JP7618378B2 - Autonomous Vehicles - Google Patents

Description

The present invention relates to an autonomous moving body that tracks a tracking target.

An autonomous mobile body that recognizes the surrounding environment using a distance measurement unit for detecting the direction and distance to a measurement point and moves autonomously is described in Patent Document 1. The autonomous mobile body described in Patent Document 1 includes a distance measurement unit, a storage unit in which an environmental map is stored, a self-position estimation unit that estimates its own position, a route generation unit, and a control device. In the environmental map, objects that can be detected by the distance measurement unit and objects that cannot be detected by the distance measurement unit are registered. The self-position estimation unit estimates its own position from the detection result of the distance measurement unit. The route generation unit grasps the position of the object from the environmental map and generates a route from the current position to the destination so as to avoid the object. That is, the position where the object is located is set as a no-entry area, and a route is generated so that the autonomous mobile body does not enter the no-entry area. The control device moves the autonomous mobile body according to the generated route. By registering objects that cannot be detected by the distance measurement unit in the environmental map and generating a route to avoid this object, the autonomous mobile body can move while avoiding objects that cannot be detected by the distance measurement unit.

JP 2015-1820 A

Some autonomous mobile bodies track a tracking target. This type of autonomous mobile body is equipped with a distance measurement unit, an object detection unit that detects the tracking target and obstacles from the detection results of the distance measurement unit, and a mobile body control unit that moves the autonomous mobile body to track the tracking target. Since the tracking target moves, a destination cannot be set. For this reason, an autonomous mobile body that tracks a tracking target tracks the tracking target within a movable range where no obstacles are detected, without generating a route. Therefore, the range in which the autonomous mobile body moves depends on the detection results of the distance measurement unit, and if the distance measurement unit cannot detect a no-entry area, there is a risk that the autonomous mobile body will enter the no-entry area.

The object of the present invention is to provide an autonomous mobile body that can track a tracking target while preventing entry into prohibited areas.

The autonomous mobile body that solves the above problem is an autonomous mobile body that tracks a tracking target, and includes a mobile body, a distance measurement unit for measuring the distance and direction from the mobile body to a measurement point, an object detection unit for detecting objects including the tracking target and obstacles, a mobile body control unit for moving the mobile body so as to track the tracking target, a memory unit in which map information including an environmental map and information on no-entry areas is stored, a self-position estimation unit for estimating the self-position of the mobile body on the environmental map, and a distance from the self-position to the no-entry area using the self-position estimated by the self-position estimation unit and the information on the no-entry area stored in the memory unit. The system includes a distance calculation unit that calculates distances for each of a plurality of directions in the horizontal direction from the own position to the no-entry area, a processing unit that processes the measurement values of the distance measurement unit that are associated with the same direction as the direction from the moving body to the no-entry area, and that are associated with directions in which the measurement point is not present between the moving body and the no-entry area, into a calculated distance calculated by the distance calculation unit, and a movable range derivation unit that derives the movable range of the moving body from the measurement values of the distance measurement unit that have not been processed by the processing unit and the calculated distance, and the moving body control unit moves the moving body within the movable range.

The calculated distance is the distance to the no-entry area calculated from the self-position and map information. Therefore, the calculated distance can be said to be the distance measured by the distance measurement unit on the assumption that the no-entry area can be detected by the distance measurement unit. By processing the measurement value of the distance measurement unit into a calculated distance, the movable range derivation unit can recognize the no-entry area from the calculated distance. Therefore, the part excluding the no-entry area can be set as the movable range. Therefore, it is possible to track the tracking target while preventing the moving body from entering the no-entry area.

For the autonomous moving body, the self-location estimation unit may estimate the self-location using the measurement values of the distance measurement unit that have not been processed by the processing unit, and the measurement values before being processed by the processing unit.

This makes it possible to improve the accuracy of estimating the self-location.
For the above-mentioned autonomous moving body, the object detection unit may detect the tracking target using the measurement values of the distance measurement unit that have not been processed by the processing unit, and the measurement values before being processed by the processing unit.

