JP2017224048A - Movement target determination device and movement target determination method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To autonomously move a movable body in a random manner.SOLUTION: A movement target determination device 100 comprises: a storage part 141; a movement direction determination part 1441; a movement distance determination part 1443; and a movement target setting part 1445. The storage part 141 stores a target point setting possible area A1, in which a movement target point to which an autonomous movable body 1 should move, can be set, in which a prescribed size of an area is set. The movement direction determination part 1441 determines in a random manner a target movement direction to which the autonomous movable body 1 moves from a self position. The movement distance determination part 1443 determines in a random manner a distance in which, when the autonomous movable body moves from the self position, the autonomous movable body can reach a position in the target point setting possible area A1 and the distance is equal to or more than a prescribed lower limit value, as a target movement distance. The movement target setting part 1445 sets an arrival position which the autonomous movable body 1 arrives, when the autonomous movable body moves from the self position to the target movement direction by the target movement distance, as a movement target point.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a moving target determining apparatus and a moving target determining method for determining a moving target in a predetermined moving environment of a mobile body that can move autonomously.

  2. Description of the Related Art Conventionally, a method for determining a movement route when a mobile body that can move autonomously moves autonomously is known. For example, a technique is known in which a user is made to operate a moving body and the moving body is taught a desired moving path. Patent Document 1 discloses that the self-propelled cleaner is rotated at a random rotation angle in a direction opposite to the side where the obstacle exists when viewed from the traveling direction of the self-propelled cleaner. Yes.

JP 2007-179394 A

When the mobile object is applied to, for example, a robot that performs an advertising activity, there are cases where it is desired to randomly move a moving environment in which the advertising activity is to be performed. In such a case, when a moving route is taught to a moving body, even if a random route is taught once, the moving body only moves autonomously repeatedly on the same route taught. Such a travel route is not a completely random travel route. In addition, teaching a random movement route by a user operation places a heavy burden on the user.
That is, in the conventional movement route determination method, a completely random movement route cannot be moved autonomously by the moving body.

  An object of the present invention is to autonomously move a moving body at random.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
A movement target determination device according to an aspect of the present invention includes a storage unit, a movement direction determination unit, a movement distance determination unit, and a movement target setting unit. The storage unit stores a target point settable area. The target settable area is an area of a predetermined size that can set a movement target point to be moved by the moving body in the environment map representing the moving environment of the moving body.
The movement direction determination unit randomly determines a target movement direction in which the moving body moves from its own position. The movement distance determination unit randomly determines a distance that can reach the position in the target point setting area and is equal to or greater than a predetermined lower limit distance as the target movement distance when moving from the self position.
The movement target setting unit sets, as a movement target point, an arrival position at which the moving body reaches when it has moved by a target movement distance from its own position in the target movement direction.

  In the above moving target determining device, the moving body is moved within the target point setting range that is reached when the moving body is moved by the target moving distance determined at random in the target moving direction determined at random from the current self-position. The arrival position is set as the movement target point. Thereby, in the target point setting possible area | region, a mobile body can be moved autonomously by a random distance in a random direction.

  In addition, by setting the target moving distance to a distance equal to or greater than a predetermined lower limit value, for example, the moving body continues to move small at the corner of the moving environment or at a position where the moving environment has become a dead end, It is possible to reduce the probability that it is impossible to escape from a corner or a dead end.

The target point settable area may be set independently of the movable area. The movable area represents an area in the environment map where the moving body can move. In this case, the movement target setting unit sets the arrival position as the movement target point if the arrival position exists in the movable region.
Thereby, a movement target point can be set in the movable area set independently of the target point setting area.

The storage unit may store a target point setting impossible area. The target point setting impossible area represents an area in the environment map where a movement target point cannot be set. Further, the target point setting impossible area is set independently of the movable area. In this case, the movement target setting unit sets the arrival position as the movement target point if the arrival position exists outside the target point setting impossible region.
Thereby, it is possible to make it impossible to set the movement target point in the target point setting impossible area set irrespective of the movable area where the movement target point can be set.

  The target point settable area may be rectangular or circular. Thereby, a movement target point can be set in a rectangular or circular area.

The moving target determination method according to another aspect of the present invention includes the following steps.
A step of setting a target point settable area which is an area of a predetermined size in which a moving target point to which the moving body should move can be set in the environment map representing the moving environment of the moving body.
A step of randomly determining a target moving direction in which the moving body moves from its own position.
A step of randomly determining, as a target moving distance, a distance that is reachable to a position in the target point settable area when moving from its own position and is equal to or greater than a predetermined lower limit distance.
A step of setting, as the movement target point, a reaching position where the moving body reaches when it has moved from the own position in the target movement direction by the target movement distance.

  In the above moving target determination method, the moving object is moved within the target point settable area that is reached when the moving body moves from the current self-position in a randomly determined target moving direction by a randomly determined target moving distance. The arrival position is set as the movement target point. Thereby, in the target point setting possible area | region, a mobile body can be moved autonomously by a random distance in a random direction.

  In addition, by setting the target moving distance to a distance equal to or greater than a predetermined lower limit value, for example, the moving body continues to move small at the corner of the moving environment or at a position where the moving environment has become a dead end, It is possible to reduce the probability that it is impossible to escape from a corner or a dead end.

  A moving body can be moved autonomously at random.

The figure which shows the structure of the autonomous mobile body by which one Embodiment of this invention was employ | adopted. The figure which shows the structure of a control part. The figure which shows the structure of a movement target point determination part. The figure which shows an example of the user interface for setting an area | region. The figure which shows an example of a mode that a circular area | region is drawn using a user interface. The figure which shows an example of a mode that a rectangular area | region is drawn using a user interface. The figure which shows an example of the setting method of the lower limit distance and upper limit distance using a user interface. The flowchart which shows the whole operation | movement of an autonomous mobile body. The flowchart which shows operation | movement of the autonomous mobile body at the time of autonomous mode execution. The figure which shows an example of the target point setting possible area | region, the movable area | region, and the target point setting impossible area | region set to the environment map. The figure which shows an example of the arrival position inappropriate as a candidate of a movement target point. The figure which shows an example of the arrival position inappropriate as a movement target point. The flowchart which shows the calculation method of an arrival position. The figure which shows an example of the set rectangular boundary line. The figure which shows an example of the intersection of the straight line which passes through a self-position, and has the angle of the target moving direction candidate as inclination, and the said straight line and a rectangular boundary line. The figure which shows an example when an autonomous mobile body becomes unable to escape from the corner | angular of an area | region. The figure which shows an example of other embodiment of the determination method of a target moving distance. The figure which shows other embodiment of the target point setting possible area | region (the 1). The figure which shows other embodiment of the target point setting possible area | region (the 2).

