Route setting device, route setting method, program and route setting system

Abstract

To embody autonomous travelling along a travel route by a variety of autonomous mobile robots.SOLUTION: A route setting device comprises: a characteristic position extraction unit for extracting, based on a set route from a current position of an autonomous mobile body to a destination position, positions that characterize a shape of the set route as characteristic positions; and a communication control unit for determining a first action sequence corresponding to the characteristic positions based on the set route and the characteristic positions, and controlling a communication unit so that information indicating a first action instruction associated with the first action sequence, in which the characteristic positions serve as first routing positions, is transmitted to the autonomous mobile body.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] In recent years, development of autonomous mobile objects has been progressing to automate security or transportation operations in transportation facilities, commercial facilities, etc. Autonomous movement is a function of a mobile object to move autonomously from a current location to a destination location without human intervention, and an autonomous mobile object is a mobile object that has an autonomous movement function. Such an autonomous mobile object is 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 mobile devices have the problem of difficulty in autonomously moving along routes set by an external system. Generally, commercially available autonomous mobile devices are developed to automate specific tasks, and the intended users are often non-technical people currently in charge of those tasks. Therefore, the operation of the autonomous mobile device is basically limited to simple operations such as specifying the destination location.

[0005] Furthermore, route planning is a function that is adjusted using the proprietary technology or know-how of each manufacturer, and even if a route can be set in a special case, the route 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 a technology that can increase the possibility that autonomous movement along a route will be achieved by a variety of autonomous moving bodies. [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 including: a characteristic position extraction unit that extracts positions that characterize the shape of a set route from a current position of an autonomous moving body to a destination position as characteristic positions, based on the set route from the current position of the autonomous moving body to a destination position; and a communication control unit that determines a first action sequence corresponding to the characteristic positions based on the set route and the characteristic positions, and controls a communication unit so that information indicating a first action instruction in which the characteristic positions are associated with the first action sequence as a first via position is transmitted to the autonomous moving body.

[0008] The characteristic position extraction unit may extract the characteristic positions by performing a shape simplification process on the set route.

[0009] The route setting device may include a motion position extraction unit that extracts motion positions of the autonomous moving body based on the set route and motion area, and the communication control unit may determine the first action sequence and a second action sequence corresponding to a second via position that is the motion position based on the set route, the motion position, and the characteristic position, and control the communication unit so that information indicating a second action instruction in which the second via position and motion action are associated with the second action sequence and information indicating the first action instruction are transmitted to the autonomous moving body.

[0010] The route setting device may include a direction change position extraction unit that extracts a characteristic position where the movement direction of the autonomous moving body changes by more than a threshold as a direction change position, and a direction instruction position extraction unit that extracts a third via position corresponding to a direction instruction start action based on the set route, the direction change position, and the characteristic position, and the communication control unit may determine the first action sequence and a third action sequence corresponding to the third via position based on the set route, the third via position, and the characteristic position, and control the communication unit so that information indicating a third action instruction in which the third via position and the direction instruction start action are associated with the third action sequence and information indicating the first action instruction are transmitted to the autonomous moving body.

[0011] The direction indication position extraction unit may extract the third via position based on a position that the autonomous moving body arrives at temporally a predetermined distance before the direction change position, from among a plurality of positions that constitute the set route.

[0012] The route setting device may include an auxiliary position extraction unit that extracts a plurality of positions at predetermined distance intervals on the set route, and the communication control unit may determine the first action sequence and a fourth action sequence corresponding to each of the plurality of positions based on the set route and the plurality of positions, and control the communication unit so that information indicating a fourth action instruction in which the plurality of positions are associated with the fourth action sequence as a plurality of intermediate positions, and information indicating the first action instruction, are transmitted to the autonomous moving body.

[0013] In order to solve the above problem, according to another aspect of the present invention, there is provided a route setting method executed by a computer, comprising: extracting, based on a set route from a current position of an autonomous moving body to a destination position, positions that characterize the shape of the set route as characteristic positions; determining a first action sequence corresponding to the characteristic positions based on the set route and the characteristic positions; and controlling a communication unit so that information indicating a first action instruction in which the characteristic positions are associated with the first action sequence as a first via position is transmitted to the autonomous moving body.

[0014] In addition, according to another aspect of the present invention, in order to solve the above-mentioned problem, there is provided a program that causes a computer to function as: a characteristic position extraction unit that extracts positions that characterize the shape of a set route as characteristic positions based on a set route from a current position of an autonomous moving body to a destination position; and a communication control unit that determines a first action sequence corresponding to the characteristic positions based on the set route and the characteristic positions, and controls a communication unit so that information indicating a first action instruction in which the characteristic position is associated with the first action sequence as a first via position is transmitted to the autonomous moving body.

[0015] In addition, according to another aspect of the present invention to solve the above problem, there is provided a route setting system comprising: an autonomous mobile body that moves autonomously; a characteristic position extraction unit that extracts positions that characterize the shape of a set route as characteristic positions based on a set route from a current position of the autonomous mobile body to a destination position; and a communication control unit that determines a first action sequence corresponding to the characteristic positions based on the set route and the characteristic positions, and controls a communication unit so that information indicating a first action instruction in which the characteristic positions are associated with the first action sequence as a first via position is transmitted to the autonomous mobile body. [Effects of the Invention]

[0016] According to the present invention as described above, it is possible to increase the possibility that autonomous movement along a route will be realized by a variety of autonomous moving bodies. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 10 is a diagram illustrating an example of a set route. [Figure 2] FIG. 10 is a diagram showing an example of a plurality of route positions extracted from a set route K0. [Figure 3] This is an example of a route that the autonomous mobile robot 10 travels along in accordance with the via positions G[0], G[1], G[2], and G and the via order corresponding to each via position. [Figure 4] FIG. 1 is an explanatory diagram illustrating a route setting system according to a first embodiment of the present invention. [Figure 5] 1 is an explanatory diagram showing a configuration of a route setting device 30 according to a first embodiment of the present invention. [Figure 6] 10 is a diagram showing an example of a set route K0 set by a route search unit 320. FIG. [Figure 7] FIG. 10 is a diagram showing an example of characteristic positions extracted from a set route K0. [Figure 8] 10 is a flowchart showing the operation of the action sequence generation unit 340 according to the first embodiment of the present invention. [Figure 9] FIG. 10 is a diagram showing an example of a set path K0 and an action area X0 that are set in advance prior to the operation of the action sequence generation unit 340. [Figure 10] FIG. 9 is a diagram for explaining the processing for each step shown in FIG. 8. [Figure 11] FIG. 10 is a diagram showing an example of an action sequence generated by an action instruction generating unit 342. [Figure 12] FIG. 10 is an explanatory diagram showing the configuration of a route setting system according to a second embodiment. [Figure 13] FIG. 10 is an explanatory diagram showing the configuration of a route setting device 31 according to a second embodiment of the present invention. [Figure 14] 10 is a flowchart showing the operation of an action sequence generation unit 360 according to the second embodiment of the present invention. [Figure 15]FIG. 10 is a diagram showing an example of a set path K0 that is set in advance prior to the operation of the action sequence generation unit 360. [Figure 16] FIG. 15 is a diagram for explaining the processing for each step shown in FIG. [Figure 17] FIG. 10 is a diagram showing an example of an action sequence generated by an action instruction generating unit 363. [Figure 18] 10 is a flowchart showing the operation of a direction change position extraction unit 361 according to the second embodiment of the present invention. [Figure 19] FIG. 19 is a diagram for explaining the processing for each step shown in FIG. [Figure 20] FIG. 1 is a block diagram showing an example of a hardware configuration 90. DETAILED DESCRIPTION OF THE INVENTION

[0018] 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.