This makes it possible to recognize the tracking target even if the tracking target enters a no-entry area.
The autonomous moving body may further include a notification unit that issues a notification when the self-position estimated by the self-position estimation unit is located within the no-entry area.

If the moving object's own position is located within a no-entry area, it may be unable to move. By providing a notification unit, it is possible to notify the tracking target when the moving object's own position is located within a no-entry area.

For the above-mentioned autonomous moving body, the movable range derivation unit may derive the movable range without using the calculated distance when the self-position estimated by the self-position estimation unit is located within the no-entry area.

This allows the forbidden area to be recognized as a movable range. Therefore, if the vehicle's own position is within the forbidden area, the vehicle can be moved outside the forbidden area.

According to the present invention, it is possible to track a tracking target while preventing entry into a no-entry area.

FIG. 2 is a schematic diagram showing an autonomous moving body and a tracking target. FIG. FIG. 4 is a diagram showing a schematic diagram of a detection range of a distance measuring unit. FIG. 2 is a diagram showing a schematic diagram of an environmental map and a no-entry area. 4 is a flowchart showing a process performed by a control device. FIG. 4 is a diagram for explaining a process performed by a control device. FIG. 4 is a diagram for explaining a process performed by a control device. 1 is a schematic diagram showing a state in which a tracking target has entered a no-entry area. FIG. 13 is a schematic diagram showing a state in which the vehicle's own position is located within a no-entry area.

An embodiment of the autonomous moving body will be described below.
1 and 2, the autonomous mobile body 10 includes a vehicle 20, a distance measurement unit 31 mounted on the vehicle 20, a control device 32 mounted on the vehicle 20, and a notification unit 35. The vehicle 20 includes a vehicle body 21, a plurality of wheels 22, and a drive mechanism 23 for driving the vehicle 20. The vehicle 20 is a mobile body that moves autonomously so as to track a registered tracking target T by being controlled by the control device 32. The vehicle 20 performs tracking so that a distance L from the vehicle 20 to the tracking target T falls within a predetermined range.

As shown in FIG. 2, the drive mechanism 23 includes a motor 24 for rotating the wheels 22, a motor driver 25 for driving the motor 24, a travel control device 26, and an encoder 29. Although not shown in the figure, the number of motors 24 and motor drivers 25 provided is the same as the number of wheels 22. An encoder 29 is provided individually for each motor 24.

The driving control device 26 includes a CPU 27 and a storage unit 28 in which programs for performing various controls are stored. Commands are input to the driving control device 26 from the control device 32. The driving control device 26 calculates a command rotation speed based on a speed command value that is a command for commanding the speed of the vehicle 20 and a traveling direction command that is a command for commanding the traveling direction of the vehicle 20.

The encoder 29 is, for example, an incremental type encoder that outputs a pulse signal based on the amount of rotation of the rotating shaft of the motor 24. The encoder 29 detects the number of rotations of the rotating shaft of the motor 24. The motor driver 25 performs feedback control so that the number of rotations of the motor 24 matches the command number of rotations. As a result, the vehicle 20 moves in a direction according to the direction command at a speed according to the speed command value.

The notification unit 35 is a member that issues a notification to the tracking target T. Examples of the notification unit 35 include a unit that issues a notification by sound or light.
Next, the distance measurement unit 31 and the control device 32 will be described in detail.

The distance measurement unit 31 is capable of causing the control device 32 to recognize objects present around the vehicle 20 and measuring the distance from the vehicle 20 to the objects. Objects include the tracking target T and obstacles.

In this embodiment, a LIDAR (Laser Imaging Detection and Ranging) is used as the distance measurement unit 31. LIDAR is a range finder that can recognize the surrounding environment by emitting a laser to the surroundings and receiving the light reflected from the area where the laser hits. As the LIDAR, a two-dimensional range finder that emits a laser while changing the horizontal irradiation angle is used.

