Route setting device

Abstract

To realize autonomous travel along a travel route by various autonomous travel robots.SOLUTION: Included are: a route setting part; an extraction part that extracts a plurality of transit positions on a travel route set by the route setting part; a communication part that transmits, to an autonomous travel robot, information indicating each of the plurality of transit positions extracted by the extraction part; a temporary route setting part that sets, on the basis of map information indicating travel environment of the autonomous travel robot, a temporary route from a current position to a target position of the autonomous travel robot; a movement direction determination part that, when the autonomous travel robot moves along the temporary route, determines a movement direction of the autonomous travel robot in a restricted region where the movement direction restriction is set; and a route search cost setting part that sets route search costs in the restricted region. The route setting part sets a travel route from the current position to the target position of the autonomous travel robot on the basis of the route search costs set in the restricted region.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a routing device. [Background technology]

[0002] In recent years, autonomous mobile robots have been developed to automate security or transportation tasks in transportation facilities, commercial facilities, and the like. Autonomous mobile robots are robots that have the ability to travel autonomously from their current location to a destination without human intervention. Such autonomous mobile robots are disclosed, for example, in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-191502 Summary of the Invention [Problem to be solved by the invention]

[0004] However, commercially available autonomous robots have the problem of difficulty in autonomously traveling along routes set by external systems. 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 location for autonomous travel.

[0005] Furthermore, 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 different route setting methods may be required for each manufacturer.

[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 problem, according to one aspect of the present invention, there is provided a route setting device comprising: a route setting unit that sets a driving route from the current position of an autonomous driving robot to a destination position; an extraction unit that extracts multiple intermediate positions on the driving route set by the route setting unit; a communication unit that transmits information indicating each of the multiple intermediate positions extracted by the extraction unit to the autonomous driving robot; 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 that represents 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, wherein the route setting unit sets 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.

[0008] The constraint area may include a one-way area where the direction of travel is defined as 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 mobile 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.

[0009] The constraint area may include a one-way traffic area where it is determined that the vehicle must 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 it no longer includes a route that would result in travel through the one-way traffic area in a direction other than the one mentioned above. After this, the tentative route setting unit may set the tentative route, the travel direction determination unit may determine the travel direction of the autonomous mobile robot in the one-way traffic area, and the route search cost setting unit may set the route search cost for the one-way traffic area.

[0010] The route search cost setting unit may set a route search cost at a position within the map information based on information stored in advance, 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.

[0011] 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 the position, posture, and area length in the map information, and area width information indicating the width of the area.

[0012] The travel direction determination unit may obtain an intersection vector connecting multiple route elements that intersect the boundary of the constraint area from the tentative route, and determine the travel direction of the autonomous mobile 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.

[0013] 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.

[0014] The pre-stored information may be information according to communication quality for each location.

[0015] The pre-stored information may be information indicating a location where a failure in autonomous driving has occurred in the past.

[0016] The pre-stored information may be information according to the expected amount of pedestrians per location.

[0017] 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 and time or situation.

[0018] 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.

[0019] The route setting unit may set the route with the smallest cumulative total of route search costs as the travel route. [Effects of the Invention]

[0020] 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 explanation of the drawings]

[0021] [Figure 1] FIG. 1 is an explanatory diagram illustrating a route setting system according to a first embodiment of the present invention. [Figure 2] 1 is an explanatory diagram showing a configuration of a route setting device 30 according to a first embodiment of the present invention. [Figure 3] 10 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 the operation of the route setting device 30 according to the first embodiment of the present invention. [Figure 5]10 is an explanatory diagram showing a specific example of the operation of the route setting device 30. FIG. [Figure 6] 10 is an explanatory diagram showing a specific example of the operation of the route setting device 30. FIG. [Figure 7] 10 is an explanatory diagram showing a specific example of the operation of the route setting device 30. FIG. [Figure 8] 10 is an explanatory diagram showing a specific example of the operation of the route setting device 30. FIG. [Figure 9] 10 is an explanatory diagram showing a specific example of the operation of the route setting device 30. FIG. [Figure 10] 10 is a flowchart showing the superposition of route search costs in one-way areas Y. [Figure 11] FIG. 10 is an explanatory diagram showing an example of setting route search costs for a one-way area Y. [Figure 12] FIG. 10 is an explanatory diagram showing an example of setting route search costs for a one-way area Y. [Figure 13] FIG. 10 is an explanatory diagram showing a specific example of superimposition of route search costs in a one-way area Y. [Figure 14] FIG. 10 is an explanatory diagram showing a specific example of superimposition of route search costs in a one-way area Y. [Figure 15] FIG. 10 is an explanatory diagram showing a specific example of superimposition of route search costs in a one-way area Y. [Figure 16] 10 is a flowchart showing the superposition of route search costs in a one-way traffic area Z. [Figure 17] 10 is an explanatory diagram showing a specific example of superimposition of route search costs in a one-way traffic area Z. FIG. [Figure 18] 10 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. 10 is an explanatory diagram showing a method for determining a traveling direction. [Figure 21] FIG. 10 is an explanatory diagram showing the configuration of a route setting system according to a second embodiment. [Figure 22] FIG. 10 is an explanatory diagram showing the configuration of a route setting device 32 according to a second embodiment of the present invention. [Figure 23]10 is a flowchart showing the operation of a route setting device 32 according to the second embodiment of the present invention. [Figure 24] FIG. 10 is an explanatory diagram showing the configuration of a route setting system according to a third embodiment of the present invention. [Figure 25] FIG. 10 is an explanatory diagram showing the configuration of a route setting device 33 according to a third embodiment of the present invention. [Figure 26] 10 is a flowchart showing the operation of a route setting device 33 according to the third embodiment of the present invention. [Figure 27] FIG. 10 is an explanatory diagram showing a method for realizing a one-way traffic area according to a third modified example. [Figure 28] FIG. 10 is an explanatory diagram showing a fourth modified example. [Figure 29] FIG. 10 is an explanatory diagram showing a fifth modified example. [Figure 30] FIG. 10 is an explanatory diagram showing a sixth modified example. [Figure 31] FIG. 13 is an explanatory diagram showing a seventh modified example. [Figure 32] FIG. 13 is an explanatory diagram showing an eighth modified example. [Figure 33] FIG. 10 is an explanatory diagram showing an example of a route search cost set by the method according to the embodiment described above. [Figure 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. [Figure 35] FIG. 1 is a block diagram showing an example of a hardware configuration 90. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0023] One embodiment of the present invention relates to a route planning system that sets a route for an autonomous mobile robot. Autonomous travel is a function that allows a robot to travel autonomously from its current location to a destination location without human intervention, and a robot that has the autonomous travel function is called an autonomous mobile robot. Several embodiments of the route planning system will be described in detail below.