[0019] An embodiment of the present invention relates to a route setting system for setting a route for an autonomous moving body. Autonomous movement is a function in which a moving body moves autonomously from a current position to a destination position without human intervention, and a moving body having the autonomous movement function is called an autonomous moving body.

[0020] In particular, in one embodiment of the present invention, it is mainly assumed that the moving body is a robot. However, the moving body may be a moving body other than a robot (for example, an unmanned aerial vehicle, etc.). Furthermore, in one embodiment of the present invention, it is mainly assumed that the autonomous movement of a robot is autonomous traveling of a robot. Autonomous traveling is a function that allows a robot to travel autonomously from a current position to a destination position without human intervention, and a robot having the function of autonomous traveling is called an autonomous traveling robot. However, autonomous movement may also mean autonomous movement through the air, for example.

[0021] <<Summary>> An overview of one embodiment of the present invention will be described. Various systems can be envisioned as a system for setting a route for an autonomous mobile robot. For example, a route setting system can be envisioned that sets a route from the current position of the autonomous mobile robot to a destination position as a set route, extracts multiple waypoints on the set route, and transmits information indicating each of the multiple waypoints to the autonomous mobile robot. Such a route setting system increases the likelihood that a variety of autonomous mobile robots will be able to autonomously travel along a set route.

[0022] It is possible to assume that the multiple waypoints are extracted from the set route at predetermined intervals. The predetermined intervals may be predetermined spatial intervals. However, a situation may arise in which the route traveled by the autonomous mobile robot according to the set route differs from the route traveled by the autonomous mobile robot according to the multiple waypoints extracted from the set route (i.e., an error in the travel route). Such an error in the travel route will be described with reference to FIGS. 1 to 3.

[0023] FIG. 1 is a diagram showing an example of a set route. Referring to FIG. 1, an autonomous mobile robot 10 is shown. G[0] is the current position of the autonomous mobile robot 10, and G is the destination position of the autonomous mobile robot 10. Passage areas Y1 and Y2 are also shown. Each of the passage areas Y1 and Y2 is an area in which the autonomous mobile robot 10 can travel. On the other hand, the shaded areas are areas in which the autonomous mobile robot 10 cannot travel. The set route K0 is set to pass through the passage area Y2, not the passage area Y1.

[0024] Fig. 2 is a diagram showing an example of multiple via-point positions extracted from the set route K0. Referring to Fig. 2, as examples of multiple via-point positions extracted from the set route K0, in addition to via-point position G[0], which is the current position of the autonomous mobile robot 10, and via-point position G , which is the destination position of the autonomous mobile robot 10, via-point position G[1] and via-point position G[2] are shown.

[0025] 2, the autonomous mobile robot 10 passes through the via position G[0], via position G[1], via position G[2], and via position G in this order on the set route K0. Therefore, in terms of the order in which the autonomous mobile robot 10 passes through (hereinafter also referred to as the "via position order"), the first one is associated with the via position G[0], the second one is associated with the via position G[1] as the via position order, the third one is associated with the via position G[2] as the via position order, and the third one is associated with the via position G as the via position order.

[0026] 3 shows an example of a route that the autonomous mobile robot 10 travels according to the via positions G[0], G[1], G[2], and G and the via order corresponding to each via position. As shown in FIG. 3, the autonomous mobile robot 10 travels along the shortest route K1, which starts from the via position G[0], which is first in the via order, and passes through the via position G[1], which is second in the via order, and the via position G[2], which is third in the via order, in accordance with its own characteristics, to arrive at the via position G . However, because the shortest route K1 passes through the travel area Y1, it differs from the set route K0 (FIG. 2) which passes through the travel area Y2, and therefore an error has occurred in the travel route taken by the autonomous mobile robot 10.

[0027] Examples of methods to prevent such errors in the driving route include narrowing the extraction interval of the intermediate positions and setting areas other than the periphery of the set route K0 as a no-drive area for the autonomous driving robot 10.

[0028] However, if a method of narrowing the intervals between extracted route positions is adopted, it is possible that the amount of travel by the autonomous mobile robot 10 for positioning to reach the route positions will increase. This increase in travel for positioning increases the likelihood that the stability of the autonomous mobile robot 10's travel will be impaired.

[0029] Alternatively, if a method is adopted in which an area other than the periphery of the set route K0 is set as a no-travel area for the autonomous mobile robot 10, the autonomous mobile robot 10 needs to have a function for setting the no-travel area. In other words, the types of autonomous mobile robots 10 that can travel without error on a travel route are limited to specific types.

[0030] Therefore, this specification mainly proposes a technique that can reduce errors in the travel path while suppressing a decrease in the travel stability of various autonomous traveling robots 10.

[0031] Furthermore, in a route setting system that transmits information indicating each of a plurality of via points to the autonomous mobile robot 10, it is mainly assumed that the information indicating the via points of the autonomous mobile robot 10 and the via order corresponding to the via points are transmitted as driving instructions to the autonomous mobile robot 10. However, the actions that the autonomous mobile robot 10 can perform are not limited to driving, and various other operations may also be performed.

[0032] Here, examples of the behavior of the autonomous driving robot 10 include various behaviors to increase safety in the operation of the autonomous driving robot 10 (for example, traveling at low speed on narrow roads, playing a warning sound in places with poor visibility, or turning on turn signals to indicate a change in the direction of travel, etc.).

[0033] However, the type or timing of the operation of the autonomous mobile robot 10 may differ depending on the traveling environment and traveling route of the autonomous mobile robot 10. Therefore, when a user sets instructions regarding the operation of the autonomous mobile robot 10, the burden of setting instructions regarding the operation of the autonomous mobile robot 10 is placed on the user.

[0034] Therefore, this specification also proposes a technique that can reduce the burden placed on the user in setting instructions related to the operation of the autonomous mobile robot 10.

