the control unit 52 omits the processing of step S25 and proceeds to the processing of step S26.

In step S26, the control section 52 causes the projector 20 to project the image 6 generated in step S23 or step S25. That is, the projection control unit 52D controls the projector 20 so that the image 6 acquired from the projection determination unit 52C is projected onto the projection range 5 of the running surface. Accordingly, when it is determined in step S24 that the obstacle 8 exists within the projection range 5, the image 6 including the icon ICc pointing to the obstacle 8 generated in step S25 is projected.

The control unit 52 repeatedly executes the processing from step S21 to step S26 at predetermined time intervals. As a result, as shown in FIG. 10, an image including icon ICc is projected onto projection range 5 of projector 20 in addition to line L1 and icon ICa. The image 6 including the line L1, the icon ICa and the icon ICc is constantly updated as the unmanned mobile body 10 moves.

As described above, the unmanned mobile device 200 according to the second embodiment is mounted on the unmanned mobile body 10 and further includes the obstacle detection means 60 for detecting the obstacle 8 around the unmanned mobile body 10. When the obstacle detection means 60 detects the obstacle 8 within the projection range 5, the control device 50 causes the projector 20 to project the icon ICc pointing to the obstacle 8 at the position of the obstacle 8.

With this configuration, since the icon ICc pointing to the obstacle 8 is projected from the projector 20, for example, when the obstacle 8 is a person (worker 7), the icon ICc can be visually recognized by oneself, and other persons in the surroundings can visually recognize the icon ICc and give a warning. Further, for example, when the obstacle 8 is not a human, other people in the vicinity can visually recognize the icon ICc and change the position of the obstacle 8 so as to avoid collision between the unmanned mobile body 10 and the obstacle 8.例文帳に追加

In the first embodiment and the second embodiment, an example in which the unmanned mobile device 100 includes one projector 20 has been described. However, a plurality of projectors 20 may be mounted on the unmanned mobile body 10 . FIG. 11 is an explanatory diagram showing a configuration example of an unmanned mobile device having a plurality of projectors. In the unmanned mobile device 300 shown in FIG. 11, for example, a plurality of projectors 20 are attached to the upper surface of the unmanned mobile body 10 facing different directions. Thereby, the projection range 5 can be formed so as to surround the unmanned mobile body 10 from the plurality of projectors 20 . As a result, the image 6 can be displayed in a wider range.

In 1st Embodiment and 2nd Embodiment, the unmanned mobile body 10 was used as the mobile trolley. This allows the unmanned mobile body 10 to have a simple configuration. However, the unmanned mobile body 10 is not limited to a mobile cart. The unmanned mobile body 10 may be, for example, a multi-legged robot having two or more legs. As a result, a more complicated running surface can be moved compared to a mobile trolley. Also, the unmanned mobile object 10 may be a flying object such as a drone. As a result, compared to moving on the ground, floor surface, or road surface, it is less likely to be restricted during movement. Even if the unmanned mobile object 10 is a flying object, the image 6 may be projected from the projector 20 toward the ground, floor surface, or road surface.

5 projection range 6 image 7 worker 8 obstacle 10 unmanned mobile body 10a wheel 11 main body 12 driving device 20 projector 30 camera 40 position detection means 50 control device 51 storage unit 51A map data 51B route data 51C icon data 52 control unit 52A movement control unit 52B movement/motion specifying unit 52C projection determination Part 52D Projection Control Part 60 Obstacle Detection Means 100, 200, 300 Unmanned Mobile Device ICa, ICb, ICc Icon ICa1 Pause Icon ICa2 Photographing Icon L1 Line

Claims (7)

an unmanned vehicle;
a projection device mounted on the unmanned mobile body for projecting an image within a predetermined projection range;
a photographing device mounted on the unmanned mobile body for photographing a predetermined photographing range;
a control device that controls the unmanned mobile body and the projection device;
with
The control device moves the unmanned mobile body along a predetermined movement path, and projects a line indicating a planned movement path, which is the movement path along which the unmanned mobile body is scheduled to move within the projection range, from the projection device into the projection range ,
An operation scheduled to be executed by the device is predetermined on the movement route,
The control device causes the projection device to project onto the line an icon that schematically represents the content of the action to be executed;
The unmanned mobile device , wherein the scheduled execution operation is photography of a work site using the photography device . 2. The unmanned mobile device according to claim 1, wherein the control device projects the icon by animation . 3. The unmanned mobile device according to claim 1, wherein the control device causes the projection device to project an icon indicating a traveling direction in which the unmanned mobile body travels along the planned travel route. 4. The unmanned mobile device according to claim 3, wherein the control device identifies the traveling direction based on the planned movement route, and causes the projection device to project the icon pointing to the identified traveling direction. The icon indicating the traveling direction is predetermined on the movement route,
4. The unmanned mobile device according to claim 3, wherein the control device causes the projection device to project the icon indicating the predetermined traveling direction on the movement path. Further comprising obstacle detection means mounted on the unmanned mobile body for detecting obstacles around the unmanned mobile body,
6. The unmanned mobile device according to any one of claims 1 to 5, wherein, when the obstacle is detected within the projection range by the obstacle detection means, the control device causes the projection device to project an icon pointing to the obstacle at the position of the obstacle. The unmanned mobile device according to any one of claims 1 to 6, wherein the unmanned mobile body is one of a mobile cart, a multi-legged robot having two or more legs, and a flying body.

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