JP2011076559A - Method and device for creating operation program of autonomous vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To facilitate creation of an operation program on a site in a factory or the like having a shape other than a rectangle, in an autonomous vehicle autonomously traveling while avoiding an obstacle toward a goal. <P>SOLUTION: The device for creating an operation program of the autonomous vehicle includes: a means displaying an obstacle map such as a layout; a means drawing route gates each determining a route section, work gates each determining a work section, and connection relation between the gates as a route map by designating points on the obstacle map; a means for determining an order of a minimum route from a section including a certain start point to a section including a destination by use of position information and connection information of the route map; and a means creating the operation program based on the route when the goal is given to the autonomous vehicle. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a method for creating a travel program necessary for traveling by an autonomous traveling device, and more particularly, a method for setting a path map on which an autonomous traveling device can travel based on a layout diagram and a field measurement diagram, and a path map. The present invention relates to a method for creating a traveling program.

  2. Description of the Related Art In recent years, development of an autonomous traveling device that performs a role of carrying guidance and articles at a manufacturing site or a hospital has been progressing. Autonomous traveling device is different from conventional unmanned transport device, traveling while avoiding static obstacles like facilities and dynamic obstacles like people without needing external operation, It has a function to reach the target point.

  For example, it has a function of recognizing surrounding obstacles such as so-called right-hand traffic and traveling at a fixed distance from the obstacles. In addition, when reaching the target point, for example, it has a function capable of autonomously approaching and connecting to an object such as a loader and loading and unloading articles.

  A traveling program is required for the autonomous traveling device to travel to the target point. The traveling program includes position information of the current point, the passing point, and the target point, and the autonomous traveling device moves from the current point to the target point via the passing point. At this time, the position coordinates of the passing point and the target point may be approximate, and when the autonomous mobile device itself determines that it cannot pass the position of the passing point due to an obstacle, it will pass near the passing point, and the above It is only necessary to reach the vicinity of the target point as shown in FIG.

  In an actual site, the autonomous traveling device passes between the hallway and the facility before reaching the target point, but the autonomous traveling device cannot enter and pass through all places. Even if the space or floor surface is physically accessible to the autonomous mobile device, it is expected that there will be many traffic and there is a danger, or oil or cutting residue from the equipment will be scattered and autonomous. When damage to the traveling device is expected, it is necessary to prohibit entry / traffic of the autonomous traveling device to the section. However, such information is an event that only the user can know and the autonomous traveling device cannot determine whether or not traveling is possible. Therefore, it is necessary for the user to specify in advance whether or not each place can enter and pass through at the site where the autonomous traveling device travels. That is, it is necessary to explicitly indicate a section where the autonomous traveling device can travel according to the site as a path and to create a travel program based on a path map composed of a plurality of paths. In addition, the situation at the site as described above often varies depending on the day of the week and time. For example, although there are many people on weekdays and regular hours, entry is prohibited, but entry is possible on holidays and at night. Therefore, the traveling program of the autonomous mobile device must reflect the above-described traveling availability condition.

  As a method of creating a conventional traveling program, referring to a layout diagram describing the structure of a building and the arrangement of equipment, etc., obtain exact position information represented by XY coordinates of a passing point and a target point, It was what was used. However, the program creator is familiar with the dimensions and driving rules of the autonomous traveling device, finds the path that can be traveled from the layout map, finds the XY coordinates of the passing point, and creates a travelable path map and travel program based on this. The creation required specialized knowledge and a lot of work.

  As shown in Patent Document 1 as a method for easily creating a traveling program, there is a block map generating unit that creates a block map by first inputting a block unit in order to create a traveling program, A method has been proposed in which a passing point and a destination point are designated on a block map on the block map, and a traveling program is created from position information of the designated block. According to this method, a travelable path is set for each block, a passing point is set by connecting the blocks, and a travel program is created.

  In this case, the target is a hospital. In such a field, a path that can be traveled is composed of a corridor and a room, and it is guaranteed that the width and width are sufficiently secured. That is, it is assumed that the autonomous traveling device can travel in all blocks.

  In addition, since the corridor and the living room are basically rectangular, all blocks are represented by a rectangle, which is a program description method suitable for this.

JP-A-11-85273

  In the case of a site such as the case described in Patent Document 1, since the corridor and the room are configured by orthogonal walls, a clear block can be formed, and each block is set as a passage, and from there A passing point can be derived and used in a traveling program. However, for example, in a factory, it is rare that it is clearly and constantly partitioned by walls, etc., and the autonomous mobile device will run between on-site manufacturing equipment or in the section separated by white lines, and the case described above Such a block map is difficult to draw because the sectioning is ambiguous. Furthermore, the equipment in the factory is rarely a simple rectangle, and there is no guarantee that the installation direction is parallel to the walls of the building. Therefore, in the case of a block diagram composed of rectangles as described in Patent Document 1, the area is filled with fine rectangles, and it takes time to completely fill the area, and it remains without being filled. The area is created as an area where the autonomous mobile device cannot travel. In the travel program using the map, the autonomous traveling device recognizes that the vehicle is not allowed to travel even if it is actually a travelable area, and performs a detour, resulting in an inefficient travel.