[0035] Several embodiments of the routing system are described in detail below.

[0036] <<First embodiment>> <Routing system configuration> 4 is an explanatory diagram showing a route setting system according to a first embodiment of the present invention. As shown in FIG. 4, the route setting system 1 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.

[0037] 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, various LANs (Local Area Networks) including Ethernet (registered trademark), and WANs (Wide Area Networks). The network 12 may also include dedicated network networks such as IP-VPN (Internet Protocol-Virtual Private Network).

[0038] (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 an air cushion. Furthermore, if an autonomous mobile body that moves through the air is used instead of the autonomous mobile robot 10, the movement mechanism of the autonomous mobile body may be a mechanism that enables the robot to move through the air, such as a propeller or a jet mechanism.

[0039] 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), or millimeter-wave radar 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.

[0040] Regarding the current position estimation function, the autonomous mobile robot 10 may estimate its own position based on an image or parameters (e.g., distance measurement information) of the traveling environment of the autonomous mobile robot 10 acquired by a sensor unit. Specifically, the autonomous mobile robot 10 may estimate the current position of the autonomous mobile robot 10 using SLAM (Simultaneous Localization and Mapping) technology. As another example, the autonomous mobile robot 10 may estimate the current position of the autonomous mobile robot 10 on a map by measuring the latitude and longitude of the autonomous mobile robot 10 based on a GNSS (Global Navigation Satellite System) signal received by a GNSS receiver mounted on the autonomous mobile robot 10.

[0041] 1, the autonomous mobile robot 10 transmits information indicating the current position of the autonomous mobile robot 10 to the route setting device 30. The autonomous mobile robot 10 also receives an action sequence from the route setting device 30, which includes multiple action instructions relating to actions to be executed by the autonomous mobile robot 10.

[0042] Regarding the movement control function, the autonomous mobile robot 10 executes the action instructed by each of the plurality of action instructions based on the action sequence received from the route setting device 30. For example, the autonomous mobile robot 10 acquires information indicating each of the plurality of via-point locations and an action order corresponding to the plurality of via-point locations from the action instructions received from the route setting device 30, and controls the operation of the movement mechanism so that the autonomous mobile robot 10 moves through the plurality of via-point locations according to the action order. At this time, when the autonomous mobile robot 10 reaches a via-point location, it executes the action included in the action instruction corresponding to the reached via-point location.

[0043] In this specification, an example will be described in which the autonomous mobile robot 10 is mainly used for autonomous movement indoors, but the autonomous mobile robot 10 may also be used for autonomous movement outdoors.

[0044] (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.

[0045] (Routing device 30) The route setting device 30 sets a 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 a destination position received from the input terminal 20. Furthermore, the route setting device 30 generates an action sequence including a plurality of action instructions based on the set route, and transmits the generated action sequence to the autonomous mobile robot 10.

[0046] <Configuration of the path setting device 30> 5 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. 5, the route setting device 30 according to the first embodiment of the present invention has a communication unit 310, a route search unit 320, a map storage unit 330, an action sequence generation unit 340, an action area storage unit 344, and an action completion determination unit 350.

[0047] (Communication unit 310) The communication unit 310 communicates various information with each of the autonomous mobile robot 10 and the input terminal 20. For example, the communication unit 310 receives information indicating a destination position of the autonomous mobile robot 10 from the input terminal 20. The communication unit 310 also receives information indicating a current position of the autonomous mobile robot 10 from the autonomous mobile robot 10, and transmits an action sequence including a plurality of action instructions to the autonomous mobile robot 10.

[0048] (Route search unit 320) The route search unit 320 sets a route for the autonomous mobile robot 10 by referring to the map storage unit 330 based on information indicating the current position of the autonomous mobile robot 10 received from the autonomous mobile robot 10 and information indicating a destination position received from the input terminal 20. More specifically, the route search unit 320 searches for a route from the current position to the destination position by referring to map information based on the information indicating the current position and the information indicating the destination position. The route search unit 320 sets the route obtained by the route search as a set route.

[0049] The information indicating the set route is a set of a current position, a destination position, and multiple locations set at grid intervals from the current position to the destination position, and is in the form of a list in which the current position is at the top and the destination position is at the bottom, and the locations are arranged in order of proximity to the current position. In this case, each piece of location information stored as an element of the set route may be information indicating a location in the driving environment corresponding to the grid location, or may be information indicating a grid location according to how the set route is used.

[0050] (Map storage unit 330) The map storage unit 330 stores map information that represents the traveling environment of the autonomous mobile robot 10. The map information may be information that represents the traveling environment of the autonomous mobile robot 10 as a metric map on a two-dimensional plane. More specifically, the map information may have an occupancy grid map format that is represented as a grid.

[0051] (Operating area storage unit 344) The motion area storage unit 344 stores a plurality of motion areas X, which are areas in which the autonomous mobile robot 10 exists and to which a motion instruction specified by the user is to be given. Each of the plurality of motion areas X has an occupation grid map format similar to map information. The motion for which an instruction is given to the autonomous mobile robot 10 existing in the motion area X (hereinafter simply referred to as "motion of the autonomous mobile robot 10") continues from the time the autonomous mobile robot 10 enters the motion area X until it exits it.

[0052] For example, the behavior of the autonomous mobile robot 10 may be high-speed traveling, low-speed traveling, playing a warning sound, turning on a warning light, etc. Different motion areas may overlap with each other. In the example shown in FIG. 5, the i-th motion area is denoted as "motion area Xi."

[0053] (Action sequence generator 340) The action sequence generation unit 340 generates an action sequence including a plurality of action instructions for the autonomous mobile robot 10. The action sequence generation unit 340 includes a feature position extraction unit 341, a motion position extraction unit 343, and an action instruction generation unit 342.

[0054] (Feature position extraction unit 341) Based on the set route K0 set by the route search unit 320, the characteristic position extraction unit 341 extracts positions that characterize the set route K0 (that is, characteristic positions) as route positions corresponding to the travel action.

[0055] Here, a traveling action is an action in which the autonomous mobile robot 10 travels through the intermediate positions. Furthermore, a characteristic position is a position among the multiple positions that make up the set route K0 that is required to maintain a shape that is the same as or similar to a shape generated by sequentially connecting the multiple positions with straight lines. An example of extracting characteristic positions based on the set route K0 will be described with reference to FIGS. 6 and 7.

[0056] Fig. 6 is a diagram showing an example of a set route K0 set by the route search unit 320. Referring to Fig. 6, there is shown a set route K0 set by the route search unit 320. As shown in Fig. 6, the set route K0 is a route that starts from the current position G[0] of the autonomous mobile robot 10 and ends at the destination position G of the autonomous mobile robot 10.

