Route setting device, route setting system and method

Abstract

To realize autonomous travelling of a variety of autonomous travelling robots along a travelling route.SOLUTION: A route setting device includes: a route setting unit that sets a route from a current position of an autonomous travelling robot to a destination position; an extraction unit that extracts a plurality of via points on the travel route set by the route setting unit; and a communication unit that transmits information indicating each of the via points extracted by the extraction unit to the autonomous travelling robot.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a routing device, a routing system and a method. [Background technology]

[0002] In recent years, autonomous robots have been developed to automate security and transportation tasks in transportation facilities and commercial facilities. Autonomous driving is a function that allows a robot to travel autonomously from its current location to a destination location without human intervention, and an autonomous robot is a robot that has the function of autonomous driving. Such an autonomous robot is disclosed in, for example, Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-191502 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, a problem with commercially available autonomous robots is that it is difficult for them to autonomously navigate along a route set by an external system. Generally, commercially available autonomous robots are developed to automate specific tasks, and the intended users are often non-engineers currently in charge of those tasks. Therefore, the operation of an autonomous robot is basically limited to simple operations such as specifying the destination position for autonomous driving.

[0005] In addition, route planning is a function that is adjusted using the proprietary technology and know-how of each manufacturer, and even if a driving route can be set in a special case, the configuration may be completely different for each manufacturer, and each manufacturer may require a different route setting method.

[0006] Therefore, the present invention has been made in consideration of the above problems, and an object of the present invention is to provide technology that enables a variety of autonomous robots to travel autonomously along a travel route. [Means for solving the problem]

[0007] In order to solve the above problems, according to one aspect of the present invention, a route setting device is provided, comprising: a route setting unit that sets a driving route from a current position of an autonomous driving robot to a destination position; an extraction unit that extracts a plurality of intermediate positions on the driving route set by the route setting unit; and a communication unit that transmits information indicating each of the plurality of intermediate positions extracted by the extraction unit to the autonomous driving robot.

[0008] The communication unit may transmit information indicating a certain intermediate position to the autonomous driving robot, and then, when it is determined that the autonomous driving robot has reached the intermediate position, transmit information indicating the next intermediate position in the sequence to the autonomous driving robot.

[0009] The route setting device may further include a determination unit that determines whether the autonomous mobile robot has reached the intermediate position.

[0010] The autonomous driving robot comprises a tentative route setting unit that sets a tentative route from the current position of the autonomous driving robot to a destination position based on map information representing the driving environment of the autonomous driving robot, a traveling direction determination unit that determines the traveling direction of the autonomous driving robot in a constraint area in which a traveling direction constraint is set when the autonomous driving robot moves along the tentative route, and a route search cost setting unit that sets a route search cost within the constraint area based on the result of the determination by the traveling direction determination unit, and the route setting unit may set a driving route from the current position of the autonomous driving robot to a destination position based on the route search cost set within the constraint area by the route search cost setting unit.

[0011] The constraint area may include a one-way area where the direction of travel is set to one direction, and the setting of the tentative route by the tentative route setting unit, the determination of the direction of travel of the autonomous traveling robot by the travel direction determination unit, and the setting of the route search cost by the route search cost setting unit may be repeated until the tentative route set by the tentative route setting unit does not include a route that involves travel through the one-way area in a direction other than the one direction.

[0012] The constraint area may include a one-way traffic area where the vehicle is required to pass on the right or left side in the direction of travel, and the tentative route set by the tentative route setting unit may be repeated until the tentative route set by the tentative route setting unit does not include a route that would result in travel through the one-way traffic area in a direction other than the one direction, after which the tentative route setting unit may set the tentative route, the travel direction of the autonomous robot in the one-way traffic area may be determined by the travel direction determination unit, and the route search cost setting unit may set the route search cost for the one-way traffic area.

[0013] The route search cost setting unit may set a route search cost at a position within the map information based on pre-stored information, and after the route search cost setting unit has set the route search cost based on the information, the tentative route setting unit may set the tentative route, the travel direction determination unit may determine the travel direction of the autonomous traveling robot, and the route search cost setting unit may set the route search cost.

[0014] The travel direction determination unit may identify the constraint area within the tentative route based on constraint area information indicating the constraint area, and the constraint area information may include a reference vector indicating a position, orientation, and area length in the map information, and area width information indicating a width of the area.

[0015] The travel direction determination unit may obtain an intersection vector connecting multiple route elements of the tentative route that intersect with the boundary of the constraint area, and determine the travel direction of the autonomous driving robot in the constraint area based on the result of the dot product of the intersection vector and the reference vector of the constraint area.

[0016] The constraint area information may be prepared for each period or situation, and the travel direction determination unit may identify the constraint area within the tentative route based on information from the constraint area information that matches the current date and time or situation.

[0017] The pre-stored information may be information corresponding to communication quality for each location.

[0018] The pre-stored information may be information indicating a location where an autonomous driving failure occurred in the past.

[0019] The pre-stored information may be information corresponding to an expected amount of pedestrians per location.

[0020] The pre-stored information may be prepared for each period or situation, and the route search cost setting unit may set a route search cost for a position within the map information based on information from the pre-stored information that matches the current date, time or situation.

[0021] The route setting device may further include a prohibited area map generation unit that generates a prohibited area map in which areas that do not overlap with the driving route set by the route setting unit are set as prohibited areas, and the communication unit may transmit the prohibited area map to the autonomous driving robot.

[0022] The route setting unit may set a route that minimizes a cumulative total of route search costs as the travel route.

[0023] In addition, according to another aspect of the present invention to solve the above-mentioned problems, there is provided a route setting system comprising an autonomous driving robot and a route setting device, wherein the route setting device has a route setting unit that sets a driving route from the current position of the autonomous driving robot to a destination position, an extraction unit that extracts a plurality of intermediate positions on the driving route set by the route setting unit, and a transmission unit that transmits information indicating each of the plurality of intermediate positions extracted by the extraction unit to the autonomous driving robot, and the autonomous driving robot autonomously drives from the current position to the destination position in accordance with the information received from the route setting device.

[0024] In addition, according to another aspect of the present invention, in order to solve the above problem, a method is provided that includes setting a driving route from a current position of an autonomous driving robot to a destination position, extracting a plurality of intermediate positions on the driving route set by the route setting unit, and transmitting information indicating each of the plurality of intermediate positions to the autonomous driving robot. Effect of the Invention

[0025] According to the present invention as described above, it is possible to realize autonomous traveling along a travel route with a variety of autonomous traveling robots. [Brief description of the drawings]

[0026] [Figure 1] FIG. 1 is an explanatory diagram illustrating a route setting system according to a first embodiment of the present invention. [Diagram 2] 1 is an explanatory diagram showing a configuration of a route setting device 30 according to a first embodiment of the present invention. [Diagram 3] 11 is an explanatory diagram showing information stored in a one-way traffic area storage unit 360 and information stored in a one-way traffic area storage unit 370. FIG. [Figure 4] 4 is a flowchart showing an operation of the route setting device 30 according to the first embodiment of the present invention. [Diagram 5] 4 is an explanatory diagram showing a specific example of the operation of the route setting device 30. FIG. [Figure 6]4 is an explanatory diagram showing a specific example of the operation of the route setting device 30. FIG. [Figure 7] 4 is an explanatory diagram showing a specific example of the operation of the route setting device 30. FIG. [Figure 8] 4 is an explanatory diagram showing a specific example of the operation of the route setting device 30. FIG. [Figure 9] 4 is an explanatory diagram showing a specific example of the operation of the route setting device 30. FIG. [Figure 10] 13 is a flowchart showing the superposition of route search costs in a one-way area Y. [Figure 11] FIG. 13 is an explanatory diagram showing an example of setting route search costs for a one-way area Y. [Figure 12] FIG. 13 is an explanatory diagram showing an example of setting route search costs for a one-way area Y. [Figure 13] 13 is an explanatory diagram showing a specific example of superimposition of route search costs in a one-way area Y. FIG. [Figure 14] 13 is an explanatory diagram showing a specific example of superimposition of route search costs in a one-way area Y. FIG. [Figure 15] 13 is an explanatory diagram showing a specific example of superimposition of route search costs in a one-way area Y. FIG. [Figure 16] 13 is a flowchart showing the superposition of route search costs in a one-way traffic area Z. [Figure 17] 11 is an explanatory diagram showing a specific example of superimposition of route search costs in a one-way traffic area Z. FIG. [Figure 18] 11 is an explanatory diagram showing a specific example of superimposition of route search costs in a one-way traffic area Z. FIG. [Figure 19] 10 is a flowchart showing a method for determining a traveling direction. [Figure 20] FIG. 11 is an explanatory diagram showing a method of determining a traveling direction. [Figure 21] FIG. 11 is an explanatory diagram showing the configuration of a route setting system according to a second embodiment. [Figure 22] FIG. 11 is an explanatory diagram showing a configuration of a route setting device 32 according to a second embodiment of the present invention. [Diagram 23] 10 is a flowchart showing an operation of a route setting device 32 according to the second embodiment of the present invention. [Figure 24]FIG. 11 is an explanatory diagram showing the configuration of a route setting system according to a third embodiment of the present invention. [Diagram 25] FIG. 11 is an explanatory diagram showing a configuration of a route setting device 33 according to a third embodiment of the present invention. [Figure 26] 10 is a flowchart showing an operation of a route setting device 33 according to the third embodiment of the present invention. [Figure 27] FIG. 13 is an explanatory diagram showing a method for realizing a one-way traffic area according to a third modified example. [Figure 28] FIG. 13 is an explanatory diagram showing a fourth modified example. [Figure 29] FIG. 13 is an explanatory diagram showing a fifth modified example. [Diagram 30] FIG. 13 is an explanatory diagram showing a sixth modified example. [Diagram 31] FIG. 13 is an explanatory diagram showing a seventh modified example. [Diagram 32] FIG. 13 is an explanatory diagram showing an eighth modified example. [Diagram 33] FIG. 4 is an explanatory diagram showing an example of a route search cost set by the method according to the above-described embodiment. [Diagram 34] FIG. 13 is an explanatory diagram showing an example of a route search cost set by a method according to an eighth modified example. [Diagram 35] FIG. 1 is a block diagram showing an example of a hardware configuration 90. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and duplicated explanations will be omitted.