  Furthermore, the vertical and horizontal dimensions and angles of a large number of blocks must be input one by one in advance, which requires a lot of work. In the field like patent document 1, obstacles, such as a wall, are fixed over a long period of time, and once a block diagram is set up, it does not need time and effort thereafter. However, on the site such as a factory, the presence / absence of the apparatus and its position are frequently changed. Therefore, a design drawing such as a layout diagram rarely represents the current state of the site, and when a traveling program is created based on the layout diagram, an erroneous traveling program is obtained.

  In the present invention, the autonomous traveling device is different from the conventional automatic guided vehicle in that it specifies the direction of the path to be traveled and the representative point on the path without designating absolute position coordinates on the travel path. Therefore, the present invention provides a travel program creation method and apparatus based on the premise that the vehicle can travel while searching for a target point. The autonomous traveling device assumed by the present invention is an autonomous traveling device described later developed by the applicant of the present invention. In this autonomous traveling device, a method of designating a passage and a zone including a passing point is employed instead of designating the absolute coordinates of a passing point and a target point on a traveling route unlike a conventional traveling program. Furthermore, a gate is provided as a boundary line for specifying the area, and a user interface for automatically generating this by user operation is provided to reduce the burden on the user in conventional map creation. is there. Further, by making it possible to set a polygonal area by combining gates, it is possible to create a passage map that cannot be created by a rectangle as in the prior art with less man-hours.

  The traveling program creation device of the autonomous traveling device of the present invention includes an obstacle map display unit, a passage map creation unit, a route search unit, and a travel program creation unit.

  The obstacle map display unit provides a user interface that displays a layout diagram that is a two-dimensional projection of a building structure and equipment on the floor surface by CAD or the like.

  The passage map creation unit creates a passage map that defines a passage on which the autonomous mobile device can travel when the user designates a gate via the user interface on the obstacle map displayed on the user interface. The gate is a boundary line for dividing an area on the obstacle map that the autonomous mobile device can pass into a plurality of areas, and is defined by a straight line or a circle, and the autonomous mobile device itself can pass through. A passage is an area surrounded by a single or multiple gates alone or by a boundary between the gate and an obstacle. By designating connection between a plurality of gates by connection information (displayed as a straight line), an area surrounded by the plurality of gates is designated as a passage that can be passed. In the aisle, a work area surrounded by a circular gate, which is the starting point / arrival point of the autonomous mobile device, is designated. It is considered that the autonomous mobile device has passed the passage by passing through the gate.

  The route search unit uses the position information and connection information of the route map to search a permutation of the minimum passing route from a route including a certain starting point to a route including a destination point, and obtains it as a route list.

  When the target point is given to the autonomous traveling device, the traveling program creation unit, based on the route list from the area where the autonomous measuring device is currently located to the area including the target point, the position information to be passed and the position information to be reached Create a travel program that is a list of

  The obstacle map creation unit further measures the obstacles of buildings and facilities by the sensor mechanism of the autonomous mobile device or another environmental measurement device instead of the layout diagram, and segments the boundary line of the obstacle from the measurement data. Create an obstacle measurement diagram expressed as approximate data. Or the composite figure of a layout figure and a measurement figure is displayed as an obstacle map.

  ADVANTAGE OF THE INVENTION According to this invention, the path | route map of an autonomous traveling apparatus can be created also in the field environment which cannot be represented with the block diagram comprised with a rectangle, and a traveling program can be created. Also, in creating a route map, it is possible to easily create a route map simply by specifying the type of gate to be set and a point on the obstacle map or a point on the set gate. Furthermore, by using a measurement map at the site as an obstacle map, a correct traveling program in accordance with the current situation can be created.

It is a figure which shows the connection structure of the traveling program creation apparatus of this invention, and an autonomous traveling apparatus. It is a figure which shows the function structure of the autonomous traveling apparatus and controller which become the control object of this invention. It is a figure which shows the example of a display of an obstacle map. It is a figure which shows the data structure of via area information. It is a figure which shows the data structure of driving | running | working program information. It is a figure which shows the data storage format of each closed loop-like line segment sequence by approximating the boundary line of each obstruction on an obstacle map as a line segment. It is a general-view figure of the autonomous traveling apparatus used as the control object of this invention. It is a figure which shows the example which input the passage gate on the obstacle map. It is a figure explaining the kind of channel | path comprised by an obstruction and a channel | path gate. It is a figure which shows the example which input the work gate on the obstacle map. It is a figure which shows the example of a route map creation by a user interface. It is a figure which shows the flowchart of a route map creation process. It is a figure which shows the data structure of the gate information of passage map information. It is a figure which shows the data structure of the gate connection information of passage map information. It is a flowchart of the setting process of a passage gate.

