JP2008140159A - Autonomous moving unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable generation of a moving route with a simple configuration in an autonomous moving unit by flexibly dealing with the changes of a present point and a target point, and to enable flexible handling of the change of work contents. <P>SOLUTION: An autonomous moving unit 1 includes a memory 41 for storing map information 41a including node information, a route generator 42 for generating the moving route, and an operation controller 43 for controlling operation and running. The node information includes main node information, indicative of an entry point of a segment area formed by segmenting a running area, and subnode information in the segment area. The memory 41 further stores segment area operation information 41b. The route generator 42 generates a scenario for deciding the sequence of passing through the moving route and the segment areas using the main node, and also generates the moving route in the segment area using the subnode. The operation controller 43 executes operation based on the segment area operation information 41b. Since operation information is held for each segment area formed by segmenting the running area, the operation in running and the work contents can flexibly be set in detail for each segment area. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an autonomous mobile device that travels to a target point and performs work based on a travel route generated by itself.

  2. Description of the Related Art Conventionally, there is an autonomous mobile device that creates a movement route to an instructed target point and moves autonomously and performs a predetermined operation or work during the movement or at the target point. If there is a change in the optimal movement route from the current location of the autonomous mobile device to the target point, or the preferred operation or work, to set the operation or work of the autonomous mobile device in detail, depending on the area through which the autonomous mobile device passes An operation procedure, that is, a scenario setting is required every time.

By the way, as a device that moves and operates autonomously, there are human-type and animal-type robots, and an operation procedure (scenario) is performed in order to efficiently perform the above-described operation setting for the autonomous mobile device (robot). There is known a method of interactively creating and editing a GUI by operating a GUI screen and a mouse (for example, see Patent Document 1).
JP 2002-353678 A

  However, the scenario generation method as described in Patent Document 1 described above gives a learning effect so that the robot realizes an action in accordance with a predetermined state transition in response to a stimulus from the outside world. It is a method that creates a movement route to the designated target point and moves in a two-dimensional manner autonomously, and performs operations and operations such as cleaning, transportation, monitoring, assembly, repair, collection, painting, and guidance. It is not sufficient as a scenario generation method for an autonomous mobile device that performs the above.

  The present invention solves the above-described problem, and an autonomous mobile device capable of flexibly responding to changes in work contents while generating a travel route flexibly corresponding to changes in the current location and target point with a simple configuration. The purpose is to provide.

  In order to achieve the above object, a first aspect of the present invention is a position acquisition means for acquiring a current position, a travel means, and a storage section for storing map information of a travel area including node information that serves as a mark of a travel route; A route generation unit that generates a travel route from a current position to a predetermined target point based on the node information, and the travel to travel to the target point based on the travel route generated by the route generation unit In the autonomous mobile device comprising: an operation control unit for controlling the means, the node information includes information on a main node indicating an entrance of a divided area formed by dividing the traveling area, and a mark of a traveling route in the divided area The sub-node information, the storage unit further stores segment area operation information for setting an operation to be performed inside the segment area, and the path generation unit includes the main node A scenario for determining the order of tracing the segmented area by generating a movement path using a sub-node, and generating a movement path within the segmented area defined in the scenario using the subnode, and The control unit controls the traveling means to travel according to the travel route generated using the main node and the sub node, and executes an operation based on the segmented region motion information.

  According to a second aspect of the present invention, in the autonomous mobile device according to the first aspect, the segmented region operation information includes route generation information that defines a method for generating a travel route in the segmented region, and the route generation unit includes: The movement route is generated based on the route generation information.

  According to a third aspect of the present invention, in the autonomous mobile device according to the first aspect, the segmented region operation information includes information on whether or not the segmented region is allowed to pass, and the route generation unit is determined to be impassable according to the passability / non-permitted information. The scenario is generated except for the connection information defined between the main nodes in the divided area.

  According to a fourth aspect of the present invention, in the autonomous mobile device according to any one of the first to third aspects, the user presents the generated scenario to the user and instructs the user to change the segmented area operation information. Input / output means for inputting is further provided.

  According to a fifth aspect of the present invention, in the autonomous mobile device according to the fourth aspect, the segmented region operation information includes information on whether or not the segmented region is allowed to pass, and the route generation unit uses the input / output means. When the segmented area operation information is changed, and the segmented area included in the currently used travel route is not allowed to pass, the link information defined between the main nodes of the zone not allowed to pass is displayed. Except for this, the scenario is regenerated.

  A sixth aspect of the present invention is the autonomous mobile device according to any one of the first to fifth aspects, wherein the route generation unit is configured such that a current position is separated from a currently used moving route by a predetermined value or more. The scenario is regenerated.

  A seventh aspect of the present invention is the autonomous mobile device according to any one of the first to sixth aspects, further comprising an interrupt input means for receiving an interrupt instruction, wherein the storage unit includes the interrupt A classification including an interrupt segment area to be moved when an interrupt instruction is given by the input means, information for setting an operation to be performed within the interrupt segment area, and an interrupt operation end condition Area operation information is stored, and when the interrupt instruction is given, the path generation unit generates a scenario from a current position to the interrupted segment area, and the operation control unit Based on the scenario, the travel means is controlled to travel to the interrupt segmented area, and the operation in the interrupt segmented area is executed based on the segment area operation information and the interrupt operation ends. According to the conditions before the interruption Ascribed is control and performs.