[0028] One embodiment of the present invention relates to a route setting system that sets a route for an autonomous robot. Autonomous travel is a function that allows a robot to travel autonomously from a current position to a target position without human intervention, and a robot that has the function of autonomous travel is called an autonomous robot. Below, several embodiments of the route setting system will be described in detail.

[0029] <<First embodiment>> <Routing system configuration> 1 is an explanatory diagram showing a route setting system according to a first embodiment of the present invention. As shown in FIG. 1, the route setting system according to the first embodiment of the present invention includes an autonomous mobile robot 10, an input terminal 20, and a route setting device 30.

[0030] The autonomous mobile robot 10, the input terminal 20, and the route setting device 30 are connected via a network 12. The network 12 is a wired or wireless transmission path for information transmitted from devices connected to the network 12. For example, the network 12 may include public line networks such as the Internet, a telephone line network, and a satellite communication network, as well as various types of LANs (Local Area Networks) including Ethernet (registered trademark), and WANs (Wide Area Networks). The network 12 may also include a dedicated line network such as an IP-VPN (Internet Protocol-Virtual Private Network).

[0031] (Autonomous Driving Robot 10) The autonomous mobile robot 10 has a moving mechanism. The moving mechanism may be a mechanism that enables the robot to move on the ground, such as wheels, legs, leg-wheels, crawlers, or air cushions. The moving mechanism may also be a mechanism that enables the robot to move in the air, such as a propeller or a jet mechanism.

[0032] The autonomous traveling robot 10 also has a sensor unit, a current position estimation function, a communication function, and a movement control function. The sensor unit is at least one type of sensor capable of sensing an image or parameters of the traveling environment of the autonomous traveling robot 10. The sensor unit may be, for example, an RGB camera, an RGB-D camera, a monochrome camera, or a stereo camera that captures an image of the traveling environment in front of the autonomous traveling robot 10, or may be a ToF (Time of flight) sensor, LiDAR (Light Detection and Ranging), or a millimeter wave radar that senses the distance between the autonomous traveling robot 10 and the surrounding environment. The image or parameters of the traveling environment sensed by the sensor unit are used for the autonomous movement control of the autonomous traveling robot 10.

[0033] Regarding the current position estimation function, the autonomous running robot 10 may estimate its own position based on an image or parameters (e.g., distance measurement information) of the traveling environment of the autonomous running robot 10 acquired by a sensor unit. Specifically, the autonomous running robot 10 may estimate the current position of the autonomous running robot 10 using a SLAM (Simultaneous Localization and Mapping) technique. As another example, the autonomous running robot 10 may estimate the current position of the autonomous running robot 10 on a map by measuring the latitude and longitude of the autonomous running robot 10 based on a GNSS (Global Navigation Satellite System) signal received by a GNSS receiver mounted on the autonomous running robot 10.

[0034] 1, the autonomous mobile robot 10 transmits information indicating the current position of the autonomous mobile robot 10 to the route setting device 30. In addition, the autonomous mobile robot 10 receives information indicating the travel route from the route setting device 30.

[0035] Regarding the movement control function, the autonomous mobile robot 10 controls the operation of the movement mechanism based on information indicating a travel route received from the route setting device 30 so that the autonomous mobile robot 10 moves along the travel route.

[0036] In this specification, an example will be described in which the autonomous mobile robot 10 is mainly used for autonomous movement indoors, but the embodiments of the present invention can also be applied to autonomous movement outdoors.

[0037] (Input terminal 20) The input terminal 20 is a terminal into which a user inputs a destination position of the autonomous mobile robot 10. The destination position is an arbitrary position in the traveling environment of the autonomous mobile robot 10. The input terminal 20 transmits information indicating the destination position input by the user to the route setting device 30. The input terminal 20 may have a program that runs on a computer and automatically sets the destination position. The function of the input terminal 20 may be implemented in the autonomous mobile robot 10 or the route setting device 30.

[0038] (Routing device 30) The route setting device 30 sets a driving route for the autonomous running robot 10 based on information indicating the current position of the autonomous running robot 10 received from the autonomous running robot 10 and information indicating the destination position received from the input terminal 20, and transmits information indicating the driving route to the autonomous running robot 10.

[0039] <Comparative Example> The system in the comparative example searches for a route from the current position to the destination position based on map information in which the environment in which the robot travels autonomously is divided into a grid of regular intervals and a route search cost is set for each area (grid), and sets a driving route that minimizes the cumulative route search cost in the grids that the robot passes through.

[0040] The route search cost is set to a higher value for grids closer to walls and obstacles in order to prevent collisions with the autonomous robot, and a route with the shortest travel distance is set among routes that reduce the risk of collision.

[0041] However, in the system according to this comparative example, traffic rules are not reflected in the driving route. In this regard, the system disclosed in Patent Document 1 sets traffic rules for moving through a specified area in the driving environment in advance, and then plans a driving route by using map information that can change the route search cost of the grid according to the traffic rules. The traffic rules determine the direction of movement for a specified grid.

[0042] The system disclosed in Patent Document 1 sets a route search cost for each grid based on the moving direction. Specifically, the route search cost is calculated based on the degree of agreement between the moving direction set in the grid and the search direction at the time of route search. The system disclosed in Patent Document 1 calculates the inner product of the set moving direction and the search direction, and sets a smaller route search cost as the inner product becomes larger, since it is determined that the two are more similar.

[0043] However, in the system disclosed in Patent Document 1, the moving direction is set even for grids that are not passed through by the driving route or the tentative route set in the process of searching for the driving route. Also, in the system disclosed in Patent Document 1, each time the grid is advanced for route searching, the inner product of the moving direction and the search direction must be calculated for each of all grids adjacent to the current grid.

[0044] The present inventors have come up with the creation of the first embodiment of the present invention by focusing on the above-mentioned circumstances. According to the first embodiment of the present invention, it is possible to reduce the amount of information and the amount of calculation required for setting a driving route. The configuration and operation of the route setting device 30 according to the first embodiment of the present invention that realizes such an effect will be sequentially described in detail below.

[0045] <Configuration of the Route Setting Device 30> Fig. 2 is an explanatory diagram showing the configuration of a route setting device 30 according to a first embodiment of the present invention. As shown in Fig. 2, the route setting device 30 according to the first embodiment of the present invention has a communication unit 310, a route search unit 330, a map storage unit 340, a non-recommended map storage unit 350, a one-way traffic area storage unit 360, and a one-way traffic area storage unit 370. The route setting device 30 sets an area to which traffic rules are applied in advance, and then sets a route search cost for the area based on the predicted traveling direction of the autonomous mobile robot 10 in the area determined based on the tentative route, thereby setting a driving route that reflects the traffic rules.

[0046] (Communication unit 310) The communication unit 310 communicates various information with the autonomous running robot 10 and the input terminal 20. For example, the communication unit 310 receives information indicating a destination position of the autonomous running robot 10 from the input terminal 20. The communication unit 310 also receives information indicating a current position of the autonomous running robot 10 from the autonomous running robot 10, and transmits information indicating a travel route of the autonomous running robot 10 to the autonomous running robot 10.

[0047] (Route search unit 330) The route search unit 330 sets a travel route for the autonomous mobile robot 10, by referring to the map storage unit 340, the non-recommended map storage unit 350, the one-way traffic area storage unit 360, and the one-way traffic area storage unit 370, based on information indicating the current position of the autonomous mobile robot 10 received from the autonomous mobile robot 10 and information indicating the destination position received from the input terminal 20. The route search unit 330 has the functions of a route search cost superimposition unit 332, a tentative route setting unit 334, a traveling direction determination unit 336, and a route setting unit 338, as shown in FIG.

[0048] The route search cost superimposing unit 332 sets a route search cost for each grid (position) of the map information stored in the map storage unit 340 in order to reflect traffic rules in route setting. The route search cost is an index referred to when searching for a route, and is expressed, for example, as a numerical value. The route search cost superimposing unit 332 sets the route search cost based on the non-recommended map information stored in the non-recommended map storage unit 350, the one-way traffic area information stored in the one-way traffic area storage unit 360, and the one-way traffic area stored in the one-way traffic area storage unit 370. Specific processing will be described later.