  FIG. 1 shows an autonomous traveling device 103 to be controlled by the present invention, a controller 102 that manages the control data of the autonomous traveling device and transmits a traveling command and control data to the autonomous traveling device, and the traveling of the present invention. A mutual connection configuration between the program creation device 101 and the building / structure layout drawing creation system 104 is shown.

FIG. 2 is a diagram illustrating a functional configuration of the autonomous traveling device 103 and the autonomous traveling device controller 102 that are controlled by the present invention. FIG. 7 shows an overview of the autonomous mobile device.
The autonomous mobile device controller 102 has a function for controlling a single or a plurality of autonomous mobile devices 103. When a traveling program of a specific or common autonomous traveling device is downloaded from the traveling program creation device 101, it is stored in the storage unit 202. Further, the route map information corresponding to the travel program is downloaded together from the travel program creation device 101, and stored in the map data storage area 208 of the storage unit 202 in association with the travel program.

  The autonomous mobile device controller 102 has map data 208 equivalent to the building / structure layout diagram information 120 held in the travel program creation device 101 in the storage unit 202. Then, the map data of the area where each autonomous traveling device is present is extracted and transmitted to the autonomous traveling device 103.

  Prior to the start of traveling of the autonomous traveling device, the autonomous traveling device controller 102 is updated based on the traveling program 206 stored in the storage unit 202, the path map information information, and the sensor information received from the autonomous traveling device. From the map data 208, the travel route creation unit 204 plans an approximate travel route of the autonomous travel device, and transmits the travel route data 207, the travel program 206, and the travel command to the autonomous travel device 103.

  When the autonomous traveling device 103 receives the traveling command, the traveling route data, and the traveling program from the autonomous traveling device controller 102, the traveling control unit 210 determines the position and orientation of the autonomous traveling device output from the identification device 211. It inputs and performs feedback control, and controls the traveling speed and steering angle of the wheels via the drive unit 214. As a result, the autonomous traveling device 103 can travel to the reaching target point roughly in accordance with the travel route data. In addition, the travel control unit 210 geometrically estimates the position and orientation of the autonomous traveling device from the input position and orientation of the autonomous traveling device and the distance and angle after which the autonomous traveling device has moved by traveling control. . However, due to slipping of wheels, the actual position and posture of the autonomous traveling device may be different.

  The autonomous traveling device 103 is provided with a distance sensor 212 in front of the front. For example, it is called a laser length measuring device, and autonomously travels within a range of ± 90 °, that is, 180 ° around the front of the autonomous traveling device. The distance from the device to surrounding objects can be measured.

  The autonomous mobile device 103 measures the distance to surrounding objects at a predetermined cycle, and the measurement result is input by the identification device 211 and collated with the map data received from the autonomous mobile device controller 102. If a new obstacle that is not found on the map data is found by the collation, the corresponding program is run from the obstacle shape and the avoidance driving program corresponding to the map data stored in the storage unit 213. The controller 210 reads out and performs avoidance traveling. At the same time, information on a new obstacle that is not on the map data is transmitted to the autonomous mobile device controller 102, and the map data 208 is updated by the map generation unit 205.

  The autonomous traveling device 103 stores the current position and orientation data in correspondence with the position on the map data, but the identification device 211 geometrically estimates the position and orientation of the autonomous traveling device. The current position and orientation data are corrected by detecting the difference between the position and orientation data on the map data and the actual position and orientation based on the distance measurement result.

  The autonomous mobile device 103 registers a work program for each work in the storage unit 213 in advance corresponding to the work contents in the reaching work area. For example, when an autonomous traveling device is connected to a loader and a work in which a load is loaded from the loader is designated, the destination target point is designated in a work area including the loader, and the work content is designated as loading. In the autonomous traveling device 103, a loading work program searched by a work content code corresponding to loading is registered in the storage unit 213 in advance. The traveling control unit 210 controls traveling to the reach work area of the traveling program, and then reads the loading operation program from the storage unit 213 according to the work content of the traveling program, and approaches and connects the autonomous traveling device to the loader. Take control. The autonomous mobile device 103 is then loaded from the loader.

  The traveling program of the autonomous traveling device created by the traveling program creation device 101 of the present invention is a list of identification IDs of passage areas that sequentially pass from one work area to the next work area and the work contents in the next work area. It is described.