[0024] <<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.

[0025] 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 networks such as the Internet, telephone networks, and satellite communication networks, as well as various LANs (Local Area Networks) and WANs (Wide Area Networks) including Ethernet (registered trademark). The network 12 may also include a dedicated line network such as an IP-VPN (Internet Protocol-Virtual Private Network).

[0026] (Autonomous Driving Robot 10) The autonomous mobile robot 10 has a movement mechanism. The movement 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 movement mechanism may also be a mechanism that enables the robot to move in the air, such as a propeller or a jet mechanism.

[0027] The autonomous mobile 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 images or parameters of the traveling environment of the autonomous mobile 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 images of the traveling environment ahead of the autonomous mobile robot 10, or may be a ToF (Time of Flight) sensor, LiDAR (Light Detection and Ranging), millimeter-wave radar, or the like that senses the distance between the autonomous mobile robot 10 and the surrounding environment. The images or parameters of the traveling environment sensed by the sensor unit are used for autonomous movement control of the autonomous mobile robot 10.

[0028] Regarding the current position estimation function, the autonomous driving robot 10 may estimate its own position based on an image or parameters (e.g., distance measurement information) of the driving environment of the autonomous driving robot 10 acquired by a sensor unit. Specifically, the autonomous driving robot 10 may estimate the current position of the autonomous driving robot 10 using SLAM (Simultaneous Localization and Mapping) technology. As another example, the autonomous driving robot 10 may estimate the current position of the autonomous driving robot 10 on a map by measuring the latitude and longitude of the autonomous driving robot 10 based on a GNSS (Global Navigation Satellite System) signal received by a GNSS receiver mounted on the autonomous driving robot 10.

[0029] Regarding the communication function, the autonomous mobile robot 10 transmits information indicating the current position of the autonomous mobile robot 10 to the route setting device 30, as shown in Fig. 1. The autonomous mobile robot 10 also receives information indicating the travel route from the route setting device 30.

[0030] Regarding the movement control function, the autonomous mobile robot 10 controls the operation of the movement mechanism based on information indicating the travel route received from the route setting device 30 so that the autonomous mobile robot 10 moves along the travel route.

[0031] Although the present specification describes an example in which the autonomous mobile robot 10 is mainly used for autonomous movement indoors, the embodiments of the present invention can also be applied to autonomous movement outdoors.

[0032] (input terminal 20) The input terminal 20 is a terminal into which a user inputs a destination position for the autonomous mobile robot 10. The destination position is any 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 functions of the input terminal 20 may also be implemented in the autonomous mobile robot 10 or the route setting device 30.

[0033] (Routing device 30) The route setting device 30 sets a driving route for the autonomous driving robot 10 based on information indicating the current position of the autonomous driving robot 10 received from the autonomous driving robot 10 and information indicating the destination position received from the input terminal 20, and transmits information indicating the driving route to the autonomous driving robot 10.

[0034] <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 travel route that minimizes the cumulative route search cost for the grids that the robot passes through.

[0035] The route search cost is set to a larger value for grids closer to walls and obstacles to prevent collisions with the autonomous robot, thereby setting a route with the shortest travel distance that reduces the risk of collision.

[0036] However, in the system of 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. These traffic rules determine the direction of movement for a specified grid.

[0037] The system disclosed in Patent Document 1 sets a route search cost for each grid based on the direction of travel. Specifically, the route search cost is calculated based on the degree of agreement between the direction of travel set in the grid and the search direction used during route search. The system disclosed in Patent Document 1 calculates the dot product of the set direction of travel and the search direction, and sets a lower route search cost as the dot product increases, assuming that the two directions are more similar.

[0038] However, in the system disclosed in Patent Document 1, the movement direction is set even for grids that are not passed through by either the travel route or the tentative route set in the process of searching for the travel route. Also, in the system disclosed in Patent Document 1, each time the grid is advanced for route search, the system needs to calculate the dot product of the movement direction and the search direction for each of all grids adjacent to the current grid.

[0039] The present inventors have devised a first embodiment of the present invention with the above-mentioned circumstances in mind. According to the first embodiment of the present invention, it is possible to reduce the amount of information and calculation required to set a driving route. The configuration and operation of the route setting device 30 according to the first embodiment of the present invention, which achieves such effects, will be described in detail below.

[0040] <Configuration of the path setting device 30> 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 includes a communication unit 310, a route search unit 330, a map storage unit 340, a non-travel-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 traveling route that reflects the traffic rules.

[0041] (Communication unit 310) The communication unit 310 communicates various information with the autonomous mobile robot 10 and the input terminal 20. For example, the communication unit 310 receives information indicating the destination position of the autonomous mobile robot 10 from the input terminal 20. The communication unit 310 also receives information indicating the current position of the autonomous mobile robot 10 from the autonomous mobile robot 10, and transmits information indicating the travel route of the autonomous mobile robot 10 to the autonomous mobile robot 10.

