Route management apparatus and route management method

Abstract

To control a plurality of autonomous mobile devices which move based on maps different from each other so that the autonomous mobile devices move without colliding with each other.SOLUTION: Searching for a route on which each of a plurality of autonomous mobile devices capable of communicating with a computer and moving in a space moves, based on map information that is associated with each of the plurality of autonomous mobile devices and is different for each of the plurality of autonomous mobile devices; The program causes the computer to execute a passage range generation process of generating a passage range in a space of each of a plurality of autonomous mobile devices that pass through a route, an interference determination process of overlapping the passage ranges of the plurality of autonomous mobile devices in the space and determining the presence or absence of interference in the space of the passage ranges of the plurality of autonomous mobile devices, and a route re-search process of re-searching for a route in which a passage range in which interference does not occur is obtained when there is interference.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] By centrally controlling the movement of multiple autonomous mobile devices, each autonomous mobile device can move efficiently. At this time, the autonomous mobile devices are made to avoid collisions while moving. For example, Patent Document 1 discloses a robot that controls multiple mobile robots in a unified manner. The robot control system described in Patent Document 1 is a mobile robot. Based on the bot information and route information, the movement of multiple mobile robots may be interfered with by each other. Based on the result of the determination, it is determined whether or not at least one of the mobile robots that may cause interference is present. Path information for at least one mobile robot is modified to avoid interference. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-134794 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 describes a map of a predetermined area in which a mobile robot (autonomous mobile device) operates. Based on map information, a route for the mobile robot is searched. A common map is used for all mobile robots, and there is no interference between the movements of multiple mobile robots. It is determined whether or not this is possible.

[0005] The plurality of autonomous mobile devices are configured to move based on maps different from each other. In such cases, robots based on a common map, such as those described in Patent Document 1, It is not possible to use a battling control system, and each autonomous mobile device must be controlled to avoid collisions during movement. Controlling an autonomous mobile device is difficult.

[0006] Therefore, the present invention provides a method for controlling a plurality of autonomous mobile devices that move based on different maps. A program, a path management system, and a method for controlling the movement of the moving devices so that they do not collide with each other. The present invention aims to provide a management device and a route management method. [Means for solving the problem]

[0007] A program according to one aspect of the present invention is provided for a computer, capable of communicating with the computer. The route along which each of the plurality of autonomous mobile devices that can move in space moves is determined by the plurality of autonomous mobile devices. The map information is associated with each of the plurality of autonomous mobile devices, and the map information is different from each other for each of the plurality of autonomous mobile devices. and a route search process for searching based on the route and the device information of each of the plurality of autonomous mobile devices. Based on this, a travel range in space is generated for each of a plurality of autonomous mobile devices traveling along the route. A travel range generation process is performed to superimpose the travel ranges of each of the autonomous mobile devices in space. and an interference detection unit that detects whether or not there is interference in the space within the travel range of each of the plurality of autonomous mobile devices. The process involves a determination process, and if there is interference, a process of re-searching for a route that will provide a travel range that does not cause interference. Path re-search processing is executed.

[0008] According to this aspect, when there are a plurality of autonomous mobile devices moving in the same space, The travel route is searched by the route search process. The route is searched based on different map information. A travel range is generated. The generated travel range is used to determine the location of the autonomous mobile devices in a space where they are moving. By overlaying the map information, the travel range can be determined even between autonomous mobile devices with different map information. Based on this, interference can be determined. By determining interference and re-searching the route, This allows a plurality of autonomous mobile devices to be controlled so that they can move without colliding with each other.

[0009] In the above aspect, the interference detection process includes: The drawing information generation process generates drawing information for drawing the travel range of the vehicle, and Based on this, when the travel ranges of multiple autonomous mobile devices are depicted overlapping in the image, It may be determined that the travel ranges of the plurality of autonomous mobile devices interfere with each other.

[0010] By generating drawing information for an image showing a space, the space is displayed based on the drawing information. It is possible to overlay each travel area in the same way. It is possible to overlap the travel ranges of the autonomous mobile devices moving on the road, and The devices can be controlled so that they move without colliding with each other.