As shown in FIG. 3, the laser irradiation range of the distance measurement unit 31 is, for example, a horizontal irradiation angle θ1 = 270° and an irradiation distance d = 30 [m]. If the center of the irradiation angle θ1 is taken as the reference axis, the laser irradiation range is in the range of the reference axis ±135°. In other words, the laser irradiation range of the distance measurement unit 31 is a sector with a radius of 30 [m] and a central angle of 270°. This laser irradiation range becomes the detection range SA in which an object can be detected.

If the part where the laser hits is the measurement point, the LIDAR measures the distance to the measurement point in association with the irradiation angle. The irradiation angle is an angle at a fixed angle with respect to the horizontal direction, and is an angle according to the angular resolution θ2. The distance measurement unit 31 outputs the measurement value at fixed angles. In detail, when the LIDAR can receive reflected light, it outputs detection information in which the measurement value of the distance to the measurement point is associated with the irradiation angle, and when the LIDAR cannot receive reflected light, it outputs non-detection information in association with the irradiation angle. Therefore, the detection result of the LIDAR is information in which the irradiation angle and the measurement value are associated. The measurement value includes the measured distance and non-detection information indicating that the distance could not be detected. If an object is present around the vehicle 20, the laser hits the object and the distance to the measurement point is output in association with the irradiation angle. Therefore, the control device 32 can determine whether or not an object is present around the vehicle 20 from the detection result of the LIDAR, and if an object is present, it can grasp the distance to the object and the irradiation angle. If the angular resolution θ2 of the irradiation angle is 1.0°, 271 detection results are obtained in one period. The laser irradiation angle represents the direction from the vehicle 20. For example, if the reference axis faces the front of the vehicle 20, the irradiation angle clockwise from the reference axis is to the right of the vehicle 20, and the irradiation angle counterclockwise from the reference axis is to the left of the vehicle 20. Therefore, the distance measurement unit 31 measures the distance for each direction according to the angular resolution θ2.

The control device 32 includes a CPU 33 and a storage unit 34 including RAM and ROM. Various programs for controlling the vehicle 20 are stored in the storage unit 34. The control device 32 may include dedicated hardware for performing at least some of the various processes, such as an application specific integrated circuit (ASIC). The control device 32 may be configured as a circuit including one or more processors that operate according to a computer program, one or more dedicated hardware circuits such as ASICs, or a combination thereof. The processor includes a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to perform processes. The memory, i.e., computer readable medium, includes anything that can be accessed by a general-purpose or dedicated computer.

The control device 32 outputs various commands to the driving control device 26. This controls the rotation speed and direction of the wheels 22, and the vehicle 20 tracks the tracking target T. It can be said that the control device 32 controls the drive mechanism 23 to autonomously move the vehicle 20.

Map information is stored in the memory unit 34 of the control device 32. As shown in FIG. 4, the map information is information indicating an environmental map M and a no-entry area A. The environmental map M is information regarding the physical structure of the surrounding environment of the autonomous mobile body 10, such as the shape and size of the environment in which the autonomous mobile body 10 is used. The no-entry area A is a place where entry of the autonomous mobile body 10 is prohibited, and is set within the environmental map M.

The environmental map M may be stored in advance in the storage unit 34 if the surrounding environment in which the autonomous mobile body 10 is used can be grasped in advance. When the environmental map M is stored in advance in the storage unit 34, the coordinates of objects whose positions are unlikely to change, such as the walls W and pillars Pi of a building, are stored as the environmental map M.

The environmental map M may be created by mapping using SLAM (Simultaneous Localization and Mapping). Mapping is performed, for example, by creating a local map from the coordinates of the measurement points obtained by the distance measurement unit 31, and combining this local map according to the vehicle's own position.

The no-entry area A is a place that cannot be detected by the distance measurement unit 31 or a place where it is difficult for the distance measurement unit 31 to detect. Examples of places that cannot be detected by the distance measurement unit 31 include places where materials with high laser transmittance, such as colorless transparent glass, are placed, places where materials are placed at a height where the irradiated laser does not hit, and places where the area is divided by the color of the floor, such as walkways in factories. In addition, any place without characteristics, such as a place where no materials are placed or a place where the floor is not divided by color, can also be set as the no-entry area A. Examples of places that are difficult for the distance measurement unit 31 to detect are places where materials are placed where the partial shape can be detected but the overall horizontal shape is difficult to recognize, such as a shelf where the shelf boards on which loads are placed are supported by pillars.