[0049] The tentative route setting unit 334 searches for a route from the current position to the destination position based on the information indicating the destination position received from the input terminal 20, the information indicating the current position obtained from the autonomous mobile robot 10, and the map information in which the route search cost has been set by the route search cost superposition unit 332. The tentative route setting unit 334 sets the route obtained by the route search as the tentative route.

[0050] Information indicating a route such as a tentative route is a set of a current position, a destination position, and a plurality of positions set at grid intervals from the current position to the destination position, and is in the form of a list in which the current position is at the top and the destination position is at the bottom, and the positions are arranged in order of proximity to the current position. In this case, each piece of position information stored as an element of the route may be a position in the driving environment corresponding to the grid position, or may be a grid position depending on the usage method of the driving route. The route search generates a route that minimizes the cumulative route search cost of the grids passing through from the current position to the destination position, and the Dijkstra algorithm, the A* algorithm, the hub labeling method, or the like may be used as a route search method.

[0051] The travel direction determination unit 336 determines the travel direction of the autonomous mobile robot 10 in a constraint area where a travel direction constraint is set when the autonomous mobile robot 10 moves along the tentative route set by the tentative route setting unit 334. The constraint area includes a one-way traffic area indicated by the information stored in the one-way traffic area storage unit 360 and a one-way traffic area indicated by the information stored in the one-way traffic area storage unit 370. A one-way traffic area is an area where the travel direction is set to one direction. A one-way traffic area is an area where it is set to pass on the right or left side in the travel direction. The travel direction determination result is one of three types: no route, a forward direction, or a reverse direction with respect to a reference vector set in the constraint area. Specific processing will be described later.

[0052] The route setting unit 338 performs route search from the current position to the destination position based on the information indicating the destination position received from the input terminal 20, the information indicating the current position received from the autonomous mobile robot 10, and the map information in which the route search cost is set by the route search cost superposition unit 332, and sets the result of the route search as a traveling route. The function of the route setting unit 338 may be substantially the same as the function of the tentative route setting unit 334.

[0053] (Map storage unit 340) The map storage unit 340 stores map information that represents the driving environment of the autonomous mobile robot 10. The map information may be information that represents the driving environment of the autonomous mobile robot 10 as a metric map on a two-dimensional plane. More specifically, the map information may have an occupied grid map format that is represented as a grid. Each grid has a route search cost, and the route search cost may be set to a maximum value for grids that correspond to walls and obstacles, and the route search cost may be set to a minimum value for grids that correspond to empty spaces.

[0054] (Non-traveling recommended map storage unit 350) The non-recommended map storage unit 350 stores a non-recommended map that indicates areas where traveling by the autonomous traveling robot 10 is not recommended. The non-recommended map has an occupied grid map format similar to the map information. In the non-recommended map, the route search cost of the grids that correspond to areas where traveling is not recommended (non-recommended area X) is set to a value that is less than the route search cost set for the grids that correspond to walls and obstacles and greater than the route search cost set for the grids that correspond to empty spaces.

[0055] (One-way traffic area storage unit 360, one-way traffic area storage unit 370) The one-way traffic area storage unit 360 stores information indicating one-way traffic areas. The one-way traffic area storage unit 370 stores information indicating one-way traffic areas. The information stored in the one-way traffic area storage unit 360 and the information stored in the one-way traffic area storage unit 370 will be described in more detail with reference to FIG. 3.

[0056] 3 is an explanatory diagram showing information stored in the one-way traffic area storage unit 360 and information stored in the one-way traffic area storage unit 370. As shown in Fig. 3, the one-way traffic area storage unit 360 stores information indicating a plurality of one-way traffic areas Y. Each one-way traffic area Y is an area set as a rectangle, and is represented by a reference vector YA, which is a vector indicating the position, direction, and length of each one-way traffic area Y on the map, and an area width YB, which is a positive real number indicating the width of the area.

[0057] The area width YB is a value used to express a rectangle by giving a width to the reference vector YA. If the line segment connecting the start point and end point of the reference vector YA is the long side (or short side) of the rectangle, then the area width YB is the length of the short side (or long side) of the rectangle. The direction in which the reference vector YA is given a width is the direction of the cross product of the reference vector YA and a vector that is in the forward direction in the height direction, and is a uniquely determined direction, considering the map information expressed on a two-dimensional plane with vertical and horizontal directions as a three-dimensional space in which a height direction exists virtually.

[0058] 3, the i-th one-way area is denoted as one-way area Yi, the reference vector of the one-way area Yi is denoted as reference vector YAi, and the area width of the one-way area Yi is denoted as area width YBi. Note that the shape of the one-way area Y may be other shapes such as a polygon or a circle. In this case, the reference vector YA may be, for example, the one used in the user interface.

[0059] The one-way traffic area storage unit 370 also stores information indicating a plurality of one-way traffic areas Z. The one-way traffic areas Z are areas represented by rectangles, similar to the one-way traffic areas Y described above, and are represented by a reference vector ZA, which is a vector indicating the position, direction, and length of each one-way traffic area Z on the map, and an area width ZB, which is a positive real number indicating the width of the area.

[0060] 3, the i-th one-way traffic area is denoted as one-way traffic area Zi, the reference vector of the one-way traffic area Zi is denoted as reference vector ZAi, and the area width of the one-way traffic area Zi is denoted as area width ZBi. The shape of the one-way traffic area Z, like the one-way traffic area Y, may be other shapes such as a polygon or a circle.

[0061] <Operation of the Route Setting Device 30> The configuration of the route setting device 30 according to the first embodiment of the present invention has been described above. Next, the operation of the route setting device 30 according to the first embodiment of the present invention will be described with reference to FIG.

[0062] (Operation overview) 4 is a flowchart showing the operation of the route setting device 30 according to the first embodiment of the present invention. First, the route search cost superimposition unit 332 of the route setting device 30 sets the route search cost of each grid constituting the map information to the route search cost of a grid at the same position constituting the non-recommended map (S110). At this time, if a grid on the map information side is a grid corresponding to a wall or an obstacle and the route search cost has already been set to a value greater than that of the grid on the non-recommended map side, the route search cost superimposition unit 332 sets the original route search cost to that grid. Hereinafter, such a process of comparing the route search cost of a grid that has already been set with the route search cost to be newly set and setting the larger route search cost to the grid will be described as superimposition.

[0063] Next, the route search cost superimposing unit 332 superimposes the route search cost of the one-way area Y onto each grid that constitutes the map information (S120). Specific processing will be described later.

[0064] Then, the route search cost superimposing unit 332 superimposes the route search cost of the one-way traffic area Z on each grid that constitutes the map information (S130). The specific processing will be described later.

[0065] Then, the route setting unit 338 searches for a minimum-cost route from the current position of the autonomous mobile robot 10 to the destination position in the map information on which the route search costs of each area are superimposed, which has the smallest cumulative total of the route search costs of the grids passed through, and sets the searched minimum-cost route as the driving route (S140).

[0066] A specific example of the above operation will be described with reference to FIGS.

[0067] 5 to 9 are explanatory diagrams showing specific examples of the operation of the route setting device 30. It is assumed that the driving environment of the autonomous traveling robot 10 is subject to the following traffic rules as shown in Fig. 5: a non-recommended area X, one-way areas Y1 to Y3, and a one-way area Z.

[0068] In this case, in S110, the route search cost superimposing unit 332 of the route setting device 30 sets a higher route search cost in the non-recommended travel area X than in other spaces, as shown in Fig. 6. Next, in S120, the route search cost superimposing unit 332 sets route search costs in one-way traffic areas Y1 and Y2, as shown in Fig. 7. Then, in S130, the route search cost superimposing unit 332 sets a route search cost in the one-way traffic area Z, as shown in Fig. 8. After that, in S140, the route setting unit 338 searches for a minimum cost route that minimizes the cumulative total of the route search costs, as shown by the arrow in Fig. 9, among the routes from the current position of the autonomous mobile robot 10 to the destination position, and sets the searched minimum cost route as the travel route.

[0069] Here, the order of superimposition of each route search cost (S110, S120, S130) is the order that minimizes the number of times the route search costs are superimposed. Since the route search cost of the non-recommended travel area X does not change depending on the travel route, by setting it first, the route search cost of the non-recommended travel area X can be reflected as an invariable rule in setting the tentative route in subsequent processing.

[0070] In contrast, the tentative route changes depending on the setting status of the route search cost of the one-way area Y. For this reason, the route search cost superimposition unit 332 sets the route search cost of the one-way area Y next to the non-recommended travel area X, so that the area through which the tentative route passes in the subsequent processing can be kept constant.

[0071] Even if the area through which the tentative route passes includes the one-way traffic area Z, setting a route search cost for the one-way traffic area Z affects the position through which the tentative route passes within the one-way traffic area Z, but does not affect the area through which the tentative route passes. For this reason, the route search cost superimposition unit 332 sets the route search cost for the one-way traffic area Z last.

