JPH10143243A - Mobile equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an equipment which can express uncertain spatial knowledge and can flexibly deal with environmental changes as well, by detecting the surrounding environment, recognizing the land mark of a moving route map composed of land marks and links and moving successively in the direction along links. SOLUTION: Map information for instructing the moving route of an automatic mobile robot device is composed of land marks from 11-1 to 11-n as fixed positions on the moving route and links from 12-1 to 12-m for connecting the land marks 11-1 and 11-5, land marks 11-12 and 11-6 and land marks 11-5 and 11-6... between which the autonomous mobile robot device can directly move. Then, the surrounding environments are detected, the land marks from 11-1 to 11-n on the moving route map are recognized and the device is successively moved in the direction of links from 12-1 to 12-m. Thus, the device can move between the land marks on the moving route map.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel route map, a travel route map generation method, and an autonomous mobile device, and more particularly, to a travel route map for setting a travel route of a mobile device, and a travel route. The present invention relates to a map generation method and an autonomous mobile device.

[0002] In recent years, robot devices have become widespread in workplaces and homes. Most current robot devices operate only in accordance with a preset operation, and when the operating environment changes, the setting must be changed. In the future, when spreading robots to workplaces and homes, technology that adapts to the ever-changing environment like the real world is indispensable.

[0003] When the environment is not completely unknown, the robot can act more quickly if there is no map because the robot has an action plan because it has an action plan. Also, in the real world, only inaccurate maps can be prepared at first, and you will often want to correct them when you actually go to that location. Furthermore, in the real world, it is often difficult to know the distance or to know the distance accurately. Therefore, in order to move Lopot in the real world, it is considered essential to create maps that correspond to changing environments.

[0004]

2. Description of the Related Art Conventionally, there are two route design methods for an autonomous mobile robot device: an artificial potential method and a graph search method.
It can be roughly divided into two flows. In the artificial potential method, a potential is set for a robot device so that a target object becomes a suction force and an obstacle becomes a repulsion force, a potential space is created, and a path is created according to the shape of the created potential space. It is a technique to do.

[0005] The graph search method is a method of dividing a space in which no obstacle exists into a number of cells, expressing a connection state of the cells as a graph, and searching for an optimal route. These two approaches have their advantages and disadvantages, and in practice it is natural to use a combination of both. However, these methods are effective in a static and known environment, but become very complicated in a dynamic case, and are used only locally in an unknown environment. ing.

[0006] Conventionally, a map is an absolute map created by a designer based on a behavior space expected in advance, and when used by a robot, this is stored internally, and movement is performed according to the stored map. I was Here, an absolute map is a map in which a coordinate system such as latitude and longitude is accurately described like a commercially available topographic map.In the case of an indoor map, an absolute map such as a wall, a door or a desk is used. The position is accurately described.

[0007] For this reason, once a map is created, changing it requires a great deal of labor, such as measuring the exact coordinates of the changed portion. Therefore, in general, the map given to the robot at the time of design is not changed, and an action plan is always created based on the same map.

[0008] In addition, behavioral algorithms for creating a map in an unknown space have been studied. However, there is only research on a behavioral space having only a very simple shape, which is far from a practical stage. Was.

[0009]

However, among the information on the real world environment, some of the information we are going to use are known and some are unknown. It is a very confused world where some things don't move and some move. In such an environment, there is not much change,
It is natural to decide on the basis of characteristic features and make an action plan based on it, and there is an absolute map as a map created in this way. In a conventional autonomous mobile device, movement has been performed based on the absolute map as described above.

However, a robot acting in the real world must consider an error in a sensor for recognizing the environment and a movement amount. Since the absolute map does not take the error into account by nature, it has a drawback that it is difficult to use it for correcting and planning when a measurement error occurs. However, there has been little research on an action plan (path planning) corresponding to the real world in which such known and unknown, static and dynamic objects are mixed.

In the real world, there is too much information, and it is difficult to know what to use. Further, it is difficult to accurately measure information such as distance and direction. When the environment is not unknown at all, the robot can act more quickly if there is no map because it is better to have a map. However, there has been a problem that a normal map (absolute map) is difficult to change the map because it requires a great deal of labor.

[0012] The present invention has been made in view of the above points, and can solve the above problems, can express uncertain spatial knowledge, and can flexibly cope with environmental changes. Travel route map and travel route map generation method,
It is another object of the present invention to provide an autonomous mobile device.

[0013]

According to the present invention, the above-described problems are solved by expressing a map using landmarks. For example, humans use maps that are inaccurate in distance and direction, such as a meal place map or subway route map published in a magazine, but hold a characteristic place, and actually go to that place. By recognizing the difference between the real environment and the map in my head, I can successfully reach the destination.

This is because a building or an intersection is used as a mark, and the user follows the building one after another to reach the destination. By using a certain thing as a landmark, it is possible to cope even if the information between them is slightly different. Such a building or scene existing in the real environment as a landmark when moving is called a landmark.

A landmark map is a characteristic place of the environment. A landmark is a place that is convenient for realizing an action, and a link is used to link places where the landmarks can come and go with each other. Say. In a real environment, the information about landmarks that serve as landmarks does not change significantly. Rather, when creating a map for the first time, it is often inaccurate because of the absolute position of the landmarks and the distance between landmarks. Information such as distance. Therefore, a landmark map connects links between landmarks and has information such as the time and distance required for the links. By doing so, even if the distance between certain landmarks is different from the initially set value, it is only necessary to change the information of the link. On the other hand, in a normal map, if the distance at one location is different, all must be changed.

Further, since the map information described in this manner consists only of landmarks and links connected to the landmarks, changes such as addition / deletion of landmarks can be made relatively easily. In view of the above, the present invention intends to achieve a desired action by using a landmark map including a landmark and a link, so that the autonomous mobile robot sequentially follows the landmark along the link.

According to a first aspect of the present invention, there is provided a moving device which moves in a changing environment, wherein the plurality of landmarks are installed at movable positions in the moving environment, and the plurality of landmarks are arranged. A moving route map holding unit configured to hold a moving route map composed of a link that connects directly movable landmarks, and a moving route based on the moving route map held by the moving map holding unit. Moving path generating means for generating, moving control means for controlling movement based on the moving path generated by the moving path generating means, environment detecting means for detecting the surrounding environment, and detection by the environment detecting means When there is a difference between the detected environment state and the movement route map held by the movement route map holding means, the state of the environment detected by the environment detection means is It is reflected in the movement path map and having a movement route map update means for updating the travel route map.

Preferably, the moving route map holding means holds moving information indicating a difficulty level when moving between the landmarks connected for each of the links, and the moving route generating means includes a plurality of moving route generating means. A route is generated, and a route having a small sum of the pieces of movement information is selected.