FIG. 1 shows a configuration of a travel program creation device 101 according to the present invention. A storage unit 111 holds input data and data created by each unit. The layout diagram information 120 is a diagram in which a building structure and equipment are two-dimensionally projected on the floor surface by CAD or the like. Obstacle measurement FIG. 121 is a diagram showing boundaries of a range in which the autonomous traveling device can travel by measuring buildings and facilities using a distance sensor of the autonomous traveling device or another environment measuring device. The aisle map information 122 is information on the position of the gate, the type of gate, and the connection relationship, which are the boundary lines of the areas that sequentially pass when the autonomous traveling device travels. The transit area information 123 is a list of identification IDs of transit areas that the autonomous mobile device passes from one departure area to another arrival area. The travel program information 124 is composed of a departure area that is the current area when a target arrival area is given to the autonomous traveling device, a permutation of the passing area, an identification ID of the arrival area, and data items of work contents. Is done.

  The calculation unit 110 includes an obstacle map creation unit 115, a path map creation unit 116, a route search unit 117, a travel program creation unit 118, and an obstacle measurement unit 119 as constituent elements.

  The obstacle map creation unit 115 is constructed by a layout diagram that is a two-dimensional projection of a building structure or equipment on the floor surface by CAD or the like, or by a sensor mechanism or another environmental measurement device of the autonomous traveling device. Provided is a user interface for displaying an obstacle measurement diagram representing a house or facility as a boundary line on an output device as an obstacle map. Or the composite figure of a layout figure and a measurement figure is displayed as an obstacle map. FIG. 3 is an example of an obstacle map.

  The aisle map creation unit 116 receives gate positions and connection relationships according to the aisle creation procedure described later, defines a passage area and a work area, and builds a passage map on the obstacle map. The gate position coordinate information, the connection relationship, and the distance between the gates are calculated and stored in the storage unit 111 as the passage map information 122.

  The following two types of gates are used in the area designation in the passage map creation unit 116. One is a gate that defines an area to be a passage, and the other is a gate that defines an area in which work that is a target of the autonomous mobile device is performed.

  A gate that defines a passage is called a passage gate. The aisle gate is the shortest straight line passing through one point on the obstacle map and touching the obstacle at both ends. By specifying the point on the map, the gate which is the straight line is uniquely determined. By setting the aisle gate, the area surrounded by the aisle gate and the obstacle becomes a closed area, and this is the aisle.

  On the other hand, a circle centered on a point where the autonomous traveling device performs work is used as a work gate. On the obstacle map, by specifying a circle with a specific radius centered on one point as the position that would include the work point, if the autonomous mobile device reaches the work gate, it will actually Can reach the working position.

  In addition, by designating one point on the gate for each of the two gates, it is possible to designate the connection between the gates and designate that the gates can pass.

  When the user designates an area in the route map creation process from the user interface, the following two types of gates can be used. One is a gate that defines an area to be a passage, and the other is a gate that defines an area in which work that is a target of the autonomous mobile device is performed.

  A gate that defines a passage is called a passage gate. The aisle gate is the shortest straight line (line segment) passing through one point on the obstacle map and touching the boundary of the obstacle at both ends. By designating the certain point on the map of the user interface, the gate which is the straight line (line segment) is uniquely determined. By setting the aisle gate, the area surrounded by the aisle gate and the obstacle becomes a closed area, and this is the aisle.

  On the other hand, a circle including a point where the autonomous traveling device performs work is used as a work gate. On the obstacle map, by designating a circle with a specific radius centered on one point as a position that is predicted to include the work point, if the autonomous mobile device reaches the work gate, Can reach the actual working position.

  In addition, by designating one point on each gate for each of the two gates, the connection between the two gates can be designated, and the passage between the two gates can be designated.

  The route search unit 117 uses a search method such as the Dijkstra method based on the gate connection relation information of the route map information 122 registered in the storage unit 111 and the distance between the gates. The permutation of the passing area that minimizes the distance to the reaching work area is obtained. The result is registered in the storage unit 111 as transit area information between work areas. An example of the transit area information is shown in FIG. A permutation of the departure work area ID, the arrival work area ID, and the passage area ID through is described.

  When the traveling program creation unit 118 instructs the autonomous traveling device to reach the target working area and the work content in the traveling movement, the starting work area ID where the autonomous traveling device is currently Based on the arrival work area ID, a passage ID to be passed is extracted. A traveling program is obtained by adding work contents to the extracted contents. An example of the traveling program is shown in FIG. It consists of data items of travel program ID, departure work area ID, arrival work area ID, passage ID permutation, and work contents.

  The obstacle measurement unit 119 measures the position of the obstacle on the site and creates obstacle measurement diagram information 121. A function of collecting measurement data by controlling the autonomous traveling device 103 having a distance sensor mechanism or another environment measurement device is provided. In the case of an autonomous traveling device, traveling is performed by a traveling program generated by the present invention or by manual operation.

  It is a user input from the host system or the user interface that gives an instruction for creating a traveling program to the traveling program creating unit 118 of the present invention, and designates a work area to be reached by the autonomous traveling device and its work contents.

  An input device 112 uses an input mechanism such as a mouse.