[0072] If the steps are performed in a different order, the areas through which the tentative route set in the previous step passes may change. For example, the tentative route set in the current step may pass through one-way area Y or one-way area Z that the tentative route did not pass through in the previous step, and the route setting unit 338 may set a driving route that runs against the one-way area Y or a driving route that violates the one-way traffic rules.

[0073] In this way, when a route that does not satisfy the traffic rules is set as a travel route, it becomes necessary to superimpose the route search cost on the area of ​​the traffic rules to be reflected again, and the number of times the route search cost is superimposed increases. In this regard, the number of times the route search cost is superimposed is minimized by proceeding with the process in the step order described with reference to FIG.

[0074] In addition, in cases where the area through which the tentative route passes between steps does not change depending on the route search cost, the same driving route may be set regardless of the order of steps. In addition, in order to confirm that the finally set driving route satisfies the desired traffic rules, it is also useful for the route setting device 30 to perform the same series of processes again from a state in which the route search costs of each area are superimposed on the map information, and to confirm that there are no changes in the route. In addition, although an example in which two or more types of traffic rules such as one-way streets and one-way streets are applied has been described above, the route search cost superimposition unit 332 may superimpose the route search cost so that only one type of traffic rule is applied.

[0075] (Overlay of route search costs in one-way area Y: S120) Next, the superposition of route search costs in one-way areas Y will be described with reference to FIGS.

[0076] Fig. 10 is a flowchart showing the superposition of route search costs in a one-way area Y. As shown in Fig. 10, the tentative route setting unit 334 sets, as a tentative route, a route in the map information that has the smallest cumulative total of route search costs of grids passing through on the route from the current position to the destination position (S121).

[0077] Next, the travel direction determination unit 336 acquires the travel direction in each of the N one-way areas Y based on the tentative route (S122). The process of the travel direction determination unit will be described later.

[0078] Then, the traveling direction determination unit 336 determines whether or not there is a one-way area Y in which the traveling direction when the autonomous mobile robot 10 travels along the tentative route is the opposite direction (S123). If there is a one-way area Y in the opposite direction (S123 / Yes), the route search cost superimposition unit 332 superimposes the route search cost on a part of the grid included in the one-way area Y in the opposite direction, and the process returns to S121 (S124).

[0079] If there is no one-way area Y in the opposite direction (S123 / No), the superposition of the route search cost for the one-way area Y is completed. The travel direction determination unit 336 does not necessarily need to determine the travel direction for all one-way areas Y, and may determine the travel direction only in one-way areas Y where a tentative route exists.

[0080] Here, a method in which the route search cost overlay unit 332 sets the route search cost in S124 will be described.

[0081] 11 and 12 are explanatory diagrams showing an example of setting a route search cost for a one-way area Y. As shown in Fig. 11, the route search cost superimposition unit 332 may set route search costs for grids that include the end point of the reference vector YA and that form sides consisting of line segments perpendicular to the reference vector YA, on the four sides that form each one-way area Y represented as a rectangle. The set route search cost may be the maximum value of the route search costs that are the same as the grids corresponding to walls and obstacles.

[0082] However, the setting of the route search cost for the one-way area Y may be performed by any other method as long as the method prevents the autonomous mobile robot 10 from entering the one-way area Y in the opposite direction. For example, the route search cost superimposition unit 332 may set the cost in a gradational manner by gradually increasing the route search cost from the start point to the end point of the reference vector YA, as shown in FIG.

[0083] In addition, the route search cost set in the one-way area Y does not necessarily have to be the maximum value. If a route search cost smaller than the maximum value is set, the priority of shortening the travel distance to the destination position and reflecting the one-way rule changes according to the magnitude of the set route search cost. For example, a travel route can be set that prioritizes reflecting the one-way rule as the set route search cost increases, and prioritizes shortening the travel distance to the destination position as the set route search cost decreases.

[0084] A specific example of the superposition of the route search costs in the one-way area Y described above will be described with reference to FIGS.

[0085] 13 to 15 are explanatory diagrams showing a specific example of superimposition of a route search cost in a one-way area Y. First, as shown by an arrow in the left diagram of FIG. 13, the tentative route setting unit 334 sets a tentative route that avoids the non-recommended travel area X among the routes from the current position of the autonomous mobile robot 10 to the destination position (S121). Then, the traveling direction determination unit 336 determines the traveling direction in the one-way area Y1 through which the tentative route passes (S122), and determines that the traveling direction is the opposite direction to the direction permitted in the one-way area Y1 (S123). Therefore, the route search cost superimposition unit 332 sets a route search cost in a part of the one-way area Y1 as shown in the right diagram of FIG. 13 (S124).

[0086] Thereafter, the tentative route setting unit 334 sets a tentative route that avoids the non-recommended travel area X and the one-way area Y1 for which the route search cost has been set, as shown by the arrow in the left diagram of Fig. 14 (S121). Then, the travel direction determination unit 336 determines the travel direction in the one-way area Y2 through which the tentative route passes (S122), and determines that the travel direction is the opposite direction to the direction permitted in the one-way area Y2 (S123). Therefore, the route search cost superimposition unit 332 sets a route search cost to a part of the one-way area Y2, as shown in the right diagram of Fig. 14 (S124).

[0087] 15, the tentative route setting unit 334 sets a tentative route that avoids the one-way area Y1 and the one-way area Y2 for which the route search costs have been set (S121). Then, the travel direction determination unit 336 determines the travel direction in the one-way area Y3 through which the tentative route passes (S122), and determines that the travel direction is the forward direction permitted in the one-way area Y3 (S123). Since there is no other one-way area Y on the tentative route where the travel direction is the opposite direction, the superposition of the route search cost for the one-way area Y is terminated.

[0088] (Overlay of route search costs in one-way traffic area Z: S130) Next, the superposition of route search costs in one-way traffic areas Z will be described with reference to FIGS.

[0089] Fig. 16 is a flowchart showing the superposition of route search costs in a one-way traffic area Z. As shown in Fig. 16, the tentative route setting unit 334 sets, as a tentative route, a route in the map information that has the smallest cumulative total of route search costs of grids passing through the route from the current position to the destination position (S131).

[0090] Next, the travel direction determination unit 336 acquires the travel direction in each of the N one-way traffic areas Z based on the tentative route (S132). The process of the travel direction determination unit will be described later.

[0091] Then, the route search cost superimposing unit 332 superimposes the route search cost on the grids included in each one-way traffic area Z (S133). Through the above processing, the superimposition of the route search cost for the one-way traffic area Z is completed.

[0092] Here, a method for superimposing the route search cost by the route search cost superimposing unit 332 in S133 will be described. The route search cost superimposed on the one-way traffic area Z by the route search cost superimposing unit 332 differs depending on the traveling direction determined by the traveling direction determining unit 336.

[0093] 17 and 18 are explanatory diagrams showing a specific example of superimposition of route search costs in one-way traffic area Z. When a tentative route from the current position of the autonomous mobile robot 10 to the destination position is set as shown in the upper part of Fig. 17, and the traveling direction determination unit 336 determines that the traveling direction of the autonomous mobile robot 10 is the forward direction with respect to the reference vector ZA of the one-way traffic area Z as shown in the middle part of Fig. 17, the route search cost superimposition unit 332 sets the route search cost for the one-way traffic area Z as follows.

[0094] The route search cost superposition unit 332 sets a lower route search cost for grids that are closer to the sides consisting of a line segment that includes the start point and end point of the reference vector ZA of the one-way traffic area Z, as shown in the lower part of Figure 17, and sets a higher route search cost for grids that are closer to the sides consisting of a line segment that does not include either the start point or the end point of the reference vector ZA of the one-way traffic area Z.

[0095] On the other hand, when a tentative route from the current position of the autonomous driving robot 10 to the destination position is set as shown in the upper part of Figure 18, and the traveling direction determination unit 336 determines that the traveling direction of the autonomous driving robot 10 is in the opposite direction to the reference vector ZA of the one-way traffic area Z as shown in the middle part of Figure 18, the route search cost superposition unit 332 sets the route search cost of the one-way traffic area Z as follows.

[0096] The route search cost superposition unit 332 sets a higher route search cost for grids closer to an edge consisting of a line segment that includes the start point and end point of the reference vector ZA, and sets a lower route search cost for grids closer to an edge consisting of a line segment that does not include either the start point or end point of the reference vector ZA.

[0097] The route search cost superimposing unit 332 does not set a route search cost for one-way traffic areas Z that the tentative route does not pass through.

[0098] The above-described method changes the route search cost in the one-way traffic area Z according to the predicted travel direction in the tentative route, making it possible to set a travel route that satisfies the traffic rule of keeping to the left.

[0099] Although the above describes an example of realizing left-hand traffic in one-way traffic area Z, it is also possible to realize right-hand traffic in one-way traffic area Z by switching the processing when the autonomous traveling robot 10 is moving in the forward direction from the processing when it is moving in the reverse direction.

[0100] (Determining the direction of travel) Next, specific processing by the travel direction determination unit 336 included in the process of superimposing the route search costs for one-way traffic area Y (S120) and the process of superimposing the route search costs for one-way traffic area Z (S130) will be described.