  According to the invention of claim 1, since the operation information is provided for each divided area formed by dividing the traveling area, it is possible to set the operation and work contents at the time of traveling for each divided area. Can be done in a detailed and flexible manner. In addition, a movement route that follows the segmented area using the main node, that is, a scenario is generated, and a movement route is set using subnodes within the segmented area. A movement route can be generated flexibly in response to a change in the target point, and a change in work content can be flexibly handled.

  According to the invention of claim 2, according to the route generation information for each divided area, for example, it is possible to easily generate a movement route reflecting settings such as filling movement and movement along the wall suitable for cleaning. By making changes, it is possible to respond flexibly to changes in work content.

  According to the invention of claim 3, the situation of the divided area is reflected in the scenario using the passability information, and for example, when there is an area that must be avoided during construction, for example, the movement to be detoured flexibly A route can be easily generated.

  According to the invention of claim 4, after the scenario is automatically generated by the main node, the scenario can be forcibly changed by the user using the input / output means, and the change of the work content can be flexibly and finely handled. For example, it can be changed so as to quickly access a highly urgent divided area.

  According to the invention of claim 5, since the scenario is regenerated automatically for changing the scenario, an autonomous mobile device with good operability for the user can be realized.

  According to the invention of claim 6, when the autonomous mobile device is forcibly moved by an external force such as a manpower, or when the current position is reacquired after losing sight of the self position, It is possible to return to the operation and move autonomously.

  According to the invention of claim 7, by receiving an interrupt instruction from the user, it is possible to avoid mutual interference with other mobile objects, wait for time, and return to the original scenario after the end of the interrupt. Since it can return and continue operation, it can respond flexibly to changes in work content.

  Hereinafter, an autonomous mobile device according to an embodiment of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 shows a block configuration of the autonomous mobile device according to the first embodiment. The autonomous mobile device 1 includes a position acquisition unit 2 that acquires a current position, a traveling unit 3, a central control unit 4, a scenario execution unit 5, and an input / output unit 6, and a target given by a user. By generating a scenario that defines the operation procedure up to the point and executing that scenario, the robot moves to the target point autonomously while avoiding obstacles, and at each moving point and target point Perform actions and tasks.

  The central control unit 4 also stores a storage unit 41 that stores travel area map information 41a including node information that serves as a landmark of the travel route, and a travel route from the current position to a predetermined target point based on the node information. And a motion control unit 43 that controls the travel means 3 so as to travel to the target point based on the travel route generated by the route generation unit 42.

  The above-described position acquisition means 2 integrates, for example, a moving distance and a rotation angle based on acceleration information and wheel rotation speed information output by incorporating a gyro or attaching an encoder to the traveling means 3. Thus, the self position (position of the autonomous mobile device 1) is estimated on the map of the map information 41a and the self position is acquired. In addition, the autonomous mobile device 1 includes environmental information acquisition means 22 that acquires environmental information. The environmental information acquisition means 22 includes a laser radar, an ultrasonic sensor, and the like, and is registered in advance in map information and a traveling area. It is possible to detect a recognizable sign preset in the environment. Therefore, the position acquisition unit 2 can correct the estimated value of the self position by confirming the sign detected by the environment information acquisition unit 22 on the map.

  The traveling means 3 includes a battery 3a, and includes left and right drive wheels and auxiliary wheels that are independently driven by the battery 3a. The battery 3a supplies power not only to the driving wheels but also to each part of the autonomous mobile device 1 such as the position acquisition unit 2 and the central control unit 4. The autonomous mobile device 1 is steered by the difference in the number of rotations of the left and right drive wheels. As described above, the rotational speed of the drive wheel can be used as information for self-position acquisition.

  The scenario execution means 5 is controlled by the operation control unit based on the scenario. The scenario execution means 5 is an execution means for executing operations and operations performed by the autonomous mobile device 1. Accordingly, various functions are provided depending on the application field of the autonomous mobile device 1. For example, the autonomous mobile device 1 can be a device that performs operations and operations such as cleaning, transportation, monitoring patrol, assembly, repair, recovery, painting, and guidance. Therefore, for example, in the case of the autonomous mobile device 1 for cleaning, the scenario execution means 5 includes a rotary brush for cleaning, a dust suction device, and the like, and executes these operations.

  The input / output unit 6 allows the user to input a target point for generating a route to the autonomous mobile device 1 and confirm a scenario generated and held by the autonomous mobile device 1. It is configured.

  The storage unit 41 stores, in addition to the map information 41a, segmented region operation information 41b for setting operations to be performed inside the segmented region. The above-mentioned node information stored as the map information 41a by the storage unit 41 includes information on the main node indicating the entrance of the segmented area obtained by segmenting the travel area, and the sub-nodes serving as landmarks of the travel route in the segmented area. Information. The node information is used as a mark of the travel route. This mark means that at least a position, that is, a coordinate value is defined on the map.

  The route generation unit 42 generates a scenario that determines the order of tracing the segmented area by generating a travel route using the above-described main node, and uses the sub-nodes of the travel route within the segmented area defined in the scenario. To generate.

  The motion control unit 43 controls the traveling means 3 so as to travel according to the travel route generated using the main node and the subnode, and executes an operation based on the segmented region motion information 41b together with the scenario executing means 5. . In other words, the procedure for controlling the traveling means 3 and the procedure for the operation based on the segmented region motion information 41b are all defined by the scenario, and the motion control unit 43 travels according to the contents of the scenario. That is, the means 3 and the scenario execution means 5 are controlled. That is, the autonomous mobile device 1 moves autonomously according to a scenario generated by itself.