[0057] 7 is a diagram showing an example of characteristic positions extracted from the set route K0. Referring to FIG. 7, characteristic positions G[0] to G[4] and G extracted from the set route K0 by the characteristic position extraction unit 341 are shown. For example, the characteristic position extraction unit 341 performs a shape simplification process on the set route K0 to remove relatively unnecessary positions from the set route K0. As a result, the characteristic position extraction unit 341 extracts characteristic positions G[0] to G[4] and G .

[0058] A relatively unnecessary position can be said to be a non-characteristic position or a position with a small change in direction, while a relatively necessary position can be said to be a characteristic position or a position with a large change in direction.

[0059] The simplified route K2 is a route generated by sequentially connecting with straight lines the multiple characteristic positions G[0] to G[4] and G obtained by performing the shape simplification process on the set route K0. As an example, the Douglas-Peucker algorithm (hereinafter also referred to as "DP processing") may be used as the algorithm used for the shape simplification process (hereinafter also referred to as "simplification algorithm"). However, other algorithms may also be used as the simplification algorithm.

[0060] The DP process is performed by a simplification process based on the approximation accuracy of the simplified route K2 relative to the set route K0. The approximation accuracy can be expressed as a distance indicating the distance between the simplified route K2 and the set route K0. The distance can be set arbitrarily by the user. The DP process is used to reduce the midpoints in polygons (Patent No. 6997211) or simplify vector map data (Patent No. 5731425).

[0061] (Operating position extraction unit 343) The motion position extraction unit 343 extracts motion positions of the autonomous mobile robot 10 as intermediate positions corresponding to motion actions based on the set route K0 set by the route search unit 320 and the motion area X stored in the motion area storage unit 344. One example of a motion action is a motion start action. Another example of a motion action is a motion end action.

[0062] More specifically, the motion position extraction unit 343 extracts, from among the multiple positions constituting the set path K0, a position where the set path K0 enters the motion area X as a via position corresponding to a motion start action. Also, from among the multiple positions constituting the set path K0, the motion position extraction unit 343 extracts, from among the multiple positions constituting the set path K0, a position where the set path K0 exits the motion area X as a via position corresponding to a motion end action.

[0063] (Action instruction generation unit 342) The action instruction generation unit 342 generates a plurality of action instructions for the autonomous mobile robot 10. Specifically, based on the set route K0 set by the route search unit 320, the route positions corresponding to the travel actions extracted by the characteristic position extraction unit 341, and the route positions corresponding to the operation actions extracted by the operation position extraction unit 343, the action instruction generation unit 342 determines the order of actions for the autonomous mobile robot 10 at each of these route positions.

[0064] Furthermore, the action instruction generation unit 342 generates a plurality of action instructions in which an action order, a via point, and an action are associated with each other. The action instruction generation unit 342 then functions as a communication control unit that controls the communication unit 310 so that an action sequence including the plurality of action instructions is transmitted by the communication unit 310 to the autonomous mobile robot 10. More specifically, the action instruction generation unit 342 controls the communication unit 310 so that the plurality of action instructions are transmitted sequentially by the communication unit 310 to the autonomous mobile robot 10.

[0065] (Action completion determination unit 350) The action completion determination unit 350 determines whether the autonomous mobile robot 10 has completed the action indicated by the action instruction transmitted from the communication unit 310. If the action completion determination unit 350 determines that the action has been completed, it instructs the communication unit 310 to transmit the next action instruction.

[0066] <Operation of the action sequence generator 340> 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 action sequence generation unit 340 according to the first embodiment of the present invention will be described with reference to Figs.

[0067] Fig. 8 is a flowchart showing the operation of the action sequence generation unit 340 according to the first embodiment of the present invention. Fig. 9 is a diagram showing an example of a set path K0 and a motion area X0 that are set in advance prior to the operation of the action sequence generation unit 340. As shown in Fig. 9, the set path K0 is set in advance by the path search unit 320. In the set path K0, the current position is indicated as G[0] and the target position is indicated as G . In addition, a motion area X0 is set in advance.

[0068] In this description, the i-th via point is defined as G[i], and the route generated by the action sequence generation unit 340 is defined as a generated route G={G[0], G[1], G[2], ..., G}. First, the characteristic position extraction unit 341 extracts characteristic positions of the set route K0 as via points corresponding to the traveling action based on the set route K0 set by the route search unit 320 (S110).

[0069] Fig. 10 is a diagram for explaining the processing for each step shown in Fig. 8. S110 in Fig. 10 shows an example in which the characteristic position extraction unit 341 extracts characteristic positions of the set route K0 as via positions G[0], G[f1], G[f2], G[f3], G[f4], and G corresponding to the traveling action, based on the set route K0 set by the route search unit 320.

[0070] Next, the operation position extraction unit 343 extracts the operation position of the autonomous mobile robot 10 as a route position corresponding to the operation action based on the set route K0 set by the route search unit 320 and the operation area X0 stored by the operation area memory unit 344 (S120).

[0071] 10 shows an example in which the movement position extraction unit 343 extracts, from among the multiple positions constituting the set path K0, a position where the set path K0 enters the movement area X0 as a via position G[a1] corresponding to a movement start action. Also, S120 in Fig. 10 shows an example in which the movement position extraction unit 343 extracts, from among the multiple positions constituting the set path K0, a position where the set path K0 exits the movement area X0 as a via position G[a2] corresponding to a movement end action.

[0072] Next, the action instruction generation unit 342 generates a plurality of action instructions for the autonomous mobile robot 10 (S130).

[0073] Specifically, the action instruction generation unit 342 determines the action order of the autonomous mobile robot 10 at each of the via positions G[0], G[f1], G[f2], G[f3], G[f4], G corresponding to the running action, based on the set route K0 set by the route search unit 320, and the via positions G[0], G[f1], G[f2], G[f3], G[f4], G corresponding to the movement action, and the via positions G[a1], G[a2] corresponding to the movement action.

[0074] 10, on the set route K0, G[0] is the first via point, G[f1] is the next via point, G[f2] is the next via point, G[a1] is the next via point, G[f3] is the next via point, G[f4] and G[a2] are the next via points, and G is the last via point. Therefore, the action instruction generator 342 determines the order of actions for each of these via points in ascending order so that the order of precedence of these via points on the set route K0 is maintained.

[0075] The action instruction generation unit 342 generates a plurality of action instructions in which an action order, a route point, and an action are associated with each other. The action instruction generation unit 342 then generates an action sequence including the plurality of action instructions, and controls the communication unit 310 so that the action sequence is transmitted to the autonomous mobile robot 10 by the communication unit 310.