[0101] The traveling direction determination unit 336 determines the predicted traveling direction of the autonomous mobile robot 10 in each of the one-way traffic area Y and the one-way traffic area Z, and performs the same processing in both the one-way traffic area Y and the one-way traffic area Z. Therefore, an example of determination in the one-way traffic area Yi will be described below.

[0102] Fig. 19 is a flowchart showing a method for determining a traveling direction. As shown in Fig. 19, the traveling direction determination unit 336 acquires elements of a tentative route that exist on a one-way area Yi (S141). A tentative route is a set of positions on a map, and whether an element of a tentative route exists on a one-way area Yi can be determined by a means such as a Crossing Number algorithm or a Winding Number algorithm based on the positional relationship between a rectangle represented by a reference vector YAi and an area width YBi of the one-way area Yi and the tentative route.

[0103] Next, the travel direction determination unit 336 checks whether there is an element of the tentative route and changes the processing depending on the result (S142). If there is no element of the tentative route (S142 / No), the travel direction determination unit 336 determines that there is no route on the one-way area Yi and ends the processing (S143). If there is an element of the tentative route (S142 / Yes), the travel direction determination unit 336 obtains an intersection vector from the element of the tentative route that intersects with the boundary of the one-way area Yi (S144).

[0104] There are two elements that intersect with the boundary of the area: an element entering the area and an element exiting the area. The travel direction determination unit 336 obtains a vector on the provisional route with the element closest to the current position as the intersection start point and the element closest to the destination position as the intersection end point as an intersection vector.

[0105] For example, when a tentative route from the current position of the autonomous mobile robot 10 to the destination position is set as shown in the upper part of Figure 20, the travel direction determination unit 336 acquires the intersection start point PS and the intersection end point PE, and acquires the vector heading from the intersection start point PS to the intersection end point PE as the intersection vector.

[0106] Then, the traveling direction determination unit 336 calculates the inner product of the reference vector YAi and the intersection vector, and determines whether it is positive or negative (S145). If the inner product is negative (S145 / No), the traveling direction determination unit 336 determines that the traveling direction is the reverse direction (S146). If the inner product is positive (S145 / Yes), the traveling direction determination unit 336 determines that the traveling direction is the forward direction (S147).

[0107] <Action and effect> According to the first embodiment of the present invention described above, various operational effects can be obtained. For example, in the first embodiment of the present invention, the travel direction determination unit 336 determines the travel direction of the autonomous mobile robot 10 in a constraint area in which a restriction on the travel direction is set when the autonomous mobile robot 10 moves along a tentative route, and the route search cost superimposition unit 332 sets a route search cost within the constraint area based on the result of the determination by the travel direction determination unit 336. According to this configuration, a process of calculating the route search cost of an adjacent grid each time a grid is advanced during route search is not required, so that it is possible to reduce the calculation load for setting a travel route.

[0108] Furthermore, with regard to setting a route search cost for a one-way area Y, the route setting device 30 according to the first embodiment of the present invention repeats the steps of setting a tentative route by the tentative route setting unit 334, determining the traveling direction of the autonomous mobile robot 10 by the traveling direction determining unit 336, and setting a route search cost by the route search cost superimposition unit 332, until the tentative route set by the tentative route setting unit 334 does not include the one-way area Y. With this configuration, a route search cost is not set for a one-way area Y that is not passed through by any of the set tentative routes, so that it is possible to reduce the calculation load of the route setting device 30 compared to the case where route search costs are set for all one-way areas Y.

[0109] Moreover, the route setting device 30 according to the first embodiment of the present invention first sets a route search cost for the non-recommended travel area X, then sets a route search cost for the one-way traffic area Y, and then sets a route search cost for the one-way traffic area Z. With this configuration, as described above in detail, the number of times the route search costs are overlapped is minimized.

[0110] In the first embodiment of the present invention, the constraint area information such as the information indicating the one-way area Y and the information indicating the one-way area Z is expressed by a reference vector (YA, ZA) indicating the position, orientation, and area length in the map information, and an area width (YB, ZB) indicating the width of the area. With this configuration, it is possible to reduce the amount of information required to realize the constraint area, compared to when directional information is provided for each grid in the constraint area.

[0111] Furthermore, in the first embodiment of the present invention, the traveling direction determination unit 336 acquires an intersection vector connecting multiple route elements that intersect the boundary of the constraint area, and determines the traveling direction of the autonomous mobile robot 10 in the constraint area according to the result of the inner product of the intersection vector and the reference vector (YA, ZA) of the constraint area. With this configuration, it is possible to determine the traveling direction within the constraint area by one calculation for a constraint area consisting of multiple grids, so that it is possible to reduce the calculation load of the traveling direction determination unit 336.

[0112] Also, in the first embodiment of the present invention, a shorter travel route may be set. In the system disclosed in Patent Document 1, for example, when an autonomous robot is located along one wall in a left-hand traffic passage and a destination position is on the other wall side in the traveling direction, a redundant route may be set in which the robot moves diagonally away from the destination position and then moves toward the destination position. In contrast, in the first embodiment of the present invention, a route search cost is set in the one-way traffic area Z as described with reference to FIG. 8, so that a travel route that moves diagonally away from the destination position is not set, and a travel route that approaches the destination position from the current position is set. Therefore, as described above, in the first embodiment of the present invention, a shorter travel route may be set.

[0113] The route setting device 30 may store the current position, the destination position, and the travel route in association with each other. If a current position and a destination position that match the current position and the destination position in the new search are stored, the route setting device 30 may read out and use the travel route stored in association with the current position and the destination position.

[0114] <<Second embodiment>> In the first embodiment of the present invention, a route setting device 30 has been described that sets a travel route after setting a route search cost within an area based on the predicted travel direction of the autonomous robot 10 in the area where traffic rules are applied. This makes it possible to set a travel route that reflects traffic rules while suppressing the amount of route search cost that needs to be set.

[0115] However, a problem with commercially available autonomous robots is that it is difficult for them to autonomously navigate along a route set by an external system. Generally, commercially available autonomous robots are developed to automate specific tasks, and the intended users are often non-engineers currently in charge of those tasks. Therefore, the operation of an autonomous robot is basically limited to simple operations such as specifying the destination position for autonomous driving.

[0116] In addition, route planning is a function that is adjusted using the proprietary technology and know-how of each manufacturer, and even if a driving route can be set in a special case, the configuration may be completely different for each manufacturer, and each manufacturer may require a different route setting method.

[0117] In order to solve this problem, a route setting device 32 according to a second embodiment is proposed. The route setting device 32 according to the second embodiment has an additional function of transmitting to the autonomous mobile robot 10 an action instruction (action instruction) for the autonomous mobile robot 10 to travel along a set travel route. The action instruction to the autonomous mobile robot 10 indicates a movement instruction to a specified position and does not include a route, but the route setting device 32 converts the travel route to be set into a plurality of intermediate positions, and then transmits action instructions to the autonomous mobile robot 10 sequentially with each intermediate position as a specified position, thereby realizing the travel of the autonomous mobile robot 10 along the set travel route. This additional function makes it possible for the autonomous mobile robot 10, which does not accept the setting of a travel route from outside, to realize autonomous travel along a travel route that reflects traffic rules. In other words, it is possible to realize autonomous travel along a travel route with a variety of autonomous mobile robots 10.

[0118] <Routing system configuration> Fig. 21 is an explanatory diagram showing the configuration of a route setting system according to the second embodiment. As shown in Fig. 21, the route setting system according to the second embodiment has an autonomous mobile robot 10, an input terminal 20, and a route setting device 32. In the following, the description of the parts common to the first embodiment will be omitted, and the parts different from the first embodiment will be mainly described.

[0119] The autonomous traveling robot 10 is connected to a route setting device 32 via a network 12, transmits information indicating a current position to the route setting device 32, and receives action instructions for autonomous traveling from the route setting device 32. The action instructions are operation instructions that include information indicating a designated position in autonomous traveling. The information indicating the designated position is information that indicates an arbitrary position in the traveling environment.

[0120] The route setting device 32 is connected to the input terminal 20 and the autonomous mobile robot 10 via the network 12. The route setting device 32 receives information indicating a destination position in setting a travel route from the input terminal 20. The route setting device 32 receives information indicating a current position from the autonomous mobile robot 10, and transmits the above-mentioned action instruction to the autonomous mobile robot 10.

[0121] <Configuration of the path setting device 32> Fig. 22 is an explanatory diagram showing the configuration of a route setting device 32 according to a second embodiment of the present invention. As shown in Fig. 22, the route setting device 32 according to the second embodiment has a communication unit 310, a route search unit 330, a map storage unit 340, a non-recommended map storage unit 350, a one-way traffic area storage unit 360, a one-way traffic area storage unit 370, an action sequence generation unit 382, ​​and an action completion determination unit 384. The functions of the route search unit 330, the map storage unit 340, the non-recommended map storage unit 350, the one-way traffic area storage unit 360, and the one-way traffic area storage unit 370 are the same as those described in the first embodiment.

[0122] (Action sequence generator 382) The action sequence generation unit 382 generates an action sequence that is a sequence that brings together a plurality of actions for causing the autonomous mobile robot to travel along the travel route set by the route search unit 330. The communication unit 310 transmits action instructions to the autonomous mobile robot 10 based on the action sequence. The generation of the action sequence and the transmission of the action instructions will be described in detail later.