The information indicating the no-entry area A is the coordinates of the no-entry area A on the environmental map M. The no-entry area A may be stored in advance in the storage unit 34 together with the environmental map M. In addition, the no-entry area A may be stored in the storage unit 34 by an external device after mapping is performed by the control device 32.

Next, we will explain the control that the control device 32 performs when tracking the tracking target T. As an example, we will explain the case where the autonomous mobile body 10 is used in the environment shown by the map information in Figure 4.

As shown in Figures 5 and 6, in step S1, the control device 32 obtains the detection result of the distance measurement unit 31, i.e., the measurement values of the direction and distance to the measurement point P1 caused by the surrounding environment of the autonomous mobile body 10, from the distance measurement unit 31. As can be seen from Figure 6, the measurement point P1 is generated by the laser hitting the wall W, the pillar Pi, and the tracking target T. The control device 32 can obtain the relative coordinates of the measurement point P1 with respect to the vehicle 20 from the detection result of the distance measurement unit 31.

Next, in step S2, the control device 32 performs self-location estimation to estimate the position of the vehicle 20 on the environmental map M. The self-location estimation is performed by integrating, using a Bayes filter, odometry, which estimates the self-movement amount of the vehicle 20 using the detection result of the encoder 29, and the matching result between the characteristic points (= landmarks) around the vehicle 20 obtained from the detection result of the distance measurement unit 31 and the environmental map M. That is, the control device 32 performs probabilistic self-location estimation to estimate the self-location by correcting the self-location obtained by odometry with the relative position with the landmark. A landmark is a part of the shape of the surrounding environment that can be grasped from the measurement point P1, whose shape changes. The self-location is the coordinates indicating a point on the vehicle body 21, for example, the coordinates of the center of the vehicle body 21 in the horizontal direction. The control device 32 functions as a self-location estimation unit.

Next, as shown in FIG. 5 and FIG. 7, in step S3, the control device 32 calculates the distance and direction from the self-position to the no-entry area A using the self-position estimated in step S2 and the map information stored in the memory unit 34. The control device 32 calculates the distance to the no-entry area A for each of a plurality of directions in the horizontal direction according to the angular resolution θ2 of the distance measurement unit 31. Therefore, when the angular resolution θ2 of the distance measurement unit 31 is 1.0°, the distance calculated by the control device 32 is also associated with each direction at 1.0° intervals. In other words, the control device 32 calculates the distance to the virtual measurement point P2 that would be generated if the laser hit the no-entry area A for each direction. The control device 32 functions as a distance calculation unit.

Next, in step S4, the control device 32 processes the measurement value of the distance measurement unit 31. First, the control device 32 determines whether or not a measurement point P1 exists between the vehicle 20 and the prohibited area A for each direction from the vehicle 20 to the prohibited area A. If a measurement point P1 exists between the vehicle 20 and the prohibited area A, it can be said that an object exists between the vehicle 20 and the prohibited area A. On the other hand, if a measurement point P1 does not exist between the vehicle 20 and the prohibited area A, it can be said that no object exists between the vehicle 20 and the prohibited area A.

The control device 32 replaces the measurement value associated with the direction from the vehicle 20 to the no-entry area A, which is determined to be not present between the vehicle 20 and the no-entry area A, with the calculated distance, which is the distance calculated in step S3. In detail, the control device 32 processes the measurement value of the distance measurement unit 31 by replacing the measurement value of the distance measurement unit 31 with the calculated distance associated with the direction and the same direction to which the measurement value is associated. It can be said that the control device 32 replaces the measurement value longer than the calculated distance and the non-detection information with the calculated distance, which is the measurement value associated with the direction and the same direction from the vehicle 20 to the no-entry area A. The calculated distance obtained by processing the measurement value is the distance to the virtual measurement point P2. The control device 32 can obtain the relative coordinates of the virtual measurement point P2 based on the self-position from the direction and the calculated distance associated with the direction. Note that no processing is performed on the measurement values of the distance measurement unit 31 that correspond to a direction other than the direction from the self-location to the forbidden area A. Therefore, the measurement values of the distance measurement unit 31 that correspond to a direction other than the direction from the self-location to the forbidden area A are measurement values that have not been processed. The control device 32 functions as a processing unit.