[0076] Fig. 11 is a diagram showing an example of an action sequence generated by the action instruction generation unit 342. As shown in Fig. 11, the action sequence includes multiple action instructions in which an "action order", a "waypoint", and an "action" are associated with each other. In the "action", "-" indicates a running action, meaning that there is no action to be performed. Furthermore, "action start" indicates an action start action, and "action end" indicates an action end action.

[0077] Note that the via position G[f4] extracted by the characteristic position extraction unit 341 and the via position G[a2] extracted by the action position extraction unit 343 are the same position. In such a case, as shown in Fig. 11, the action instruction generation unit 342 sets the action corresponding to the via position G[f4] = G[a2] to the action end action, which is the action corresponding to the via position G[a2] extracted by the action position extraction unit 343.

[0078] <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 characteristic position extraction unit 341 extracts characteristic positions that characterize the shape of a set route based on a set route from the current position of the autonomous mobile robot to a destination position. The action instruction generation unit 342 then determines a first action sequence corresponding to the characteristic positions based on the set route and the characteristic positions, and controls the communication unit 310 so that information indicating the first action instruction, in which the characteristic positions are associated with the first action sequence as first intermediate positions, is transmitted to the autonomous mobile robot.

[0079] With this configuration, it is possible to reduce errors in the driving route while suppressing a decrease in the driving stability of various autonomous driving robots.

[0080] Furthermore, in the first embodiment of the present invention, the action position extraction unit 343 extracts action positions of the autonomous mobile robot based on the set route and the action area. Then, the action instruction generation unit 342 determines a first action sequence and a second action sequence corresponding to a second via point that is an action position based on the set route, the action positions, and the characteristic positions, and controls the communication unit 310 so that information indicating the second action instruction, in which the second via point and the action action are associated with the second action sequence, is transmitted to the autonomous mobile robot in addition to the information indicating the first action instruction.

[0081] According to this configuration, it is possible to reduce the burden on the user for setting instructions regarding the operation of the autonomous mobile robot 10.

[0082] <<Second embodiment>> In the first embodiment of the present invention, an example has been described in which characteristic positions that characterize the shape of a set route and operation positions are extracted as waypoints, and action instructions corresponding to the waypoints are generated. That is, in the first embodiment, it is possible to generate action instructions according to a pre-set operation area, but it is not possible to set operation actions according to the waypoints of the autonomous mobile robot 10.

[0083] For example, in the first embodiment, an area where the autonomous mobile robot 10 travels at low speed on narrow roads or plays a warning sound in places with poor visibility can be set as an operating area in advance. However, an area where the autonomous mobile robot 10 gives direction instructions, such as turning on a turn signal to indicate a change in traveling direction, is difficult to set as an operating area before the route position is extracted.

[0084] To solve this problem, we propose a route setting device 31 according to the second embodiment. The route setting device 31 according to the second embodiment extracts a direction change position where the traveling direction changes based on a route position, and extracts a direction indication position based on the direction change position.

[0085] Specifically, the path setting device 31 according to the second embodiment extracts, as the direction instruction position, a position where the autonomous mobile robot 10 arrives a predetermined distance before the direction change position in terms of time. This makes it possible to generate an action instruction for a direction instruction start action or a direction instruction end action before the autonomous mobile robot 10 arrives at the position where it makes a right or left turn.

[0086] <Routing system configuration> Fig. 12 is an explanatory diagram showing the configuration of a route setting system according to the second embodiment. As shown in Fig. 12, the route setting system 2 according to the second embodiment has an autonomous mobile robot 10, an input terminal 20, and a route setting device 31. In the following, explanations of the parts of the route setting system 2 according to the second embodiment that are common to the route setting system 1 according to the first embodiment will be omitted, and the parts that differ from the route setting system 1 according to the first embodiment will be mainly explained.

[0087] (Routing device 31) The route setting device 31 sets a 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 a destination position received from the input terminal 20. Furthermore, the route setting device 31 generates an action sequence including a plurality of action instructions based on the set route, and transmits the generated action sequence to the autonomous mobile robot 10.

[0088] <Configuration of the path setting device 31> Fig. 13 is an explanatory diagram showing the configuration of a route setting device 31 according to a second embodiment of the present invention. As shown in Fig. 13, the route setting device 31 according to the second embodiment has a communication unit 310, a route search unit 320, a map storage unit 330, an action sequence generation unit 360, and an action completion determination unit 350. The functions of the communication unit 310, the route search unit 320, the map storage unit 330, and the action completion determination unit 350 are the same as those described in the first embodiment.

[0089] (Action sequence generator 360) The action sequence generation unit 360 generates an action sequence including a plurality of action instructions for the autonomous mobile robot 10. Unlike the action sequence generation unit 340 according to the first embodiment, the action sequence generation unit 360 according to the second embodiment has a feature position extraction unit 341, a direction change position extraction unit 361, a direction instruction position extraction unit 362, and an action instruction generation unit 363. The function of the feature position extraction unit 341 is as described in the first embodiment.

[0090] (Direction change position extraction unit 361) The direction change position extraction unit 361 extracts, as a direction change position, a route position where the travel direction changes by a threshold or more in a travel route according to the characteristic position extracted by the characteristic position extraction unit 341. The threshold may be specified in advance by the user. Furthermore, the direction change position extraction unit 361 adds a direction instruction end action to the action corresponding to the extracted direction change position.

[0091] (Direction indication position extraction unit 362) The direction indication position extraction unit 362 extracts a waypoint position corresponding to the direction indication start action based on the set route set by the route search unit 320 and the direction change position extracted by the direction change position extraction unit 361. More specifically, the direction indication position extraction unit 362 extracts the waypoint position corresponding to the direction indication start action based on a position that the autonomous mobile robot 10 reaches a predetermined distance before the direction change position, among the multiple positions that make up the set route K0.

[0092] (Action instruction generation unit 363) The action instruction generation unit 363 generates a plurality of action instructions for the autonomous mobile robot 10. Specifically, the action instruction generation unit 363 determines the order of actions for the autonomous mobile robot 10 at each of the route positions based on the set route K0 set by the route search unit 320, the route positions corresponding to the travel actions extracted by the characteristic position extraction unit 341, the route positions corresponding to the direction instruction end actions determined by the direction change position extraction unit 361, and the route positions corresponding to the direction instruction start actions extracted by the direction instruction position extraction unit 362.

[0093] Then, the action instruction generation unit 363 generates a plurality of action instructions in which an action order, a via point, and an action are associated with each other. Then, the action instruction generation unit 363 controls the communication unit 310 so that an action sequence including the plurality of action instructions is transmitted by the communication unit 310 to the autonomous mobile robot 10. More specifically, the action instruction generation unit 363 controls the communication unit 310 so that the plurality of action instructions is transmitted sequentially by the communication unit 310 to the autonomous mobile robot 10.