  The obstacle map creation unit 115 obtains a layout diagram from the building / structure layout diagram creation system 104, which is an external system, via a network. The layout diagram targeted by the present invention is a diagram in which a building structure and equipment are two-dimensionally projected onto a floor surface by CAD or the like. The layout of the layout data received from the external system is in the normal CAD data format, and the building's wall is located in the area where the autonomous traveling device can travel and where there are no steps. This is represented by line segment data obtained by approximating the boundary line of an obstacle area with a predetermined error width by distinguishing all areas where structures and facilities are installed and the autonomous traveling device cannot travel from the obstacle area. .

  FIG. 3 shows an example of a very simplified layout diagram. An inner white area surrounded by the outer wall 301 is the travelable area, and an island-like obstacle 302 and a protrusion-like obstacle 303 are included therein. Hunting is drawn inside the obstacle. There are two types of obstacles. One is an object on which the autonomous mobile device performs work. For example, a loader that performs loading. The other is an object that is not related to the autonomous mobile device.

  In the layout diagram, XY coordinates according to the actual position coordinates of the actual site are defined, and by specifying any figure or point on the diagram, the actual position coordinates of the site can be specified in correspondence. It is like that.

The obstacle map creating unit 115 performs line segment approximate data conversion processing on the layout diagram data, and stores the conversion result in the layout diagram information in the storage unit. Since the line segment data is continuously approximated to the boundary line of the obstacle by a predetermined error width, the line segment sequence data SEG (I, j) is represented by {i: Number, j: represents the jth line segment in the line segment sequence. }
(Equation 1)
SEG (i, j) = {(x _ij , y _ij ), (x _{ij + 1} , y _{ij + 1} )}
And stored in the layout diagram information in the data format shown in FIG. The line segment sequence is a sequence of closed loop line segment data. For example, the line segment with the line segment number 1 in FIG. 6 represents a closed loop line segment representing the boundary line of the obstacle 302 in FIG. 3, and the line segment with the line segment number 2 represents the outer wall in FIG. A closed loop line segment representing a continuous boundary line between 301 and the obstacle 303 is shown.

  The route map creation unit 116 provides a user interface to the user, creates route map information 122 according to the user input, and stores it in the storage unit 111.

In the aisle map, an area serving as a path traveled by the autonomous mobile device and an area where work is performed are configured by a boundary line between a gate and an obstacle. There are two types of gates. One is a passage gate that defines an area to be a passage. FIG. 8 shows an example of a passage gate. The aisle gate is the shortest straight line passing through one point on the obstacle map and touching the obstacle at both ends. In FIG. 8, the passage gate 802 is the shortest straight line (line segment) that passes through the point 801 and touches both between the obstacle 803 and the obstacle 804. By specifying the point 801 on the obstacle map, the gate which is the straight line (line segment) is uniquely determined. By setting the aisle gate, the area surrounded by the aisle gate and the obstacle boundary line becomes a closed area, and this is used as the aisle. The kind of passage comprised by a passage gate and an obstruction boundary line is demonstrated using FIG. In FIG. 9A, the obstacle 902 has a hollow shape, and an area 903 is provided so as to be surrounded by the obstacle 902. An area 903 is a passage area that is a dead end by one passage gate 901, and only the passage gate can enter and exit. FIG. 9B shows a shape sandwiched between two obstacles, 906 and 907, and a passage area 908 such as a corridor sandwiched between two passage gates 904 and 905. You can enter and exit. FIG. 9 (c) is a shape surrounded by three obstacles 911, 912, and 913, and a passage area 914 like an intersection is formed by three passage gates 908, 909, and 910. You can enter and exit through two aisle gates. The area constituted by three or more obstacles and passing gates is set in the same manner.
The other is a work gate for setting a work area. FIG. 10 shows an example of a work gate. When there is a passage area 1005 sandwiched between obstacles, 1003 and 1004, and there is a point 1002 where the autonomous mobile device works, the work gate 1001 is a circle centered on the point 1002 where the autonomous mobile device works. On the obstacle map, the work gate is uniquely determined by designating a circle with a specific radius around a certain point as a position that will include the work point.

  FIG. 11 is an example of a gate input screen in the user interface provided by the passage map creation unit. 1101 is an obstacle map display section, 1102 is a selection button for newly entering a passage gate, 1103 is a selection button for newly inputting a work gate, 1104 is a selection button for moving the gate, and 1105 is a gate. Selection button for deletion, 1106 is a selection button for connecting gates, 1107 is an area for designating and inputting the radius of the work gate, 1108 on the obstacle map 1101 is a cursor used for gate input, and input device 7 Operate with.

  1109 is one of the passage gates, 1110 is a work gate, and 1111 is one of the connecting lines, which is a feature of the present invention. The connection line is displayed as a straight line on the obstacle map by defining one connection information between the two gates for each gate defining the boundary of the passage area. By defining a connecting line between all the paired gates, the passage area is defined as being able to enter / exit from either gate. The passage area 1112 is surrounded by three gates and obstacles, and the entry and exit are defined by connecting lines. Therefore, the passage area 1112 is a passable area (candidate for a route search process). A connecting line is also defined for the working gate. In the path search process described later, a path is searched by following a connecting line.