Next, in step S5, the control device 32 distinguishes between the tracking target T and an obstacle. First, the control device 32 detects the object by clustering the measurement points P1. The laser emitted from the distance measurement unit 31 is reflected when it hits an object, so the measurement points P1 are interrupted at the boundary between the object and the space. Therefore, the set of measurement points P1 represents part of the contour of the object, and the object can be detected from the point cloud in which the measurement points P1 are clustered. In the example shown in FIG. 6, the measurement points P1 generated by the wall W, the pillar Pi, and the tracking target T are clustered, so that the wall W, the pillar Pi, and the tracking target T are each detected as individual objects. The control device 32 can calculate the width of the object from the relative coordinates of the measurement points P1 that make up the clustered point cloud.

Information about the tracking target T is registered in the control device 32, and an object that matches this information is recognized as the tracking target T. In this embodiment, the tracking target T is a person. When a person is the tracking target T, information about the tracking target T is, for example, the width of the person's feet. The tracking target T is registered by having the person stand upright in front of the distance measurement unit 31 and operate an operation unit or external device provided on the vehicle 20 to place the control device 32 in registration mode.

Next, the control device 32 clusters the virtual measurement points P2, and regards the point cloud of the clustered virtual measurement points P2 as an object. That is, the virtual measurement points P2 are also processed in the same way as the measurement points P1. The control device 32 recognizes both the objects other than the tracking target T among the objects recognized by the measurement points P1 and the objects recognized by the virtual measurement points P2 as obstacles. It can be said that the control device 32 recognizes the tracking target T from the measurement points P1, and recognizes the obstacle from both the measurement points P1 and the virtual measurement points P2. That is, by processing the measurement values, the no-entry area A can be captured as a virtual obstacle. The control device 32 functions as an object detection unit.

Next, in step S6, the control device 32 derives the movable range MA. The control device 32 determines the movable range MA to be the range excluding the obstacle detected in step S5. In detail, the control device 32 controls the vehicle 20 so that the distance from the obstacle to the vehicle 20 is greater than a predetermined value, and therefore the movable range MA is determined by the obstacle. By recognizing the obstacle from the virtual measurement point P2, the no-entry area A is considered to be an obstacle. Therefore, the movable range MA is derived from the obstacles recognized by the measurement values not processed by the control device 32 and the obstacles recognized by the calculated distance. The control device 32 functions as a movable range derivation unit.

Next, in step S7, the control device 32 moves the vehicle 20 within the movable range MA to track the tracking target T. The control device 32 recognizes the distance L from the vehicle 20 to the tracking target T from the detection result of the distance measurement unit 31, and controls the vehicle 20 so that the distance L falls within a predetermined range. As shown in FIG. 8, when the tracking target T is located within the no-entry area A, the vehicle 20 is moved within the movable range MA so that the distance to the tracking target T is the shortest. Note that since the tracking target T is detected using the measurement values of the distance measurement unit 31 that have not been processed and the measurement values before processing, it is possible to detect the tracking target T even if the tracking target T enters the no-entry area A. The control device 32 functions as a mobile object control unit.

9, when the self-position is located within the forbidden area A, the control device 32 notifies the tracking target T by issuing a notification via the notification unit 35. When the self-position is located within the forbidden area A, the control device 32 may mistakenly recognize that the surroundings are surrounded by obstacles due to the virtual measurement point P2, and may become unable to move. Therefore, by issuing a notification via the notification unit 35, the vehicle 20 is notified that it is unable to move. Note that the cause of the self-position being located within the forbidden area A is a decrease in the accuracy of the self-position estimation. In cases such as when a landmark cannot be detected, the accuracy of the self-position estimation may decrease depending on the position of the vehicle 20. In this case, the control device 32 may mistakenly recognize the forbidden area A as the movable range MA, and the vehicle 20 may enter the forbidden area A. Then, when the correct self-position is estimated after the vehicle 20 enters the forbidden area A, the self-position may be located within the forbidden area A. Also, depending on the braking capability of the vehicle 20, it may enter the no-entry area A in an attempt to track the tracking target T that has entered the no-entry area A.