1. First Embodiment (1) Configuration of Autonomous Mobile Body An example of an autonomous mobile body 1 in which a movement target determining device 100 (described later) is used will be described. The autonomous mobile body 1 described below is a mobile body that can move autonomously to a movement target point determined by the movement target determination device 100, for example. First, the structure of the autonomous mobile body 1 is demonstrated using FIG. FIG. 1 is a diagram illustrating a configuration of an autonomous mobile body in which an embodiment of the present invention is employed.
The autonomous mobile body 1 has a main body 11. The main body 11 is, for example, a housing constituting the main body of the autonomous mobile body 1. In the present embodiment, a “self position” described later is defined as the position (coordinates) of the center of the main body 11 on the environment map M1 representing the moving environment ME. The term “self” refers to the main body 11 of the autonomous mobile body 1.

The autonomous mobile body 1 has a moving unit 12. The moving unit 12 is, for example, a differential two-wheeled moving unit that moves the main body 11.
Specifically, the moving unit 12 includes a pair of motors 121a and 121b. The pair of motors 121 a and 121 b are electric motors, such as a servo motor and a brushless motor, provided at the bottom of the main body 11. The pair of motors 121a and 121b are electrically connected to a control unit 14 (described later), and independently rotate their output rotation shafts at an arbitrary rotational speed and torque based on a command from the control unit 14. .

The moving unit 12 includes a pair of wheels 123a and 123b. Each of the pair of wheels 123a and 123b is in contact with the floor surface (moving surface) of the mobile environment ME, and is connected to the output rotation shafts of the pair of motors 121a and 121b. As a result, the wheels 123a and 123b are independently rotated by the motors 121a and 121b, respectively, to move the main body 11.
Since independent rotation is possible as described above, the posture of the main body 11 can be changed by causing a difference in the rotational speeds of the wheels 123a and 123b. On the other hand, if the rotation speeds of the pair of wheels 123a and 123b are the same, the main body 11 can go straight.

  Encoders 125a and 125b (FIG. 2) are provided on the output rotation shafts of the motors 121a and 121b, respectively. The encoders 125a and 125b are, for example, incremental encoders that output a pulse signal based on the rotation amount of the output rotation shaft of the motors 121a and 121b. Accordingly, the self-position estimation unit 143 (described later) determines the position and / or position of the autonomous mobile body 1 (main body 11) in the mobile environment ME based on the rotation amounts of the motors 121a and 121b, that is, the rotation amounts of the wheels 123a and 123b. Alternatively, the posture can be estimated.

The autonomous mobile body 1 has a laser range sensor 13. For example, the laser range sensor 13 applies laser light pulse-oscillated by a laser oscillator to an obstacle or an object that is a structure in the mobile environment ME (for example, a pillar, a shelf, or a wall arranged in the mobile environment ME). This is a laser range finder (LRF) that obtains information related to an obstacle or an object by receiving the reflected light that is irradiated radially and reflected from the obstacle by a laser receiver.
The laser range sensor 13 includes a first laser range sensor 131 disposed at the front portion of the main body 11 and a second laser range sensor 133 disposed at the rear portion of the main body 11.

The first laser range sensor 131 is included in a circle having a radius of about 20 m in front of the main body 11 around the first laser range sensor 131 by generating laser light radially in front of the main body 11 in the left-right direction. Get information about obstacles and objects.
On the other hand, the second laser range sensor 133 generates laser light radially in the left-right direction behind the main body 11, so that the second laser range sensor 133 is within a circle having a radius of about 5 m behind the main body 11 with the second laser range sensor 133 as the center. Get information about obstacles and objects included.
Note that the detectable distance of the laser range sensor is not limited to the above value, and can be changed as appropriate according to the application of the autonomous mobile body 1 and the like.

  In addition to the laser range finder, a sensor capable of measuring the distance between the obstacle or object existing in the surroundings and the sensor (main body 11) is used as the sensor for detecting the obstacle or the object. it can. For example, a TOF (Time Of Flight) camera or the like can be used. Furthermore, a system or the like that can operate a sensor that measures a one-dimensional or two-dimensional distance as one that measures a two-dimensional or three-dimensional distance can be used.

  The autonomous mobile body 1 has a control unit 14. The control unit 14 is a computer system including a CPU (Central Processing Unit), a hard disk device, a ROM (Read Only Memory), a RAM (Random Access Memory), a storage device such as a storage medium reading device, an interface for performing signal conversion, and the like. is there. The control unit 14 controls each part of the autonomous mobile body 1. The configuration of the control unit 14 will be described in detail later.

  The autonomous mobile body 1 may further include an auxiliary wheel portion 15. The auxiliary wheel portion 15 has two auxiliary wheels 15a and 15b. The two auxiliary wheels 15a and 15b are attached so that each can rotate independently. By providing the auxiliary wheel part 15, the autonomous mobile body 1 can move stably and smoothly.

(2) Configuration of Control Unit The configuration of the control unit 14 will be described with reference to FIG. FIG. 2 is a diagram illustrating a configuration of the control unit.
Note that some or all of the functions of each unit of the control unit 14 described below may be realized as a program that can be executed in a computer system. The program may be stored in a storage device of the microcomputer system. Alternatively, part or all of the above functions may be realized by a custom IC or the like.

  The control unit 14 includes a storage unit 141. The storage unit 141 is a part of a storage area of a storage device of a computer system that constitutes the control unit 14. The storage unit 141 stores various information used for controlling the autonomous mobile body 1.

The control unit 14 includes a local map acquisition unit 142. The local map acquisition unit 142 acquires the local map M2 based on the signal acquired from the laser range sensor 13. The local map M2 is map information within a predetermined range centered on the location of the autonomous mobile body 1 in the mobile environment ME. In the present embodiment, the local map acquisition unit 142 acquires the local map M2 as follows.
The local map acquisition unit 142 first determines the laser range sensor 13 and the object from the time difference between the timing when the laser range sensor 13 irradiates the laser light and the timing when the reflected light is received by the laser range sensor 13 (laser receiver). And the distance is calculated. Further, for example, the direction in which the object is seen from the main body 11 can be calculated from the angle of the light receiving surface of the laser receiver when the reflected light is received.