[0042] (Route search unit 330) The route search unit 330 sets a travel route for the autonomous mobile robot 10, 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, by referencing 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. As shown in FIG. 2 , the route search unit 330 has the functions of a route search cost superposition unit 332, a tentative route setting unit 334, a traveling direction determination unit 336, and a route setting unit 338.

[0043] The route search cost superimposition 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 referenced during route search and is expressed, for example, as a numerical value. The route search cost superimposition 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 road area information stored in the one-way road area storage unit 360, and the one-way road areas stored in the one-way road area storage unit 370. Specific processing will be described later.

[0044] The tentative route setting unit 334 searches for a route from the current position to the destination position based on information indicating the destination position received from the input terminal 20, information indicating the current position obtained from the autonomous mobile robot 10, and map information for 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.

[0045] Information indicating a route, such as a tentative route, is a set of a current location, a destination location, and multiple locations set at grid intervals from the current location to the destination location, in a list format with the current location at the beginning and the destination location at the end, and the locations arranged in order of proximity to the current location. In this case, each piece of location information stored as a route element may be a location in the driving environment corresponding to the grid location, or may be a grid location depending on how the driving route is used. Route search generates a route that minimizes the cumulative route search cost of the grids passing through from the current location to the destination location, and methods such as the Dijkstra algorithm, the A* algorithm, or the hub labeling method may be used as a route search method.

[0046] The traveling direction determination unit 336 determines the traveling direction of the autonomous mobile robot 10 in a constraint area where a restriction on the traveling direction 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 one-way traffic areas indicated by the information stored in the one-way traffic area storage unit 360 and one-way traffic areas indicated by the information stored in the one-way traffic area storage unit 370. A one-way traffic area is an area where the traveling direction is set to one direction. A one-way traffic area is an area where it is specified that the robot must pass on the right or left side of the traveling direction. The result of the traveling direction determination is one of three types: no route, or a forward or reverse direction relative to the reference vector set in the constraint area. Specific processing will be described later.

[0047] The route setting unit 338 performs a route search from the current position to the destination position based on information indicating the destination position received from the input terminal 20, information indicating the current position received from the autonomous mobile robot 10, and map information for which the route search cost has been 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.

[0048] (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 occupation grid map format that is represented as a grid. Each grid has a path search cost, and the path search cost may be set to the maximum value for grids that correspond to walls and obstacles, and the path search cost may be set to the minimum value for grids that correspond to empty spaces.

[0049] (Non-travel recommended map storage unit 350) The non-traveling recommended map storage unit 350 stores a non-traveling recommended map that indicates areas where travel by the autonomous mobile robot 10 is not recommended. The non-traveling recommended map has an occupied grid map format similar to the map information. In the non-traveling recommended map, the route search cost of grids that correspond to areas where travel is not recommended (non-traveling recommended area X) is set to a value that is less than the route search cost set for grids that correspond to walls and obstacles and greater than the route search cost set for grids that correspond to empty spaces.

[0050] (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 .

[0051] 3 is an explanatory diagram showing 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. As shown in Fig. 3, the one-way traffic area storage unit 360 stores information indicating multiple one-way traffic areas Y. Each one-way traffic area Y is a rectangular area 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.

[0052] The area width YB is a value used to express a rectangle by giving the reference vector YA a width. 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 of the height direction, and is a uniquely determined direction, considering the map information, which is expressed on a two-dimensional plane with vertical and horizontal directions, as a three-dimensional space in which a height direction exists virtually.

[0053] 3, the i-th one-way street area is denoted as one-way street area Yi, the reference vector of one-way street area Yi is denoted as reference vector YAi, and the area width of one-way street area Yi is denoted as area width YBi. Note that the shape of one-way street area Y may be other shapes such as a polygon or a circle. In this case, the reference vector YA may be the same as that used in the user interface, for example.

[0054] The one-way traffic area storage unit 370 also stores information indicating multiple one-way traffic areas Z. Similar to the one-way traffic areas Y described above, the one-way traffic areas Z are represented by rectangles, 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 a region width ZB, which is a positive real number indicating the width of the region.

[0055] 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.

[0056] <Operation of the path 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.

[0057] (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 that constitutes the map information to the route search cost of a grid at the same position that constitutes the non-travel-recommended map (S110). At this time, if a grid on the map information side corresponds to a wall or obstacle and its route search cost has already been set to a value greater than that of the grid on the non-travel-recommended map side, the route search cost superimposition unit 332 sets the original route search cost to that grid. Hereinafter, this process of comparing the route search cost of the already set grid with the newly set route search cost and setting the larger route search cost to the grid will be described as superimposition.

[0058] 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.

[0059] Then, the route search cost superimposing unit 332 superimposes the route search cost of the one-way traffic area Z onto each grid that constitutes the map information (S130). Specific processing will be described later.

[0060] 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 route has the smallest cumulative total of the route search costs of the grids that the autonomous mobile robot 10 passes through, and sets the searched minimum-cost route as the travel route (S140).

[0061] A specific example of the above operation will be described with reference to FIGS.

[0062] 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 mobile robot 10 is one in which a non-recommended driving area X, one-way areas Y1 to Y3, and a one-way traffic area Z are applied as traffic rules, as shown in Fig. 5.

[0063] In this case, in S110, the route search cost superimposition 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 superimposition unit 332 sets a route search cost in one-way traffic areas Y1 and Y2, as shown in Fig. 7. Then, in S130, the route search cost superimposition unit 332 sets a route search cost in one-way traffic area Z, as shown in Fig. 8. Thereafter, in S140, 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 that minimizes the cumulative total of the route search costs, as shown by the arrow in Fig. 9, and sets the found minimum-cost route as the travel route.

