JP4664099B2 - Mobile robot path generator - Google Patents

Description

  The present invention relates to a route generation apparatus for a mobile robot that makes a route plan based on map data information such as a floor plan and moves inside a building or the like.

  Conventionally known methods for route planning based on mobile robot map information include a road map method, a cell decomposition method, and a potential field method.

A conventionally known global motion path planning method for a robot and its control device (see Patent Document 1) search for a path roughly in a space having grid points, use each point as a subgoal, and fine grid points for each subgoal. Describes a two-step route search method for performing a search. Further, in a conventionally known autonomous mobile robot route generation device, route generation method, and recording medium storing a program therefor (refer to Patent Document 2), a room or an intersection is divided into blocks, and obstacles inside the individual local coordinate system There was an environment map data holding information and a route generation method using node search using an intersection as a node.
JP 2000-181539 A JP-A-11-85273

  The conventional device has the following problems.

  In all of the known methods, the map information is flat, and when moving in buildings with multiple buildings or multiple floors, such as department stores and large-scale offices, there are various movements between buildings and floors. Does not support the generation of routes that include passage of doors. In addition, in the case of autonomously moving over a long distance in a large area, these conventional methods take time to search.

  Conventionally known patent documents have the effect of speeding up the route search in a large area, but the route search node has only coordinate information and moves across floors, buildings, doors, etc. It was not compatible with.

  The present invention makes it possible to automatically generate an autonomous movement route including information such as elevator boarding and door passing and execute the route movement, and map information is divided into elements and connected by a connector. It is an object of the present invention to make it possible to obtain a route plan for a large area at a high speed by searching for a route from the elements.

  FIG. 1 is a configuration diagram of a robot according to the present invention. In FIG. 1, 1 is a CPU (processing unit), 2 is a display unit (display unit), 3 is an input unit (input unit), 4 is a communication unit (input unit), 5 is a storage unit (storage unit), and 6 is A drive unit control board, 7 is an image processing board, 8 is a stereo camera, 9 is a traveling unit, and 10 is an arm.

  The present invention is configured as follows to solve the above problems.

  (1): It comprises input means 3 and 4 for inputting information, storage means 5 for storing information, and processing means 1 for generating a route for the robot. Dividing a room or the like into appropriate units, storing map data comprising node elements as information of the divided units and connectors as information for connecting adjacent node elements to which the robot can move, and storing the input When the movement start point and the movement target point of the robot are given by the means 3 and 4, the processing means 1 searches the node element and the connector in the storage means 5 and searches for a list of connectors through which the robot passes. Is generated. For this reason, it is possible to automatically generate an autonomous movement route including information such as door passing and the like and execute the route movement. In addition, the route is divided from the elements connected by the connector. By searching, a route plan for a large area can be obtained at high speed.

  (2): In the mobile robot path generation device according to (1), the node element includes an ID of a connector connected to an adjacent node element and internal obstacle arrangement information. For this reason, it is possible to move to the target point by avoiding the obstacle based on the information in the node element.

  (3): In the mobile robot path generation device according to (1) or (2), the connector includes information necessary for passing through the boundary between the ID of the node element to which the connector is connected and the node element to be connected. including. For this reason, it is possible to automatically generate an autonomous movement route including information on work such as passing through a door and execute the route movement.

  (4): In the mobile robot route generation device according to (1) to (3), a building and a floor element are provided in the map data, and each node element is held in the building and the floor element. . For this reason, it is possible to easily extract only map data that requires route generation.

  (5): In the mobile robot path generation device of (4), the storage means 5 holds the inter-building connector connecting the buildings and the inter-floor connector connecting the floors. For this reason, it is possible to automatically generate an autonomous movement route such as elevator boarding or building movement and execute the route movement.

  The present invention has the following effects.

  (1): When the movement start point and the movement target point of the robot are given from the input means, the processing means generates a list of connectors through which the robot passes from the search of the node elements and connectors of the storage means. It is possible to automatically generate an autonomous movement route that includes information such as passing doors and execute the route movement, and to search for a route from elements connected by connectors by dividing the route into elements. Thus, a route plan for a large area can be obtained at high speed.

  (2): Since the node element includes the ID of the connector connected to the adjacent node element and the arrangement information of the obstacle inside, it is possible to avoid the obstacle based on the information in the node element and move to the target point. it can.

  (3): Since the connector includes information necessary for passing through the boundary between the ID of the node element to which the connector is connected and the node element to be connected, the connector has an autonomous movement route including information on work such as door passage. It can be generated automatically and route movement can be executed.

  (4): Since the building and floor elements are provided in the map data, and each node element is held in the building and floor elements, only the map data necessary for route generation can be easily extracted.