Thereafter, the local map acquisition unit 142 sets the relative distance of the object viewed from the main body 11 calculated from the time difference and the angle of the light receiving surface when the reflected light is received to a coordinate plane representing the moving environment ME. Convert to the above coordinate value. Thereby, the local map acquisition part 142 can acquire the map information showing the relative position with respect to the autonomous mobile body 1 of the object which exists around the autonomous mobile body 1 (main body 11) as the local map M2.
For example, the distance from the autonomous mobile body 1 to the object is calculated as R, and the angle of the light receiving surface of the laser range sensor 13 is α (a counterclockwise positive angle with respect to the straight direction of the autonomous mobile body 1 (FIG. 1)). The relative position of the object with respect to the autonomous mobile body 1 is a coordinate system in which the center of the laser range sensor 13 is the origin and the straight direction of the autonomous mobile body 1 is the x direction (horizontal direction). , (R * cos α, R * sin α) can be calculated.
The local map acquisition unit 142 stores the local map M2 acquired as described above in the storage unit 141.

The local map acquisition unit 142 uses the angle α acquired by the laser range sensor 13 and the distance R from the autonomous mobile body 1 to the object, and sets the straight traveling direction of the autonomous mobile body 1 in the x direction (horizontal direction). It is not necessary to convert to the Cartesian coordinate system. That is, the coordinate system representing the moving environment ME (referred to as the moving coordinate system) is not an orthogonal coordinate system, but, for example, the distance from the center point of the moving environment ME and the angle with respect to the axis passing through the center point It is good also as a polar coordinate system which has as a coordinate value.
Hereinafter, in order to simplify the description, a case where an orthogonal coordinate system is used as the moving coordinate system will be described.

The control unit 14 includes a self-position estimation unit 143. While the autonomous mobile body 1 is moving in the mobile environment ME, the self-position estimation unit 143 is configured so that the position of the autonomous mobile body 1 in the mobile environment ME (referred to as self-position) and / or a predetermined axis (for example, a moving coordinate system) An angle (referred to as a posture) at which the autonomous mobile body 1 is oriented with respect to (X axis of (XY coordinate system)) is estimated.
The self-position estimation unit 143 performs map matching between the local map M2 obtained by the local map acquisition unit 142 and the environment map M1 stored in the storage unit 141, so that the self-position and / or posture of the autonomous mobile body 1 Is estimated.

  Specifically, the self-position estimation unit 143 first of the autonomous mobile body 1 on the mobile environment ME calculated based on the rotation amounts of the motors 121a and 121b (wheels 123a and 123b) acquired from the encoders 125a and 125b. A local map M2 is arranged at a position on the environment map M1 corresponding to the position.

Next, the self-position estimation unit 143 rotates the local map M2 by the posture (angle) calculated based on the rotation amount of the wheels 123a and 123b at the position, and the environment map M1 and the local map M2 Perform map matching.
Specifically, the self-position estimation unit 143 first sets a plurality of positions on the environment map M1 within a predetermined range centered on the position and / or posture estimated based on the rotation amounts of the wheels 123a and 123b. The local map M2 is arranged, and the local map M2 is rotated within a predetermined rotation angle range at each of the plurality of positions.

  Thereafter, the self-position estimating unit 143 determines the position and rotation angle at which the local map M2 most closely matches (matches) the environment map M1 among the plurality of arrangement positions and the plurality of rotation angles. Estimated. The estimation of the self position and / or posture by such map matching can be executed by, for example, “likelihood calculation”.

  As described above, when map matching is performed between the environmental map M1 and the local map M2, by providing a width to the arrangement position and rotation angle of the local map M2, the self-position based on the rotation amount of the wheels 123a and 123b and / or Or the estimation error of the posture and the estimation error of the self position and / or the posture in the map matching (mainly due to the error included in the local map M2 and / or the environment map M1 acquired by the laser range sensor 13). The self-position and / or posture can be accurately estimated by canceling.

In addition, the self-position estimation unit 143 creates an environment map M1 representing the position of the object in the mobile environment ME (that is, the environment in which the autonomous mobile body 1 moves).
For example, the self-position estimation unit 143 arranges the local map M2 acquired when estimating the self-position at the self-position estimated when the autonomous mobile body 1 is moved by the user's operation. Create M1.
Specifically, the self-position estimation unit 143 estimates the self-position and / or posture of the autonomous mobile body 1 at a predetermined time interval (for example, the control period of the control unit 14) during execution of the manual mode, for example. To do. As a result, a plurality of self-positions are estimated until the autonomous mobile body 1 moves from the movement start position to the movement end position in the manual mode, and a corresponding local map M2 is obtained at each of the plurality of self-positions. To be acquired.

  The self-position estimation unit 143 can create the environment map M1 by arranging a corresponding local map M2 at each coordinate of the estimated plurality of self-positions in the movement coordinate system. The self-position estimation unit 143 stores the environmental map M1 created in this way in the storage unit 141.

The control unit 14 includes a movement target point determination unit 144. The movement target point determination unit 144 determines a movement target point when the autonomous mobile body 1 moves autonomously in the autonomous mode.
When the movement target point determination unit 144 moves from the current self position in a random direction (referred to as a target movement direction) by a random distance (referred to as a target movement distance), an autonomous mobile body Of the arrival positions to which 1 arrives, the one that meets a predetermined condition can be set as the target position (that is, the movement target point) that should be reached next from the current self position. Thereby, the movement target point determination part 144 can also move the autonomous mobile body 1 at random in the movement environment ME. Of course, the autonomous mobile body 1 can move regularly to the movement target point designated by the user.

  By having the above movement target point determination unit 144 (or its function), the control unit 14 constitutes the movement target determination device 100. The configuration and function of the movement target point determination unit 144 will be described in detail later.

  The control unit 14 includes a movement control unit 145. The movement control unit 145 controls the motors 121a and 121b. The movement control unit 145 is, for example, a motor driver that calculates control amounts of the motors 121a and 121b and outputs drive power based on the control amounts to the motors 121a and 121b. The movement control unit 145 calculates the control amounts of the motors 121a and 121b so that the rotation amount (rotation speed) per unit time of the motors 121a and 121b input from the encoders 125a and 125b becomes a desired rotation speed. Yes (feedback control).

The movement control unit 145 can execute either the autonomous mode or the manual mode by switching by the user. When the autonomous mode is executed, the movement control unit 145 determines, for example, the difference between the movement target point determined by the movement target point determination unit 144 and the self position and / or posture estimated by the self position estimation unit 143. Based on this, the control amounts of the motors 121a and 121b are calculated, and driving power based on the calculated control amounts is output to these motors.
Thereby, the movement control part 145 can move autonomously to the random movement target point determined by the movement target point determination part 144 in the situation where the movement target is not specified by the user when the autonomous mode is executed.

  On the other hand, at the time of executing the manual mode, the movement control unit 145 is, for example, a controller or a computer system that can communicate with the autonomous mobile body 1 wirelessly or by wire, or an operation handle (see FIG. A user's operation using an operation device such as (not shown) is received, and the motors 121a and 121b are controlled based on the user's operation. Thereby, the autonomous mobile body 1 becomes movable by a user's operation.