[0064] Here, the order of superimposing 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 area X does not change depending on the driving route, by setting it first, the route search cost of the non-recommended area X can be reflected as an invariable rule in setting the tentative route in subsequent processing.

[0065] In contrast, the tentative route changes depending on the setting status of the route search cost for the one-way area Y. Therefore, by having the route search cost superimposition unit 332 set the route search cost for the one-way area Y next to the non-recommended travel area X, it is possible to keep constant the area through which the tentative route passes in subsequent processing.

[0066] Even if the area through which the tentative route passes includes a 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.

[0067] If the steps are performed in a different order, the areas passed by the tentative route set in the previous step may change. For example, the tentative route set in this step may pass through one-way area Y or one-way area Z, which the tentative route did not pass through in the previous step, and the route setting unit 338 may set a driving route that goes the wrong way through one-way area Y or a driving route that violates the one-way traffic rules.

[0068] When a route that does not satisfy the traffic rules is set as the travel route, it becomes necessary to again superimpose the route search cost on the area of the traffic rules that should be reflected, which increases the number of times the route search cost is superimposed. In this regard, by proceeding with the process in the order of steps described with reference to Figure 4, the number of times the route search cost is superimposed is minimized.

[0069] In addition, in cases where the areas through which the tentative route passes between steps do not change depending on the route search cost, the same driving route can be set regardless of the order of steps. Furthermore, 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, starting with a state in which the route search costs of each area are superimposed on the map information, to confirm that there are no changes to the route. While the above describes an example in which two or more traffic rules, such as one-way streets and one-way traffic, are applied, the route search cost superimposition unit 332 may superimpose the route search costs so that only one type of traffic rule is applied.

[0070] (Overlaying the route search cost for one-way area Y: S120) Next, the superposition of route search costs in one-way areas Y will be described with reference to FIGS.

[0071] Fig. 10 is a flowchart showing the superposition of route search costs in 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 minimizes the cumulative total of route search costs of the grids passing through on the route from the current position to the destination position (S121).

[0072] Next, the traveling direction determination unit 336 acquires the traveling direction in each of the N one-way areas Y based on the tentative route (S122). The processing of the traveling direction determination unit will be described later.

[0073] Then, the traveling direction determination unit 336 determines whether or not there is a one-way area Y where the traveling direction of the autonomous mobile robot 10 is opposite to the direction of travel when traveling along the tentative route (S123). If there is a one-way area Y where the traveling direction is opposite to the one-way area Y (S123 / Yes), the route search cost superimposition unit 332 superimposes the route search cost on part of the grid included in the one-way area Y where the traveling direction is opposite to the one-way area Y, and the process returns to S121 (S124).

[0074] 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. Note that 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.

[0075] Here, a method for the route search cost superimposing unit 332 to set the route search cost in S124 will be described.

[0076] 11 and 12 are explanatory diagrams showing examples of setting route search costs for one-way areas 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 form sides made up of line segments perpendicular to the reference vector YA on the four sides that make up each rectangular one-way area Y. The route search cost that is set may be the maximum value of the route search costs that are identical to the grids that correspond to walls and obstacles.

[0077] 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 gradation by gradually increasing the route search cost from the start point to the end point of the reference vector YA, as shown in FIG.

[0078] Furthermore, 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 location and reflecting one-way rules changes depending on the magnitude of the set route search cost. For example, a travel route can be set that prioritizes reflecting one-way rules the higher the set route search cost, and prioritizes shortening the travel distance to the destination location the lower the set route search cost.

[0079] A specific example of the superposition of the route search costs for the one-way area Y will be described with reference to FIGS.

[0080] 13 to 15 are explanatory diagrams showing specific examples of superimposing a route search cost on a one-way area Y. First, as indicated by the 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 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 opposite to the direction permitted in the one-way area Y1 (S123). Therefore, the route search cost superimposition unit 332 sets a route search cost on part of the one-way area Y1, as shown in the right diagram of FIG. 13 (S124).

[0081] Thereafter, the tentative route setting unit 334 sets a tentative route that avoids the non-recommended travel area X and one-way area Y1 for which a route search cost has been set, as indicated by the arrows in the left diagram of Fig. 14 (S121). Then, the traveling direction determination unit 336 determines the traveling direction in the one-way area Y2 through which the tentative route passes (S122) and determines that the traveling direction is opposite to the direction permitted in the one-way area Y2 (S123). Therefore, the route search cost superimposition unit 332 sets a route search cost for part of the one-way area Y2, as shown in the right diagram of Fig. 14 (S124).

[0082] 15, the tentative route setting unit 334 sets a tentative route that avoids the one-way area Y1 and one-way area Y2 for which route search costs have been set (S121). The traveling direction determination unit 336 then determines the traveling direction in the one-way area Y3 that the tentative route passes through (S122), and determines that the traveling direction is the forward direction of the one-way area Y3 that is permitted (S123). Since there is no other one-way area Y on the tentative route where the traveling direction is the opposite direction, the superimposition of the route search cost for the one-way area Y is terminated.

[0083] (Overlaying the route search cost for 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.

[0084] Fig. 16 is a flowchart showing the superposition of route search costs in 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 minimizes the cumulative total of route search costs of the grids passing through on the route from the current position to the destination position (S131).

[0085] 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 processing of the travel direction determination unit will be described later.

[0086] 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.

[0087] Here, we will explain how the route search cost superimposition unit 332 superimposes the route search cost in S133. The route search cost superimposed on the one-way traffic area Z by the route search cost superimposition unit 332 varies depending on the traveling direction determined by the traveling direction determination unit 336.

[0088] 17 and 18 are explanatory diagrams showing a specific example of superimposing a route search cost for 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:

[0089] The route search cost superposition unit 332 sets a lower route search cost for grids that are closer to the four sides that make up the rectangular 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 that are made up of line segments that do not include either the start point or the end point of the reference vector ZA of the one-way traffic area Z.