The operation of this embodiment will be described.
The control device 32 moves within the movable range MA, and thus prevents the vehicle 20 from entering the no-entry area A. The control device 32 can prevent the vehicle 20 from entering the no-entry area A by determining the relative position between the vehicle's own position and the no-entry area A from map information and processing the measurement value of the distance measurement unit 31.

In an autonomous mobile body 10 tracking a tracking target T, the tracking target T and an obstacle are recognized from the measurement value of the distance measurement unit 31, and the tracking target T is tracked while preventing contact with the obstacle. As in this embodiment, the measurement value of the distance measurement unit 31 is processed and the no-entry area A is recognized as an obstacle, and by adding logic for processing the measurement value of the distance measurement unit 31 to the conventional control logic, it is possible to prevent the vehicle 20 from entering the no-entry area A.

If the coordinates of the tracking target T are set as the destination and a route is generated from the vehicle's own position to the destination to prevent the vehicle 20 from entering the no-entry area A, the route needs to be generated every time the tracking target T moves. In this case, the time required for route generation is long, and there is a risk that the maximum speed of the vehicle 20 will be slow. In contrast, by preventing the vehicle 20 from entering the no-entry area A without generating a route, as in this embodiment, the maximum speed can be made faster than when a route is generated.

In addition, in order to prevent the vehicle 20 from entering the prohibited area A, it is also possible to detect the prohibited area A using a member other than the distance measurement unit 31. For example, if the prohibited area A is a place where an object that is transparent to a laser is placed, the prohibited area A can be recognized by providing an ultrasonic sensor. If the prohibited area A is a place where an object that is not hit by a laser is placed, the prohibited area A can be recognized by providing a three-dimensional distance meter. If the prohibited area A is a place where the area is divided by the color of the floor surface, the prohibited area A can be recognized by providing a stereo camera. However, in either case, it is necessary to increase the number of members for detecting the prohibited area A, which leads to an increase in manufacturing costs. Furthermore, if a place without features is set as the prohibited area A, the prohibited area A cannot be detected. In contrast, the measured value of the distance measurement unit 31 is processed to prevent the vehicle 20 from entering the prohibited area A, thereby suppressing an increase in manufacturing costs. Furthermore, even if a location without distinctive features is designated as the no-entry area A, it is possible to prevent the vehicle 20 from entering the no-entry area A.

The effects of this embodiment will be described.
(1) The control device 32 calculates the distance from the vehicle's own position to the no-entry area A for each direction, and processes the measurement value of the direction corresponding to the calculated distance into the calculated distance. This allows the control device 32 to recognize the no-entry area A as an obstacle, and therefore the area excluding the no-entry area A can be set as the movable range MA. Since it is possible to prevent the vehicle 20 from entering the no-entry area A without generating a route, it is possible to prevent the vehicle 20 from entering the no-entry area A while tracking the tracking target T.

(2) The control device 32 estimates its own position using the unprocessed measurement values of the distance measurement unit 31 and the measurement values before processing. That is, the self-position estimation is performed without using the calculated distance. Compared to the case where the self-position estimation is performed using only odometry, the accuracy of the self-position estimation can be improved. Also, compared to the case where the self-position is estimated using both the measurement value of the distance measurement unit 31 and the calculated distance, the accuracy of the self-position estimation can be improved. If the self-position is estimated using both the measurement value of the distance measurement unit 31 and the calculated distance, the control device 32 may misidentify its own position if a topography similar to the shape of the no-entry area A that can be recognized from the virtual measurement point P2 exists in the environmental map M. In contrast, by estimating the self-position using only the measurement value of the distance measurement unit 31, the control device 32 is less likely to misidentify its own position, and the accuracy of the self-position estimation can be improved.