  Since the control unit 14 has the above-described configuration, the control unit 14 can move the autonomous mobile body 1 by the operation of the operator when the manual mode is executed. On the other hand, in a situation where the movement target is not specified by the user when the autonomous mode is executed, the control unit 14 can autonomously move the autonomous mobile body 1 to a random movement target point.

(3) Configuration of Moving Target Point Determination Unit Next, the configuration of the moving target point determination unit 144 will be described with reference to FIG. FIG. 3 is a diagram illustrating a configuration of the movement target point determination unit.
The movement target point determination unit 144 includes a movement direction determination unit 1441. The movement direction determination unit 1441 randomly determines a target movement direction in which the autonomous mobile body 1 moves from its current position. Specifically, the moving direction determination unit 1441 uses a random number generator implemented in software or hardware, and uses a random number within a predetermined value range (for example, a random number in a range from 0 ° to 360 °). ) And the random number is generated as a target movement direction candidate (referred to as a target movement direction candidate).

  In this embodiment, the target movement direction candidate and the target movement direction are defined as angles formed with the X axis in the movement coordinate system with the counterclockwise direction being positive. The target movement direction candidate and the target movement direction can be arbitrarily defined as appropriate in the movement coordinate system or the polar coordinate system.

The movement direction determination unit 1441 is a boundary of the target point settable area A1 (area indicating the range in which the movement target point can be set) that is reached when moving from the current own position in the direction indicated by the target movement direction candidate. When the distance to the line is smaller than a predetermined lower limit distance, the current target movement direction candidate is determined to be inappropriate, and a new target movement direction candidate is determined again.
As a result, the movement direction determination unit 1441 continues to move small at the corner of the mobile environment ME or the set area, or at the position where the mobile environment ME has become a bag path, and the autonomous mobile body 1 Alternatively, it is possible to avoid calculating a target moving direction candidate that makes it impossible to escape from the dead end.

The movement target point determination unit 144 includes a movement distance determination unit 1443. When the autonomous mobile body 1 moves from its own position (in the target movement direction), the movement distance determination unit 1443 can reach the position in the target point settable area A1 and is equal to or greater than the above lower limit distance. The distance is randomly determined as a target moving distance candidate.
Specifically, the movement distance determination unit 1443 generates a random number and generates the random number as a target movement distance candidate. After that, among the generated target moving distance candidates, a target moving distance that is equal to or larger than the lower limit distance and equal to or smaller than a predetermined upper limit distance is determined.

  Since the target moving distance may be a random distance between the lower limit distance and the upper limit distance, the moving distance determination unit 1443 generates a random number within the range from the lower limit distance to the upper limit distance, The random number may be generated as the target moving distance.

The movement target point determination unit 144 includes a movement target setting unit 1445. The movement target setting unit 1445 sets, as the movement target point, the arrival position at which the autonomous mobile body 1 reaches when moving by the target movement distance from the own position in the target movement direction.
In the present embodiment, the candidate for the movement target point exists outside the movable area A <b> 2 set as the area where the autonomous mobile body 1 can move even though it exists in the target point setting area A <b> 1. Alternatively, when the target position cannot be set in the target point non-setting area A3 that is set as an area where the moving target point cannot be set, the moving target setting unit 1445 corresponds to each of the moving direction determining unit 1441 and the moving distance determining unit 1443. The command is again issued to determine the target moving direction and target moving distance.

  Accordingly, the movement target setting unit 1445 sets an appropriate movement target point that does not satisfy the above-described conditions, using the newly determined target movement direction and target movement distance.

  By having said structure, the movement target point determination part 144 can determine the movement target point which moves the autonomous mobile body 1 by a random distance in a random direction.

The movement target point determination unit 144 includes an area setting unit 1447. The area setting unit 1447 sets the target point settable area A1, the movable area A2, and / or the target point unsettable area A3.
In the present embodiment, the area setting unit 1447 displays, for example, a user interface UI as shown in FIG. 4 on the display of the control unit 14 or the like. The user can set the above three areas using the user interface UI.
FIG. 4 is a diagram illustrating an example of a user interface for setting an area.

  Specifically, the region setting unit 1447 includes a display unit 1447-1. The display unit 1447-1 displays at least a part of the environment map M1, for example, on the map display interface DI of the user interface UI.

The area setting unit 1447 includes a drawing unit 1447-3. The drawing unit 1447-3 draws the target point settable area A1, the movable area A2, and / or the target point unsettable area A3 on the map display interface DI on which at least a part of the environmental map M1 is displayed.
For example, the drawing unit 1447-3 displays a rectangular, square, or circular area (area indicated by a dotted line in FIG. 5A) on the map display interface DI designated by the user using a cursor CU (for example, a mouse cursor). Then, the selected region having a predetermined shape is drawn.

  The shape of the region to be drawn can be selected by, for example, pressing a button indicating the shape to be drawn among the plurality of buttons of the shape selection interface RI with the cursor CU. The selected shape can be visually recognized by the user, for example, by making the color of the corresponding button in the shape selection interface RI different from other buttons.

For example, as shown in FIG. 5A, when a circle is selected as the shape of the region to be drawn, the drawing unit 1447-3 displays a rectangular or square shape on the map display interface DI specified by the user using the cursor CU. A circle having a center at the intersection of the diagonal lines of the region and inscribed in the rectangular or square region is drawn. FIG. 5A is a diagram illustrating an example of how a circular region is drawn using a user interface.
If the shape of the area designated by the user on the map display interface DI is a circle or an ellipse, the drawing unit 1447-3 uses the circle or ellipse area as it is, and a target point setting area. Drawing is performed as A1, a movable area A2, and / or a target point setting impossible area A3. Thereby, the target point setting possible area A1, the movable area A2, and / or the target point impossible setting area A3 which are circular can be set.

On the other hand, when a rectangle (square) is selected as the shape to be drawn, the drawing unit 1447-3, for example, as shown in FIG. 5B, the circle on the map display interface DI specified by the user using the cursor CU. Draw a rectangle inscribed in the area. FIG. 5B is a diagram illustrating an example of how a rectangular area is drawn using the user interface.
If the shape of the area designated by the user on the map display interface DI is a rectangle, the drawing unit 1447-3 keeps the rectangular area as it is, the target point setting area A1, the movable area A2, And / or drawing as the target point setting impossible area A3. Thereby, the target point settable area A1, the movable area A2, and / or the target point non-settable area A3 that are rectangular can be set.