Preferably, the travel route map holding means sets the travel information in accordance with an absolute time, and the travel route generating means includes a travel route having a smaller total sum of the absolute times in the generated travel routes. The mobile device according to claim 1, wherein the mobile device is selected.

Preferably, the moving route map holding means holds a series of moving routes as an array of the plurality of landmarks, and the moving route generating means combines the array of the landmarks to obtain a desired moving route. Is generated.

According to a fifth aspect of the present invention, the moving path map holding means holds the series of moving paths as divided moving paths divided for each branch of the link, and the moving path generating means sequentially connects the divided moving paths. Thus, a desired movement route is generated.

According to a sixth aspect of the present invention, the moving path map holding means holds the series of moving paths as an array of identification numbers previously assigned to the plurality of landmarks, and the moving path generating means stores the moving path as the moving path. Generated as an array of identification numbers,
The movement control means controls the movement so as to sequentially follow the identification numbers arranged by the movement route generation means.

According to a seventh aspect of the present invention, as a result of the detection by the environment detecting means, a location where the moving route map updating means can move on the moving route map held in the moving route map holding means is detected as a result of the detection. If it is possible, the landmark and the link connected to the unmovable location of the moving route map held in the moving route map holding means are deleted, and the moving route map holding is performed. If the place that is unmovable on the movement route map held by the means is detected as a result of the detection by the environment detection means, the movement is possible. The landmark and the link are added to all places where movement is possible on the movement route map.

According to an eighth aspect of the present invention, there is provided a moving information updating means for detecting the moving information by the environment detecting means at the time of moving, and updating the moving information according to the moving result after the moving. The ninth aspect is characterized in that when the movement information updating means updates the movement information, past data is reflected.

According to a tenth aspect of the present invention, a frequency at which the series of travel routes is used as a travel route is detected, and the database of the database provided in the travel route map holding unit according to the frequency detected by the frequency detecting means is detected. It is characterized by having a database changing means for sequentially rearranging the series of travel routes in the order of access.

[0026] The eleventh aspect is characterized in that there is provided a database control means for holding the travel route actually moved as the series of travel routes in the database. Next, the operation of each claim will be described. According to the first aspect, the surrounding environment is detected by the environment detecting means, the landmark of the moving route map including the landmark and the link is recognized, and the landmark and the link are sequentially moved in the direction of the link. It is possible to move between landmarks on the moving route map. At this time, since the travel route map is simple information of only landmarks and links, it can be easily created and changed, and can be easily applied to any place.

According to the second aspect of the present invention, the link has the movement information indicating the degree of difficulty of the passage of the link, such as the moving distance, the moving time, the existence probability, and the like. By using the movement information, for example, a movement path with a short sum of movement distances, a movement path with a short sum of movement times, and a movement path with a high existence probability can be selected efficiently.

According to the third aspect, when the vehicle passes through a route that can or cannot pass depending on the time of a signal or a railroad crossing, etc. When a traffic signal or a railroad crossing is not allowed to pass, a route that avoids a traffic light or a railroad crossing can be searched for, and a route that is efficient in movement, such as passing through, can be searched.

According to the fourth aspect, by sequentially following the link connected to the landmark, the landmark is a passage point and the link is a path that can be directly moved. By searching the route, the route to be moved can be easily generated.

According to the fifth aspect, an array of landmarks is generated for each link branched from the landmark where the link branches, and the array is stored as a database. The array of landmarks stored in the database is used as the first landmark. By selecting the landmarks so that they match with the trailing landmarks and sequentially connecting the landmarks, a series of travel routes in which the landmarks are connected by links can be created. At this time, landmarks having no branch are stored in the database as a single array, so that the amount of data stored in the database can be reduced. In addition, since a series of travel routes is created by combining the array of landmarks held in the database, it is possible to easily search for travel routes.

According to the sixth aspect of the present invention, since the identification number is assigned to the landmark and the database is configured as an array of the assigned identification numbers, the amount of data constituting the database can be reduced. By simply detecting the mismatch, it is possible to select an array capable of forming a series of movement paths, and to easily create a movement path.

According to the seventh aspect, when there is a difference between the map information and the environment at the time of actual movement, the map information is changed so as to conform to the real environment. For example, when an obstacle that did not exist at the time of creating the map information is present in a portion that is a moving route in the map information, it cannot be moved, so processing such as disconnecting a link in the map information is performed. When the user moves, a moving route passing through the moving route is not selected, and a moving route suitable for a real environment can be created.

If the obstacle existing at the time of creating the map information no longer exists, a new landmark and a link are added to that part, so that it can be selected as a part of the movement route at the next movement. An optimal travel route can be created. According to the eighth aspect, the map information can be made closer to the actual environment by changing the movement information given to the link according to the actual environment of the movement route detected by the environment detection means, and the next movement can be performed. At the time of creating a route, a moving route more suited to the real environment can be created.

According to the ninth aspect, when the movement information given to the link is changed, the movement information previously given to the link is reflected in the change of the movement information due to the environment detected by the environment detecting means. Thereby, the variation in the environment detected by the environment detecting means is absorbed, and the movement information can be approximated to the real environment.

According to the tenth aspect, by rearranging the search order of the database in descending order of frequency in accordance with the frequency used as the travel route, the database search time can be reduced when the travel route is created. According to the eleventh aspect, by storing the actual travel route in the database, it is not necessary to newly create the actual travel route, and a new travel route is created based on the travel route once created. Can be generated, so that the creation time of the moving route can be reduced.

[0036]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention relates to map information in an autonomous mobile device, and is roughly classified into three types. The first is that the environment is represented by a map using landmarks, the second is that movement is realized using the map, and the third is that the landmark map is changed when the environment changes. On the point.

First, an autonomous mobile robot device equipped with map information will be described. A description will be given of how the first environment is represented by a map using landmarks. FIG. 1 shows a block diagram of an autonomous mobile robot according to one embodiment of the present invention. The autonomous mobile robot device 1 according to the present embodiment corresponds to an autonomous mobile device described in the claims, a map memory 3 for storing map information 2 including landmarks and links, and environment detection for detecting a surrounding environment. Sensor 4, map information 2
Input / output device 5, environment detection sensor 4, input / output device 5, and interface circuit 6 for input / output control of drive signals, map information 2
And a drive control signal for moving in accordance with a movement plan based on a program from the map information 2 stored in the map memory 3 and the surrounding environment information detected by the environment detection sensor 4. A central processing unit 7, a program memory 8 in which a program to be processed by the central processing unit 7 is stored, and a drive control signal generated by the processing of the central processing unit 7 are connected to the interface circuit 6. 6 supplied through
A driving circuit 9 for generating a driving signal for performing a movement based on the driving control signal supplied from the interface circuit 6, a driving signal generated by the driving circuit 9 is supplied, and a motor is driven in accordance with the supplied driving signal. Drive mechanism 10 that is driven to move the entire apparatus freely on a plane, drive mechanism 10
And a battery BAT that supplies drive power to the battery.