[0011] In the above aspect, the computer is configured to acquire the positions in space of the plurality of autonomous mobile devices. The process of generating a travel range is automatically performed based on the route and the position. A travel range may be generated that does not include a travel range corresponding to a route already traveled by the mobile device. .

[0012] According to this aspect, the travel range is generated and updated in accordance with the movement of the autonomous mobile device, In the interference detection process, the travel range corresponding to the route that a certain autonomous mobile device has already passed is Therefore, each autonomous mobile device is excluded from the target so that they do not collide while moving. The movement of each autonomous mobile device can be controlled more efficiently while controlling the other autonomous mobile devices.

[0013] In the above aspect, the plurality of autonomous mobile devices move based on routes with different data formats. The computer is configured to calculate a route for each of the plurality of autonomous mobile devices. Route transmission process that converts the data into a processable format and transmits it to each of the multiple autonomous mobile devices , may be further executed.

[0014] As a result, for example, the first autonomous mobile device and the second autonomous mobile device are different models, and the processing When the data formats that each autonomous mobile device can process are different, Route information can be transmitted to each autonomous mobile device. The autonomous mobile devices operate based on the information received from the autonomous mobile devices, and the autonomous mobile devices move without colliding with each other. It can be controlled so that

[0015] In the above aspect, the map information includes a plurality of nodes and at least one The graph map may be information with one edge. The graph map is a combination By using an optimization algorithm, combinatorial optimization can be performed at high speed. This makes route search easier than using a grid map as map information, for example. It can be done at high speed.

[0016] A route management device according to one aspect of the present invention is a device that can communicate with a route management device and can move through space. The route that each of the plurality of autonomous mobile devices moves is determined by the The plurality of autonomous mobile devices are associated with each other and search based on different map information. and a route search unit that searches for a route based on the route and the device information of each of the plurality of autonomous mobile devices. a travel range generating unit that generates a travel range in space for each of a plurality of autonomous mobile devices that travel and overlapping the travel ranges of the plurality of autonomous mobile devices in space, and An interference detection unit that determines whether or not there is interference in the space within the passage range of each device, and a route re-searching unit that re-searches for a route that can obtain a travel range that does not cause interference when the can.

[0017] A path management method according to one aspect of the present invention includes: The route that each of the plurality of autonomous mobile devices that can move in the space moves is determined by the plurality of autonomous mobile devices. map information associated with each of the plurality of autonomous mobile devices and different from each other; and searching based on the route and the device information of each of the plurality of autonomous mobile devices. and generating a travel range in space for each of a plurality of autonomous mobile devices traveling along a route. and overlapping the travel ranges of the plurality of autonomous mobile devices in space, and To determine whether there is interference in the space within the passage range of each device, and if there is interference, and re-searching for a route that provides a travel range free from interference. [Effects of the Invention]

[0018] According to the present invention, a plurality of autonomous mobile devices that move based on mutually different maps are controlled by each of the autonomous mobile devices. A program, path management, that can control the movement of mobile devices so that they do not collide with each other. An apparatus and a route management method can be provided. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a diagram illustrating a configuration of a route management system according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating the concept of movement control of the autonomous moving device according to the first embodiment. [Figure 3] 1 is a block diagram showing the configuration of an autonomous mobile device according to a first embodiment. [Figure 4] 1 is a block diagram showing a configuration of a route management device according to a first embodiment. [Figure 5] 3A to 3C are diagrams illustrating generation of travel ranges and determination of interference according to the first embodiment. [Figure 6] 4 is a flowchart of a process in the route management device according to the first embodiment. [Figure 7] FIG. 2 is a diagram illustrating an example of generation of a travel range by the route management device according to the first embodiment. [Figure 8] FIG. 2 is a diagram illustrating interference of travel ranges in the management system according to the first embodiment. [Figure 9] 3A and 3B are diagrams illustrating an example of a route and travel range recalculated by the route management device according to the first embodiment. [Figure 10] 10 is a flowchart of a process in a route management device according to the second embodiment. [Figure 11] FIG. 10 is a diagram illustrating an example of mobility control by a route management device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] A preferred embodiment of the present invention will be described with reference to the accompanying drawings. , components with the same reference numerals have the same or similar configurations.