[0123] In the second embodiment, the route search unit 330 may set a travel route in substantially the same manner as in the first embodiment, or may set a travel route in a manner different from that in the first embodiment.

[0124] (Action completion determination unit 384) The action completion determination unit 384 determines whether the autonomous mobile robot 10 has completed the action indicated by the action instruction transmitted from the communication unit 310, and when it is determined that the action has been completed, instructs the communication unit 310 to transmit the next action instruction. Specific processing will be described later.

[0125] <Operation of the Route Setting Device 32> Next, the operation of the route setting device 32 according to the second embodiment of the present invention will be described.

[0126] 23 is a flowchart showing the operation of the route setting device 32 according to the second embodiment of the present invention. First, the route search unit 330 sets a travel route for the autonomous mobile robot 10 by the process described in the first embodiment (S210).

[0127] Next, the action sequence generation unit 382 generates an action sequence based on the travel route set by the route search unit 330 (S220). The action sequence is composed of multiple action instructions that instruct travel to a specified position. The total number of action instructions is the number of via positions set at arbitrary intervals on the travel route set by the route search unit 330. The specified position in each action instruction is the above-mentioned via position. In other words, the action sequence generation unit 382 functions as an extraction unit that extracts multiple via positions on the travel route.

[0128] After generating the action sequence, the communication unit 310 checks whether there is an unsent action instruction in the action sequence (S230). If there is an unsent action instruction (S230 / Yes), the communication unit 310 transmits the action instruction with the highest priority among the unsent action instructions to the autonomous mobile robot 10 (S240).

[0129] Here, the communication unit 310 transmits the action instructions in the order of the action instructions that indicate the designated positions closest to the current position on the travel route among the multiple action instructions that constitute the action sequence. In other words, the communication unit 310 sequentially transmits the multiple action instructions that constitute the action sequence, thereby making it possible to cause the autonomous traveling robot 10 to travel along the travel route.

[0130] In this case, the narrower the interval between the via points, the more the autonomous mobile robot 10 can travel along the travel route. On the other hand, as the number of via points increases, the autonomous mobile robot 10 also travels more for positioning to reach the via points, and the possibility of the stability of the travel being impaired increases. Therefore, the interval between the via points is a parameter that is appropriately adjusted according to the operating environment and the autonomous mobile robot 10.

[0131] After transmitting the action instruction, the communication unit 310 waits until receiving an instruction to transmit the next action instruction from the action completion determination unit 384 (S250). The action completion determination unit 384 compares the designated position in the transmitted action instruction with the current position received from the autonomous mobile robot 10, and determines that the action is completed when the designated position and the current position match.

[0132] The action completion determination unit 384 may determine that the action is completed when the designated position and the current position are within the allowable error range by setting an allowable error in advance. Depending on the type of the autonomous mobile robot 10, the route setting device 32 may be able to transmit a different action, which is to perform travel for positioning after reaching the designated position, and an action which is to treat the designated position as a waypoint and not perform travel for positioning. In this case, an action may be selected according to the operation required of the autonomous mobile robot 10 at each waypoint during operation.

[0133] When the communication unit 310 receives an instruction to transmit the next action instruction from the action completion determination unit 384, it returns to checking again whether there is an untransmitted action instruction in the action sequence (S230). If there is no untransmitted action (S230 / No), the path setting device 32 terminates the process assuming that the action sequence is completed.

[0134] <Action and effect> According to the second embodiment of the present invention described above, various operational effects can be obtained. For example, it is possible to make an autonomous mobile robot 10 that does not have the function of autonomously traveling along a traveling route set by an external system autonomously travel along a traveling route set by the route setting device 32. That is, according to the second embodiment of the present invention, it is possible to realize autonomous traveling along a traveling route with various autonomous mobile robots 10, regardless of the manufacturer of the autonomous mobile robot 10.

[0135] <<Third embodiment>> In the second embodiment, a plurality of via-points are set on a travel route, and the autonomous mobile robot 10 is instructed to travel to each via-point as a destination. Therefore, in order to make the autonomous mobile robot 10 travel strictly along the travel route, it is necessary to narrow the intervals between the via-points to the same as the grid intervals of the travel route. However, narrowing the intervals between the via-points increases the number of action instructions. Furthermore, considering that the autonomous mobile robot 10 travels to determine its position to reach each via-point, it is difficult to narrow the intervals between the via-points to the same as the grid intervals in terms of operation.

[0136] In order to solve this problem, a route setting device 33 according to a third embodiment is proposed. The route setting device 33 according to the third embodiment has a function of changing the driving-prohibited area of ​​the autonomous mobile robot 10. Some commercially available autonomous mobile robots have a function of setting driving-prohibited areas in a driving environment, and can travel while avoiding the driving-prohibited areas. Therefore, the route setting device 33 according to the third embodiment restricts the autonomous mobile robot 10 from traveling in positions other than the set driving route by setting areas other than those necessary for traveling on the set driving route as the driving-prohibited area of ​​the autonomous mobile robot 10. This function eliminates the need to send multiple action instructions to the autonomous mobile robot 10, making it possible to achieve more stable traveling.

[0137] <Configuration of the Route Setting Device 33> Fig. 24 is an explanatory diagram showing the configuration of a route setting system according to a third embodiment of the present invention. As shown in Fig. 24, the route setting system according to the third embodiment has an autonomous mobile robot 10, an input terminal 20, and a route setting device 33. In the following, the description of the parts common to the first embodiment will be omitted, and the parts different from the first embodiment will be mainly described.

[0138] The autonomous mobile robot 10 is connected to a route setting device 33 via a network 12. The autonomous mobile robot 10 transmits information indicating its current position to the route setting device 33, and receives a prohibited area map indicating areas in which autonomous mobile robot 10 is prohibited from traveling from the route setting device 33. The prohibited area map has a format compatible with the autonomous mobile robot 10, and may be an occupancy grid map format, an image format, or the like, although the type of prohibited area map is not important.

[0139] The route setting device 33 is connected to the input terminal 20 and the autonomous mobile robot 10 via the network 12. The route setting device 33 receives information indicating a destination position in setting a travel route from the input terminal 20. The route setting device 33 receives information indicating a current position from the autonomous mobile robot 10, and transmits the above-mentioned prohibited area map to the autonomous mobile robot 10.

[0140] <Configuration of the Route Setting Device 33> Fig. 25 is an explanatory diagram showing the configuration of a route setting device 33 according to a third embodiment of the present invention. As shown in Fig. 25, the route setting device 33 according to the third embodiment of the present invention has a communication unit 310, a route search unit 330, a map storage unit 340, a non-recommended map storage unit 350, a one-way traffic area storage unit 360, a one-way traffic area storage unit 370, and a prohibition map generation unit 390. The functions of the route search unit 330, the map storage unit 340, the non-recommended map storage unit 350, the one-way traffic area storage unit 360, and the one-way traffic area storage unit 370 are the same as those described in the first embodiment.

[0141] (Prohibition map generation unit 390) The prohibition map generating unit 390 generates a prohibition area map in which areas that do not overlap with the travel route set by the route searching unit 330 are set as travel-prohibited areas. The travel-prohibited areas may be areas excluding the union of the internal areas of circles whose centers are the positions constituting the travel route and whose diameters are of a predetermined length. The predetermined length may be a length equal to or greater than the minimum width required for the autonomous mobile robot 10 to travel autonomously.

[0142] In the third embodiment, the route search unit 330 may set a travel route in substantially the same manner as in the first embodiment, or may set a travel route in a manner different from that in the first embodiment.

[0143] <Operation of the Route Setting Device 33> Next, the operation of the route setting device 33 according to the third embodiment of the present invention will be described.

[0144] Fig. 26 is a flowchart showing the operation of the route setting device 33 according to the third embodiment of the present invention. As shown in Fig. 26, the route search unit 330 sets a travel route for the autonomous mobile robot 10 by the process described in the first embodiment (S310).

[0145] Next, the prohibition map generating unit 390 generates a prohibition area map based on the driving route set by the route searching unit 330 (S320). Then, the communication unit 310 transmits the prohibition area map to the autonomous mobile robot 10 (S330). Furthermore, the communication unit 310 transmits information indicating the destination position to the autonomous mobile robot 10, and the process ends (S340).

[0146] Thereafter, the autonomous mobile robot 10 sets a prohibited area according to the prohibited area map, and autonomously moves to a destination position while avoiding the prohibited area.

[0147] <Action and effect> According to the third embodiment of the present invention described above, various operational effects can be obtained. For example, according to the third embodiment of the present invention, even if the autonomous mobile robot 10 does not have a function of autonomously traveling along a traveling route set by an external system, if the autonomous mobile robot 10 has a function of setting a traveling prohibited area, the autonomous mobile robot 10 sets a traveling prohibited area according to a prohibited area map and autonomously moves to a destination position while avoiding the traveling prohibited area. As a result, the autonomous mobile robot 10 can autonomously move along a traveling route set by the route setting device 33. In addition, in the third embodiment of the present invention, the route setting device 33 does not need to sequentially transmit a plurality of action instructions to the autonomous mobile robot 10 as described in the second embodiment, so that the third embodiment of the present invention is particularly useful.