(3) The control device 32 detects the tracking target T using unprocessed measurement values from the distance measurement unit 31 and the measurement values before processing. Since the tracking target T can be detected even if the tracking target T enters the forbidden area A, the control device 32 is unlikely to lose sight of the tracking target T. Furthermore, even if the tracking target T is located within the forbidden area A, the distance to the tracking target T can be shortened within the movable range MA, improving tracking performance.

(4) If the vehicle's own position is within the no-entry area A, a notification is issued by the notification unit 35. Therefore, if the vehicle 20 becomes unable to move, a notification can be issued to the tracking target T.

The embodiment can be modified as follows: The embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.
When the vehicle's own position is located within the no-entry area A, the control device 32 may recognize the movable range MA only from the measured value of the distance measurement unit 31. That is, the control device 32 may recognize the obstacle without using the calculated distance, and the range excluding the obstacle may be the movable range MA. As a result, the control device 32 can recognize the no-entry area A as the movable range MA. This prevents the control device 32 from mistakingly determining that the vehicle is surrounded by obstacles due to the virtual measurement point P2, and prevents the vehicle 20 from becoming unable to move. When the vehicle's own position is located within the no-entry area A, the control device 32 can move the vehicle 20 outside the no-entry area A. In this case, the notification unit 35 does not need to be provided.

When the estimated own position is within the no-entry area A, the control device 32 does not need to provide an alert via the alert unit 35 .
The control device 32 may recognize the tracking target T using the calculated distance in addition to the measurement value of the distance measurement unit 31. In this case, if the tracking target T enters the no-entry area A, the control device 32 will lose sight of the tracking target T. The control device 32 moves toward the position where the tracking target T was last detected. Then, when the tracking target T leaves the no-entry area A and the control device 32 recognizes the tracking target T again, the control device 32 causes the vehicle 20 to track the tracking target T.

The control device 32 may estimate its own position using the measurement value of the distance measurement unit 31 and the calculated distance.
The control device 32 only needs to detect the no-entry area A based on the calculated distance obtained by processing the measurement value of the distance measurement unit 31 and to obtain the movable range MA, and the process of FIG. 5 may be modified as appropriate.

The method of self-location estimation may be changed as appropriate. For example, self-location estimation may be performed using only odometry. Odometry may also be performed using an inertial measurement unit that includes a gyroscope, an acceleration sensor, or a combination of these, or may be performed using a camera.

The LIDAR used as the distance measurement unit 31 may be a three-dimensional range finder that emits a laser while changing the irradiation angle in both the horizontal and vertical directions.
A stereo camera may be used as the distance measurement unit 31. The stereo camera allows the control device 32 to recognize the surrounding environment from a parallax image obtained by capturing images of the surrounding environment using multiple cameras. The parallax image indicates pixel differences that occur between cameras when multiple cameras capture images of the same feature point. The feature point is a portion where parallax is obtained, such as an edge of an object, that is, a pixel where the luminance of each pixel in the captured image changes. The control device 32 can obtain the distance from the vehicle 20 to the feature point and the direction from the vehicle 20 to the feature point using the interocular distance, focal length, parallax image, etc. of the stereo camera. When the stereo camera is used as the distance measurement unit 31, the feature point becomes the measurement point. Note that the distance measurement unit 31 may also be one that uses radio waves.

The distance measurement unit 31 may be a combination of multiple sensors, such as a LIDAR and a stereo camera. That is, the distance measurement unit 31 may be composed of a single sensor or multiple sensors.

The tracking target T may be something other than a person. For example, it may be a moving object other than the vehicle 20. In this case, the notification unit 35 may be a communication device that can communicate with the moving object that is the tracking target T. When the vehicle 20 enters the no-entry area A, the control device 32 notifies the moving object that is the tracking target T by communicating with the communication device.

The tracking target T may be detected by providing the tracking target T with a mark or the like that can be detected by the distance measurement unit 31. The tracking target T may also be detected by a detection unit other than the distance measurement unit 31.