[0021] [First embodiment] FIG. 1 shows a route management system 10 for an autonomous mobile device according to the first embodiment (hereinafter referred to as a route management system). The route management system 10 includes n autonomous mobile devices 10. 1, 102, 10n and a route management device 103. can communicate with the route management device 103 via the network N. For example, The management device 103 and the autonomous mobile devices 101 and 102 communicate with each other via a wireless network. Hereinafter, as an example, among the plurality of autonomous mobile devices 101 to 10n, the autonomous mobile devices 101, 10n are Let me explain 02.

[0022] The autonomous mobile devices 101 and 102 move around in the outdoor space or inside a building, and perform their respective functions. The route management device 103 manages the movement of the autonomous mobile devices 101 and 102. The route management device 103 is, for example, a server device.

[0023] Referring to FIG. 2, the route management system 10 controls the movement of the autonomous mobile devices 101 and 102. This section explains the overview of the control.

[0024] The route management device 103 manages the movement of the autonomous mobile devices 101 and 102 in the space S. Each map information contains multiple nodes and each node It is stored in the form of a graph map (topological map) with connecting edges. Each node in S has associated coordinates that uniquely identify its position in space S. The coordinates that uniquely identify the position in the space S are, for example, the coordinates of the autonomous mobile devices 101 and 10 When moving outdoors, the coordinates are latitude and longitude, and when moving indoors, the coordinates are uniquely defined. In this embodiment, the coordinates are uniquely defined in the space. Each node is associated with an x- and y-coordinate in the defined coordinate system. In the case of a three-dimensional space, the latitude, longitude, and altitude or the x, y, and z coordinates It can be used as a coordinate.

[0025] The graph of the map information is, for example, a simple and connected directed graph. This means that there is one edge going from one node to another. "Connection" means that any two nodes can be connected via at least one edge. "Directed" means that the edge has a direction and the movement direction between nodes is determined. This means that it is being used.

[0026] Each edge has a weight indicating the cost for an autonomous mobile device to pass through the edge. The cost may be, for example, the distance between two nodes that an edge connects. These include the distance between nodes and the time required to travel between them.

[0027] As shown in FIG. 2(a), the map information of the autonomous mobile device 101 includes a plurality of nodes N11 to N The autonomous mobile device 101 has edges E11 to E17 that connect the nodes. By moving along the edges E11 to E17, the node N11 to N17 is moved counterclockwise. Move to the next page.

[0028] As shown in FIG. 2(b), the map information of the autonomous mobile device 102 includes a plurality of nodes N21 to N 28 and edges E21 to E211 connecting the respective nodes. Move between nodes N21 to N28 by moving along edges E21 to E211 do.

[0029] The route management device 103 manages the map information and the autonomous mobile information of each of the autonomous mobile devices 101 and 102. A route is generated based on the positions of the devices 101 and 102. It is information indicating the start and end nodes, and the edge connecting these two nodes. For example, when the autonomous mobile device 101 moves from node N13 to node N16, the route The management device 103 generates a route P11 as shown in FIG. When the device 102 moves from node N21 to node N23, the route management device 103 As shown in d), a path P21 is generated. The path is the path with the shortest travel cost between the nodes in the graph. The search is optimized to be small.

[0030] The routes generated by the route management device 103 are transmitted to the autonomous mobile devices 101 and 102. As shown in FIG. 2(e), the autonomous mobile devices 101 and 102 travel along their respective routes P11 ,P12 and move in real space.

[0031] The configuration of the autonomous mobile device 101 will be described with reference to FIG. Although the description will be given for 101, the same applies to the autonomous mobile devices 102 to 10n.

[0032] The autonomous mobile device 101 includes a storage unit 301, a communication unit 302, a mobile control unit 303, a detection unit 304, and a 4. The self-position estimation unit 305, the route acquisition unit 306, the route conversion unit 307, and the driving unit 308 A memory unit 301, a communication unit 302, a movement control unit 303, a detection unit 304, and a self-position estimation unit The information processing in each of the units 305, the route acquisition unit 306, and the route conversion unit 307 is, for example, In the autonomous mobile device 101, a storage area such as a memory is used, and the data stored in the storage area is This can be realized by a processor executing a program.