The map memory 3 stores map information 2 comprising landmarks and links, which is a feature of the present invention. Here, the map information 2 stored in the map memory 3 will be described. FIG. 2 shows a schematic configuration diagram of map information according to one embodiment of the present invention.

The map information 2 according to the present embodiment corresponds to a moving route map described in the claims, and is used to indicate the moving route of the autonomous mobile robot device 1, and is a fixed position on the moving route. Among the landmarks 11-1 to 11-n and the landmarks 11-1 to 11-n, the landmark 11-1 and the landmark 11-5, and the landmark 11-2 and the land to which the autonomous mobile robot device 1 can directly move are provided. Mark 11-6, landmark 11-5 and landmark 11-
... Are connected to each other.

The landmarks 11-1 to 11-n correspond to the landmarks in the claims.
It is set at a position where the autonomous mobile robot device can pass, such as the center of the room, the entrance and exit of the door of the room. The positions of the landmarks 11-1 to 11-n are set by coordinates (X, Y).

The links 12-1 to 12-m correspond to the links in the claims, and are linear, and among the landmarks 11-1 to 11-n, the autonomous mobile robot device 1 directly Landmark 11-1 and landmark 11-5 that can be moved linearly, landmark 11-2 and landmark 11-6, landmark 11-5 and landmark 11
−6... Are connected. Link 12-1
12-m is set with the movement information of the distance (distance) and time to move between the landmarks to which the autonomous mobile robot device 1 is connected. This movement information corresponds to the movement information indicating the degree of difficulty during movement in the claims.

Here, the structure of the movement information according to claims 5 to 8,
A method of generating map information 2 corresponding to claims 9 to 11 will be described. FIG. 3 is an operation flowchart of the map information generation processing according to one embodiment of the present invention, FIG.
FIG. 6 is an operation explanatory diagram of a link setting operation of the map generation process according to one embodiment of the present invention, and FIG. 6 is an operation explanatory diagram of a database creation process of the map generation process according to one embodiment of the present invention. FIG.
4A is a diagram showing a layout map of an environment, and FIG. 4B is a diagram showing how landmarks are set.

To generate the map information 2, the user generates the map information 2 in the map memory 3 using the input / output device 5 of the autonomous mobile robot device 1. When the user operates the input device 5a of the input / output device 5 and instructs the generation of map information, the autonomous mobile robot device 1 uses the map information generation processing program stored in the program memory 8 and therefore the central processing. The device 7 is controlled.

When the map information generation processing program is started, the central processing unit 7 instructs the display 5b of the input / output device 5 to input a simple layout map indicating an environment in which the autonomous mobile robot device 1 is moved ( Step S1-1). In response to a request for input of a layout map from the autonomous mobile robot device 1, for example, FIG.
A layout map as shown in FIG. At this time, the layout map input by the user is a map that assists the user in setting a landmark, and a position that the autonomous mobile robot device 1 can pass through as shown in FIG. It only needs to be able to recognize the outline, and may be very simple. If there is no layout map, the position of the landmark may be input as coordinates in a moving environment.

When the layout diagram is input in step S1-1, the central processing unit 7 displays the layout diagram on the display 5b and instructs the user to input a landmark (step S1-2). When the user operates the input device 5a in accordance with the instruction from the autonomous mobile robot device 1, for example, the landmark R indicating the center of the room, the door room on the layout map as shown in FIG. , A landmark Di indicating the inside of the door room, a landmark C indicating a turning point of the moving route, and a landmark J indicating a branching point of the moving route are arranged at positions corresponding to the respective portions of the layout diagram. .

When the setting of the landmark is completed, the user operates the input device 5a to give an instruction to the effect that the setting of the landmark is completed. When the central processing unit 7 is supplied from the input device 5a with an instruction that the setting of the landmark has been completed, the central processing unit 7 next issues a link setting instruction on the display 5b.
(Steps S1-3, S1-4).

When the user operates the input device 5a in accordance with an instruction from the autonomous mobile robot device 1, for example, links 12-1 to 12-15 are set as shown in FIG. At this time, the links 12-1 to 12-15 are represented by straight lines, and the user can, for example, landmarks 11-1 and 11-2, and landmarks 11-2 and 11-3 that can be moved in a straight line. , Landmark 11
-3 and landmark 11-4 ... link 12-
1, 12-2, 12-3,...

Next, when the setting of the link is completed, the user operates the input device 5a to give an instruction to the effect that the setting of the landmark is completed. When an instruction to the effect that the link setting has been completed is supplied from the input device 5a, the central processing unit 7 creates a database corresponding to the supplied landmarks and links, and ends the map information generation processing. (Steps S1-6, S1-7).

Next, the database creation process of the map information generation process in step S1-6 will be described. FIG. 6 is a flowchart showing the operation of the database creation process according to one embodiment of the present invention, FIG. 7 is a diagram showing a state in which an identification number is assigned in the database creation process according to one embodiment of the present invention, and FIG. FIG. 9 is a diagram for explaining the existence probability given in the database creation process according to one embodiment of the present invention, and FIG. FIG. 2 shows a configuration diagram of a tour group generated in a database creation process.

In the database processing, the central processing unit 7 first sets the set landmarks 11-1 to 11-11.
For example, as shown in FIG. 7, the identification numbers (ID) NO. 1 to
NO. 15 (step S2-1). This identification number corresponds to the identification information in the claims.

Next, the central processing unit 7 sets the movement information to the links 12-1 to 12-16 connecting the landmarks 11-1 to 11-15 with the IDs (step S2-2). . The movement information corresponds to the movement information in the claims, and the links 12-1 to 12-1 as shown in FIG.
2-16 is the identification number NO. Of the landmarks 11-1 to 11-15. 1 to NO. 15, a link 1 connecting the landmark 11-1 and the landmark 11-2, for example.
2-1 is the identification number NO. 1-NO. 2. Link 1 connecting landmark 11-2 and landmark 11-3
2-2 is an identification number NO. 2-NO. .., And the distance (moving distance) a, time (moving time) b, existence probability c, and the like are set for each of the links 12-1 to 12-16.