  FIG. 12 is a flowchart for creating a passage map. The procedure for creating a route map will be described with reference to FIG.

  An obstacle map 1101 on the user interface in FIG. 11 is used to set a passage gate on the obstacle map. Here, a mouse is assumed as the input device 2, but the same applies to other input devices such as a tablet.

  S1: When a gate is newly input, an input selection button is selected. Thereafter, unless the selection button is selected again, the process of inputting a gate is performed. The following processing is different when the selected gate type is a passage gate and a work gate. The following is the case where the selected gate is a passage gate.

  S2: Move the cursor to a desired position in the area on the obstacle map where the autonomous mobile device can pass, and press the mouse button. (Line) is drawn. This is the passage gate to be input, and the position is temporarily selected. If the cursor is on the obstacle and the mouse button is pressed at that position, no processing is performed (an error message is displayed).

  FIG. 15 is a flowchart of the passage gate setting process. It is activated by pressing the passage gate input button 1102 of the user interface. Positioning the cursor on the obstacle map by the user and accepting the mouse button being pressed is accepted S1501, whether or not the point to which the cursor points when the mouse button is pressed exists in the travelable area on the obstacle map S1502 for judging. If the designated point does not exist in the travelable area, an error message is displayed and the process waits for input of the next designated point in S1504. If the specified point is in the travelable area, set the initial value θ = 0, LMIN = sufficiently large initial value, S1503, draw a straight line with angle θ degrees with respect to the Y axis through the point specified by the cursor S1505. Subsequently, each segment data SEG (I, j, which is recorded by approximating the boundary line of the obstacle, targeting the straight line and an obstacle having a boundary line in the vicinity of the designated point on the obstacle map. ) And the straight line, and if there is an intersection, record it (S1506). After checking the intersections of all applicable obstacles with the line segment data, select the intersections Pi1 and Pi2 that are closest to the specified points on both sides of the specified intersections. S1507 to do. Subsequently, the distance between the intersection points Pi1 and Pi2 on the selected straight line is calculated and stored in the variable L. S1508. If the variable L is smaller than the variable LMIN, the value of the variable L is stored in S1509 and the variable LMIN. Then, the coordinate values of both intersections are recorded and S1510, and the angle θ with respect to the Y axis of the straight line is added by 1 degree, and S1512 and the distances between the intersections of all the straight lines up to 180 degrees are compared. A line segment consisting of the straight intersections Pe1 and Pe2 having the shortest distance between the intersections is displayed as a candidate for a passage gate (S1513).

  Next, S3 in FIG. 12 will be described.

  S3: If the mouse is operated and the cursor is moved while continuing to hold down the mouse button, the passage gate which is a straight line having the above specifications according to the cursor position at that time is sequentially drawn. The passage gate setting process of FIG. 15 is repeatedly executed.

  S4: When it is determined that the passage gate is drawn at the position that the user wants to set, if the user stops pressing the mouse button, the passage gate setting process is terminated, and the passage gate is determined at that time, and the straight line The center position of (line segment) is drawn, and the center position and position coordinates of both ends are registered in the passage map information of the storage unit as gate information. The above is the input procedure for one passage gate.

  On the other hand, when a work gate is selected, the procedure is as follows.

S5: When the cursor is moved to a desired position on the obstacle map and the mouse button is pressed, the radius value designated in the area for inputting the radius of the user interface is set around the cursor position or set in the system. A circle having a predetermined radius value is drawn. This is the work gate to be input, and the position is temporarily selected. If the cursor is on the obstacle and the mouse button is pressed at that position, no processing is performed.
S6: If the mouse is operated and the cursor is moved while continuing to hold down the mouse button, work gates that are circles of the above specifications according to the cursor position at that time are sequentially drawn.
S7: When it is determined that the work gate is drawn at the position to be set, when the mouse button is stopped, the work gate is fixed at that time, the circle and its center position are drawn again, and the gate information A new gate ID is assigned to the passage map information in the storage unit, and the center position and radius value are registered.
The above is a flow when a new gate is input. When inputting a plurality of gates, the above procedure is repeated.

  S1: When deleting a gate, a delete selection button is selected. Thereafter, the gate is deleted unless the selection button is selected again.

S8: When the cursor is moved over the desired gate on the obstacle map and the mouse button is pressed, the gate is deleted.
The above is a flow for deleting a gate. When deleting a plurality of gates, the above procedure is repeated.

  S1: When moving the gate, the movement selection button is selected. Thereafter, the gate is moved unless the selection button is selected again.

  S9: Move the cursor over the desired gate on the obstacle map and press the mouse button to select the gate.