[0033] The storage unit 301 stores various types of information used in processing by the autonomous mobile device 101. The storage unit 301 also stores local map information and other information generated by the autonomous mobile device 101 through processing described below. The autonomous mobile device 101 uses SLAM (Simultaneous Localization and Multi-Analysis) It stores odometry information and other information used for SLA (Signal and Mapping) processing. M is a function that the autonomous mobile device 101 simultaneously estimates its own position in the space S and creates a map. This is a technique used to

[0034] The communication unit 302 controls communication between the autonomous mobile device 101 and the route management device 103. The communication unit 302 controls, for example, communication through a wireless communication device.

[0035] The movement control unit 303 controls the movement of the autonomous mobile device 101 in the space S. The autonomous mobile device 101 generates the driving control information described below based on the generated driving control information. The movement control information is, for example, This is information included in 08 that controls the motor rotation speed, wheel direction, etc.

[0036] The detection unit 304 is used by the autonomous mobile device 101 to detect the state of the surrounding environment. The detection unit 304 is, for example, a LiDAR (Light Detection and Ranging) When a LiDAR device is used as the detection unit 304, Information about the surroundings of the device 101 is acquired as point cloud data. In this case, a camera capable of capturing an image of the surroundings can be used as the detection unit 304.

[0037] The self-position estimation unit 305 estimates the surrounding environment of the autonomous mobile device 101 detected by the detection unit 304. Based on the state, the position of the autonomous mobile device 101 in the space S is estimated and a map is created at the same time. conduct.

[0038] The route acquisition unit 306 acquires the route generated by the route management device 103 from the route management device 103. You will benefit.

[0039] The route conversion unit 307 converts a route indicating a global movement in the space S into a route for the autonomous mobile device 101 is converted into a local path that indicates movement in a local coordinate system, which is a coordinate system that can be processed. A local coordinate system is a coordinate system that has an arbitrary position in space as its origin. The initial position of the autonomous mobile device 101 can be set as the origin. 1, for example, moves while avoiding obstacles according to dynamic information detected by the detection unit 304. This allows for precise movement.

[0040] The drive unit 308 is, for example, a motor and a wheel or roller driven by the motor. The driving unit 308 is used to move the autonomous mobile device 101 through space. 8 can have any configuration as long as the autonomous mobile device 101 can move within a space. do.

[0041] The autonomous mobile device 102 has the same configuration as the autonomous mobile device 101, but The characteristics of the device are different from those of the autonomous mobile device in space S. The width and length of the device are the width and length of the device. The device length is the length along the direction of movement of the autonomous mobile device. Other examples of the characteristics of the autonomous mobile device include the height of the autonomous mobile device, the position of the tires, the type of the detection unit 304, and and observation range, maximum roll angle and maximum pitch angle of the autonomous mobile device, weight balance of the autonomous mobile device Lance, water resistance of the drive unit 308, suitability of the tire for uneven terrain in the drive unit 308, or detection unit The characteristics of these devices may include the range in which local routes can be searched using 304. It is managed as device information of the rhythm shifting device.

[0042] The route management device 103 will be described with reference to FIG. unit 401, communication unit 402, position acquisition unit 403, route search unit 404, travel range generation unit 405 The route management device includes an interference determination unit 406, a route re-search unit 407, and a route transmission unit 408. The information processing in each part of the route management device 103 is performed, for example, by using a memory or the like in the route management device 103. The use of memory areas and the execution of programs stored in memory areas by a processor. This can be achieved by:

[0043] The storage unit 401 stores various information used in the processing of the route management device 103. The storage unit 401 also stores the information of the autonomous mobile device 101 whose movement is controlled by the route management device 103. The map information of the autonomous mobile devices 101 to 10n and the device information of the autonomous mobile devices 101 to 10n are stored.

[0044] The communication unit 402 controls communication between the route management device 103 and the autonomous mobile devices 101 to 10n. The communication unit 402 controls, for example, communication via a wireless communication device.

[0045] The position acquisition unit 403 acquires the positions of the autonomous mobile devices 101 to 10n in space. The positions of the autonomous mobile devices 101 to 10n are calculated based on the position of each autonomous mobile device estimated by the autonomous mobile devices 101 to 10n. The positions of the autonomous mobile devices 101 to 10n are shown in Fig. The position information may be acquired using a position detection device such as a beacon provided in the vehicle.