  Next, with reference to FIG. 2, a specific example of a segment area, a main node, a sub node, and the like in the travel area of the autonomous mobile device 1 will be described. In the figure, the travel area defined by the wall surface W (this is a boundary that defines the travel area and does not actually have a wall) is divided into six divided areas A1 to A6. It is shown. In addition, main nodes ND1 to ND8 are defined in adjacent portions of the divided areas A1 to A6. In addition, a sub node sn is defined inside each divided area.

  As for the above-mentioned main node, for example, main nodes ND1 and ND2 are defined for the segment area A1. The main node ND5 is defined as a common main node for the three divided areas A4, A5 and A6. These main nodes ND1 to ND8 serve as entrances to the inside of the segmented area A1, and are usually used as exits as long as there is no restriction such as one-way traffic. In addition, each main node has mutual connection information (connection relationship) defined as indicated by a solid line in the figure.

  The arrangement and connection relationship of the main node and sub-node described above are stored in the map information 41a as node information. These main nodes and subnodes may be simply referred to as nodes below.

(Movement route generation method)
Here, generation of a movement route using a node by the route generation unit 42 will be described. As described above, a node is a number of target points that are defined and distributed in a travel area in which the autonomous mobile device 1 operates. For example, a turn point of a movable travel path is a node, and a node in a wide travel area. A grid point or the like is a node. The coordinate values of each node, information such as whether the nodes are one-way or two-way, the mutual connection between the nodes, and the cost (distance, time, energy, etc.) required to move between the nodes (Evaluation value) information etc. are set and defined. The route generation unit 42 generates a movement route from the current location of the autonomous mobile device 1 to a predetermined target point using the connection relationship between the nodes.

  The concept of travel cost is used as a basic concept of travel route optimization and travel efficiency. The route generation unit 42 generates a route with the minimum travel cost by selecting a start point / end point node, searching for a route between both nodes using the algorithm A *, and reviewing the start point / end point node (see, for example, JP-A-2005-050105). ). The movement cost can be estimated by time, energy, etc. required to move between two points. As the most general cost, the linear distance between two points or the sum of the linear distances can be used. However, since the movement between two points at the shortest time is not optimal when performing the painting movement for cleaning the floor surface, the concept of the movement cost differs depending on the function of the autonomous mobile device 1. It becomes.

  Since the autonomous mobile device 1 proceeds while reviewing the movement path during movement in order to avoid obstacles, the movement path may be regenerated at each time point during movement. The travel route generated by the route generation unit 42 is generated so as to follow a predetermined node in the map information 41a (node information) stored in the storage unit 41, that is, through the node.

(Outline of autonomous movement and scenario execution)
An outline of autonomous movement and scenario execution will be described with reference to the flowchart of FIG. When the user gives a target point to the autonomous mobile device 1 via the input / output means 6 (# 1), the route generation unit 42 obtains the segment area operation information 41b and the map information 41a (node information) from the storage unit 41. Read and prepare for moving path generation (# 2).

  Next, the route generation unit 42 generates a movement route using the main node so that it can be traced from the current location to the target point (# 3). The movement route generated using the main node defines a procedure for sequentially tracing the main node. In the present invention, such a procedure is defined as a scenario (draft scenario). Here, the scenarios are classified into two types, and each is referred to as a coarse scenario and a detailed scenario as necessary. The rough scenario is a scenario in which the current position and the target point are added to the permutation of the main node to define the order of movement. That is, the rough scenario is a movement route. The detailed scenario is a scenario in which the segmented region operation information 41b is added to this rough scenario, and the procedure of operations and work performed in the segmented region is defined. That is, the detailed scenario is a movement route in which the operation and work procedures are defined. A scenario used for scenario execution (# 6) described later is a detailed scenario.

  By the way, when the autonomous mobile device 1 moves along the movement route, it is necessary to grasp which section area it passes. This is because it is necessary to reflect the procedure in the detailed scenario first in order to execute the operation in each divided area. However, since the main node is included in both boundaries of the adjacent segment areas, the autonomous mobile device 1 passes (that is, moves by following subnodes) from the information of the main node used for generating the movement path. The area needs to be specified, and this specifying process is performed (# 4).

  It should be noted that the segmented area can be specified using segmented area information D3 (see FIG. 4 described later) indicating which main node is included in each segmented area. That is, it is only necessary to search from the divided area information D3 for a divided area that includes both of the two consecutive main nodes that constitute the movement route. In addition, the current location and the target location may be stored and managed in association with the information of the existing divided areas, respectively.

  A detailed scenario (hereinafter also simply referred to as a scenario) is generated by the route generation unit 42 using the rough scenario using the main node described above and the information of the segmented area to be passed (usually information that has been selected and confirmed). (# 5). When the scenario is generated, the autonomous mobile device 1 starts moving based on the scenario under the control of the operation control unit 43, and the scenario is executed (# 6). When the scenario is executed, as will be described later (see FIG. 10), a movement route based on the sub-node is generated, and information on the movement route is added to the scenario (detailed scenario) and executed.

(Example of map information)
Next, an example of the data file structure of map information will be described with reference to FIG. The data shown in FIG. 4 corresponds to the traveling area shown in FIG. In FIG. 4, main node position information D1 is defined in a text data format by a main node name a1, a main node number a2, and a main node position coordinate a3. For example, the main node position coordinate a3 is defined as (X, Y) = (30, 350) for the main node ND1 by the XY coordinate axes in FIG.