  S10: When the mouse is operated and the cursor is moved while keeping pressing the mouse button as it is, the straight line of the aisle gate or the circle of the work gate is sequentially drawn according to the cursor position at that time.

S11: When it is determined that the gate is drawn at the position to be set, if the user stops pressing the mouse button, the gate is fixed at that time, and the straight line or circle and its center position are drawn again, and the storage unit The gate information registered in the aisle map information is updated.
The above is the flow when moving the gate. The above procedure is repeated when moving a plurality of gates.

  S1: When connecting gates, a gate connection button is selected. Hereinafter, the gates are connected unless the selection button is selected again.

  S12: Move the cursor over the desired gate on the obstacle map and press the mouse button to select the gate.

S13: Move the cursor by operating the mouse and press the mouse button on another gate, the gate is selected, the connection between the two gates is confirmed, and a straight line connecting the centers of the gates is drawn. It is registered in the gate connection information of the passage map information in the storage unit 1.
The above is a flow when the gates are connected. When connecting a plurality of gates, the above procedure is repeated.

  The passage map is a map in which the gate and the connecting straight line are written on the obstacle map. The passage map information includes the gate information and the gate connection information.

  In S8, when the gate is deleted, the straight line connected to the gate is deleted from the screen, and the connection information is deleted from the gate connection information in the storage unit.

  FIG. 13 is an example of gate information of the passage map information. A unique ID for each gate (in this case, a serial number), a code indicating the type of gate, gate information (in the case of a passage gate, the XY coordinates of the center position of the straight line and the XY coordinates of both ends, the center in the case of a work gate) XY coordinates of position and radius).

  FIG. 14 is an example of gate connection information of the passage map information. Each connection includes a unique ID (in this example, a serial number) and gate numbers at both ends of the connection.

  As described above, by connecting the passage gates constituting the passage area on the passage map with the gate connection information, the passage area is set as a candidate for the passage where the autonomous traveling device travels to the arrival work area.

  The route search process is executed by pressing the route search process button after setting the arrival work area on the aisle map and preparing for the gate connection process for all the aisle areas that can be candidates for the aisle. The

  As shown in the example of FIG. 11, the route search unit 117 searches for a passage area from which the gate connection information is created and the autonomous mobile device is determined to be able to travel from the departure work area to the arrival work area. List all possible passages that can reach the area. In FIG. 11, two candidate paths are found in the right and left directions from the departure work area.

  For each path candidate, the total length of the connecting line connecting the center point of each passing gate and the center point of the reaching work area from the center point of the starting work area is calculated as the path length of each path candidate. To do. Then, the path lengths of the respective path candidates are compared, and a priority is given to the path candidate having the shortest path length. In FIG. 11, since the right-hand passage length is shorter than the left-hand passage length, it is registered as the first transit area information. In addition, the left-hand passage is registered in the transit area information as a second passage candidate.

DESCRIPTION OF SYMBOLS 101 ... Travel program creation apparatus, 102 ... Autonomous travel apparatus controller, 103 ... Autonomous travel apparatus, 104 ... Building / structure layout drawing creation system, 105 ... Network,
DESCRIPTION OF SYMBOLS 110 ... Operation part, 111 ... Memory | storage part, 112 ... Input device, 113 ... Output device, 114 ... Communication part, 115 ... Obstacle map creation part, 116 ... Path map creation part, 117 ... Route search part, 118 ... Driving program Creation unit, 119 ... Obstacle measurement unit, 120 ... Layout diagram information, 121 ... Obstacle measurement diagram information, 122 ... Path map information, 123 ... Passage area information, 124 ... Traveling program information, 201 ... Calculation unit, 202 ... Memory 203, travel control command unit, 204 ... travel route creation unit, 205 ... map generation unit, 206 ... travel program, 207 ... travel route information, 208 ... map data, 209 ... transmission / reception unit, 210 ... travel control unit, 211 ... Identification device, 212 ... Distance sensor, 213 ... Storage unit, 214 ... Drive unit, 215 ... Transmission / reception unit, 301 ... Outer obstacle, 302 ... Island obstacle, 303 ... Occurrence obstacle, 801 ... Point designated to set the passage gate on the obstacle map, 802 ... Example of passage gate display having the shortest distance to the obstacle on both sides through the designated point, 803, 804 ... Obstacle 901, 904, 905, 908, 909, 910 ... Passage gate, 902, 906, 907, 911, 912, 913 ... Obstacle, 903, 908, 914 ... Passage area, 1001 ... Work gate, 1002 ... Work gate 1003, 1004 ... Obstacle, 1005 ... Passage area, 1101 ... Obstacle map, 1102 ... Passage gate input button, 1103 ... Work gate input button, 1104 ... Gate move button, 1105 ... Gate Delete button, 1106 ... Gate connection button, 1107 ... Work gate radius input frame, 1108 ... Cursor, 1109 Passage gate, 1110 ... starting work gate, 1111 ... linking line, 1112 ... passage area, 1113 ... reach working gate, 1120 ... route search processing start button, 1121 ... traveling program creation process start button