[0046] The route search unit 404 is configured to search for one of the autonomous mobile devices 101 to 10n that can move in the space S. The route along which the autonomous mobile device will travel is searched for based on map information associated with the autonomous mobile device. For example, the route search unit 404 may search for a route along which the autonomous mobile device 101 will move. The route search unit 404 searches based on map information associated with the autonomous mobile device. The route search is not limited to the autonomous mobile device 101, but may be for other autonomous mobile devices 102 to 10n.

[0047] The route search unit 404 may, for example, * method, Dijkstra method, or H Using algorithms such as ub-labeling, the cost of the path between two nodes is calculated. The route is searched by optimizing it so that the is minimized. When searching for a route that passes through multiple intermediate nodes and moves to the destination node, A combinatorial optimization algorithm that searches for the combination of nodes and edges that minimizes the cost. Combinatorial optimization algorithms can be used, for example, to find exact solutions. A branch-and-bound method or a genetic algorithm for finding an approximate solution can be used.

[0048] The travel range generation unit 405 compares the route generated by the route search unit 404 with the route on which the route was generated. Based on the device information of the autonomous mobile device, the autonomous mobile device traveling along the route in the space S is Generate a range of travel.

[0049] The generation of the travel range will be explained with reference to Fig. 5. Fig. 5 shows the travel range of the device with a width W and a length L. The autonomous mobile device 101 moves from node N1 to node N3 via node N2. 1 is a schematic diagram illustrating a situation in which a path P1 is searched for by the route search unit 404. moves along the edges E1 and E2. At this time, the travel range generation unit 405 calculates the route P1 Based on this, the passage area PA1 is generated based on the device width W and device length L. The range is information indicating an area formed based on spatial coordinates.

[0050] At this time, the width of the device is the width of the autonomous mobile device 101 itself plus the width of the route management system 1 The administrator of the route management device 103 sets a predetermined length as a margin. In the case of FIG. 5, margins M1 and M2 are added to the device width W. Margins M3 and M4 are added to L to generate a travel area PA1.

[0051] Although the margins M3 and M4 are shown as having the same length in FIG. For example, the mark on the opposite side to the traveling direction of the autonomous mobile device 101 may have a different length. The margin M3 can be adjusted to a value smaller than the margin M4. Adjust the margin appropriately. By doing so, areas that do not actually need to be included in the traffic range are included in the traffic range, and route selection This will prevent the space for improvement from narrowing.

[0052] The margin for the device width W can also be adjusted. For example, at node N2, The autonomous mobile device 101 changes its direction of travel depending on the situation. This makes it possible to more effectively avoid collisions with other autonomous mobile devices when turning. By including adjustable parameters such as these in the device information, it is possible to This allows for the generation of an appropriate travel range.

[0053] The travel range generation unit 405 is not limited to the autonomous mobile device 101, but may be used for other autonomous mobile devices 1 A travel range of 02 to 10n may be generated.

[0054] The interference determination unit 406 overlaps the travel ranges of the plurality of autonomous mobile devices in the space S. In addition, the presence or absence of interference in the space S within the travel range of each of the plurality of autonomous mobile devices is determined. More specifically, as shown in FIG. 5, the collision detection unit 406 calculates the following in the image IG showing the space: Drawing information for drawing the travel range of each of the plurality of autonomous mobile devices is generated. By drawing the travel ranges overlapping on the image IG, the travel ranges are displayed in the space S. They can be superimposed on each other.

[0055] The interference determination unit 406 determines the travel range of each of the plurality of autonomous mobile devices based on the drawing information. When multiple autonomous mobile devices are drawn overlapping in an image, their travel ranges may interfere with each other. As shown in FIG. 5, the travel range generating unit 405 determines the travel range. In addition to the area PA1, travel areas PA2 and PA3 of other autonomous mobile devices are also generated. In this case, the collision determination unit 406 draws the passage areas PA1, PA2, and PA3 on the image IG. Generates drawing information for the

[0056] The image IG has a common coordinate system with the space S. The travel ranges PA1, PA2, and PA3 are Since the area is based on the coordinate system of the space S, the interference determination unit 406 determines the passage areas PA1, PA2 , PA3 can be superimposed in the image IG.