[0090] On the other hand, if 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 18, and the traveling direction determination unit 336 determines that the traveling direction of the autonomous mobile 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.

[0091] 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.

[0092] 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.

[0093] By using the method described above, the route search cost for the one-way traffic area Z changes depending on the expected direction of travel on the tentative route, making it possible to set a driving route that complies with the traffic rule of keeping to the left.

[0094] 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 mobile robot 10 is traveling in the forward direction and the processing when it is traveling in the reverse direction.

[0095] (Determining the direction of travel) Next, specific processing by the travel direction determination unit 336, which is 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.

[0096] 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 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.

[0097] 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 in a one-way street area Yi (S141). A tentative route is a set of positions on a map, and whether an element of the tentative route exists in a one-way street 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 the tentative route and a rectangle represented by the reference vector YAi and area width YBi of the one-way street area Yi.

[0098] Next, the traveling direction determination unit 336 checks whether there are any elements of the tentative route and changes the processing depending on the result (S142). If there are no elements of the tentative route (S142 / No), the traveling direction determination unit 336 determines that there is no route on the one-way area Yi and ends the processing (S143). If there are elements of the tentative route (S142 / Yes), the traveling direction determination unit 336 obtains an intersection vector from the elements of the tentative route that intersect with the boundary of the one-way area Yi (S144).

[0099] There are two elements that intersect with the boundary of the area: an element on the side entering the area and an element on the side exiting the area. The travel direction determination unit 336 acquires a vector on the tentative 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 the intersection vector.

[0100] 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 obtains the intersection start point PS and the intersection end point PE, and obtains the vector heading from the intersection start point PS to the intersection end point PE as the intersection vector.

[0101] Then, the traveling direction determination unit 336 calculates the dot product of the reference vector YAi and the intersection vector and determines whether it is positive or negative (S145). If the dot product is negative (S145 / No), the traveling direction determination unit 336 determines that the traveling direction is the reverse direction (S146). If the dot product is positive (S145 / Yes), the traveling direction determination unit 336 determines that the traveling direction is the forward direction (S147).

[0102] <Action and effect> The first embodiment of the present invention described above provides a variety of advantageous effects. For example, in the first embodiment of the present invention, the traveling direction determination unit 336 determines the traveling direction of the autonomous mobile robot 10 in a constraint area where a restriction on the traveling direction is set when the autonomous mobile robot 10 moves along a tentative route, and the path search cost superposition unit 332 sets a path search cost within the constraint area based on the result of the determination by the traveling direction determination unit 336. This configuration eliminates the need to calculate the path search cost of adjacent grids each time the autonomous mobile robot 10 advances to a new grid during a route search, thereby reducing the calculation load for setting a travel route.

[0103] 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 following steps: 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 determination unit 336; and setting a route search cost by the route search cost superposition unit 332, until the tentative route set by the tentative route setting unit 334 no longer includes a 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, making it possible to reduce the calculation load on the route setting device 30 compared to when route search costs are set for all one-way areas Y.

[0104] Furthermore, 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 in detail above, the number of times the route search costs are superimposed is minimized.

[0105] Furthermore, in the first embodiment of the present invention, constraint area information such as information indicating one-way traffic area Y and information indicating one-way traffic 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.

[0106] 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 based on the result of the dot 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 made up of multiple grids with a single calculation, thereby reducing the calculation load on the traveling direction determination unit 336.

[0107] Furthermore, in the first embodiment of the present invention, a shorter travel route can be set. In the system disclosed in Patent Document 1, for example, if an autonomous robot is positioned along one wall in a left-hand traffic passage and a destination position is located on the other wall in the direction of travel, a redundant route can 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 a travel route that moves diagonally away from the destination position is not set, but a travel route that approaches the destination position from the current position. Therefore, as described above, in the first embodiment of the present invention, a shorter travel route can be set.

[0108] 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.

[0109] <<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 direction of travel of the autonomous mobile robot 10 in the area where traffic rules apply. 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.

[0110] However, commercially available autonomous robots have the problem of difficulty in autonomously traveling along routes set by external systems. 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 location for autonomous travel.

[0111] Furthermore, 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 different route setting methods may be required for each manufacturer.

[0112] To solve this problem, we propose a route setting device 32 according to a second embodiment. The route setting device 32 according to the second embodiment has an additional function of transmitting to the autonomous mobile robot 10 action instructions (action instructions) for the autonomous mobile robot 10 to travel along a set route. The action instructions to the autonomous mobile robot 10 indicate a movement instruction to a specified position and do not include the route itself. However, the route setting device 32 converts the desired route into multiple intermediate positions and then sequentially transmits action instructions to the autonomous mobile robot 10 specifying each intermediate position as a specified position, thereby enabling the autonomous mobile robot 10 to travel along the set route. This additional function enables autonomous travel along a route that reflects traffic rules, even for an autonomous mobile robot 10 that does not accept route settings from an external source. In other words, it is possible to realize autonomous travel along a route with a variety of autonomous mobile robots 10.

[0113] <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. Below, explanations of parts common to the first embodiment will be omitted, and differences from the first embodiment will be mainly explained.

[0114] The autonomous traveling robot 10 is connected to a route setting device 32 via a network 12, transmits information indicating its current location 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 for autonomous traveling. The information indicating the designated position is information that represents an arbitrary position in the traveling environment.

[0115] 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 the setting of 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.

[0116] <Configuration of the path setting device 32> 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 includes 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.

[0117] (Action sequence generator 382) The action sequence generation unit 382 generates an action sequence that is a sequence that brings together multiple 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 below.

[0118] In the second embodiment, the route search unit 330 may set the travel route using substantially the same method as in the first embodiment, or may set the travel route using a method different from that in the first embodiment.

[0119] (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 if it determines that the action has been completed, instructs the communication unit 310 to transmit the next action instruction. Specific processing will be described later.