The moving distance a of the moving information corresponds to the moving distance in the claims, and is set by obtaining the linear distance L from the position (coordinates) of the landmark. For example, assuming that the coordinates of the landmark 11-1 are (0, 0) and the coordinates of the landmark 11-2 are (100, 0), the moving distance L
Becomes “100 [cm]”. Also, the time b of the movement information
Is calculated from the linear distance L between predetermined landmarks and the moving speed V of the autonomous mobile robot device 1 as L / V. For example, if the moving distance L between the landmark 11-1 and the landmark 11-2 is “100 cm” and the moving speed V of the autonomous mobile robot device 1 is “0.5 cm / sec”, the moving The time b is “200 [sec]”.

Further, the existence probability c of the movement information is represented by the link 1
It indicates the existence probability of 2-1 to 12-16, which is "1" if the state is passable, and "0" if the state is not passable. Is set to “0.5” in the case where the number is half.

The existence probability c is calculated for the links 12-1 to 12-1.
This is effective when there are obstacles that can pass or cannot pass through time, such as signals, railroad crossings, and doors that open and close depending on time, on the route 6. That is, if the existence probability c is “0”, it is possible to pass the state. If the existence probability c is “1”, it is possible to determine that the state is impossible.

In FIG. 8A, the case where the moving distance a, the moving time b, and the existence probability c are fixed has been described.
As shown in FIG. 8B, a configuration having a moving time b and an existence probability c as a function of time can be considered. FIG. 9 is an explanatory diagram of a modification of the movement information obtained by the database processing according to one embodiment of the present invention.

The existence probability c is determined, for example, by the central processing unit 7
As shown in FIG. 9A, the value is changed at a preset value between “0” and “1” in accordance with the function f (T) of the absolute time T set inside. In the initial state, the existence probability c is
The value is set to “0.5”, and is updated according to the movement result, as described later, and the more updated, the closer to the actual value.

The existence probability c at this time is effective, for example, when the door is opened and closed, and when the frequency of opening and closing the door changes according to the time zone. For example, when the travel route is generated, by referring to the existence probability c,
By selecting a route with a high probability that the door is open, the travel time can be reduced.

When there is an obstacle such as a signal which repeatedly passes or cannot pass at regular intervals, the probability is "1" at regular intervals as shown in FIG. 9B. Alternatively, the cycle of the probabilities “0” and “1” may be changed by setting the function to be “0” and changing the parameters of the function according to the waiting time during actual passage.

Note that the travel time b also changes according to the time due to a link signal, a railroad crossing, or the like.
As shown in (C), it can be expressed as a function of the absolute time T similarly to the existence probability c. When the movement information as shown in FIG. 8 is obtained in step S2-2, a tour group is generated next. The tour group is obtained by dividing at each branch point of the map information.

As shown in FIG. 10, the tour group includes landmark identification numbers NO. 1 to NO. It is set as 15 arrays. For example, consider the case where landmarks are arranged as shown in FIG.
1 is the identification number NO. 2 is linked to the landmark No. 2 and the identification number NO. The landmark No. 2 has an identification number NO. Only connected to the 3 landmarks,
Identification number NO. The landmark No. 3 has an identification number NO. 4 and the identification number NO. Since the path is branched to the landmark No. 6, the path uniquely determined is the identification number NO. 1 → identification number NO. 2 → identification number NO. There are only 3 arrays. This arrangement is registered as tour A.

The identification number NO. The landmark No. 3 has an identification number NO. 4 and the identification number NO. Since the route is branched to the landmark No. 5, the identification number NO.
Two tours B and C are newly formed from the three landmarks. Tour B is the branch of the landmark having the next smaller identification number, and the sequence uniquely determined by that branch is identification number NO. 3 → identification number NO. 4 → identification number NO. It becomes 5. Tour C has an identification number NO. 3 is a branch having a larger identification number and a sequence uniquely determined by that branch. 3 → identification number NO. It becomes 6.

As described above, by dividing the tour for each branch, tours A to I are generated as shown in FIG. The tours A to I as shown in FIG. 10 are stored in the map memory 3 as a database. Further, the central processing unit 7 creates a movement route when instructing the movement,
A series of travel routes is created by combining the tours A to I. At this time, the central processing unit 7 executes the tour A → B
Search for tours in the order of → C → D → E → F → G → H → I,
Determine the combination.

Thus, the generation of the database stored in the map memory 3 is completed. Next, the map memory 3
A case will be described in which the autonomous mobile robot device 1 is moved according to the database stored in. FIG. 11 shows an operation flowchart of the movement processing according to one embodiment of the present invention.

When the user operates the input device 5a to input a movement command, the central processing unit 7 detects this and then performs a route plan creation process for setting the movement route of the autonomous mobile robot device 1. (Steps S3-1 and S3-
2). Here, the route plan creation processing will be described.

FIG. 12 is an operation flowchart of a route plan creation process according to one embodiment of the present invention. The route planning process corresponds to the embodiments of claims 4 and 5 of the claims. In the route plan creation process, the central processing unit 7 first instructs the user to input the identification number IDs of the landmark at the movement start position and the identification number IDg of the landmark at the movement end position (step S4-1). ). When there is an instruction from the user to input the identification number IDs of the landmark at the movement start position and the identification number IDg of the landmark at the movement end position (step S4-2), the central processing unit 7 then proceeds to FIG. Search for the tour group stored in the map memory 3 shown in FIG.
s is the head and the identification number I of the landmark at the movement end position
Dg searches for the last tour (step S4-3).

As a result of the search in step S4-3, if there is a tour with the identification number IDs of the landmark at the movement start position at the head and the identification number IDg of the landmark at the movement end position at the end, the landmark at the movement start position Identification number I
A tour in which Ds is the head and the landmark identification number IDg of the movement end position is the tail is determined as a movement route,
If there is no tour ending with the identification number IDs of the landmark at the movement start position and the identification number IDg of the landmark at the movement end position, then the identification number IDs of the landmark at the movement start position will be the first, Alternatively, the tour with the identification number IDg of the landmark at the movement end position is searched for at the end (steps S4-4, S4-5).

As a result of the search in step S4-5, the identification number IDs of the landmark at the movement start position searched is the identification number IDsg of the landmark at the end of the first tour and the landmark at the movement end position searched. The identification number IDg is compared with the first IDgs to determine whether there is a match (step S4-6).

In step S4-6, the identification number IDs of the landmark at the movement start position is the same as the identification number IDsg of the landmark at the end of the tour and the IDgs of the landmark at the movement end position. If there is no match, the tour connecting the identification number IDs of the landmark at the movement start position and the identification number IDg of the landmark at the movement end position cannot be obtained. Location landmark identification number ID
s is the ID number of the landmark at the end of the tour that starts with
sg is set as the first identification number IDs, the first identification number IDgs of the landmark identification number IDg of the movement end position is set as the last identification number IDg, and the process returns to step S4-3, and steps S4-3 to S4-6 are repeated. A tour is determined in which the identification number IDs0 of the landmark at the movement start position and the identification number IDg0 of the landmark at the movement end position can be connected (step S4-7).