  In addition, the drawing unit 1447-3 is, for example, a predetermined polygon (triangle, quadrangle (rectangle)) specified by the user inscribed or circumscribed to a rectangular or circular area on the map display interface DI specified by the user. By drawing a pentagon, a hexagon, etc.) on the display unit 1447-1, it is possible to draw a target point settable area A1, a movable area A2, and / or a target point nonsettable area A3 having a polygon.

  Furthermore, as a modified example, the drawing unit 1447-3 is, for example, a map display designated by the user using an input device (for example, a keyboard, a touch panel, and / or a mouse) of a computer system constituting the control unit 14. By connecting a plurality of coordinate points on the interface DI with straight lines or the like, it is possible to set a target point setting area A1, a movable area A2, and / or a target point setting impossible area A3 having an arbitrary shape. Also good.

When drawing each of the above areas on the map display interface DI, the drawing unit 1447-3 determines that the drawn area is a target point settable area A1, a movable area A2, or a target point non-settable area A3. It is determined which one is. It is determined by the user as to which area to draw is set.
Specifically, as shown in FIGS. 4, 5A, and 5B, the user interface UI has an area type setting interface SI. The user can select a desired region type by placing the cursor CU on one of the three buttons arranged on the region type setting interface SI and pressing the button at the location.

The drawing unit 1447-3 determines which button of the region type setting interface SI is pressed when drawing the region on the map display interface DI, and the inside of the region drawn on the map display interface DI is determined. Color with the color corresponding to the determined region type. Thereby, the user visually confirms whether the drawn area is the target point setting area A1, the movable area A2, or the target point setting impossible area A3 by the coloring of the drawn area. it can.
In addition, by drawing an area after selecting an area type to be set by the area type setting interface SI, each drawn area is set as a target point settable area A1, a movable area A2, or a target point unsettable area A3. In any case, it can be set independently from the environment map M1 and other areas.

  For example, as shown in FIGS. 5A and 5B, the area drawn by the user is the target point settable area A1, and the movable area A2 is the path portion of the environment map M1 (in FIGS. 5A and 5B, the environment map M1 In the case of the white portion), the target point settable area A1 is set independently from the movable area A2 without being restricted by the shape of the movable area A2 (environment map M1). .

  The area setting unit 1447 includes an area creating unit 1447-5. The area creation unit 1447-5 creates a target point settable area A1, a movable area A2, and / or a target point unsettable area A3 that has been digitized (numerized) from the area drawn on the map display interface DI. create.

  By having the above configuration, the area setting unit 1447 can visually confirm at least a part of the environment map M1 displayed on the map display interface DI and at least a desired position of the environment map M1. A desired target point setting area A1, a movable area A2, and / or a target point setting area A3 can be set.

In the user interface UI, a lower limit value (lower limit distance) and / or an upper limit value (upper limit distance) of the target movement distance may be settable.
For example, as shown in FIG. 5C, a temporary straight line is drawn from the temporary self-position of the autonomous mobile body 1, and two points on the straight line are set. Of these, the distance from the temporary self position to the point closer to the temporary self position is set as the lower limit distance, and the distance from the temporary self position to the point farther from the temporary self position is the upper limit distance. Can be set as
FIG. 5C is a diagram illustrating an example of a setting method of the lower limit distance and the upper limit distance using the user interface.

(4) Operation of autonomous mobile body (4-1) Overall operation Hereinafter, the overall operation of the autonomous mobile body 1 will be described with reference to FIG. FIG. 6 is a flowchart showing the overall operation of the autonomous mobile body.
When the autonomous mobile body 1 starts operation, the control unit 14 determines whether or not the user has selected an operation mode (step S1). Specifically, for example, when an operation mode selection instruction signal is input from the input device or the operation device, the control unit 14 determines that the operation mode is selected by the user.
When the instruction signal for selecting the operation mode is not input (in the case of “No” in step S1), the control unit 14 stands by until the signal is input.

When the operation mode is selected by the user (“Yes” in step S1), the movement control unit 145 of the control unit 14 determines whether the selected operation mode is the manual mode or the autonomous mode. (Step S2).
When it is determined that the selected operation mode is the manual mode (in the case of “manual mode” in step S2), the movement control unit 145 executes the manual mode (step S3). Specifically, the movement control unit 145 receives an operation by the user, and outputs electric power corresponding to a control amount based on the received operation amount of the user to the motors 121a and 121b.

  In the manual mode, while the movement control unit 145 controls the motors 121a and 121b according to the user's operation, the self-position estimation unit 143 creates and stores the environmental map M1 as described above as necessary. Stored in the unit 141.

On the other hand, when it is determined that the selected operation mode is the autonomous mode (in the case of “autonomous mode” in step S2), the movement control unit 145 executes the autonomous mode (step S4).
Specifically, first, the self-position estimation unit 143 performs map matching between the environment map M1 stored in the storage unit 141 and the local map M2 acquired while moving the autonomous mobile body 1 in the autonomous mode. The self-position and / or posture of the autonomous mobile body 1 that is moving in the autonomous mode is estimated. Next, the movement target point determination unit 144 determines a movement target point.

After that, the movement control unit 145 compares the self position and / or posture estimated by the self position estimation unit 143 with the coordinate value of the movement target point determined by the movement target point determination unit 144, Based on the difference between the self position and / or posture and the movement target point to be reached next, the control amounts of the motors 121a and 121b are calculated, and the electric power corresponding to the control amounts is output to the motors 121a and 121b.
In addition, operation | movement of the autonomous mobile body 1 which is performing autonomous mode is demonstrated in detail later.

  During the execution of the manual mode or the autonomous mode, for example, unless the user stops the execution of the manual mode or the autonomous mode using the operation device (in the case of “No” in step S5), the autonomous mobile body 1 Continue operation.

By executing the above steps S1 to S5, the movement control unit 145 can control the movement unit 12 to pass the random movement target point determined by the movement target point determination unit 144 when the autonomous mode is executed. .
On the other hand, when the manual mode is executed, the movement control unit 145 receives an operation by the user and controls the movement unit 12, while the self-position estimation unit 143 displays an environment map M1 representing the movement environment ME as necessary. Can be created.

(4-2) Operation of Autonomous Mobile Body During Autonomous Mode Execution Next, detailed operation of the autonomous mobile body 1 in the autonomous mode (step S4 above) will be described in detail with reference to FIG. FIG. 7 is a flowchart showing the operation of the autonomous mobile body when the autonomous mode is executed.
When the autonomous mode is started, the control unit 14 confirms at least whether the target point settable region A1 is stored in the storage unit 141 in order to determine a region in which the movement target point can be set (step S401). .