[0148] <<Modifications>> The first to third embodiments of the present invention have been described above. In the following, some modified examples of the above-mentioned embodiments will be described. Each modified example described below may be applied alone to the above-mentioned embodiment, or may be applied in combination to the above-mentioned embodiment. Furthermore, each modified example may be applied in place of the configuration of the above-mentioned embodiment, or may be applied in addition to the configuration of the above-mentioned embodiment.

[0149] (First Modification) In the above-described embodiment, a non-recommended map was described that indicates a non-recommended area, which is an area on a map where route settings are minimized as a traffic rule. However, by replacing the non-recommended map with other information of the same format or adding other information to the non-recommended map, it is possible to plan a route that takes into account various conditions.

[0150] For example, the route search cost of each grid constituting the non-travel-recommended map may be set to a stepped value according to the communication quality at the position in the travel environment corresponding to each grid. With such a configuration, it is possible to realize a route plan that suppresses the occurrence of communication failures. Note that the communication quality may be the amount of network communication delay, communication strength, or the number of access points that can communicate, etc.

[0151] Alternatively, a circular or rectangular area around a location where communication failure of the autonomous mobile robot 10 has occurred in the past may be set as the non-recommended area. Also, locations where the autonomous mobile robot 10 has failed to travel autonomously in the past due to reasons such as incorrect self-location estimation may be stored in advance, and the area around the location where the autonomous mobile robot 10 has failed to travel autonomously may be set as the non-recommended area. With this configuration, it is possible to stabilize the autonomous travel of the autonomous mobile robot 10.

[0152] Furthermore, a non-traveling recommended area may be set based on the expected number of pedestrians at each location in the facility. For example, a location with a relatively small number of pedestrians may be set as a non-traveling recommended area in order to improve the signage effect on pedestrians, or a location with a relatively large number of pedestrians may be set as a non-traveling recommended area in order to reduce the risk of contact between the autonomous robot 10 and pedestrians.

[0153] (Second Modification) The non-recommended area map, the information indicating the one-way area Y, or the information indicating the one-way area Z may be prepared for each period or situation. For example, the non-recommended area map, the information indicating the one-way area Y, or the one-way area Z may be prepared for each day of the week, each time period, or each time an event occurs, such as when a disaster occurs.

[0154] In this case, the route search cost superimposition unit 332 sets a route search cost for the non-recommended travel area X in the map information based on a non-recommended travel area map that matches the current date, time, or situation. Also, the travel direction determination unit 336 identifies the one-way traffic area Y or the one-way traffic area Z in the tentative route based on information that matches the current date, time, or situation from among information indicating the one-way traffic area Y or information indicating the one-way traffic area Z. This makes it possible to set a travel route that is suitable for the current date, time, or situation.

[0155] (Third Modification) FIG. 27 is an explanatory diagram showing a method for realizing a one-way traffic area according to the third modified example. As shown in FIG. 27(a), a one-way traffic area can also be realized by setting a non-travel area in the center of a passage and setting one-way traffic areas on both sides of the non-travel area. When a one-way traffic area is realized by the method according to this modified example, a route setting effect different from that when a one-way traffic area Z is realized by the method of the above-mentioned embodiment can be obtained. When a one-way traffic area Z is realized by the method of the above-mentioned embodiment, setting a route with one-way traffic is recommended, but setting a route with one-way traffic is not prohibited. On the other hand, when a one-way traffic area is realized by the method according to this modified example, setting a route with one-way traffic is almost mandatory.

[0156] Furthermore, as shown in Figures 27(b) and 27(c), if an aisle is connected to another aisle midway, it is possible to set a route to enter and exit the other aisle by making the non-recommended area an empty area.

[0157] (Fourth Modification) In the first embodiment, an example has been described in which the route setting device 30 has the communication unit 310, the route search unit 330, the map memory unit 340, the non-recommended map memory unit 350, the one-way traffic area memory unit 360, and the one-way traffic area memory unit 370. However, the locations where each of the communication unit 310, the route search unit 330, the map memory unit 340, the non-recommended map memory unit 350, the one-way traffic area memory unit 360, and the one-way traffic area memory unit 370 is implemented are not limited to inside the route setting device 30.

[0158] Fig. 28 is an explanatory diagram showing a fourth modified example. As shown in Fig. 28, the non-travel recommended map storage unit 350, the one-way traffic area storage unit 360, and the one-way traffic area storage unit 370 may be implemented outside the route setting device 30. Note that communication between the route setting device 30 and the autonomous mobile robot 10, and communication between the route setting device 30 and the input terminal 20 may be performed without going through the network 12.

[0159] (Fifth Modification) The fifth modified example is a modified example of the first embodiment. Fig. 29 is an explanatory diagram showing the fifth modified example. As shown in Fig. 29, the route setting device 30 may be mounted on the autonomous mobile robot 10. In this case, the route setting device 30 also moves in accordance with the movement of the autonomous mobile robot 10.

[0160] (Sixth Modification) In the above-mentioned second embodiment, an example in which the path setting device 32 has the action completion determination unit 384 has been described. However, when the autonomous mobile robot 10 can determine the completion of the action indicated by the action instruction, that is, when the autonomous mobile robot 10 has the action completion determination unit 384, the path setting device 32 may not have the action completion determination unit 384 as shown in FIG. 30. The action completion determination unit 384 of the autonomous mobile robot 10 can determine the completion of the action by the method described in the second embodiment. When the autonomous mobile robot 10 determines that the action is completed, it transmits an action completion notification to the path setting device 32, and the path setting device 32 may transmit the next action instruction to the autonomous mobile robot 10 based on the receipt of the action completion notification from the autonomous mobile robot 10.

[0161] Alternatively, the path setting device 32 may transmit the action sequence to the autonomous mobile robot 10, and the autonomous mobile robot 10 may sequentially execute the actions indicated by the action sequence. For example, the autonomous mobile robot 10 may determine the completion of an action, and when it is determined that the action is completed, may start executing the action that is ordered next to the action in the action sequence.

[0162] (Seventh Modification) The seventh modified example is a modified example of the second embodiment. FIG. 31 is an explanatory diagram showing the seventh modified example. As shown in FIG. 31, the autonomous mobile robot 10 may be implemented with the functions of a route setting device 32 having an action sequence generation unit 382 and an action completion determination unit 384. The autonomous mobile robot 10 communicates with a storage system 40 having a map storage unit 340, a non-recommended map storage unit 350, a one-way traffic area storage unit 360, and a one-way traffic area storage unit 370 via a network 12, thereby enabling the setting of a travel route equivalent to that of the second embodiment and the movement of the autonomous mobile robot 10.

[0163] (Eighth Modification) The eighth modified example is a modified example related to setting a route search cost for one-way area Y. The route search cost superimposition unit 332 according to the eighth modified example sets a route search cost for a portion of the one-way area Y through which the set tentative route passes. For example, as shown in Fig. 32, the route search cost superimposition unit 332 may set a route search cost for a grid that includes the intersection start point, which is the element closest to the current position, of two elements that intersect with the one-way area Y on the tentative route and that constitutes an edge made of a line segment perpendicular to the reference vector YA.

[0164] In this case, the processes of S121, S122 and S124 described with reference to FIG. 10 are repeated until the tentative route set in S121 does not include any route that involves travel through the one-way area Y in a direction other than the direction of travel defined in the one-way area Y.

[0165] According to the eighth modified example, it is possible to set a more appropriate travel route. The effects of the eighth modified example will be described below with reference to Figs. 33 and 34.

[0166] Fig. 33 is an explanatory diagram showing an example of a route search cost set by the method according to the embodiment described above. When a travel direction indicated by an arrow is set in a one-way area Y as shown in the left diagram of Fig. 33, in the method according to the embodiment described above, a route search cost is set at the edge of the one-way area Y on the travel direction side as shown in the right diagram of Fig. 33. In this case, the tentative route includes a route that is a reverse run in the one-way area Y.

[0167] Fig. 34 is an explanatory diagram showing an example of a route search cost set by a method according to the eighth modified example. As shown in the left diagram of Fig. 34, in the method according to the eighth modified example, a route search cost is set for a grid that includes the intersection start point, which is the element closest to the current position, of two elements on the tentative route that intersect with one-way area Y, and that constitutes an edge made of a line segment perpendicular to the reference vector YA. For this reason, as shown in the right diagram of Fig. 34, it is possible to set a newly set tentative route as a route that does not include a route that involves going the wrong way through one-way area Y.

[0168] <<Hardware configuration>> The embodiment and the modified example of the present invention have been described above. The information processing such as the setting of the route search cost and the setting of the travel route described above is realized by the cooperation of software and hardware. Below, an example of a hardware configuration that can be applied to the autonomous traveling robot 10, the input terminal 20, the route setting device 30, etc. will be described.

[0169] 35 is a block diagram showing an example of a hardware configuration 90. The hardware configuration 90 includes a CPU (Central Processing Unit) 901, a ROM (Read Only Memo one-way area Y) 902, a RAM (Random Access Memo one-way area Y) 903, and a host bus 904. The hardware configuration 90 also includes a bridge 905, an external bus 906, an interface 907, an input device 908, a display device 909, an audio output device 910, a storage device (HDD) 911, a drive 912, and a network interface 915.