  Further, the inter-main node connection information D2 is defined in a text data format by a main node name b1, a main node number b2, and a connected main node number b3. The connected main node number b3 indicates the possibility of mutual connection. For example, the main node ND1 can be connected to three main nodes ND2, ND4, and ND8. Among these, the main nodes ND1, ND2, and ND4 belong to the partitioned area A2, and the main nodes ND1 and ND8 belong to the partitioned area A1.

  Further, the segment area information D3 is defined in a text data format by the segment area name c1 and the main node group c2. The main node group c2 lists the main nodes belonging to each divided area. For example, since the main nodes ND1, ND2, and ND4 belong to the divided area A1, 1, 2, and 4 are written according to the main node numbers. Has been.

(Movement route within the segmented area)
Next, with reference to FIGS. 5A to 5D, the movement route in the segmented area will be described. Within the segmented region, the following four types of movement paths are conceivable: (Case 1) As shown in FIG. 5A, the boundary of the segmented region A from the main node ND1 at the boundary of the segmented region A (Case 2) As shown in FIG. 5B, from a certain point P in the segmented area A to the main node ND3 at the boundary of the segmented area A (Case 3) As shown in FIG. 5C, the movement route from a certain point P in the segmented area A to the target point TP set in the segmented area A, (Case 4) 5 (d), a travel route from the main node ND1 at the boundary of the segmented area A to the target point TP set in the segmented area A.

  Each movement route in the above-described divided area A is generated using subnodes whose positions are defined in the divided area A and connection relations are set. However, the movement route may be generated without setting the connection relationship between the subnodes. The point P described above is usually the current location. Since a certain point P or target point TP does not necessarily match the position of the subnode, the closest subnode becomes the start point or end point of the movement path by the subnode if they do not match. A certain point P is an operation start point of the autonomous mobile device 1, a point where the user forcibly stops the autonomous mobile device 1, a point where the user evacuates for obstacle avoidance, or the like.

  In the case of FIG. 5C described above (Case 3), a certain point P, that is, the current location and the target point TP are in the same section area, and the movement route reaches the target point TP without going through the main node. In cases other than (Case 3), the generated movement route is (Case 2) + (Case 1) +. + (Case 1) + (Case 4). In this case (case 1) is repeated from 0 times to any number of times. Although excluded here, the main node may be the current location or the target location.

(Division area operation information)
Next, with reference to FIG. 6 and FIG. 7, the operation condition of the autonomous mobile device 1 in each divided area and the divided area operation information 41b that defines the operation condition will be described. As shown in FIG. 6, the operation conditions when the autonomous mobile device 1 passes through the partitioned area are set in each partitioned area in detail. For example, in the segmented area A7, the operation condition CA7 is set, and the setting conditions such as passage, standard movement method and movement speed, avoidance function is valid, sensor is valid, standard speech and neck movement, etc. Yes.

  The example of the above-described autonomous mobile device 1 is an anthropomorphic mobile device having a turnable head like the neck of a human body and having an utterance function, the main function of which is a sweep brush and a suction device. A floor surface cleaning device provided. This autonomous mobile device 1 moves and cleans the floor evenly. Therefore, in the segmented area A8, the operation condition CA8 is set, the moving method is filled, and the moving speed is set to a low speed, which is a condition for cleaning the segmented area A8.

  The above-described operation conditions CA7, CA8, etc. are the contents set and stored in the segmented region operation information 41b as shown in FIG. In the divided area operation information 41b, a set of a divided area name d1 and an operation data part d2 including a list of operation condition item names and their set values is recorded in, for example, a text format according to each divided area. ing. For example, as described above, settings for the speed when the autonomous mobile device 1 passes through each segmented area, the obstacle avoidance function, the presence / absence of sensor use, and the like are recorded.

  In addition, in order to indicate that a certain segmented area cannot pass due to refurbishment or construction, it is possible to set “passable” as the segmented area operation information. The autonomous mobile device 1 refers to the movement information for each traveling area based on the divided area operation information set for each divided area, and sets the mode of each function according to the appropriate setting. Move autonomously in the area.

(Scenario generation)
Next, scenario generation will be described with reference to FIGS. First, two types of scenarios that constitute a scenario, that is, a rough scenario and a detailed scenario that have been outlined with reference to FIG. 3 described above will be described.

  As shown in FIG. 8 (a), the coarse scenario is defined by a permutation (sequence arranged in order) of the current location Ns, the main nodes N1 to Nn, and the target point Ne. Here, the current location Ns and the main node N1 are included in the partitioned area As, the main node N1 and the main node N2 are included in the partitioned area A1, and similarly, there is a relationship between each main node and each partitioned area. Suppose that the main node Nn and the target point Ne are included in the segmented area Ae. As described above, such a rough scenario is generated as a movement route by the route generation unit 42 being given the current location Ns and the target point Ne and selecting and setting the main node.

  As shown in FIG. 8 (b), the detailed scenario includes the segment area operation information Bs, B1,... Be corresponding to the segment areas As, A1,. It is defined as an added scenario. The detailed scenario is generated by the route generation unit 42 according to the flowchart of FIG.