[0120] <Operation of the path setting device 32> Next, the operation of the route setting device 32 according to the second embodiment of the present invention will be described.

[0121] 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 processing described in the first embodiment (S210).

[0122] 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 made up of multiple action instructions that instruct travel to a specified position. The total number of action instructions is the number of via points 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 point. In other words, the action sequence generation unit 382 functions as an extraction unit that extracts multiple via points on the travel route.

[0123] After generating the action sequence, the communication unit 310 checks whether there are any unsent action instructions in the action sequence (S230). If there are any unsent action instructions (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).

[0124] Here, the communication unit 310 transmits the action instructions in order of the action instructions that make up the action sequence, starting with the action instruction that indicates the designated position closest to the current position on the travel route. In other words, the communication unit 310 sequentially transmits the action instructions that make up the action sequence, thereby making it possible to cause the autonomous mobile robot 10 to travel along the travel route.

[0125] In this case, the narrower the interval between the waypoints, the more the autonomous mobile robot 10 can travel along the travel route. On the other hand, as the number of waypoints increases, the amount of travel the autonomous mobile robot 10 has to make to position itself to reach the waypoints also increases, increasing the possibility that the stability of its travel may be impaired. Therefore, the interval between waypoints is a parameter that is adjusted appropriately depending on the operating environment and the autonomous mobile robot 10.

[0126] After transmitting the action instruction, the communication unit 310 waits until it receives an instruction to transmit the next action instruction from the action completion determination unit 384 (S250). The action completion determination unit 384 compares the specified position in the transmitted action instruction with the current position received from the autonomous mobile robot 10, and determines that the action is complete if the specified position matches the current position.

[0127] The action completion determination unit 384 may set an allowable error in advance and determine that the action is complete when the specified position and the current position are within the allowable error range. Depending on the type of autonomous mobile robot 10, the route setting device 32 may be able to distinguish between an action in which the autonomous mobile robot 10 travels to position itself after reaching the specified position and an action in which the autonomous mobile robot 10 treats the specified position as a waypoint and does not travel to position itself. In this case, an action may be selected according to the operation required of the autonomous mobile robot 10 at each waypoint during operation.

[0128] When the communication unit 310 receives an instruction to send the next action instruction from the action completion determination unit 384, it returns to checking again whether there are any unsent action instructions in the action sequence (S230). If there are no unsent actions (S230 / No), the path setting device 32 considers the action sequence to be complete and ends the process.

[0129] <Action and effect> The second embodiment of the present invention described above provides a variety of advantageous effects. For example, it is possible to cause an autonomous mobile robot 10 that does not have the function of autonomously traveling along a travel route set by an external system to travel autonomously along a travel route set by the path setting device 32. In other words, the second embodiment of the present invention makes it possible to achieve autonomous traveling along a travel route with a variety of autonomous mobile robots 10, regardless of the manufacturer of the autonomous mobile robot 10.

[0130] <<Third embodiment>> In the second embodiment, a plurality of waypoints are set on a travel route, and the autonomous mobile robot 10 is instructed to travel to each waypoint 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 waypoints to the same as the grid intervals of the travel route. However, narrowing the intervals between the waypoints results in an enormous increase in the number of action instructions. Furthermore, considering that the autonomous mobile robot 10 travels to determine its position to reach each waypoint, it is difficult to narrow the intervals between the waypoints to the same as the grid intervals in terms of operation.

[0131] 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 to change the travel-prohibited areas of the autonomous mobile robot 10. Some commercially available autonomous mobile robots have a function to set travel-prohibited areas in the travel environment, allowing them to travel while avoiding the travel-prohibited areas. Therefore, the route setting device 33 according to the third embodiment sets areas other than those necessary for travel along the set travel route as travel-prohibited areas for the autonomous mobile robot 10, thereby restricting the autonomous mobile robot 10 from traveling to locations other than the set travel route. This function eliminates the need to send multiple action instructions to the autonomous mobile robot 10, enabling more stable travel.

[0132] <Configuration of the path 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. Below, explanations of parts common to the first embodiment will be omitted, and differences from the first embodiment will be mainly explained.

[0133] 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 location to the route setting device 33, and receives a prohibited area map indicating areas in which autonomous driving is prohibited from the route setting device 33. The prohibited area map is in a format compatible with the autonomous mobile robot 10, and may be in an occupied grid map format, an image format, or the like, although the type of prohibited area map is not important.

[0134] 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.

[0135] <Configuration of the path 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.

[0136] (Prohibition map generation unit 390) The prohibition map generation unit 390 generates a prohibition area map in which areas that do not overlap with the driving route set by the route search unit 330 are set as prohibited areas. The prohibited areas may be areas excluding the union of the interior areas of circles whose centers are the positions that make up the driving 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 drive autonomously.

[0137] In the third embodiment, the route search unit 330 may set the travel route using substantially the same method as in the first embodiment, or may set the travel route using a method different from that in the first embodiment.

[0138] <Operation of the path setting device 33> Next, the operation of the route setting device 33 according to the third embodiment of the present invention will be described.

[0139] 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 processing described in the first embodiment (S310).

[0140] Next, the prohibition map generation unit 390 generates a prohibition area map based on the travel route set by the route search 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).

[0141] Thereafter, the autonomous mobile robot 10 sets a travel-prohibited area according to the prohibited area map, and autonomously moves to the destination position while avoiding the travel-prohibited area.

[0142] <Action and effect> The third embodiment of the present invention described above provides a variety of advantageous effects. For example, according to the third embodiment of the present invention, even if the autonomous mobile robot 10 does not have the function of autonomously traveling along a travel route set by an external system, if the autonomous mobile robot 10 has the function of setting a travel-prohibited area, the autonomous mobile robot 10 sets a travel-prohibited area according to a prohibited area map and autonomously travels to a destination location while avoiding the travel-prohibited area. As a result, the autonomous mobile robot 10 can autonomously travel along a travel route set by the path setting device 33. Furthermore, the third embodiment of the present invention is particularly useful in that the path setting device 33 does not need to sequentially send multiple action instructions to the autonomous mobile robot 10 as described in the second embodiment.