[0057] Specifically, the drawing information is used to draw each of the passage areas in the image pixels of the image IG. The collision detection unit 406 detects image pixels in which two or more passage ranges are drawn. If there are any image pixels that match, it is determined that the traffic ranges interfere.

[0058] In the example of FIG. 5, the travel area PA1 does not overlap with the travel areas PA2 and PA3. However, The pass area PA2 and the pass area PA3 are drawn in overlapping parts, so the collision detection section 406 determines that the travel area PA2 and the travel area PA3 interfere with each other.

[0059] The route re-search unit 407 re-searches for a route that can obtain a travel range that does not cause interference. The search unit 407 selects one of the routes that provides the travel range where interference occurs as a The route is searched based on the map information used for generation. When interference occurs, the route is searched again. The selection may be based on the priority set in the autonomous mobile device. Therefore, it is possible to secure a route for the autonomous mobile device with high priority.

[0060] The route re-search unit 407 can use the same algorithm as the route search unit 404. The route re-search unit 407 may, for example, overlap the travel range and map information to prevent interference. The route is searched for assuming that nodes and edges within the passable range are impassable.

[0061] The route transmitting unit 408 transmits the route in a data format that can be processed by each of the plurality of autonomous mobile devices. The route is converted into a route map and transmitted to each of the autonomous mobile devices. At the location, it is converted into a local path.

[0062] The mobility control by the route management device 103 will be described with reference to FIGS. 6 to 9. Next, a case where the movement of the autonomous mobile device 101 and the autonomous mobile device 102 is controlled will be described. The autonomous mobile devices 101 and 102 are initially stopped at predetermined positions. The autonomous mobile device 101 and the autonomous mobile device 102 are generated by the following process. The system moves based on each route.

[0063] In step S601 of the flowchart in FIG. 6, the route search unit 404 stores the route information in the storage unit 40. 7. The route search unit 404 acquires map information for the autonomous mobile device that performs the route search from the map information table 1. 7(a) and the map information of the autonomous mobile device 101 shown in FIG. 7(b). Get map information for 102.

[0064] In step S602, the position acquisition unit 403 acquires the position of each autonomous mobile device.

[0065] In step S603, the route search unit 404 searches for a route based on the acquired map information and location. 7(c) is used to search for a route (first route) for the autonomous mobile device 101. A path P11 is searched for so as to

[0066] In step S604, the travel range generation unit 405 calculates the route P11 and the autonomous mobile device 1 Based on the device information of the autonomous mobile device 101, a travel range PA11 (first travel range) of the autonomous mobile device 101 is calculated. The pass area PA11 can be drawn on the image IG as shown in FIG. 7(e). be.

[0067] In step S605, the route search unit 404 searches for a route based on the acquired map information and location. 7(d) to search for a route (second route) for the autonomous mobile device 102. The path P22 is searched for from node N22 to node N21. The shortest path is searched for.

[0068] In step S606, the travel range generation unit 405 calculates the route P22 and the autonomous mobile device 1 Based on the device information of 02, a travel range PA21 (second travel range) of the autonomous mobile device 102 is calculated. The pass area PA21 can be drawn on the image IG as shown in FIG. 7(f). be.

[0069] In steps S607 and S608, the interference determination unit 406 determines whether the passage area PA11 and the passage area PA21 are The interference determination unit 406 determines whether or not there is interference in the travel area PA21. PA11 and the pass area PA21 shown in FIG. 8(b) are superimposed on the image IG. As shown in Fig. 8(c), the traffic area PA11 and the traffic area PA It interferes with 21.

[0070] If there is interference, in step S609, the route re-search unit 407 searches for a route again. Here, it is assumed that the route re-search unit 407 searches again for the route P22. 407 is a diagram showing the route from node N22 to node N21 within the travel range PA11. The search is performed under the condition that the edge cannot be moved. In this case, the passable area PA11 is considered as an obstacle, and the passable area as an obstacle The route is re-searched to avoid this.