In step S4-6, the identification number IDs of the landmark at the movement start position is the identification number IDsg of the landmark at the end of the tour, and the identification number IDs of the landmark at the movement end position is the first IDgs. As a result of the comparison, if there is a match, the tour with the identification number IDs of the landmark at the movement start position and the tour with the identification number IDg of the landmark at the movement end position at the end can be connected. Therefore, a series of tours are generated in which the identification numbers IDs of the landmarks at the movement start position are the first and the identification numbers IDg of the landmarks at the movement end position are the last (step S4-8). Step S4-3 above
The search method for tours through S4-8 is called a so-called graph search method.

If a plurality of tours have been generated in step S4-8, an optimal tour is selected using movement information as shown in FIG. 8 (steps S4-9, S4-1).
0). The selection of the optimal tour selects, for example, a tour with a small sum of the travel distance a or the travel time b from the travel information set in the link of the generated tour.

FIGS. 13 and 14 are explanatory diagrams showing the operation of the tour generating method according to one embodiment of the present invention. For example, as shown in FIG. 1 to NO. It is assumed that a map composed of 26 landmarks has been generated, and a tour group as shown in FIG. 14 has been generated from the map of FIG. Here, the identification number of the movement start position is NO. 1. The identification number of the movement end position is set to NO. 20, the identification number of the movement start position is NO. The tour whose end is located at the end is only the tour indicated by A in FIG.
Since there are only L tours where 20 is located at the end,
Tours A and L are selected.

However, the identification number at the end of tour A is N
O. 3, and the first identification number of the tour L is N
O. 18, the tour A and the tour L cannot be directly connected because they do not match. Therefore, the identification number NO. 3 searches for the first tour. Identification number NO. The tours where B. 3 comes to the end are B and Q, and the identification numbers NO. At 3, the route from tour A is split into tour B and tour Q.

Similarly, when the search is continued, the identification number NO. 1
From the identification number NO. Tour A as the route to 20 →
Q → O → M → L (Identification No. 1 → NO.2 → NO.
3 → NO. 24 → NO. 23 → NO. 21 → NO. 18
→ NO. 19 → NO. 20) and tour A → B → D
→ F → H → L (ID No.1 → NO.2 → NO.3
→ NO. 4 → NO. 5 → NO. 8 → NO. 11 → NO.
12 → NO. 15 → NO. 18 → NO. 19 → NO. 2
0) are generated. Here, Tour A →
Tour A is the sum of the travel distances a of the links Q → O → M → L
If it is smaller than the sum of the moving distances a of the links B → D → F → H → L, the tour A → Q → O → M → L is selected.

Note that the value to be compared with the selection is not limited to the sum of the moving distance a, but may be, for example, the sum of the moving time b. Evaluation function J with time b and existence probability C as variables

[0075]

(Equation 1)

May be set in advance and selected based on the magnitude relation of the values obtained from the evaluation function. Returning to FIG. 11, the description will be continued. When the moving route is generated by the above processing in step S3-2, the central processing unit 7 starts the moving process, and starts moving according to the moving route generated in step S3-2 (step S3-3). . At this time, the central processing unit 7 reads the identification numbers in order from the tour of the selected moving route, reads out the landmark information corresponding to the identification numbers from the read identification numbers,
By comparing the read landmark information with the extracted object detected by the environment sensor 4 and judging whether or not the landmark is the target landmark, the movement is realized by following the landmarks one after another. I have.

The environment sensor 4 is composed of, for example, an ultrasonic sensor or an infrared sensor, and captures surrounding conditions as an image. The central processing unit 7 analyzes the image captured by the environment sensor 4, recognizes an object (a door, a corner, a room) or the like from the image, and determines the surrounding situation (step S3-4). The surrounding situation detected by the environmental center 4 is not limited to an image, but it is sufficient that a landmark can be identified, and a simple sonar sensor, a range finder contact sensor, or the like may be used. That is, it is sufficient that the information obtained from the sensor is abstracted and identified by comparing it with a sensor image of a landmark (a prototype door) or the like which is known in advance.

At this time, if an environmental change different from the map information is found in the moving route, for example, if an obstacle or the like is found on the route to be moved, it is impossible to pass through as it is, so the map information for changing the route is used. Perform update processing (step S3)
-5). Step S3-5 executes a process corresponding to claims 14, 15, and 17.

Steps S3-3, S3-4, S3-
Move to the final destination while repeating step 5 (step S3-6). FIG. 15 shows an operation flowchart of the map information updating process according to one embodiment of the present invention. First, the central processing unit 7 analyzes the detected environmental change and determines whether or not there is an influence on the moving route (steps S5-1 and S5).
-2, S5-3). For example, when the opening is detected by the environment sensor 4, it is realized by comparing the size of the opening with the size of its own device to determine whether or not the vehicle can pass. If an obstacle is detected by the environment sensor 4, if the obstacle is on the moving route, the obstacle is compared with the moving route, the interval, and the size of the own device to detect whether the vehicle can pass on the moving route. Is realized by:

If a newly traversable route is found in step S5-2, the central processing unit 7 adds a landmark and a link (step S5-
4, S5-5). FIGS. 16 and 17 are explanatory views of the operation of adding landmarks and links according to one embodiment of the present invention. FIG. 16A shows an arrangement of landmarks.
17B shows a map in which the landmarks of the map information are converted into identification numbers, FIG. 17A shows a tour group before addition, and FIG. 17B shows a tour group after addition.

As shown in FIG. 16A, when a new entrance 32 is recognized in the room 31, the central processing unit 7
First, a new landmark Di is set inside the room 32 of the entrance 32, and a new landmark D is set outside.
Set o. Next, as shown in FIG. 16B, newly set landmarks Di and Do are assigned identification numbers NO. 1 to NO. 15 followed by the identification number N
O. 16, NO. Set 17 and link 3
3 and 34 are added. Also, links 33 and 34 are shown in FIG.
As shown in (2), the moving distance a and the moving time b are calculated from the coordinates as the moving information, are given, and the existence probability is set to the initial value 0.5.

At this time, the identification number NO. 16 is the identification number NO. 11 and NO. 14 is located on the link connecting the ID number 11 and the NO. 16 and an identification number NO. 14 and NO. 16 may be divided into links 36.

As described above, the identification number NO. 16,
NO. When 17 landmarks and links are added,
The data of the tour group shown in FIGS. 10 and 14 is changed.
Identification number NO. 16, NO. Before the addition of the landmark and the link of No. 17, as shown in FIG. 7 → NO. 8 → NO. 9 was replaced with the identification number NO. 16, NO. As shown in FIG. 17B, by adding a landmark and a link of No. 17, the identification number NO. 7 → NO. 8 → NO. 9 → N
O. 17 → NO. It becomes 16. The identification number NO. Of the tour H shown in FIG. 11 → NO. 14 is FIG.
The identification number NO. Of the tour H shown in FIG. 11 → NO. 1
6, and the identification number NO. 14 → NO. 16
Is added.