  In the flowchart of FIG. 9, the route generation unit 42 first reads a main node sequence (coarse scenario) N1, N2,..., Nn that generates a movement route from the current location Ns to the target point Ne ( S1), the segment area operation information Bs of the segment area As including the current location Ns is inserted at the top of the scenario (S2).

  Next, in the operation information fetch loops LP1 and LP2, the following steps S3, S4, and S5 are repeatedly performed for the number of n main nodes from the variable i = 1 to i = n−1. In this loop, first, a partitioned area Ai including two main nodes Ni and Ni + 1 is searched (S3), then the partitioned area operation information Bi related to the partitioned area Ai is read (S4), and finally, the partitioned area operation information is read. Bi is added to the scenario (S5).

  After the operation information fetching loops LP1 and LP2 are completed, the segment area operation information Be of the segment area including the target point Ne is added to the end of the scenario (S6), and the target point Ne is added to the main node sequence of the movement route. Finally, the detailed scenario, that is, the generation of the scenario is finished (S7).

(Scenario execution)
Next, a process for executing a scenario will be described with reference to the flowchart of FIG. The scenario described here is a detailed scenario that defines an operation procedure on the movement path of the autonomous mobile device 1, and is a scenario obtained by the above-described procedure of FIG. The autonomous mobile device 1 executes the movement instructed by the appropriate operation content until the target point is reached by sequentially executing the scenarios under the operation control unit 43.

  First, the operation control unit 43 confirms whether or not all scenarios have been executed as confirmation of the current state in the repetitive control. If all have been executed, the process ends (Yes in S11), and if not yet executed. The following process is performed (No in S11).

  Next, the motion control unit 43 determines from the scenario movement route information the first in the first process and the next segmented area motion information in the second and subsequent iterations, as well as the first or next main information. The node is acquired and the content is transmitted to the scenario execution means 5 (S12).

  The scenario execution unit 5 interprets the received segmented region operation information, transmits a command for controlling the traveling unit 3 to the operation control unit 43, or has a self-equipment, for example, a rotary brush device for cleaning or suction The control setting of each device is set by transmitting the setting contents for control to the apparatus (S13).

  The scenario execution means 5 instructs the operation control unit 43 to move using the received main node as a movement destination (S14).

  The operation control unit 43 instructed to move to the main node causes the route generation unit 42 to generate a movement route by the subnode (S15). The route generation unit 42 generates a movement route from the current location to the main node, which is the current movement target (movement destination), using a sub-node in a segmented region where the current location is located. When the processing after step S11 is not the first processing, the current location is the main node in the current segmented area, and in this case, the movement path in the segmented area is the above-described FIG. As shown in (), the movement path is from the main node to the main node.

  The operation control unit 43 controls the traveling means 3 to move to the main node according to the generated movement route, and moves the autonomous mobile device 1 (S16). During the movement to the main node, the scenario execution means 5 executes an operation and work in accordance with the scenario, for example, movement speed adjustment and cleaning work. The operation control unit 43 controls whether the traveling speed and obstacle avoidance are performed based on the segmented region motion information or based on information from a separately provided obstacle detection unit.

  The central control means 4 checks whether or not an interrupt is generated via the input / output means 6 during the movement to the main node described above. If there is an interrupt (Yes in S17), the central control means 4 controls the interrupt processing. (S18). In this way, when an interrupt occurs during movement, an interrupt process is executed. An interruption occurs when the user's position is changed by a certain amount of force by hand, or when a button for instructing to be saved is pressed. The interrupt process will be further described in the second embodiment described later.

  If there is no interrupt described above (No in S17), the operation control unit 43 checks whether the main node has been reached. If not, the operation control unit 43 returns to Step S16 of the movement and repeats the above processing (No in S19). ). When the main node is reached (Yes in S19), the process returns to the first step S11 and the above processes are repeated under a predetermined control cycle.

  In the above, the main node is set as the target of movement, but usually the end of execution of the scenario is when it arrives at the target point TP instead of the main node as shown in FIG. 5 (d). The main node as the target is appropriately read as the target point.

  As described above, according to the autonomous mobile device 1 that uses concepts such as a segmented area having a main node and a rough scenario and a detailed scenario, operation information is given to each segmented area that is formed by segmenting a traveling area. Therefore, it is possible to set the operation and work contents at the time of traveling for each divided area, and to make these settings finely and flexibly.

  In addition, since the main route is used to generate a travel route that follows the segmented area, that is, a rough scenario, and a detailed scenario is generated by adding segmented region operation information, a sub-node is used to set the travel route in the segmented region. In addition, the generation of the movement route can be performed hierarchically, the movement route can be generated flexibly corresponding to the change of the current location and the target point, and the change of the work content can be flexibly dealt with. This hierarchical structure of movement route generation is reflected in the rough scenario and the detailed scenario. Moreover, the scenario has a block structure based on the concept of the segmented area, and the scenario can be changed flexibly and easily for each block.

  In addition, when the route generation unit 42 generates a travel route in the partitioned region using the sub-node in step S15 described above, the route generation information included in the partitioned region operation information can be reflected. That is, information necessary for finely controlling the functions of the autonomous mobile device 1 is included in each segment area operation information as route generation information. The route generation information defines a method for generating a movement route in the segmented area. For example, the connection relationship between the sub-nodes is defined so as to generate a movement path for painting a flat surface on a zigzag, a spiral movement path, and the like, and this is used as path generation information.