[0143] <<Modifications>> The first to third embodiments of the present invention have been described above. Below, several modified examples of the above-described embodiments will be described. Note that each modified example described below may be applied alone to the above-described embodiment, or may be applied in combination with the above-described embodiment. Furthermore, each modified example may be applied in place of the configuration of the above-described embodiment, or may be applied in addition to the configuration of the above-described embodiment.

[0144] (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 by adding other information to the non-recommended map, it is possible to plan routes that take into account various conditions.

[0145] For example, the route search cost of each grid that constitutes a non-travel-recommended map may be set to a stepped value according to the communication quality at the position in the driving environment corresponding to each grid. With this 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, the number of access points that can communicate, or the like.

[0146] Alternatively, a circular or rectangular area around a location where communication failures have occurred in the past with the autonomous mobile robot 10 may be set as a non-recommended travel area. Also, locations where the autonomous mobile robot 10 has failed in autonomous travel 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 failed in autonomous travel may be set as a non-recommended travel area. With this configuration, it is possible to stabilize the autonomous travel of the autonomous mobile robot 10.

[0147] Furthermore, recommended no-travel areas may be set based on the expected number of pedestrians at each location within the facility. For example, to improve the effectiveness of signage for pedestrians, areas with relatively few pedestrians may be set as recommended no-travel areas, or to reduce the risk of contact between the autonomous mobile robot 10 and pedestrians, areas with relatively many pedestrians may be set as recommended no-travel areas.

[0148] (Second Modification) The non-recommended driving area map, the information indicating one-way road areas Y, or the information indicating one-way road areas Z may be prepared for each period or situation. For example, the non-recommended driving area map, the information indicating one-way road areas Y, or the one-way road areas Z may be prepared for each day of the week, each time period, or each time an event such as a disaster occurs.

[0149] 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 suits the current date, time, or situation. Furthermore, 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 suits 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 suits the current date, time, or situation.

[0150] (Third Modification) FIG. 27 is an explanatory diagram showing a method for realizing a one-way traffic area according to a 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 it. When a one-way traffic area is realized by the method according to this modified example, a different route setting effect can be obtained than when a one-way traffic area Z is realized by the method of the above-described embodiment. When a one-way traffic area Z is realized by the method of the above-described 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.

[0151] Furthermore, as shown in Figures 27(b) and 27(c), if a passage is connected to another passage midway, it is possible to set a route to enter and exit another passage by leaving an empty area in the non-recommended travel area.

[0152] (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-traveling 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 the communication unit 310, the route search unit 330, the map memory unit 340, the non-traveling recommended map memory unit 350, the one-way traffic area memory unit 360, and the one-way traffic area memory unit 370 are each implemented are not limited to inside the route setting device 30.

[0153] 28 is an explanatory diagram showing a fourth modified example. As shown in FIG. 28, the non-travel-recommended map storage unit 350, one-way traffic area storage unit 360, and 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.

[0154] (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 path setting device 30 may be mounted on the autonomous mobile robot 10. In this case, the path setting device 30 moves as the autonomous mobile robot 10 moves.

[0155] (Sixth Modification) In the second embodiment described above, an example has been described in which the path setting device 32 has the action completion determination unit 384. However, if the autonomous mobile robot 10 can determine whether an action indicated by an action instruction has been completed, that is, if the autonomous mobile robot 10 has the action completion determination unit 384, the path setting device 32 does not have to 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 whether the action has been completed using the method described in the second embodiment. If the autonomous mobile robot 10 determines that the action has been completed, it may transmit an action completion notification to the path setting device 32, and the path setting device 32 may transmit a next action instruction to the autonomous mobile robot 10 based on the receipt of the action completion notification from the autonomous mobile robot 10.

[0156] Alternatively, the path setting device 32 may transmit an 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 determines that the action is completed, may start executing the action ordered next to the action in the action sequence.

[0157] (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 functions of a route setting device 32 having an action sequence generation unit 382, an action completion determination unit 384, and the like may be implemented in the autonomous mobile robot 10. The autonomous mobile robot 10 communicates via the network 12 with a storage system 40 having a map storage unit 340, a non-travel recommended map storage unit 350, a one-way traffic area storage unit 360, a one-way traffic area storage unit 370, and the like, making it possible to set a travel route and move the autonomous mobile robot 10 in a manner equivalent to that of the second embodiment.

[0158] (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 on the tentative route that intersect with the one-way area Y, and that forms an edge made up of a line segment perpendicular to the reference vector YA.

[0159] In this case, the processes of S121, S122 and S124 described with reference to Figure 10 are repeated until the tentative route set in S121 does not include a route that involves traveling through one-way area Y in a direction other than the direction of travel defined in one-way area Y.

[0160] According to this 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 Figures 33 and 34.

[0161] 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 traveling direction indicated by an arrow is set in 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 one-way area Y on the traveling direction side as shown in the right diagram of Fig. 33. In this case, the tentative route will include a route that involves going the wrong way through one-way area Y.

[0162] 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 that intersect with one-way area Y on the tentative route, and that forms an edge made up of a line segment perpendicular to the reference vector YA. Therefore, 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 is a reverse run through one-way area Y.

[0163] <<Hardware configuration>> The above describes the embodiments and modifications of the present invention. The information processing, such as setting the route search cost and setting the travel route, described above, is realized by a combination of software and hardware. Below, we will explain examples of hardware configurations that can be applied to the autonomous mobile robot 10, input terminal 20, route setting device 30, etc.