The moving object is not limited to the vehicle 20 and may be a multi-legged robot or an autonomously flying unmanned aerial vehicle.
The drive mechanism 23 may have any configuration as long as it can control the speed of the vehicle 20 so as to follow the speed command value.

The control device 32 may have the functionality of the driving control device 26. The control device 32 may output a command rotation speed to the motor driver 25, and the motor driver 25 may drive the motor 24 in accordance with this command rotation speed.

A...No entry area, M...Environment map, MA...Moveable range, T...Tracked target, 10...Autonomous moving body, 20...Vehicle (moving body), 32...Control device (object detection unit, moving body control unit, self-position estimation unit, distance calculation unit, processing unit, and movable range derivation unit), 34...Storage unit, 35...Notification unit.

Claims (4)

An autonomous moving body that tracks a tracking target,
A moving body,
A distance measurement unit for measuring a distance and a direction from the moving object to a measurement point;
an object detection unit that detects objects including the tracking target and obstacles using the measurement result of the distance measurement unit;
A moving object control unit that moves the moving object so as to track the tracking target;
a storage unit in which map information including an environmental map and information on no-entry areas previously set in the environmental map is stored;
a self-position estimation unit that estimates a self-position of the moving object on the environmental map;
a distance calculation unit that calculates a distance from the self-location to the no-entry area for each of a plurality of directions in a horizontal direction from the self-location to the no-entry area, using the self-location estimated by the self-location estimation unit and information on the no-entry area stored in the storage unit;
a processing unit that processes the measurement value associated with a direction in which the measurement point does not exist between the moving body and the no-entry area, among the measurement values of the distance measurement unit associated with the same direction as the direction from the moving body to the no-entry area, into a calculated distance calculated by the distance calculation unit;
a movable range deriving unit that derives a movable range of the moving body from the measurement value of the distance measurement unit that has not been processed by the processing unit and the calculated distance;
a notification unit that issues a notification when the self-position estimated by the self-position estimation unit is located within the no-entry area,
the distance measurement unit measures a distance and a direction to the measurement point by irradiating a laser,
the no-entry area includes a location that cannot be detected by the distance measurement unit,
The moving body control unit is an autonomous moving body that moves the moving body within the movable range. An autonomous moving body that tracks a tracking target,
A moving body,
A distance measurement unit for measuring a distance and a direction from the moving object to a measurement point;
an object detection unit that detects objects including the tracking target and obstacles using the measurement result of the distance measurement unit;
A moving object control unit that moves the moving object so as to track the tracking target;
a storage unit in which map information including an environmental map and information on no-entry areas previously set in the environmental map is stored;
a self-position estimation unit that estimates a self-position of the moving object on the environmental map;
a distance calculation unit that calculates a distance from the self-location to the no-entry area for each of a plurality of directions in a horizontal direction from the self-location to the no-entry area, using the self-location estimated by the self-location estimation unit and information on the no-entry area stored in the storage unit;
a processing unit that processes the measurement value associated with a direction in which the measurement point does not exist between the moving body and the no-entry area, among the measurement values of the distance measurement unit associated with the same direction as the direction from the moving body to the no-entry area, into a calculated distance calculated by the distance calculation unit;
a movable range deriving unit that derives a movable range of the moving body from the measurement value of the distance measurement unit that has not been processed by the processing unit and the calculated distance,
the distance measurement unit measures a distance and a direction to the measurement point by irradiating a laser,
the no-entry area includes a location that cannot be detected by the distance measurement unit,
The moving object control unit moves the moving object within the movable range ,
The movable range derivation unit derives the movable range without using the calculated distance when the self-position estimated by the self-position estimation unit is located within the no-entry area . The autonomous moving body according to claim 1 or claim 2, wherein the self-position estimation unit estimates the self-position using the measurement values of the distance measurement unit that have not been processed by the processing unit, and the measurement values before being processed by the processing unit . The autonomous moving body according to any one of claims 1 to 3, wherein the object detection unit detects the tracking target by using the measurement values of the distance measurement unit that have not been processed by the processing unit and the measurement values before being processed by the processing unit.