[0170] The CPU 901 functions as an arithmetic processing unit and a control unit, and controls the overall operation according to various programs. The CPU 901 may also be a microprocessor. The ROM 902 stores programs and arithmetic parameters used by the CPU 901. The RAM 903 temporarily stores programs used in the execution of the CPU 901 and parameters that change appropriately in the execution. These are connected to each other by a host bus 904 consisting of a CPU bus and the like. The functions of the communication unit 310, the route search unit 330, the action sequence generation unit 382, ​​the action completion determination unit 384, and the prohibition map generation unit 390 can be realized by the cooperation of the CPU 901, the ROM 902, and the RAM 903 with software.

[0171] The host bus 904 is connected to an external bus 906, such as a PCI (Peripheral Component Interconnect / Interface) bus, via a bridge 905. It is not necessary to configure the host bus 904, bridge 905, and external bus 906 separately, and these functions may be implemented in a single bus.

[0172] The input device 908 is composed of input means for the user to input information, such as a mouse, keyboard, touch panel, button, microphone, sensor, switch, and lever, and an input control circuit that generates an input signal based on the user's input and outputs it to the CPU 901. The user can input various data and instruct processing operations by operating the input device 908.

[0173] The display device 909 includes, for example, a display device such as a liquid crystal display (LCD) device, a projector device, an OLED (Organic Light Emitting Diode) device, a lamp, etc. Furthermore, the audio output device 910 includes an audio output device such as a speaker and a headphone.

[0174] The storage device 911 is a device for storing data configured as an example of a storage unit according to this embodiment. The storage device 911 may include a storage medium, a recording device for recording data in the storage medium, a reading device for reading data from the storage medium, and a deleting device for deleting data recorded in the storage medium. The storage device 911 is configured, for example, with a hard disk drive (HDD) or a solid state drive (SSD), or a memory having equivalent functions. This storage device 911 drives the storage and stores the programs executed by the CPU 901 and various data.

[0175] The drive 912 is a reader / writer for a storage medium, and is built into or externally attached to the hardware configuration 90. The drive 912 reads out information recorded in a removable storage medium 84, such as an attached magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, and outputs the information to the RAM 903 or the storage device 911. The drive 912 can also write information to the removable storage medium 84.

[0176] The network interface 915 is, for example, a communication interface configured with a communication device for connecting to the network 12. The network interface 915 may be a communication device compatible with a wireless LAN (Local Area Network), or a wired communication device that performs wired communication.

[0177] <<Additional Information>> Although the preferred embodiment of the present invention has been described in detail above with reference to the accompanying drawings, the present invention is not limited to such an example. It is clear that a person having ordinary knowledge in the technical field to which the present invention pertains can conceive of various modified or altered examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present invention.

[0178] For example, the steps in the processing of the route setting device 30, the route setting device 32, and the route setting device 33 in this specification do not necessarily have to be processed in chronological order according to the order described in the flowcharts. For example, the steps in the processing of the route setting device 30, the route setting device 32, and the route setting device 33 may be processed in an order different from the order described in the flowcharts, or may be processed in parallel.

[0179] It is also possible to create a computer program for causing hardware such as a CPU, ROM, and RAM built into the autonomous mobile robot 10, the input terminal 20, the route setting device 30, the route setting device 32, and the route setting device 33 to perform functions equivalent to those of the above-mentioned autonomous mobile robot 10, the input terminal 20, the route setting device 30, the route setting device 32, and the route setting device 33. A non-transitory storage medium on which the computer program is stored is also provided. [Explanation of symbols]

[0180] 10 Autonomous Robot 20 Input terminal 30, 32, 33 Routing device 310 Communications Department 330 Route Search Unit 332 Path Search Cost Overlay 334 Temporary Route Setting Section 336 Traveling direction determination unit 338 Route setting section 340 Map Memory Unit 350 Non-recommended map memory unit 360 One-way area storage unit 370 One-way traffic area memory unit 382 Action Sequence Generation Unit 384 Action Completion Judgment Section 390 Prohibition Map Generation Unit 40 Memory Systems

Claims

1. A route setting unit that sets a travel route from a current position of the autonomous robot to a destination position; an extraction unit that extracts a plurality of intermediate positions on the travel route set by the route setting unit; A route setting device comprising: a communication unit that transmits information indicating each of the multiple intermediate positions extracted by the extraction unit to the autonomous traveling robot.

2. The route setting device of claim 1, wherein the communication unit transmits information indicating a certain intermediate position to the autonomous driving robot, and then, when it is determined that the autonomous driving robot has reached the intermediate position, transmits information indicating a next intermediate position to the autonomous driving robot.

3. The route setting device according to claim 2 , further comprising a determination unit that determines whether the autonomous mobile robot has reached the intermediate position.

4. A tentative route setting unit that sets a tentative route from a current position of the autonomous robot to a destination position based on map information that represents a driving environment of the autonomous robot; a travel direction determination unit that determines a travel direction of the autonomous traveling robot in a constraint area in which a travel direction constraint is set when the autonomous traveling robot moves along the tentative route; a route search cost setting unit that sets a route search cost within the constraint area based on a result of the determination by the travel direction determination unit; Equipped with The route setting device according to claim 1 , wherein the route setting unit sets a driving route from a current position to a destination position of the autonomous mobile robot based on a route search cost set within the constraint domain by the route search cost setting unit.

5. the restriction area includes a one-way area in which a travel direction is determined to be one direction, 5. The route setting device of claim 4, wherein the setting of the tentative route by the tentative route setting unit, the determination of the traveling direction of the autonomous traveling robot by the traveling direction determination unit, and the setting of the route search cost by the route search cost setting unit are repeated until the tentative route set by the tentative route setting unit does not include a route that involves travel through the one-way area in a direction other than the one direction.

6. the restriction area includes a one-way traffic area in which it is stipulated that the vehicle must pass on the right or left side in the direction of travel, The route setting device of claim 5, wherein the tentative route set by the tentative route setting unit is repeated until it does not include a route that involves travel in the one-way traffic area in a direction other than the one direction, and then the tentative route is set by the tentative route setting unit, the travel direction of the autonomous traveling robot in the one-way traffic area is determined by the travel direction determination unit, and the route search cost for the one-way traffic area is set by the route search cost setting unit.

7. the route search cost setting unit sets a route search cost for a position within the map information based on pre-stored information; 6. The route setting device according to claim 5, wherein after the route search cost setting unit sets a route search cost based on the information, the tentative route setting unit sets the tentative route, the traveling direction determination unit determines the traveling direction of the autonomous traveling robot, and the route search cost setting unit sets the route search cost.

8. The travel direction determination unit identifies the constraint area in the tentative route based on constraint area information indicating the constraint area; 5. The route setting device according to claim 4, wherein the constraint area information includes a reference vector indicating a position, an orientation, and an area length in the map information, and area width information indicating a width of the area.

9. The route setting device of claim 8, wherein the travel direction determination unit obtains an intersection vector that connects multiple route elements of the tentative route that intersect with the boundary of the constraint area, and determines the travel direction of the autonomous driving robot in the constraint area based on the result of the dot product of the intersection vector and the reference vector of the constraint area.

10. The constraint region information is prepared for each period or situation, 10. The route setting device according to claim 8, wherein the travel direction determining unit identifies the constraint area in the tentative route based on information that matches a current date and time or a current situation, among the constraint area information.

11. 8. The route setting device according to claim 7, wherein the pre-stored information is information corresponding to communication quality for each location.

12. The route setting device according to claim 7 , wherein the pre-stored information is information indicating a location where a failure in autonomous driving has occurred in the past.

13. The route planning device according to claim 7 , wherein the pre-stored information is information according to an expected amount of pedestrians for each location.

14. The pre-stored information is prepared for each period or situation, The route setting device according to any one of claims 7, 11 to 13, wherein the route search cost setting unit sets a route search cost for a position within the map information based on information that matches a current date and time or situation among the pre-stored information.

15. The route setting device includes: a prohibited area map generating unit that generates a prohibited area map in which areas that do not overlap with the travel route set by the route setting unit are set as travel prohibited areas, The route setting device according to claim 1 , wherein the communication unit transmits the prohibited area map to the autonomous mobile robot.

16. 10. The route setting device according to claim 4, wherein the route setting unit sets the route with the smallest cumulative total of route search costs as the travel route.

17. A route setting system including an autonomous traveling robot and a route setting device, The route setting device includes: A route setting unit that sets a travel route from a current position of the autonomous robot to a destination position; an extraction unit that extracts a plurality of intermediate positions on the travel route set by the route setting unit; a transmission unit that transmits information indicating each of the plurality of route positions extracted by the extraction unit to the autonomous mobile robot; Has A route setting system, wherein the autonomous mobile robot autonomously travels from the current position to the destination position according to information received from the route setting device.

18. Setting a travel route from a current position of the autonomous robot to a destination position; Extracting a plurality of route positions on the travel route; Transmitting information indicating each of the plurality of via positions to the autonomous mobile robot; A method comprising:

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