[0164] 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.

[0165] The CPU 901 functions as an arithmetic processing unit and control unit, and controls overall operation in accordance with various programs. The CPU 901 may also be a microprocessor. The ROM 902 stores programs used by the CPU 901, calculation parameters, etc. The RAM 903 temporarily stores programs used in the execution of the CPU 901, parameters that change as appropriate during the execution, etc. These are interconnected by a host bus 904 that includes a CPU bus, etc. Cooperation between the CPU 901, ROM 902, and RAM 903 and software can realize functions such as the communication unit 310, route search unit 330, action sequence generation unit 382, action completion determination unit 384, and prohibition map generation unit 390.

[0166] 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 on a single bus.

[0167] The input device 908 is composed of input means such as a mouse, keyboard, touch panel, buttons, microphone, sensors, switches, and levers that allow the user to input information, and an input control circuit that generates an input signal based on the user's input and outputs it to the CPU 901. By operating the input device 908, the user can input various data and instruct processing operations.

[0168] 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. The audio output device 910 includes an audio output device such as a speaker and a headphone.

[0169] The storage device 911 is a data storage device configured as an example of a storage unit according to this embodiment. The storage device 911 may include a storage medium, a recording device that records data on the storage medium, a reading device that reads data from the storage medium, and a deleting device that deletes data recorded on the storage medium. The storage device 911 is configured, for example, by an HDD (Hard Disk Drive) or an SSD (Solid State Drive), or a memory having equivalent functions. This storage device 911 drives storage and stores programs executed by the CPU 901 and various data.

[0170] 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 information recorded on 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.

[0171] 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 wireless LAN (Local Area Network) compatible communication device or a wired communication device that performs wired communication.

[0172] <<Supplementary Information>> Although the preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited to these examples. It is clear that a person skilled in the art to which the present invention pertains can conceive of various modifications and alterations within the scope of the technical ideas set forth in the claims, and it is understood that these also naturally fall within the technical scope of the present invention.

[0173] For example, the steps in the processing of the route setting device 30, route setting device 32, and 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, route setting device 32, and route setting device 33 may be processed in an order different from the order described in the flowcharts, or may be processed in parallel.

[0174] It is also possible to create a computer program that causes hardware such as a CPU, ROM, and RAM built into the autonomous mobile robot 10, input terminal 20, route setting device 30, route setting device 32, route setting device 33, etc. to perform functions equivalent to those of the above-mentioned autonomous mobile robot 10, input terminal 20, route setting device 30, route setting device 32, and route setting device 33. A non-transitory storage medium on which the computer program is stored is also provided. [Explanation of symbols]

[0175] 10 Autonomous Driving 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-driving recommended map memory section 360 One-way area storage unit 370 One-way traffic area memory unit 382 Action Sequence Generation Unit 384 Action Completion Determination Section 390 Prohibition Map Generation Unit 40 Memory System

Claims

1. a route setting unit that sets a route from the current position of the autonomous mobile 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; a communication unit that transmits information indicating each of the plurality of route positions extracted by the extraction unit to the autonomous mobile robot; a tentative route setting unit that sets a tentative route from a current position of the autonomous mobile robot to a destination position based on map information that represents a traveling environment of the autonomous mobile robot; a travel direction determination unit that determines the travel direction of the autonomous mobile robot in a constraint area in which a travel direction constraint is set when the autonomous mobile robot moves along the tentative route; 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 travel direction determination unit; Equipped with The route setting unit sets a driving route from the current position of the autonomous mobile robot to a destination position based on the route search cost set within the constraint area by the route search cost setting unit.

2. the restricted area includes a one-way area in which the traveling direction is determined to be one direction, 2. The route setting device of claim 1, wherein the setting of the tentative route by the tentative route setting unit, the determination of the direction of travel of the autonomous mobile robot by the travel 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.

3. the restricted area includes a one-way traffic area where it is stipulated that the vehicle must pass on the right or left side in the direction of travel, 3. The route setting device of claim 2, wherein the process is repeated until the tentative route set by the tentative route setting unit does not include a route that involves travel in the one-way traffic area in any direction other than the one direction, and then the tentative route setting unit sets the tentative route, the travel direction determination unit determines the travel direction of the autonomous mobile robot in the one-way traffic area, and the route search cost setting unit sets the route search cost for the one-way traffic area.

4. the route search cost setting unit sets a route search cost to a position within the map information based on pre-stored information; 3. The route setting device according to claim 2, 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 mobile robot, and the route search cost setting unit sets the route search cost.

5. the travel direction determination unit identifies the constraint area within the tentative route based on constraint area information indicating the constraint area; 2. The route setting device according to claim 1, 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 an area width.

6. 6. The path setting device of claim 5, wherein the travel direction determination unit obtains an intersection vector connecting multiple path elements of the tentative path that intersect the boundary of the constraint area, and determines the travel direction of the autonomous mobile 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.

7. The constraint area information is prepared for each period or situation, 7. The route setting device according to claim 5, wherein the travel direction determining unit identifies the constraint area within the tentative route based on information from the constraint area information that matches a current date and time or a current situation.

8. 5. The route setting device according to claim 4, wherein the pre-stored information is information according to communication quality for each location.

9. The route setting device according to claim 4 , wherein the pre-stored information is information indicating a location where a failure in autonomous driving has occurred in the past.

10. 5. The route planning device according to claim 4, wherein the pre-stored information is information according to an expected amount of pedestrians for each location.

11. The pre-stored information is prepared for each period or situation, The route setting device according to any one of claims 4, 8 to 10, wherein the route search cost setting unit sets a route search cost for a position within the map information based on information from the pre-stored information that matches the current date and time or situation.

12. The route setting device 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.

13. 7. The route setting device according to claim 1, wherein the route setting unit sets the route that minimizes the cumulative total of route search costs as the travel route.

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