  By using the segment area operation information as described above, the path generation unit 42 can easily make a movement path that reflects settings such as filling movement and movement along the wall suitable for cleaning, according to the path generation information for each segment area. In addition, it is possible to flexibly cope with changes in work contents by changing the route generation information.

(Second Embodiment)
Next, an autonomous mobile device according to the second embodiment will be described with reference to FIGS. 11 to 14. The autonomous mobile device 1 of this embodiment is characterized by user-compatible input / output means, and the other points are the same as those of the first embodiment.

  FIG. 11 shows a GUI screen that constitutes the input / output means 6 of the autonomous mobile device 1. A user performs an operation with a pointing device such as a mouse or a touch panel operation on the GUI screen to change the segment area operation information. When the user changes the content of the segment area operation information, the route generation unit 42 rewrites the portion of the segment area operation information related to the stored scenario and changed by the user.

  On the GUI screen of the input / output means 6, a scenario display frame 61 for displaying the generated detailed scenario by the divided area arranged along the movement route and the main node, and the divided area operation information selected by the user are displayed. A segmented area operation information display frame 62 and a plurality of operation buttons are provided. The operation buttons include a traffic prohibition / cancellation button 63, a reset button 64, an OK button 65, an interrupt button 66, and the like.

  The reset button 64 is used when clearing some setting conditions or returning all settings to the initial state according to the device state of the autonomous mobile device 1. The OK button 65 is used when the user confirms the setting after performing the condition setting or change via the GUI screen, or uses the pressed signal as a trigger for the confirmation or execution when starting the scenario execution. Used for. The passage prohibition / cancellation button 63 will be described later with reference to the flowchart of FIG. 13, and the interrupt button 66 will be described later with reference to the flowchart of FIG.

  The user instructs the autonomous mobile device 1 to the target point of movement via the input / output means 6 having the GUI screen as described above. Then, the autonomous mobile device 1 generates a scenario from the current location to the target location, presents the content of the scenario on the GUI screen, and requests user confirmation. The user can check the contents of the displayed scenario and make changes.

  Although the current location is recognized by the self-position recognition function of the autonomous mobile device 1, the user can confirm the current location and input the current location again by using this GUI screen. The autonomous mobile device 1 simply moves or moves while performing work according to the scenario. These moving procedures are selected from the segmented area operation information, determined, and added to the coarse scenario to form a detailed scenario. As described below, the user can select, change, and confirm the segment area operation information via the segment area operation information display frame 62.

  In the above-described segmented region motion information display frame 62, segmented region motion information is preset for each of a plurality of selectable items, and can be selected by item by pull-down presentation using a combo box, touch panel display, or the like. Is displayed. In order to reduce the number of setting items, these displays are prepared in advance in several patterns in a template format in which selectable setting items are narrowed down, and the items of the segment area operation information can be set by selecting a template. .

  FIG. 12 shows segmented region motion information 41c that allows the motion information in each segmented region to be in a template format and can be selected for each item. This segmented area operation information 41c includes a set of three data of option data t3 in which options are set for each item of template type data t1, item data t2, and item data t2, and includes a large number of such sets. It is configured. The user can select and set such a set for each divided area, and select and determine an option for each item, thereby correcting and changing the divided area operation information used for scenario generation.

  Further, when the user selects a display part indicating the segment area displayed in the scenario display frame 61 of FIG. 11, the display part is activated to indicate that it has been selected (indicated by a white arrow in the figure). The second area from the left), the details of the selected segment area operation information are displayed in the segment area operation information display frame 62. The user can select and change each displayed selection item.

  As described above, the autonomous mobile device of the present embodiment includes the input / output means 6 (GUI screen) for presenting the generated scenario to the user and for the user to input an instruction to change the segmented area operation information. Therefore, the scenario can be changed or optimized by the user using the input / output means 6 after the scenario is automatically generated, and the change in the work content can be flexibly and finely handled. For example, it is possible to change the scenario so as to access a highly urgent divided area early.

  Next, the traffic prohibition / cancellation button 63 in FIG. 11 will be described. When the user wants to set a passage prohibition for a certain divided area for the generated scenario, the user selects a divided area from the scenarios displayed in the scenario display frame 61 and presses the prohibit / cancel passage button 63. The route generation unit 42 registers the sectioned area in which the prohibition of traffic is set in the prohibition list and displays it in the lower right frame of the scenario display frame 61. Then, the route generation unit 42 redoes the generation of the movement route by the main node and displays the result in the scenario display frame 61.

  In order to cancel the above-mentioned prohibition of traffic, the user selects a section area displayed in the lower right frame of the scenario display frame 61 as the prohibition of traffic list, and presses the prohibit / cancel button 63 to cancel. Also in this case, generation of a movement route by the main node, and thus generation of a detailed scenario, is performed again as necessary.

  Autonomous movement including regeneration of a scenario caused by the above-described prohibition / cancellation of traffic is performed according to the flowchart shown in FIG. This flowchart is obtained by adding steps # 11 to # 18 to the flowchart shown in FIG. 3 described above, and only the main points will be described.

  When a scenario, that is, a detailed scenario that defines a procedure of an operation performed in a segmented region by adding segmented region operation information 41b to a rough scenario formed by adding the current location and the target point to the permutation of the main node, is generated. It is displayed on the GUI screen of the input / output means 6 (# 11). The input / output means 6 determines whether or not the OK button 65 has been pressed (# 12), whether or not the segment operation area information has been changed (# 13), and whether or not the passage prohibition / release button 63 has been pressed (# 14). These steps # 12, # 13, and # 14 are repeated to monitor. When the OK button 65 is first pressed during this monitoring process (Yes in # 12), the scenario is executed (# 6).