[0094] <Operation of the action sequence generator 360> Next, the operation of the action sequence generation unit 360 according to the second embodiment of the present invention will be described.

[0095] Fig. 14 is a flowchart showing the operation of the action sequence generation unit 360 according to the second embodiment of the present invention. Fig. 15 is a diagram showing an example of a set route K0 that is set in advance prior to the operation of the action sequence generation unit 360. As shown in Fig. 15, the set route K0 is set in advance by the route search unit 320. In the set route K0, the current position is indicated as G[0] and the target position is indicated as G .

[0096] First, the characteristic position extraction unit 341 extracts characteristic positions of the set route K0 as route positions corresponding to the travel action based on the set route K0 set by the route search unit 320 (S210).

[0097] Fig. 16 is a diagram for explaining the processing for each step shown in Fig. 14. S210 in Fig. 16 shows an example in which the characteristic position extraction unit 341 extracts characteristic positions of the set route K0 as via positions G[0], G[f1], G[f2], G[f3], G[f4], and G corresponding to the traveling action, based on the set route K0 set by the route search unit 320.

[0098] Next, the direction change position extraction unit 361 extracts, as a direction change position, a route position where the traveling direction changes by more than a threshold value in the traveling route according to the characteristic position extracted by the characteristic position extraction unit 341 (S220). At this time, if there is a route position where the traveling direction changes by more than the threshold value to the left, the direction change position extraction unit 361 extracts the route position as a left-direction change position, and if there is a route position where the traveling direction changes by more than the threshold value to the right, the direction change position extraction unit 361 extracts the route position as a right-direction change position.

[0099] 16 shows an example in which the direction change position extraction unit 361 extracts G[f1] as a right direction change position and G[f3] and G[f4] as left direction change positions. Details of S220 will be described later with reference to FIGS. 18 and 19. Furthermore, the direction indication position extraction unit 361 adds a direction indication end action to the action corresponding to the extracted direction change position.

[0100] Next, the direction indication position extraction unit 362 extracts a via position corresponding to the direction indication start action based on the set route K0 set by the route search unit 320 and the direction change position extracted by the direction change position extraction unit 361 (S230). More specifically, the direction indication position extraction unit 362 extracts the via position corresponding to the direction indication start action based on a position that the autonomous mobile robot 10 reaches temporally a predetermined distance L earlier than the direction change position, among the multiple positions that make up the set route K0.

[0101] 16, there are no other direction change positions between the position that the autonomous mobile robot 10 reaches temporally the distance L before the right direction change position G[f1] and the right direction change position G[f1]. In such a case, the direction instruction position extraction unit 362 extracts the position that the autonomous mobile robot 10 reaches temporally the distance L before the right direction change position G[f1] as the via position G[i1] corresponding to the right direction instruction start action in the same direction as the change direction at the right direction change position G[f1].

[0102] Furthermore, there are no other direction change positions between the position that the autonomous mobile robot 10 reaches temporally the distance L before the left direction change position G[f3] and the left direction change position G[f3]. In such a case, the direction instruction position extraction unit 362 extracts the position that the autonomous mobile robot 10 reaches temporally the distance L before the left direction change position G[f3] as the intermediate position G[i2] corresponding to the left direction instruction start action in the same direction as the change direction at the left direction change position G[f3].

[0103] Meanwhile, another direction change position G[f3] exists between the position G'[f4], which the autonomous mobile robot 10 reaches temporally before the left direction change position G[f4] by a distance L, and the left direction change position G[f4]. In such a case, the direction indication position extraction unit 362 extracts the direction change position G[f3] that is closest to the left direction change position G[f4] as the intermediate position corresponding to the left direction indication start action in the same direction as the change direction at the left direction change position G[f4].

[0104] Alternatively, the current position G[0] of the autonomous mobile robot 10 may be between a position that the autonomous mobile robot 10 reaches temporally a distance L before the direction change position and the direction change position. In such a case, the direction instruction position extraction unit 362 extracts the current position G[0] of the autonomous mobile robot 10 as a waypoint corresponding to a direction instruction start action in the same direction as the change direction at the direction change position.

[0105] Next, the action instruction generation unit 363 generates a plurality of action instructions for the autonomous mobile robot 10 (S240).

[0106] Specifically, the action instruction generation unit 363 determines the action order of the autonomous mobile robot 10 at each of the via positions G[0], G[f1], G[f2], G[f3], G[f4], G corresponding to the running action, and G[i1], G[i2] corresponding to the direction instruction action, based on the set route K0 set by the route search unit 320, the via positions G[0], G[f1], G[f2], G[f3], G[f4], G corresponding to the running action, and the via positions G[i1], G[i2] corresponding to the direction instruction action.

[0107] 16, on the set route K0, G[0] is the first via point, G[i1] is the next via point, G[f1] is the next via point, G[f2] is the next via point, G[i2] is the next via point, G[f3] is the next via point, G[f4] is the next via point, and G is the last via point. Therefore, the action instruction generator 363 determines the order of actions for each of these via points in ascending order so that the order of precedence of these via points on the set route K0 is maintained.

[0108] The action instruction generation unit 363 also generates a plurality of action instructions in which an action order, a route point, and an action are associated with each other. The action instruction generation unit 363 then generates an action sequence including the plurality of action instructions, and controls the communication unit 310 so that the action sequence is transmitted to the autonomous mobile robot 10 by the communication unit 310.

[0109] FIG. 17 is a diagram showing an example of an action sequence generated by the action instruction generation unit 363. As shown in FIG. 17, the action sequence includes multiple action instructions, each of which corresponds to an "action order," a "waypoint," and an "action." In the "action," "-" indicates a driving action, meaning that no action needs to be performed. Furthermore, "start right direction instruction" indicates a right direction instruction start action, and "end right direction instruction" indicates a right direction instruction end action. Furthermore, "start left direction instruction" indicates a left direction instruction start action, and "end left direction instruction" indicates a left direction instruction end action.

[0110] 17, G[f3] is extracted as a route position corresponding to each of the left direction instruction end action and the left direction instruction start action. At this time, as shown in FIG. 17, the action instruction generation unit 363 associates the left direction instruction end action and the left direction instruction start action (i.e., an integrated action of executing the left direction instruction end action followed by the left direction instruction start action) with the route position G[f3]. In this way, when the same route position is extracted as a route position corresponding to each of a plurality of actions, the action instruction generation unit 363 may associate a single action that integrates the plurality of actions with the same route position.

[0111] Next, the operation of the direction change position extraction unit 361 according to the second embodiment of the present invention will be described in detail.