When the target point settable area A1 is not stored in the storage unit 141 (in the case of “Yes” in step S401), the area setting unit 1447 displays the user interface UI on the display of the control unit 14 to inform the user. It notifies to set the target point settable area A1.
The user who confirmed the notification sets the target point settable area A1 as described above. Further, as necessary, the user sets the movable area A2 and / or the target point non-setting area A3 as described above (step S402).

In addition, even if the target point settable area A1, the movable area A2, and / or the target point unsettable area A3 is stored in the storage unit 141, the area setting unit 1447 A message for inquiring whether or not to newly set the target point setting area A1, the movable area A2, and / or the target point setting impossible area A3 may be displayed on the display or the like.
In this case, when the user selects to set a new area (“Yes” in step S401), the area setting unit 1447 displays the user interface UI on the display of the control unit 14. As a result, the user can newly set the target point settable area A1, the movable area A2, and / or the target point unsettable area A3 using the user interface UI (step S402).

  After executing the above step S402 or after selecting not to newly set the target point settable area A1, the movable area A2, and / or the target point unsettable area A3 (in the case of “No” in step S401) The autonomous mobile body 1 starts autonomous movement.

In the environment map M1 shown in FIG. 8, the target point settable area A1, the movable area A2, and the target point non-settable area A3 are set as shown in FIG. 8 by executing step S402. As an example, the autonomous moving operation of the autonomous mobile body 1 will be described.
FIG. 8 is a diagram illustrating an example of a target point settable area, a movable area, and a target point unsettable area set in the environment map.

When the autonomous movement is started, first, the movement target point determination unit 144 calculates the arrival position as a movement target point candidate from the current self position (step S403).
The movement target point determination unit 144 calculates, as the arrival position, the position at which the autonomous mobile body 1 arrives when moving by a randomly determined distance in the direction determined randomly from the current self position. The method for calculating the arrival position in step S403 will be described in detail later.

  After calculating the arrival position, the movement target setting unit 1445 determines whether or not the calculated arrival position is appropriate. Specifically, the movement target setting unit 1445 has the calculated arrival position within the target point settable area A1, within the movable area A2, and within the target point unsettable area A3. If it does not exist (that is, if all of Steps S404 to S406 are “Yes”), the calculated arrival position is determined to be appropriate as a candidate for the movement target point.

On the other hand, as shown in FIG. 9A, the calculated arrival position does not exist in the target point setting area A1, does not exist in the movable area A2, or exists outside the target point setting area A3. If there is no (that is, if any of Steps S404 to S406 is “No”), the arrival position is determined to be inappropriate as a candidate for the movement target point, and the autonomous mode execution process returns to Step S403. That is, the above steps S403 to S406 are repeatedly executed until an appropriate reaching position is calculated.
FIG. 9A is a diagram illustrating an example of an arrival position that is inappropriate as a candidate for a movement target point.

After calculating an appropriate arrival position as a candidate for the movement target point, the movement target setting unit 1445 has an obstacle in which the autonomous mobile body 1 exists in the mobile environment ME when the autonomous mobile body 1 is placed at the arrival position, and It is determined whether or not it interferes with the target point setting impossible area A3 (step S407).
The obstacle existing in the mobile environment ME is, for example, a building structure such as a wall and a pillar existing in the mobile environment ME, and / or a shelf arranged in the mobile environment ME.
When the movement target setting unit 1445 places an object corresponding to the size of the autonomous mobile body 1 on the environment map M1 (movement coordinate system), the movement target setting unit 1445 is an obstacle or target point setting impossible area in which the object exists in the environment map M1. Whether or not it interferes with A3 is determined by, for example, “hit determination”.

For example, as shown in FIG. 9B, when an area corresponding to the size of the autonomous mobile body 1 (an area indicated by a dotted circle in FIG. 9B) is placed at a suitable arrival position as a candidate, If it is determined that the area interferes with the obstacle and / or the target point setting impossible area A3 (“Yes” in step S407), the autonomous mode execution process returns to step S403.
That is, when the autonomous mobile body 1 arrives at an arrival position that interferes with the obstacle and / or target point impossible area A3, the autonomous mobile body 1 interferes (collises) with the obstacle, or the target point impossible area can be set. In order to enter the area designated as A3, it is determined that the arrival position is inappropriate as the movement target point, and the arrival position is calculated again.
FIG. 9B is a diagram illustrating an example of an arrival position that is inappropriate as a movement target point.

  On the other hand, if it is determined that even if the autonomous mobile body 1 is placed at a suitable arrival position as a candidate, it does not interfere with the obstacle or does not enter the area designated as the target point unsettable area A3 (step In the case of “No” in S407, the movement target setting unit 1445 sets the arrival position as the movement target point (step S408), and outputs the movement target point to the movement control unit 145.

  By executing the above steps, among the randomly calculated arrival positions, an appropriate position within the target point setting area A1 and within the movable area A2 and outside the target point setting impossible area A3. An optimal arrival position that exists at a position, does not interfere with an obstacle when the autonomous mobile body 1 is moved, and does not enter the area designated as the target point setting impossible area A3 can be determined as the movement target point. .

The movement control unit 145 that has received the movement target point calculated as described above moves the autonomous mobile body 1 to the movement target point, that is, the self-position (and / or the input from the self-position estimation unit 143). The moving unit 12 is controlled so that (posture) matches the movement target point (step S409).
When the autonomous mobile body 1 has reached the movement target point (in the case of “Yes” in step S409), the control unit 14 determines whether or not the user has commanded the autonomous mobile body 1 (or autonomous mode) to stop. Determination is made (step S410).

  Unless the stop of the autonomous mobile body 1 is commanded (as long as “No” in step S410), the autonomous mode execution process returns to step S43. That is, when the autonomous mobile body 1 reaches the movement target point, the movement control unit 145 sends a new movement target point to the movement target point determination unit 144 unless a command to stop the autonomous mobile body 1 or the autonomous mode is given. To calculate.

  By repeating the above steps S403 to S409 until the autonomous mobile body 1 or the stop of the autonomous mode is commanded, the autonomous mobile body 1 reaches a plurality of randomly determined movement target points and moves Environmental ME can be moved continuously and randomly.

(4-3) Method for Calculating Arrival Position Next, a method for calculating the arrival position as a candidate for a random movement target point (the above step S403) will be described with reference to FIG. FIG. 10 is a flowchart showing a method for calculating the arrival position.
When the calculation of the arrival position is started, the movement target point determination unit 144 sets a rectangular boundary line RB in the target point setting area A1 (step S4031). Specifically, as shown in FIG. 11, the radius of the autonomous mobile body 1 (the radius when the autonomous mobile body 1 is assumed to be circular) inside the boundary of the target point settable area A1 A rectangular boundary line RB is set.
Thereby, the probability that the autonomous mobile body 1 will calculate the arrival position which reaches | attains out of the target point setting area | region A1 can be reduced. FIG. 11 is a diagram illustrating an example of a set rectangular boundary line.