If an inaccessible route is found in step S5-2, the central processing unit 7 deletes the landmark and the link (step S5).
-6, S5-7). FIGS. 18 and 19 are explanatory diagrams of the operation at the time of landmark and deletion according to one embodiment of the present invention. FIG.
FIG. 18A shows an arrangement of landmarks, and FIG. 18B shows a map in which landmarks in the map information are identified.
(A) shows the tour group before deletion, and FIG. 19 (B) shows the tour group after deletion.

When an obstacle is placed on the moving route as shown in FIG. 18A and the vehicle cannot pass, an identification number NO. 6 and the identification number NO. Since it is impossible to pass through the landmark No. 7, the identification number NO. 6 and the identification number NO.
The link connecting the landmark No. 7 is disconnected.

The identification number NO. 6 and the identification number NO. When the link connecting the landmark No. 7 is disconnected, the information of the tour group shown in FIGS. 10 and 14 is changed as in the case of addition. Identification number NO. 6, NO. Before the link between 7 is deleted, the tour D set as shown in FIG. 19A is deleted as shown in FIG. 19B.

As described above, addition and deletion of landmarks and links relating to routes that can be passed are performed.
Creation of a new tour group is completed. Returning to FIG. 15, if landmarks and links are added and deleted as described above, it may not be possible to pass through. Therefore, based on a newly created tour group, A route plan is created again (step S5-8). Note that the route plan creation has already been described with reference to FIG. 12, and a description thereof will be omitted.

As described above, when an environment change is detected by the environment sensor 4 while moving, landmarks and links are rewritten according to the detected environment, tour groups are changed, and a new route is created. And continue moving. According to the above processing, the change of the landmark map occurs when there is a new place where the robot can go and when there is a place where it can no longer be used, and if necessary, add / delete landmarks, Further, a tour group of the database is reconstructed by creating / deleting a link.
Such a change is a very simple process compared to changing a map indicated by an absolute position.

Further, in such a change, when the autonomous mobile robot device 1 detects a change in the environment, the landmark map is changed only when the behavior of the autonomous mobile robot device 1 is affected. In other words, small changes in the environment and slight sensor errors unrelated to the movement of the autonomous mobile robot device 1 can be ignored, and the amount of calculation in the central processing unit 7 can be reduced.

Here, the description will be continued by returning to FIG. 11 again. At this time, the central processing unit 7 measures and stores the moving distance and the moving time. After the movement is completed, the central processing unit 7 stores the moving distance and the moving time in the map memory 3 according to the measured moving distance and the moving time. Updates the travel information stored in the database to give accurate information.

When the robot arrives at the final destination in step S3-6, the central processing unit 7 ends the robot moving process and performs an information changing process for changing the moving information and the like according to the stored information. (Step S3-7). This step S3-7 is claimed in claims 12, 13, 14, 15, 16
This is equivalent to the embodiment of FIG.

FIG. 20 is a flowchart showing the operation of the information updating process according to one embodiment of the present invention. The information updating process corresponds to the embodiments of claims 8 and 9 of the claims. In the information updating process, the central processing unit 7 acquires a moving distance and a moving time between the recorded landmarks during the movement (step S6-1). Next, the central processing unit 7
The latest travel distance, travel time, and existence probability are calculated from the travel distance, travel time, past travel distance, and travel time acquired in step S6-1, and updated (step S6-). 2, S6-3).

FIG. 21 is a diagram for explaining a method of calculating the latest moving distance and moving time according to one embodiment of the present invention. As a method of calculating the latest travel distance and travel time, there is a method of taking an average value with past data.

For example, the identification number NO. 1 and the identification number NO. As a result of the first movement with respect to the landmark No. 2, a movement distance of 995.3 [cm] and a movement time of 19.91 [min] are obtained. At this time, the current movement is the third time. At this time, the first movement distance was 985.3 [cm], and the movement time was 20.05.
[Min], and the second moving distance is 1002.4.
Assuming that [cm] and the travel time are 20.05 [min], the latest travel distance information and travel time information are the travel distance 9 calculated as the average of the travel distance and travel time up to this time.
94.3 [cm] and the movement time are 19.89 [min]. By taking the average of the past moving distance and moving time as the moving distance and moving time, a value absorbing variation in each moving can be obtained, and the moving route can be selected accurately.

In FIG. 21, all information from the past to the present is averaged. However, as the number of times increases, a large number of past data must be stored, and it becomes easy to be dominated by past data. Since it becomes difficult to reflect the current situation, a method may be used in which only data for the past several times from the present is held and the average thereof is used as the latest data.

FIG. 22 is a view for explaining a modification of the method for calculating the latest moving distance and moving time according to one embodiment of the present invention. In FIG. 22, assuming that a moving distance of 995.3 [cm] and a moving time of 19.91 [min] are obtained as the n-th result, the current data moving distance of 995.3 is obtained.
[Cm], moving time 19.91 [min], and data for the past two times, that is, the result of n-2 times, the moving distance 98
5.3 [cm], movement time 14.47 [min], and as a result of the (n-1) th time, movement distance 1002.4 [c]
m], the average of the travel time 20.05 [min] is taken,
Moving distance 994.3 [cm], moving time 19.89 [m]
in] is set as the latest travel distance and travel time.

The results from the first time to the (n-3) th time in the past are deleted every time they are moved. As described above, the data held as the movement result is good up to the past two times, and the memory capacity can be reduced. Also, since only recent information is reflected, a value corresponding to the current situation can be obtained.

FIG. 23 is a diagram for explaining the operation of changing the existence probability according to the embodiment of the present invention. If the existence probability is set as the movement information, the existence probability is updated depending on whether or not the passage is possible. The existence probability Ce becomes “1” if passing is possible at all times, and becomes “0” if passing is not possible.

[0099]

(Equation 2)

Note that P is an empirical value, which is “0” in the initial state.
Then, the existence probability Ce at this time becomes “0.5”, and is incremented each time a single pass is possible, decremented each time a single pass is not possible, and the existence probability Ce is controlled. The existence probability Ce in the equation (2) has a waveform as shown in FIG. For example, if one pass can be made, P is incremented, "0.731059", and if two passes, P is further incremented, and "0.88079".
7 ", after three passes, P is further incremented and approximated to" 1 "such as" 0.952574 ".