Claims (12)

Generates a traveling program for an autonomous traveling device that autonomously avoids an obstacle, travels to the target point, and performs control to move to the work stage by autonomously positioning the work target device at the target point. A method,
Approximate the boundary line of the obstacle area other than the travelable area with a predetermined approximate width from the layout diagram in which the building structure and equipment input from the CAD system etc. are two-dimensionally projected on the floor. Convert to closed-loop line segment approximate column data, create an obstacle map,
Displaying the obstacle map on a user interface, accepting a work area by a user, a gate input for defining a passage area, and a gate connection information input for defining a passage, creating a path map;
Search the candidate for the travel path from the departure work area to the arrival work area of the autonomous traveling device by following the gate connection information, determine the priority order of the travel path from the short total path length,
A traveling program creation method for an autonomous traveling device, characterized in that a traveling program is created by adding work contents in a reaching work area to a continuous list format of passage area ID and work area ID. In the process of displaying the obstacle map on the user interface and accepting the work area, the gate input for defining the passage area, and the gate connection information input for defining the passage by the user, and creating the path map,
On the obstacle map, two types of gates are sequentially input by an input device: an aisle gate that defines an area to be a passage and a work gate that defines a work area that is an arrival target of the autonomous mobile device. 2. The traveling program creation method for an autonomous traveling apparatus according to claim 1, wherein a passage map is represented by an area surrounded by the gate on the map.   In claim 2, when the designation of one point on the obstacle map is received by the input device, the passage gate which is the shortest straight line (line segment) passing through the point and touching the obstacle at both ends is calculated. A traveling program creation method for an autonomous traveling device, characterized by drawing.   3. The autonomous system according to claim 2, wherein when an input device accepts designation of one point on the obstacle map, a work gate that is a circle having a specific radius is calculated around the point and the work gate is drawn. A traveling program creation method for a traveling apparatus.   5. A traveling program creation for an autonomous traveling device according to claim 3, wherein when an input device accepts designation of two gates, the gate is regarded as being connected and a straight line is drawn between the gates. Method.   Instead of the layout diagram, create an obstacle map from the measurement information measured using the sensor mechanism of the autonomous traveling device or another environment measurement device as the boundary line of the building or equipment, or synthesize the layout diagram and measurement diagram A traveling program creation method for an autonomous traveling device, characterized in that the figure is displayed as an obstacle map. Create a traveling program for an autonomous traveling device that autonomously avoids obstacles, travels to the target point, and autonomously positions the work target device at the target point and controls to move to the work stage. A device,
Approximate the boundary line of the obstacle area other than the travelable area with a predetermined approximate width from the layout diagram in which the building structure and equipment input from the CAD system etc. are two-dimensionally projected on the floor. An obstacle map creation unit for converting to closed-loop line segment approximate column data and creating an obstacle map;
Displaying the obstacle map on the user interface, accepting the user's work area, gate input for defining the passage area, and gate connection information input for defining the path, and creating a path map to create a path map And
A route search unit that searches for a candidate for a travel path from the departure work area to the arrival work area of the autonomous traveling device by following the gate connection information, and determines the priority of the travel path from the one having a short total path length,
A travel program creation device for an autonomous travel device, comprising: a travel program creation unit that creates a travel program in which work contents in a reaching work area are added to a continuous list format of a passage area ID and work area ID.   In the aisle map creation unit, on the obstacle map, two types of gates, that is, an aisle gate that defines an area to be a passage and a work gate that defines a work area that is an arrival target of the autonomous mobile device, are input using an input device. The travel program creation device for an autonomous travel device according to claim 7, wherein the travel map is input sequentially and a path map is represented by an area surrounded by the gate on the obstacle map.   In claim 8, when the designation of one point on the obstacle map is received by the input device, the passage gate which is the shortest straight line (line segment) passing through the point and touching the obstacle at both ends is calculated. A traveling program creation device for an autonomous traveling device, characterized by drawing.   9. The autonomous system according to claim 8, wherein when an input device accepts designation of one point on an obstacle map, a work gate that is a circle with a specific radius is calculated around the point and the work gate is drawn. A travel program creation device for a travel device.   11. A traveling program creation for an autonomous traveling device according to claim 9 or 10, wherein when the designation of two gates is accepted by the input device, it is considered that the gates are connected, and a straight line is drawn between the gates. apparatus. In place of the layout diagram, further comprising an obstacle measurement unit for creating an obstacle map from measurement information measured with a sensor mechanism of an autonomous traveling device, or a building or facility as a boundary line by another environment measurement device,
A travel program creation device for an autonomous travel device, wherein the layout diagram, the measurement diagram, or a composite diagram of the layout diagram and the measurement diagram is displayed as an obstacle map.

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