After setting the rectangular boundary line RB, the movement direction determination unit 1441 generates a target movement direction candidate that is a candidate for the movement direction from the current self position by generating a random number (step S4032).
Thereafter, the movement direction determination unit 1441 acquires the current self-position of the autonomous mobile body 1 from the self-position estimation unit 143 and, as shown in FIG. 12, the self-position (environment map M1 in FIG. 12) in the movement coordinate system. In FIG. 12, a straight line (indicated by a one-dot chain line in FIG. 12) having the angle of the target moving direction candidate generated by generating a random number as an inclination is drawn from the position indicated by a triangle. The equation representing this straight line can be specifically calculated from two conditions that the straight line passes through its own position and the inclination of the straight line is a target moving direction candidate.

After calculating the straight line having the inclination of the target moving direction candidate, the intersection of the straight line and the rectangular boundary line RB set in step S4031 is calculated (step S4033).
The intersection of the rectangular boundary line RB and the straight line is, for example, an expression representing the rectangular boundary line RB (the rectangular boundary line RB can be represented by an expression of four straight lines in the moving coordinate system) and the target movement A specific coordinate value can be calculated by calculating an intersection point with a straight line equation having the inclination of the direction candidate.
FIG. 12 is a diagram illustrating an example of a straight line that passes through the self-position and has a target moving direction candidate as an inclination, and an intersection of the straight line and a rectangular boundary line.

  Next, the moving direction determination unit 1441 determines whether or not the intersection calculated as described above is appropriate in light of a predetermined condition. Specifically, when the autonomous mobile body 1 moves from the current self position toward the intersection, the autonomous mobile body 1 may move finely at the corner of the region or at the bag path existing in the mobile environment ME and exit from the corner or the bag path. It is determined whether or not there is a possibility of being impossible.

When generating a movement route having a random movement distance in a random direction, if the autonomous mobile body 1 cannot escape from the corner of the area or the bag path of the movement environment ME, for example, as shown in FIG. This is likely to occur when the autonomous mobile body 1 is allowed to move at a short distance in the corner or the narrow path.
FIG. 13 is a diagram illustrating an example when the autonomous mobile body can no longer escape from the corner of the region.

  Therefore, in this embodiment, whether or not the distance to the calculated intersection point is equal to or greater than a predetermined lower limit distance is determined whether or not it becomes impossible to exit from a corner of a region or a dead end. (Step S4034).

When the distance from the current self-position to the above intersection is smaller than the lower limit distance (in the case of “No” in step S4034), moving to the calculated target movement direction candidate can exit the corner of the area or the dead path. It is determined that there is a possibility of disappearing, and the reaching position calculation process returns to step S4032.
That is, the movement direction determination unit 1441 generates a random number again to generate a new target movement direction candidate.

  On the other hand, if the distance from the current self-position to the intersection toward the target movement direction candidate is equal to or greater than the lower limit distance (in the case of “Yes” in step S4034), if the user moves to the target movement direction candidate, he / she enters a corner or a dead path. The movement direction determination unit 1441 determines the target movement direction candidate in the direction of the intersection as the target movement direction (step S4035).

By executing steps S4031 to S4035 described above, the probability that the autonomous mobile body 1 cannot move out of the narrow area by moving finely in a narrow area such as a corner of the area or a bag path of the mobile environment ME is reduced. it can.
In addition, the movement direction determination unit 1441 can generate a random (disordered) movement direction of the autonomous mobile body 1 by determining the random number generated by itself as the target movement direction.

After determining the target moving direction, the moving distance determining unit 1443 determines a target moving distance for moving in the target moving direction determined from the current self position. The target movement distance is also calculated as a random distance that satisfies a predetermined condition, similarly to the target movement direction.
Specifically, the movement distance determination unit 1443 generates a random number and generates the random number as a target movement distance candidate that is a candidate for the target movement distance (step S4036).
Next, the movement distance determination unit 1443 determines whether or not the target movement distance candidate is equal to or greater than the above lower limit distance and equal to or less than a predetermined upper limit distance (step S4037).

When the distance between the intersection calculated in step S4033 and the current self-position is smaller than the upper limit distance, the movement distance determination unit 1443 determines that the target movement distance candidate is equal to or greater than the lower limit distance, and It is determined whether or not the distance is less than or equal to the distance between the intersection and the current self position.
Thereby, the probability that the reaching position is set outside the target point setting area A1 can be reduced.

  The target moving distance candidate is smaller than the lower limit distance or higher than the upper limit distance (or the distance between the intersection of the straight line whose inclination is the target moving direction and the rectangular boundary line RB and the current self position). If larger (in the case of “No” in step S4037), the reaching position calculation process returns to step S4036. That is, the movement distance determination unit 1443 generates a random number and generates a new target movement distance candidate.

On the other hand, the target moving distance candidate is not less than the lower limit distance and not more than the upper limit distance (or the distance between the intersection of the straight line whose inclination is the target moving direction and the rectangular boundary line RB and the current self position). If (Yes in step S4037), the movement distance determination unit 1443 determines the target movement distance candidate as the target movement distance (step S4038).
By executing the above steps S4036 to S4038, the movement distance determination unit 1443 is a random target movement that is not less than the lower limit distance and not more than the upper limit distance (and the arrival position is within the target point settable area A1). The distance can be calculated.

After determining the target movement direction and the target movement distance, the movement target setting unit 1445 calculates the arrival position using the determined target movement direction and target movement distance (step S4039).
Specifically, for example, an expression that expresses two conditions that the arrival position is on a straight line having a gradient in the target movement direction and that the distance between the arrival position and the current self position is the target movement distance. The coordinate value of the arrival position in the moving coordinate system can be specifically calculated by solving the simultaneous equations consisting of

  By executing the above steps S4031 to S4039, the arrival position reached by the autonomous mobile body 1 when moving by the target movement distance from the self position to the target movement direction is changed to a random distance in a random direction from the self position. It can be calculated as a certain position.

(5) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.
(A) Another embodiment of the method for determining the movement target point (part 1)
The moving target point only needs to be a point (coordinate value) within the target point settable area A1 and the moveable area A2 and outside the target point non-settable area A3. It is not limited to determining whether or not the position is within a predetermined area after calculating the arrival position.

  For example, in the moving coordinate system, after determining an area that is in the target point settable area A1 and the movable area A2 and is outside the target point unsettable area A3, You may determine as a movement target point.