  If the segment area operation information is changed by the user during the monitoring process described above (Yes in # 13), the currently held scenario is discarded by pressing the OK button 65 after a series of change operations by the user. Is performed (# 17), and further, a process of reflecting the changed segment area operation information is performed (# 18), and then the control is returned to step # 3.

  In addition, when the traffic prohibition / cancellation button 63 is pressed during the monitoring process described above (Yes in # 14), that is, after the user selects a segment area for prohibition or cancellation on the GUI screen. When the passage prohibition / cancellation button 63 is pressed, the route generation unit 42 discards the currently held scenario (# 15). Next, the route generation unit 42 deletes or adds the connection information between the main nodes to be used, reflecting the segmented area information that has been prohibited from passing or released (# 16). Thereafter, the control is returned to step # 3, and the generation of a movement route by the main node, that is, regeneration is performed.

  Note that the processing flow including the above-described steps # 11 to # 18 describes the main points and can be variously modified. For example, if there is no input during the monitoring process (# 12, # 13, # 14) and the OK button 65 is not pressed for a predetermined time, the scenario may be set to be executed (# 6). it can. In addition, after the segment area operation information change process (# 13) and the traffic prohibition / cancellation process (# 14) are performed as a series of processes, the scenario can be discarded and the subsequent processes can be performed together. .

  As described above, in the autonomous mobile device 1, the segmented region operation information can include information on whether or not the segmented region is allowed to pass (information on whether or not to allow passage), and the route generation unit 42 is not allowed to pass by the passable / unusable information. A scenario is generated by removing the link information defined between the main nodes of the segmented area. Further, as described above, the passability information is changed by the user changing the segment area operation information using the pass prohibit / cancel button 63 of the input / output means 6. In this case as well, if the segment area included in the currently used travel route is not allowed to pass, the scenario is regenerated using the link information excluding the link information between the main nodes of the zone not allowed to pass. .

  According to such a method, the status of the segmented area is reflected in the scenario using the passability information, and for example, when there is an area that must be avoided during construction, for example, the movement to be detoured flexibly A route can be easily generated. In addition, since the scenario is automatically regenerated to change the scenario, an autonomous mobile device with good operability for the user can be realized.

  The scenario regeneration is also performed in a situation different from the above. That is, the route generation unit 42 of the autonomous mobile device 1 regenerates the scenario when the current position is a predetermined value or more away from the currently used moving route. This corresponds to the situation when the autonomous mobile device is forcibly moved by an external force such as a human hand, or when it loses its own position and strays. According to this scenario regeneration, regeneration can be performed when the autonomous mobile device 1 reacquires the current position, and the autonomous operation can be continued by returning to the original operation.

(Interrupt processing)
Next, interrupt processing in autonomous movement will be described with reference to the flowchart of FIG. This flowchart shows a specific process of the interrupt process (S18) in the scenario execution flowchart shown in FIG. Further, the processes of steps # 3, # 4, # 5, and # 6 in this flowchart are the same as the processes of the corresponding steps in the flowchart of FIG.

  When an interrupt by the user occurs using the interrupt button 66 on the GUI screen of the input / output means 6 shown in FIG. 11 described above, the operation control unit 43 stops the autonomous mobile device 1 and erases the scenario. (S21), the nearest retreat point is set as the target point (S22). Then, the route generation unit 42 generates a scenario according to steps # 3, # 4, and # 5, and the operation control unit 43 executes the scenario.

  The operation control unit 43 checks the arrival point of the scenario execution result, and if it has arrived at the first designated target point, the process is terminated (Yes in S23). If the target point specified at first is not reached (No in S23), the operation control unit 43 sets the target point first after a predetermined set time has elapsed after arrival at the retreat point (Yes in S24). The designated target point is set (S25). Thereafter, the control is returned to step # 3, and the above processing is repeated under a predetermined control cycle.

  As described above, for example, when an interruption process for evacuation occurs by the interrupt button 66, the autonomous mobile device 1 moves to a preset nearest evacuation point, waits for a certain time, and then again. The movement to the target point instructed first is resumed. In order to use at the time of saving, a saving point, a saving area, and saving area operation information are set in advance. In the saving segmented area operation information, it is possible to set a time for stopping after the arrival of the saving point. The autonomous mobile device 1 generates and executes a scenario with the nearest retreat point as a target point. After the execution of the scenario is completed and waiting for a certain period of time set in the retreat area operation information, the scenario is again created and executed for the first designated target point.

  As described above, the autonomous mobile device 1 includes the interrupt button 66 as an interrupt input unit for receiving an interrupt instruction, and the storage unit 41 moves when an interrupt instruction is given by the interrupt input unit. The target segmented area for interrupt, information for setting an operation to be performed inside the interrupted segmented area, and segmented area operation information including an interrupt operation end condition are stored. In addition, the route generation unit 42 generates a scenario from the current position to the interrupting segment area when an interrupt instruction is given, and the operation control unit 43 proceeds to the interrupt segment area based on the scenario. The traveling means 3 is controlled so as to travel, and an operation in the interrupted segment area is executed based on the segment area operation information, and control is performed to return to the state before the interrupt according to the end condition of the interrupt operation.