[0071] The route re-search unit 407 re-searches and obtains a route P23 as shown in FIG. 9(d). Thereafter, in steps S607 and S608, interference is determined in the same manner. In this case, the route P11 is determined so that the travel area PA11 and the travel area PA22 do not interfere with each other. ,P23 can be obtained.

[0072] If there is no interfering path, in step S610, the path transmitting unit 408 1 to the autonomous mobile device 101, and route P23 to the autonomous mobile device 102. Each autonomous mobile device moves.

[0073] In this way, the travel range of the autonomous mobile device is used to determine the distance between the autonomous mobile devices when they are moving. By determining whether or not there is interference, it is possible to avoid collisions between the autonomous mobile devices. Even if each autonomous mobile device moves based on different map information, the travel range is By overlaying the images on the corresponding image IG, interference can be determined.

[0074] In this embodiment, the space S is two-dimensional, and the image is also described as a two-dimensional image. However, the space S may be a three-dimensional space. In this case, the collision detection is based on the three-dimensional image. It will be held.

[0075] [Second embodiment] In the second and subsequent embodiments, descriptions of matters common to the first embodiment will be omitted, and only differences will be described. In the route management device 103 of the second embodiment, the travel range generation unit 405 The movement of the autonomous mobile device is judged based on the position of each autonomous mobile device, and the autonomous mobile device has already passed The route of the first embodiment is different from the route of the first embodiment in that a travel range is generated that does not include a travel range corresponding to the route. It is different from the management device 103 .

[0076] 10 and 11, the movement control of the route management device 103 according to the second embodiment will be described. Here, the movement of the autonomous mobile device 101 and the autonomous mobile device 102 is controlled. The case where the autonomous mobile device 101 and the autonomous mobile device 102 are in the initial state is explained below. Then, the autonomous mobile device 101 moves first and While the autonomous mobile device 101 is moving, a route for the autonomous mobile device 102 is generated. 2 moves.

[0077] In step S1001 of FIG. 10, the route search unit 404 searches the storage unit 401 for the route The route search unit 404 acquires map information of the autonomous mobile device that performs the search. The map information of the autonomous mobile device 101 shown in FIG. 11(b) is Get map information.

[0078] In step S1002, the position acquisition unit 403 acquires the position of each autonomous mobile device. .

[0079] In step S1003, the route search unit 404 searches for a route based on the acquired map information and location. In this case, the route (first route) of the autonomous mobile device 101 is searched for. Similarly, the route P11 shown in FIG. 11(c) is searched. The route P11 is transmitted to the autonomous mobile device 101. 101 moves through space following a path P11.

[0080] In step S1004, the position acquisition unit 403 acquires the position of the autonomous mobile device 101. do.

[0081] In step S1005, the travel range generation unit 405 calculates the travel range of the autonomous mobile device 101. Based on this, a travel range that does not include a travel range corresponding to a route that the autonomous mobile device 101 has already traveled is detected. Generates an enclosure.

[0082] For example, as shown in FIG. 11(e), the autonomous mobile device 101 that departed from N13 When the autonomous mobile device 101 has reached node N15, the travel range generation unit 405 A travel range PA13 is generated based on the route taken from the destination.

[0083] In step S1006, the route search unit 404 searches the map information and Based on the location and the position, a route (second route) for the autonomous mobile device 102 is searched. It is assumed that the mobile device 102 moves from node N22 to node N21. 404 searches for the path P24 shown in FIG. 11(d).

[0084] In step S1007, the travel range generation unit 405 calculates the route P24 and the autonomous mobile device Based on the device information of the autonomous mobile device 102, a travel range PA23 of the autonomous mobile device 102 is generated. The range PA23 is shown in FIG. 11(e).

[0085] In steps S1008 and S1009, the interference determination unit 406 determines whether the travel area PA13 is In the case shown in FIG. 11(e), the interference of the passage area PA13 is judged. and traffic range PA23 do not interfere.

[0086] If there is interference, in step S1010, the route re-search unit 407 searches for a route again. In the case shown in FIG. 11(e), this process is not performed.

[0087] If there is no interference, in step S1011, the route transmitting unit 408 automatically transmits the route P24. The signal is transmitted to the autonomous mobile device 102. Then, the autonomous mobile device 102 starts moving.