  Specifically, first, an overlapping area between the target point settable area A1 and the movable area A2 is set as an area (overlapping area) where the moving target point can be set. Thereafter, in the same manner as described in the first embodiment, the target movement direction and the target movement distance that satisfy the condition that the arrival position exists in the overlapping region are calculated, and the target movement direction is calculated from the current self position. The position moved by the target movement distance is set as the movement target point.

  In addition, as shown in FIG. 14, when the target point setting impossible area A3 exists in the overlapping area, and a straight line passing through the current self-position and having the target moving direction passes through the target point setting impossible area A3. Is within the range not less than the lower limit distance and not more than the distance from the first (more nearby) intersection of the straight line and the target point impossible area A3 to the current self position, or the straight line and the target point impossible area A3. The target moving distance from the current self position to the target moving direction is set as a target moving distance that is greater than or equal to the distance from the next intersection (further from the self position) to the current self position and less than or equal to the upper limit distance. The position moved by the movement distance is determined as the movement target point.

(B) Another embodiment of the method for determining the movement target point (part 2)
A plurality of movement target points may be determined at the current self-position.
For example, from the movement start position of the autonomous mobile body 1 in the autonomous mode, the above steps S401 to S410 are repeatedly executed to calculate a plurality of movement target points, and then autonomously move so as to pass through each of the plurality of movement target points. The body 1 may be moved autonomously.

  In addition, for example, when a predetermined number of movement target points are determined at a certain self-position and the last movement target point is reached among the predetermined number of movement target points, the predetermined number (the number in this case) is again determined. May be the same as the previously determined number of movement target points, or may be different).

  Thus, by calculating a plurality of movement target points at once, for example, the autonomous mobile body 1 can smoothly move autonomously without stopping the autonomous mobile body 1 at its current position for determining the movement target point. Can be made.

(C) Another embodiment of the method for determining the movement target point (part 3)
When the current self position is outside the target point settable area A1, in order to resume the movement of the random movement route, the autonomous mobile body 1 is moved back into the target point settable area A1. It can also be made.
By making the movement possible, for example, the autonomous mobile body 1 moves to a charging station outside the target point setting area A1 for charging the battery, and in the target point setting area A1 after charging the battery. It is possible to return to and resume the random movement route.

(D) Other Embodiments Regarding Target Point Settable Area In the first embodiment described above, one rectangular (or circular) target point settable area A1 is set in the environment map M1 (moving environment ME). It was. However, the shape and set number of the target point settable area A1 are not limited to the above.
For example, as shown in FIG. 15A, a target point setting area A1 in which a rectangle is inclined by a predetermined angle can be set. Further, as shown in FIG. 15B, the target point settable area A1 can be set individually at a distant place in the movable area A2.
15A and 15B are diagrams showing another embodiment of the target point setting possible region.

(E) Other embodiment about movable area | region In said 1st Embodiment, all the channel | path parts of the environmental map M1 were set as movable area | region A2. However, in the path portion of the environment map M1, for example, if the autonomous mobile body 1 is not allowed to move to a predetermined area because of obstacles such as shelves arranged frequently, the path A part other than the predetermined area may be set as the movable area A2. Thereby, the autonomous mobile body 1 can move a part of passage part of the environment map M1.

(F) Other embodiment of environmental map In said 1st Embodiment, environmental map M1 is produced based on the information (local map M2) acquired when the autonomous mobile body 1 was moved in manual mode. It had been. However, the present invention is not limited to this, and the environment map M1 may be created by using CAD and / or drawing software, and may be used in the autonomous mobile body 1 by performing data conversion as necessary. Thereby, it is not necessary to move the autonomous mobile body 1 in order to generate the environment map M1.

(G) Other embodiment about moving part of autonomous moving body In said 1st Embodiment, the moving part 12 with which the autonomous moving body 1 is provided was a differential two-wheeled moving part. However, the moving unit 12 included in the autonomous mobile body 1 is not limited to the differential two-wheel type, and may have a structure different from that of the differential two-wheel type, such as an omni wheel capable of omnidirectional movement.

  The present invention can be widely applied to a moving target determining apparatus and a moving target determining method for determining a moving target in a predetermined moving environment of a mobile body that can move autonomously.

DESCRIPTION OF SYMBOLS 1 Autonomous mobile body 11 Main body 12 Moving part 121a, 121b Motor 123a, 123b Wheel 125a, 125b Encoder 13 Laser range sensor 131 1st laser range sensor 133 2nd laser range sensor 14 Control part 100 Moving target determination apparatus 141 Storage part 142 Local Map acquisition unit 143 Self-position estimation unit 144 Movement target point determination unit 1441 Movement direction determination unit 1443 Movement distance determination unit 1445 Movement target setting unit 145 Movement control unit 1447 Area setting unit 1447-1 Display unit 1447-3 Drawing unit 1447-5 Area creation part 15 Auxiliary wheel part 15a, 15b Auxiliary wheel A1 Target point settable area A2 Moveable area A3 Target point non-settable area M1 Environmental map UI User interface

Claims (5)

A storage unit for storing a target point setting possible region for setting a region of a predetermined size in which a moving target point to be moved by the moving body among the environment map representing the moving environment of the moving body;
A moving direction determining unit that randomly determines a target moving direction in which the moving body moves from its own position;
A movement distance determination unit that randomly determines a distance that is reachable to a position in the target point settable area and is equal to or greater than a predetermined lower limit distance as a target movement distance when moving from the self position. When,
A movement target setting unit that sets, as the movement target point, an arrival position reached by the moving body when moving by the target movement distance in the target movement direction from the self-position;
A moving target determination device comprising: The target point settable area is set independently from a movable area representing an area in which the moving body can move in the environmental map,
The movement target setting unit sets the arrival position as the movement target point if the arrival position exists in the movable region.
The movement target determination apparatus according to claim 1. The storage unit represents a region where the movement target point cannot be set in the environmental map, and stores a target point setting impossible region set independently from a movable region representing a region where the moving body can move. ,
The movement target setting unit sets the arrival position as the movement target point if the arrival position is outside the target point setting impossible region.
The movement target determination apparatus according to claim 1 or 2.   The moving target determination device according to claim 1, wherein the target point setting area is rectangular or circular. A step of setting a target point settable area, which is an area of a predetermined size in which a moving target point to be moved by the moving body is set in an environment map representing a moving environment of the moving body;
Randomly determining a target moving direction in which the moving body moves from its own position;
Randomly determining a distance that is reachable to a position in the target point settable area when moving from the self position and that is equal to or greater than a predetermined lower limit distance as a target movement distance;
Setting, as the movement target point, an arrival position that the moving body reaches when it has moved in the target movement direction from the self position by the target movement distance;
A moving target determination method including

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