[0112] Fig. 18 is a flowchart showing the operation of the direction change position extraction unit 361 according to the second embodiment of the present invention. Fig. 19 is a diagram for explaining the processing for each step shown in Fig. 18. Here, it is assumed that before the operation of the direction change position extraction unit 361, the characteristic positions G[0], G[f1], G[f2], G[f3], G[f4], and G of the set route K0 have been extracted by the characteristic position extraction unit 341.

[0113] First, the direction change position extraction unit 361 calculates a traveling direction vector at each of the feature positions G[0], G[f1], G[f2], G[f3], and G[f4] based on the feature positions G[0], G[f1], G[f2], G[f3], G[f4], and G extracted by the feature position extraction unit 341 (S221).

[0114] For example, the direction change position extraction unit 361 associates a route sequence with each of the characteristic positions G[0], G[f1], G[f2], G[f3], G[f4], and G based on the set route K0 and the characteristic positions G[0], G[f1], G[f2], G[f3], G[f4], and G . Then, the direction change position extraction unit 361 calculates a vector indicating the direction from the characteristic position G[0], which is first in the route sequence, to the characteristic position G[f1], which is next (second) in the route sequence, as a traveling direction vector v at the characteristic position G[0]. 0_f1 Calculate as follows.

[0115] Similarly, the direction change position extraction unit 361 extracts a vector indicating the direction from the second feature position G[f1] to the next (third) feature position G[f2] in the route order as a traveling direction vector v at the feature position G[f1]. f1_f2 The direction change position extraction unit 361 calculates a vector indicating the direction from the third feature position G[f2] to the next (fourth) feature position G[f3] in the route order as a traveling direction vector v f2_f3 Calculate as follows.

[0116] The direction change position extraction unit 361 also extracts a vector indicating the direction from the fourth feature position G[f3] to the next (fifth) feature position G[f4] in the route order as a traveling direction vector v at the feature position G[f3]. f3_f4 The direction change position extraction unit 361 calculates a vector indicating the direction from the fifth feature position G[f4] to the next (sixth) feature position G in the route order as a moving direction vector v f4_end Calculate as follows.

[0117] Note that there is no next feature position in the route sequence at feature position G . Therefore, the direction change position extraction unit 361 does not need to calculate the travel direction vector at feature position G . Furthermore, the lengths of the travel direction vectors do not need to be the same. However, if each travel direction vector is a unit vector, calculations using the travel direction vectors are easy.

[0118] Next, the direction change position extraction unit 361 calculates the amount of change in each traveling direction vector (S222). For example, the direction change position extraction unit 361 calculates the amount of change in the traveling direction vector v at the feature position G[0] that is one route ahead of the route order of the feature position G[f1]. 0_f1 and the moving direction vector v at the feature position G[f1] f1_f2 Angle θ f1 Let v be the direction of travel. f1_f2 The change is calculated as the amount of change in

[0119] Similarly, the direction change position extraction unit 361 extracts the traveling direction vector v at the feature position G[f1], which is one route ahead of the feature position G[f2]. f1_f2 and the moving direction vector v at the feature position G[f2] f2_f3 Angle θ f2 Let v be the direction of travel. f2_f3 The direction change position extraction unit 361 also calculates the amount of change in the traveling direction vector v at the feature position G[f2] that is one route ahead of the feature position G[f3]. f2_f3 and the moving direction vector v at the feature position G[f3] f3_f4 Angle θ f3 Let v be the direction of travel. f3_f4 The change is calculated as the amount of change in

[0120] Furthermore, the direction change position extraction unit 361 extracts the traveling direction vector v at the feature position G[f3], which is one route ahead of the route order of the feature position G[f4]. f3_f4 and the moving direction vector v at the feature position G[f4] f4_end Angle θ f4 Let v be the direction of travel.f4_end If the rotation angle to the right is negative and the rotation angle to the left is positive (however, 0°<rotation angle<180°), then θ f1 <0, θ f2 >0, θ f3 >0, θ f4 >0.

[0121] Note that there is no feature position in the previous passing order at feature position G[0]. Therefore, the direction change position extraction unit 361 extracts the traveling direction vector v 0_f1 As a method for calculating the amount of change in the traveling direction vector, any method that can determine whether the feature position is a rightward change position or a leftward change position from the calculation result can be used. For example, the direction change position extraction unit 361 may calculate the amount of change in the traveling direction vector using the dot product or cross product of the traveling direction vector at the feature position and the traveling direction vector at the feature position immediately preceding the route order.

[0122] Finally, the direction change position extraction unit 361 extracts, as a direction change position, a feature position where the amount of change in the traveling direction vector (more specifically, the absolute value of the amount of change) is equal to or greater than a threshold (S223). At this time, if the amount of change in the traveling direction vector is negative (rotation angle to the right), the direction change position extraction unit 361 extracts the feature position as a right direction change position. On the other hand, if the amount of change in the traveling direction vector is positive (rotation angle to the left), the direction change position extraction unit 361 extracts the feature position as a left direction change position.

[0123] For example, the threshold value is θ ref Let |θ f1 |≧θ ref , |θ f2 |<θ ref , |θ f3 |≧θ ref , |θ f4 |≧θ ref If the above holds, the characteristic positions G[f1], G[f3], and G[f4] are extracted as the direction change positions.

[0124] <Action and effect> The second embodiment of the present invention described above provides a variety of advantageous effects. For example, in the second embodiment of the present invention, similar to the first embodiment of the present invention, the characteristic position extraction unit 341 extracts characteristic positions that characterize the shape of a set route based on a set route from the current position of the autonomous mobile robot to a destination position. The action instruction generation unit 363 then determines a first action sequence corresponding to the characteristic positions based on the set route and the characteristic positions, and controls the communication unit 310 so that information indicating a first action instruction in which the characteristic positions are associated with the first action sequence as a first intermediate position is transmitted to the autonomous mobile robot.

[0125] According to this configuration, similar to the first embodiment of the present invention, it is possible to reduce errors in the travel route while suppressing a decrease in the stability of travel of various autonomous traveling robots.

[0126] In the second embodiment of the present invention, a direction change position extraction unit 361 extracts characteristic positions where the moving direction of the autonomous mobile robot changes by a threshold or more as direction change positions. Then, a direction instruction position extraction unit 362 extracts a third via position corresponding to a direction instruction start action based on the set route and the direction change positions.

[0127] The action instruction generation unit 363 determines a first action sequence and a third action sequence corresponding to the third via point based on the set route, the third via point, and the characteristic position, and controls the communication unit 310 so that information indicating the third action instruction, in which the third via point and the direction instruction start action are associated with the third action sequence, and information indicating the first action instruction are transmitted to the autonomously traveling robot.

[0128] According to this configuration, it is possible to reduce the burden on the user for setting instructions regarding the direction instruction start action of the autonomous mobile robot 10.