If the pass cannot be made once, P is decremented to "0.268941". If the pass cannot be made twice, P is further decremented to "0.11".
9203 ", if it cannot pass three times, P is further decremented and approximated to" 0 ", such as" 0.047426 ".

As described above, the movement information is changed in accordance with the movement distance, the movement information, and whether or not the movement is measured at the time of movement, and can be a value corresponding to the actual movement. For this reason, an efficient moving route can be accurately set when the moving route is created. At step S6-3 in FIG. 20, when the update of the movement information is completed as described above, the tour group arrangement is rearranged so that the search is efficiently performed. This processing corresponds to the embodiment of claim 16 of the claims.

FIG. 24 is a diagram for explaining the operation of the tour group rearranging process according to one embodiment of the present invention. FIG. 24A shows a tour group before the movement, and FIG. 24B shows a tour group after the movement. First, it is searched whether or not the tour used in this movement exists in a tour group as shown in FIGS. 10 and 14 (step S6-4). In step S6-4, if the tour used in this movement is present in the tour group, the number of uses set for each tour in the tour group is incremented by "1", and the number of attempts is made as shown in FIG. The tours are sorted in the order of tours A to I (step S6-5, step S6)
-7) If a newly created tour is used in step S6-4, the number of uses of the newly created tour is set to "1", and the arrangement of the tour group is rearranged in order of the number of times (step S6-4). S6-6, S6-7).

For example, as shown in FIG. 24 (A), tours B used in the tour group arranged in the search order in tours A to I (identification number NO. → N)
O. 6), tour D (identification number NO.6 → NO.1)
1), Tour G (identification number NO.1 → NO.2 → NO.
The number of uses of “3” is incremented by “1”, and the numbers are arranged in descending order of the number of uses. 3 → NO. 6. Tour D has an identification number NO. 6 → NO. 11. Tour E has an identification number NO. 1 → NO. 2 → NO. 3 sequences are located,
The search ranking is increased.

As described above, the search order is raised in accordance with the number of times of use, so that the tour required at the time of the search for creating the travel route can be quickly searched, so that the travel route can be efficiently created. In the tour group, the travel route on which the travel was performed may be recorded as it is.

FIG. 25 is an operation explanatory diagram of a modified example of the tour group rearranging process according to one embodiment of the present invention. FIG. 25A shows a tour group before the movement, and FIG. 25B shows a tour group after the movement. For example, tours A, C, and G shown in FIG.
I using the identification number NO. 1 → NO. 2 → NO. 3 → N
O. 6 → NO. 11 → NO. 12 → NO. 13 is created and executed, a moving route that passes through
Movement route executed as shown in (B), identification number N
O. 1 → NO. 2 → NO. 3 → NO. 6 → NO. 11 →
NO. 12 → NO. 13 is inserted into the tour A whose search order is the highest, and the tours shown in FIG. The above processing is described in claim 1 of the appended claims.
1 corresponds to the processing of FIG.

As described above, the executed tour is positioned at a higher rank, so that when the same movement start position and movement end position are set at the next movement, the movement route is searched for once, The movement route can be created quickly.
It should be noted that the central processing unit 7 is provided with a constantly driving battery BA.
When the capacity of the battery T has been detected and the capacity of the battery BAT has decreased below a predetermined level, the shortest moving path is selected as the moving path to be selected in step S4-10 of the path plan creation processing in FIG. Change to

As described above, when the moving speed or the moving distance has to be reduced, the state of the battery is detected.
The moving route can be changed in accordance with the capacity of the battery, and problems such as stopping on the moving route can be prevented. As described above, according to the present embodiment, even if the environment changes, the map can be easily changed. In addition, since an action plan can be created without being conscious of detailed information on the environment, a route plan can be made in a more realistic time than in the related art. Also, even if you do n’t have an accurate map at first,
Interaction with the real world makes it possible to easily capture and correct information in the real world.

[0109]

As described above, according to the first aspect of the present invention, the surrounding environment is detected by the environment detecting means, the landmark of the moving route map including the landmark and the link is recognized, and the direction of the link is recognized. By moving sequentially, it becomes possible to move between landmarks on the moving route map composed of landmarks and links. At this time, the travel route map is simple information of only landmarks and links.
It has features such as easy creation and modification, and easy application to any place.

According to the second aspect, the link has the movement information indicating the degree of difficulty of the passage of the link, such as the moving distance, the moving time, the existence probability, and the like, so that the link among the moving paths generated by the moving path generating means is included. With the movement information, for example, by selecting a movement path with a short total sum of movement distances, a movement path with a short total movement time, and a movement path with a high existence probability, it is possible to select an efficient movement path. .

According to the third aspect, when the vehicle passes through a route that can or cannot be passed depending on the time of a signal or a railroad crossing, etc. When a traffic signal or a railroad crossing is not allowed to pass, a route that avoids a traffic light or a railroad crossing can be searched for, and a route that is efficient in movement, such as passing through, can be searched.

According to the fourth aspect, by sequentially following the link connected to the landmark, the landmark is a passing point and the link is a path that can be directly moved, so that the landmark and the link are connected. It has such features that a route to be moved can be easily generated by searching for a route.

According to the fifth aspect, an array of landmarks is generated for each link branched from a landmark from which a link branches, and is stored as a database. The array of landmarks stored in the database is used as the first landmark. By selecting the landmarks so that they match with the trailing landmarks and sequentially connecting the landmarks, a series of travel routes in which the landmarks are connected by links can be created. At this time, landmarks having no branch are stored in the database as a single array, so that the amount of data stored in the database can be reduced. In addition, since a series of travel routes is created by combining the arrangement of landmarks held in the database, there is a feature that the search of the travel route can be easily performed.

According to the present invention, the landmarks are assigned identification numbers, and the database is configured as an array of the assigned identification numbers. Therefore, the amount of data constituting the database can be reduced. It is possible to select an array that can form a series of moving routes only by detecting a mismatch, and to easily create a moving route.

According to the present invention, when there is a difference between the environment and the map information at the time of actual movement, the map information is changed so as to conform to the real environment. For example, when an obstacle that did not exist at the time of creating the map information is present in a portion that is a moving route in the map information, it cannot be moved, so processing such as disconnecting a link in the map information is performed. When a user moves, a moving route passing through the moving route is not selected, and the moving route suitable for the real environment can be created.

When the obstacle existing at the time of creating the map information is no longer present, a new landmark and link are added to that part, so that it can be selected as a part of the movement route at the next movement. It has features such as being able to create an optimal travel route.

According to the eighth aspect, the map information can be made closer to the actual environment by changing the movement information given to the link in accordance with the actual environment of the movement route detected by the environment detecting means. It has features such as the ability to create a moving route that more closely matches the real environment when creating the next moving route.