  According to the autonomous mobile device 1 as described above, upon receiving an interrupt instruction from the user, it is possible to avoid mutual interference with other mobile objects or to wait for a time. Since the operation can be continued after returning to the scenario, it is possible to respond flexibly to changes in work content.

  The present invention is not limited to the above-described configuration, and various modifications can be made. For example, in the input / output means 6 (GUI screen), map information, particularly node information, can be edited, such as addition, deletion, and change, in addition to the change of the segmented region operation information and the scenario. In addition, a wireless communication unit can be provided as an input / output unit, and a target point can be indicated by wireless communication.

The block block diagram of the autonomous mobile apparatus which concerns on the 1st Embodiment of this invention. The top view shown including the example of a division area, a main node, and a subnode in the example of a driving | running | working area | region of an autonomous mobile apparatus same as the above. The flowchart of the autonomous movement by the scenario generation which an autonomous mobile apparatus same as the above performs. Data explanatory drawing which shows a part of map information which an autonomous mobile apparatus same as the above uses for scenario generation and autonomous movement. (A)-(d) is a top view of the division area explaining the case classification of the movement which an autonomous mobile apparatus same as the above performs within a division area. The top view of the driving | running | working area | region which shows the example of the operating conditions set to the driving | running | working area | region of an autonomous mobile device same as the above. Data explanatory drawing which shows a part of division area operation | movement information which an autonomous mobile apparatus same as the above refers. (A) is a conceptual explanatory diagram of a rough scenario composed of main nodes generated by the autonomous mobile device, and (b) is a conceptual explanatory diagram of a detailed scenario in which segmented region operation information is added to the scenario of (a). The flowchart of the process which produces | generates the detailed scenario shown in FIG.8 (b). The flowchart of the process which performs a detailed scenario same as the above. The input / output screen figure which shows the example of the input / output means of the autonomous mobile apparatus which concerns on the 2nd Embodiment of this invention. Data explanatory drawing which shows a part of division area operation | movement information used with an autonomous mobile apparatus same as the above. The flowchart of the autonomous movement by scenario generation including the regeneration of the scenario which an autonomous mobile apparatus same as the above performs. The flowchart of the scenario production | generation by the interruption instruction | indication and autonomous movement in an autonomous mobile apparatus same as the above.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Autonomous mobile device 2 Position acquisition means 3 Traveling means 41 Memory | storage part 41a Map information 41b, 41c Classification area operation | movement information 42 Path | route production | generation part 43 Operation | movement control part 6 Input / output means 66 Interrupt input means sn Subnode A1-A8, Ai, As , Ae Partition area B1, B2, Bs, Bi, Be Partition area operation information ND, ND1 to ND8, Nn, Ns, Ne Main node

Claims (7)

Position acquisition means for acquiring the current position, travel means, a storage unit for storing map information of the travel area including node information that serves as a landmark of the travel route, and a target given in advance from the current position based on the node information In an autonomous mobile device comprising: a route generation unit that generates a travel route to a point; and an operation control unit that controls the travel means to travel to a target point based on the travel route generated by the route generation unit ,
The node information includes information of a main node indicating an entrance of a divided area formed by dividing the traveling area, and information of a sub node serving as a landmark of a traveling route in the divided area,
The storage unit further stores segmented region operation information for setting an operation to be performed inside the segmented region,
The path generation unit generates a scenario for determining an order of tracing the segmented area by generating a travel path using the main node, and also moves the travel path inside the segmented area defined in the scenario to the subnode. Is generated using
The operation control unit controls the traveling means to travel according to a travel route generated using the main node and the sub node, and performs an operation based on the segmented region motion information. Autonomous mobile device.   The segmented region operation information includes route generation information that defines a method for generating a travel route in the segmented region, and the route generation unit generates a travel route based on the route generation information. The autonomous mobile device according to claim 1.   The segmented area operation information includes information on whether or not the segmented area is passable, and the route generation unit excludes connection information defined between main nodes of the segmented area that is not allowed to pass by the passable / unallowable information. The autonomous mobile device according to claim 1, wherein the scenario is generated.   The input / output means for a user to input the instruction | indication which changes the said division | segmentation area | region movement information while showing the said produced | generated scenario to a user is provided. The autonomous mobile device described in 1. The segmented area operation information includes information on whether or not the segmented area is accessible,
The route generation unit is not allowed to pass when the segmented region included in the currently used travel route is disabled due to the change of the segmented region operation information using the input / output means. The autonomous mobile device according to claim 4, wherein the scenario is regenerated by excluding connection information defined between main nodes in the segmented area.   The said path | route production | generation part regenerates | regenerates the said scenario, when the present position is away from the movement path | route currently in use more than predetermined value, The Claim 1 thru | or 5 characterized by the above-mentioned. Autonomous mobile device. It further comprises an interrupt input means for receiving an interrupt instruction,
The storage unit includes an interrupt partition area to be moved when an interrupt instruction is given by the interrupt input means, information for setting an operation to be performed within the interrupt partition area, and an interrupt. Segmented area operation information including the end condition of
The path generation unit generates a scenario from the current position to the interrupted area when the interrupt instruction is given,
The operation control unit controls the traveling means to travel to the interrupt segmented area based on the scenario, and executes an operation in the interrupt segmented area based on the segment area operation information. The autonomous mobile device according to any one of claims 1 to 6, wherein control for returning to a state before the interruption is performed in accordance with an interruption operation end condition.

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