[0129] As an example, the direction indication position extraction unit 362 may extract a third waypoint corresponding to the direction indication start action based on a position that the autonomous mobile robot arrives at a predetermined distance before the direction change position, among the multiple positions that make up the set route. With this configuration, it becomes possible to execute the direction indication start action before the autonomous mobile robot arrives at the position where it will turn right or left.

[0130] <<Modifications>> The first embodiment and the second embodiment 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.

[0131] (First Modification) In the above-described embodiment, the case where the via positions extracted by the characteristic position extraction unit 341 and the action position extraction unit 343, or the via positions extracted by the characteristic position extraction unit 341, the direction change position extraction unit 361, and the direction indication position extraction unit 362 are used has been mainly described. However, the route setting device 30 or the route setting device 31 may also include an auxiliary position extraction unit that extracts multiple positions at predetermined distance intervals on the set route. In this case, the auxiliary position extraction unit may be included in the action sequence generation unit 340 or the action sequence generation unit 360.

[0132] As an example, the action instruction generation unit 342 or the action instruction generation unit 363 may determine a first action sequence and a fourth action sequence corresponding to each of the multiple positions based on a set route, multiple positions at predetermined distance intervals on the set route, and characteristic positions. Then, the action instruction generation unit 342 may control the communication unit 310 so that information indicating the fourth action instruction, in which the multiple positions are associated with the fourth action sequence as multiple intermediate positions, and information indicating the first action instruction are transmitted to the autonomous mobile robot.

[0133] (Second Modification) In the above-described embodiments, the first embodiment of the present invention and the second embodiment of the present invention have been mainly described as independent embodiments. However, the first embodiment of the present invention and the second embodiment of the present invention may be used in combination. That is, the action sequence generation unit 340 can also generate action instructions based on the via positions extracted by each of the feature position extraction unit 341, the action position extraction unit 343, the direction change position extraction unit 361, and the direction instruction position extraction unit 362.

[0134] <<Hardware configuration>> The above describes the embodiments and modifications of the present invention. The information processing, such as the route setting and action sequence generation, 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, and the like.

[0135] 20 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 Memory) 902, a RAM (Random Access Memory) 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.

[0136] 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 a communication unit 310, a path search unit 320, action sequence generation units 340 and 360, and an action completion determination unit 350.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] <<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.

[0144] For example, the steps in the processing of the route setting device 30 and the route setting device 31 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 and the route setting device 31 may be processed in an order different from the order described in the flowcharts, or may be processed in parallel.

[0145] 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 31, etc. to perform functions equivalent to those of the above-described autonomous mobile robot 10, input terminal 20, route setting device 30, and route setting device 31. A non-transitory storage medium on which the computer program is stored is also provided. [Explanation of symbols]

[0146] 10 Autonomous Driving Robot 20 Input terminal 30, 31 Routing device 310 Communications Department 320 Route Search Unit 330 Map Memory Unit 340 Action Sequence Generation Unit 341 Feature Position Extraction Unit 342 Action Instruction Generation Unit 343 Operation position extraction part 344 Operating area storage unit 350 Action completion determination section 360 Action Sequence Generation 361 Direction change position extraction unit 362 Direction indication position extraction part 363 Action Instruction Generation Unit

Claims

1. a characteristic position extraction unit that extracts, as characteristic positions, positions that characterize the shape of a set route based on a set route from a current position of the autonomous moving body to a destination position; a communication control unit that determines a first action sequence corresponding to the characteristic position based on the set route and the characteristic position, and controls a communication unit so that information indicating a first action instruction associated with the first action sequence, in which the characteristic position is a first via position, is transmitted to the autonomous moving body; A route setting device comprising:

2. the characteristic position extraction unit extracts the characteristic positions by performing a shape simplification process on the set route; The route setting device according to claim 1 .

3. The route setting device a motion position extraction unit that extracts a motion position of the autonomous moving body based on the set route and a motion area; the communication control unit determines the first action sequence and a second action sequence corresponding to a second via position that is the action position, based on the set route, the action position, and the characteristic position, and controls the communication unit so that information indicating a second action instruction in which the second via position and the action action are associated with the second action sequence and information indicating the first action instruction are transmitted to the autonomous moving body. The route setting device according to claim 1 .

4. The route setting device a direction change position extraction unit that extracts a characteristic position where the moving direction of the autonomous moving body changes by a threshold or more as a direction change position; a direction indication position extraction unit that extracts a third via position corresponding to a direction indication start action based on the set route and the direction change position, the communication control unit determines the first action sequence and a third action sequence corresponding to the third via position based on the set route, the third via position, and the characteristic position, and controls the communication unit so that information indicating a third action instruction in which the third via position and the direction instruction start action are associated with the third action sequence, and information indicating the first action instruction, are transmitted to the autonomous moving body. The route setting device according to claim 1 .

5. the direction indication position extraction unit extracts the third via position based on a position where the autonomous moving body arrives temporally a predetermined distance before the direction change position, from among a plurality of positions constituting the set route.

5. The route setting device according to claim 4.

6. The route setting device an auxiliary position extraction unit that extracts a plurality of positions at predetermined distance intervals on the set route; the communication control unit determines the first action sequence and a fourth action sequence corresponding to each of the plurality of positions based on the set route and the plurality of positions, and controls the communication unit so that information indicating a fourth action instruction, in which the plurality of positions are associated with the fourth action sequence as a plurality of intermediate positions, and information indicating the first action instruction are transmitted to the autonomous moving body. The route setting device according to any one of claims 1 to 5.

7. extracting, as characteristic positions, positions that characterize the shape of a set route based on a set route from a current position of the autonomous moving body to a destination position; determining a first action sequence corresponding to the feature position based on the set route and the feature position, and controlling a communication unit so that information indicating a first action instruction associated with the first action sequence, in which the feature position is a first via position, is transmitted to the autonomous moving body; A computer-implemented routing method comprising:

8. Computer, a characteristic position extraction unit that extracts, as characteristic positions, positions that characterize the shape of a set route based on a set route from a current position of the autonomous moving body to a destination position; a communication control unit that determines a first action sequence corresponding to the characteristic position based on the set route and the characteristic position, and controls a communication unit so that information indicating a first action instruction associated with the first action sequence, in which the characteristic position is a first via position, is transmitted to the autonomous moving body; A program that functions as a

9. an autonomous mobile body that moves autonomously; a characteristic position extraction unit that extracts, as characteristic positions, positions that characterize the shape of a set route based on a set route from a current position of the autonomous moving body to a destination position; a communication control unit that determines a first action sequence corresponding to the characteristic position based on the set route and the characteristic position, and controls a communication unit so that information indicating a first action instruction associated with the first action sequence, in which the characteristic position is a first via position, is transmitted to the autonomous moving body; A routing system comprising:

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