According to the ninth aspect, when the movement information given to the link is changed, the movement information previously given to the link is reflected in the change of the movement information due to the environment detected by the environment detecting means. This has the advantage that the variation in the environment detected by the environment detecting means is absorbed, and the movement information can be approximated to the real environment.

According to the tenth aspect, by rearranging the search order of the database in descending order of frequency according to the frequency used as the moving route, it is possible to shorten the database searching time when creating the moving route. Having.
According to the eleventh aspect, by storing the actual travel route in the database, it is not necessary to newly create the actual travel route, and a new travel route is created based on the travel route once created. Can be generated, so that the time required to create a moving route can be reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram of an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of map information according to an embodiment of the present invention.

FIG. 3 is an operation flowchart of a map creation process according to one embodiment of the present invention.

FIG. 4 is an explanatory diagram illustrating an operation of a map information generation process according to an embodiment of the present invention.

FIG. 5 is an explanatory diagram of an operation when a landmark is set in the map information generation processing according to one embodiment of the present invention.

FIG. 6 is an operation flowchart of a database creation process according to an embodiment of the present invention.

FIG. 7 is a diagram showing a state in which an identification number is given in a database creation process according to an embodiment of the present invention.

FIG. 8 is a configuration diagram of movement information given in a database creation process according to an embodiment of the present invention.

FIG. 9 is an explanatory diagram of a modification of the movement information obtained in the database processing according to one embodiment of the present invention.

FIG. 10 is a configuration diagram of a tour group generated in a database creation process according to an embodiment of the present invention.

FIG. 11 is an operation flowchart of a moving process according to an embodiment of the present invention.

FIG. 12 is an operation flowchart of a route plan creation process according to one embodiment of the present invention.

FIG. 13 is a diagram illustrating the operation of the tour generation method according to one embodiment of the present invention.

FIG. 14 is a diagram illustrating the operation of the tour generation method according to one embodiment of the present invention.

FIG. 15 is an operation flowchart of a map information updating process according to an embodiment of the present invention.

FIG. 16 is a diagram illustrating an operation when a landmark and a link are added according to an embodiment of the present invention.

FIG. 17 is an explanatory diagram of an operation when adding a landmark and a link according to an embodiment of the present invention.

FIG. 18 is an explanatory diagram of an operation when deleting a landmark and a link according to an embodiment of the present invention.

FIG. 19 is an explanatory diagram of an operation when deleting a landmark and a link according to an embodiment of the present invention.

FIG. 20 is an operation flowchart of an information update process according to an embodiment of the present invention.

FIG. 21 is a diagram illustrating a method of calculating the latest moving distance and moving time according to one embodiment of the present invention.

FIG. 22 is a diagram illustrating a modification of the method for calculating the latest moving distance and moving time according to one embodiment of the present invention.

FIG. 23 is a diagram for explaining an operation of changing the existence probability according to one embodiment of the present invention.

FIG. 24 is an explanatory diagram of the operation of the tour group rearranging process according to one embodiment of the present invention.

FIG. 25 is an operation explanatory diagram of a modified example of the tour group rearranging process according to one embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 autonomous mobile robot device 2 map information 3 map memory 4 environment sensor 5 input / output device 5a input device 5b display 6 interface circuit 7 central processing unit 8 program memory 9 drive circuit 10 drive mechanism

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Nobuo Watanabe 4-1-1, Kamiodanaka, Nakahara-ku, Kawasaki-shi, Kanagawa Prefecture Inside Fujitsu Limited (72) Minoru Sekiguchi 4-chome, Kamiodanaka, Nakahara-ku, Kawasaki-shi, Kanagawa Prefecture No. 1 Inside Fujitsu Limited

Claims (11)

[Claims] 1. A moving device that moves in a changing environment, comprising: a plurality of landmarks installed at movable positions in the moving environment; Moving path map holding means for holding a moving path map composed of links connecting landmarks, and moving path generating means for generating a moving path based on the moving path map held in the moving map holding means Movement control means for controlling movement based on the movement path generated by the movement path generation means; environment detection means for detecting the surrounding environment; and the state of the environment detected by the environment detection means And when there is a difference between the travel route map held by the travel route map holding unit and the environment state detected by the environment detection unit, Mobile apparatus characterized by having a movement path map update means mirrored allowed to update the travel route map. 2. The moving route map holding unit holds moving information indicating a difficulty level when moving between the landmarks connected for each of the links, and the moving route generating unit generates a moving route of the generated moving route. 2. The mobile device according to claim 1, wherein a route having a smaller total sum of the mobile information is selected. 3. The travel route map holding means sets the travel information in accordance with an absolute time, and the travel route generation means selects a travel route having a small sum of the absolute times from the generated travel routes. 3. The mobile device according to claim 1, wherein 4. The moving route map holding means holds a series of moving routes as an array of the plurality of landmarks, and the moving route generating means determines a desired moving route by combining the array of landmarks. The mobile device according to any one of claims 1 to 3, wherein the mobile device is generated. 5. The moving route map holding means holds the series of moving routes as a divided moving route divided for each branch of the link, and the moving route generating means connects the divided moving routes sequentially. The moving device according to claim 4, wherein a desired moving route is generated by: 6. The moving route map holding unit holds the series of moving routes as an array of identification numbers assigned to the plurality of landmarks in advance, and the moving route generating unit identifies the moving route by the identification. The moving number is generated in an array of numbers, and the movement control means performs movement control so as to sequentially follow the identification numbers arranged by the moving path generating means. Moving equipment. 7. The moving route map updating means, as a result of detecting by the environment detecting means, a location on the moving route map held by the moving route map holding means, wherein the location is determined to be immovable. If it has, the landmark and the link connected to the unmovable location of the travel route map held in the travel route map holding means are deleted, and the travel route map holding means If the location that cannot be moved on the held travel route map is movable as a result of the detection by the environment detecting means, the travel route held by the travel route map holding means The mobile device according to any one of claims 1 to 6, wherein the landmark and the link are added to all locations on the map where the mobile device becomes movable. 8. The apparatus according to claim 1, further comprising moving information updating means for detecting said moving information by said environment detecting means when moving, and updating said moving information according to a moving result after moving. The moving device according to claim 1. 9. The mobile device according to claim 8, wherein said movement information updating means reflects past data when updating said movement information. 10. A method for detecting a frequency at which the series of travel routes is used as a travel route, and detecting the frequency of the database of the database provided in the travel route map holding unit according to the frequency detected by the frequency detection unit. The mobile device according to any one of claims 1 to 9, further comprising a database changing unit for sequentially rearranging the travel routes in an access order. 11. The system according to claim 1, further comprising a database control unit that stores a travel route actually traveled in the database as the series of travel routes.
The mobile device according to any one of the preceding claims.