[0088] In this way, the travel range is not generated from a route that the autonomous mobile device has already traveled. For example, when the autonomous mobile device 101 moves along the route P11, In this case, the route P23 in the first embodiment shown in FIG. 9(d) can be changed to the route shown in FIG. 11(d). The route P24 in the second embodiment allows travel over a shorter distance. As a result, the autonomous mobile device 102 can move more efficiently. The management device 103 can efficiently control the movement of each autonomous mobile device.

[0089] The above-described embodiments are intended to facilitate understanding of the present invention and are not intended to limit the present invention. The elements and conditions of the embodiments are not intended to be construed as examples. The present invention is not limited to the above and can be modified as appropriate. The above configurations can be partially substituted or combined with each other. [Explanation of symbols]

[0090] 10...Route management system, 101, 102, 10n...Autonomous mobile device, 103...Route management device, 403...position acquisition unit, 404...route search unit, 405...travel range generation unit, 406...interference Interference determination unit 407...route re-search unit 408...route transmission unit

Claims

1. On the computer, each of a plurality of autonomous mobile devices capable of communicating with the computer and moving in space; a route traveled by each of the plurality of autonomous mobile devices, and a route search process in which each of the mobile devices searches based on different map information; Based on the route and the device information of each of the plurality of autonomous mobile devices, the route is traveled. a travel range that generates a travel range in the space for each of the plurality of autonomous mobile devices; A generation process; The travel ranges of the plurality of autonomous mobile devices are overlapped in the space, An interference determining whether or not there is interference in the space within the travel range of each of a plurality of autonomous mobile devices. Interference determination processing; If there is interference, re-search for the route that provides the travel range without the interference. A program that executes a route re-search process.

2. 2. The program according to claim 1, The interference detection process includes: In order to depict the travel range of each of the plurality of autonomous mobile devices on the image showing the space, a drawing information generation process for generating drawing information for Based on the drawing information, the travel range of each of the plurality of autonomous mobile devices is displayed on the image. When the autonomous mobile devices are drawn overlappingly in the A program that determines that interference will occur.

3. 3. The program according to claim 1 or 2, The computer, a position acquisition process for acquiring the positions of the plurality of autonomous mobile devices in the space; Let them go, The travel range generation process is a process of generating a travel range of the autonomous mobile device based on the route and the position. and generating a travel range that does not include a travel range corresponding to the route that has already been traveled.

4. 4. The program according to claim 1, The plurality of autonomous mobile devices move based on routes in different data formats. It is a device, The computer, The route is converted into a data format that can be processed by each of the plurality of autonomous mobile devices. a program for causing the program to further execute a route transmission process for transmitting the route to each of the plurality of autonomous mobile devices. Rum.

5. 5. The program according to claim 1, The map information includes a plurality of nodes and at least one edge connecting the plurality of nodes. A program that is information on a graph map having the information.

6. A route management device, Each of a plurality of autonomous mobile devices capable of communicating with the route management device and moving in space a route traveled by each of the plurality of autonomous mobile devices, and a route search unit that searches based on map information that differs from each other in each of the mobile devices; Based on the route and the device information of each of the plurality of autonomous mobile devices, the route is traveled. a travel range that generates a travel range in the space for each of the plurality of autonomous mobile devices; a generation unit; The travel ranges of the plurality of autonomous mobile devices are overlapped in the space, An interference determining whether or not there is interference in the space within the travel range of each of a plurality of autonomous mobile devices. an interference determination unit; If there is interference, re-search for the route that provides the travel range without the interference. and a route re-searching unit for re-searching the route.

7. The computer each of a plurality of autonomous mobile devices capable of communicating with the computer and moving in space; a route traveled by each of the plurality of autonomous mobile devices, and Searching based on different map information in each of the mobile devices; Based on the route and the device information of each of the plurality of autonomous mobile devices, the route is traveled. generating a travel range in the space for each of the plurality of autonomous mobile devices; The travel ranges of the plurality of autonomous mobile devices are overlapped in the space, determining whether or not there is interference in the space within the travel range of each of the plurality of autonomous mobile devices; And, If there is interference, re-search for the route that provides the travel range without the interference. and

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