  (5): In order to hold the inter-building connector connecting the buildings and the inter-floor connector connecting the floors in the storage means, an autonomous movement route such as elevator boarding or building movement is automatically generated and route movement is executed. be able to.

  In the present invention, a robot moves to a designated location in a building. This movement is performed by automatically finding a route based on map information, and can be moved even if the floor is different or the building is different.

(1): Description of Robot Configuration FIG. 1 is a configuration diagram of a robot. In FIG. 1, the mobile robot includes a CPU 1, a display unit 2, an input unit 3, a communication unit 4, a storage unit 5, a drive unit control board 6, an image processing board 7, a stereo camera 8, a traveling unit 9, and an arm 10. It is.

  The CPU 1 is a processing means for performing route generation, instructing work to be performed during route movement, control processing for the entire robot, and the like. It should be noted that the route generation (search) can be performed by a server outside the robot or the like, and information can be obtained by communication means. The display unit 2 is display means for displaying the state of the robot and the like. The input unit 3 is an input unit that receives an instruction from a user such as a destination. The communication unit 4 is a communication unit (input unit) that receives an instruction from a user, such as a destination, from an external server or the like through wireless communication. The storage unit 5 is a storage unit that stores (stores) information such as map data. The drive unit control board 6 is a drive control unit that performs drive control of the traveling unit 9, the arm 10, and the like. The image processing board 7 is image processing means for performing stereoscopic image processing from the stereo camera 8. The stereo camera 8 is a photographing means for photographing an image in three dimensions. The traveling unit 9 is a moving means for the robot such as traveling wheels. The arm 10 performs operations such as pressing an elevator button.

(2): Explanation of visual elements FIG. 2 is an explanatory diagram of visual elements. FIG. 2 shows a map (map information) of a certain floor. Elevator rooms, stairs, corridors, rooms, etc. are defined as node elements by dividing the map floor in some appropriate units. The connection relationship in which the robot can move between these node elements is connected by a link element called a connector.

  The node element includes a connector ID indicating connection information with an adjacent node element, a shape (coordinates) of the node element and arrangement information of an obstacle inside the node element, an attribute indicating an elevator or a corridor, a building or a floor to which the element belongs. The operation information necessary for passing through the ID (button position, button shape data, etc.) is included. In addition, the connector includes the ID of the node element to be connected to itself, attribute information such as a passing point and a door, and operation information necessary for passing through the boundary with the connected node element.

  For example, in the case of the corridor P1 (Passage: 1) which is a node element, the connector p2e connected to the elevator room EVR1, the connector p2p connected to the room R1, the connector p2p connected to the room R2, and the connector p2s connected to the stairs (corridor-stairs connector) There are four connectors.

(3): Explanation of floor connection FIG. 3 is an explanatory diagram of floor connection. In FIG. 3, elevator rooms (rooms) 15 and 25, which are temporary rooms for searching for a route, are provided on the first floor and the second floor, respectively, connected to a corridor or the like. A connector (f2fConnector) that connects the elevator room 15 and the elevator room 25 is provided. The elevator rooms 15 and 25 have the attribute indicating the elevator, the ID of the building or floor to which the elevator room element belongs, and operation information necessary for passing through the inside of the elevator (button position, button shape data ( Template)).

  Note that the hallway element before the elevator may be connected to the elevator element without using these elevator room elements. In this case, information such as buttons for boarding the elevator is added to a connector (f2fConnector) that connects the hallway in front of the elevator and the elevator.

(4): Explanation of Data Structure FIG. 4 is an explanatory diagram of the data structure. FIG. 4 shows a visual outline (example) of the data structure. In the data structure of FIG. 4, the elements of Building 1 (Building: 1) and Building 2 (Building: 2) are the elements of the area (Area: Labo), and Building 1 has the first floor (Floor: 1) and 2 There is an element of the floor (Floor: 2), and the building 2 also has an element of the first floor (Floor: 1) and the second floor (Floor: 2).

  On the first floor (Floor: 1) of Building 1, there are elevator room 1 (EvRoom: 1), corridor 2 (Passage: 2), corridor 3 (Passage: 3), corridor 4 (Passage: 4), lobby (lobby) There are elements. On the second floor (Floor: 2) of building 1, there are elements of elevator room 1 (EvRoom: 1) and hallway 1 (Passage: 1) as elements.

  On the first floor (Floor: 1) of Building 2, there are elements of Elevator Room 1 (EvRoom: 1) and Hallway 2 (Passage: 2). On the second floor of Building 2 (Floor: 2), Room 1 (Room: 1), Hallway 1 (Passage: 1), Hallway 2 (Passage: 2), Hallway 3 (Passage: 3), Hallway 4 (Passage: 4) There are elements of corridor 5 (Passage: 5) and elevator room 1 (EvRoom: 1).

  Each of these elements includes a connector ID indicating connection information with an adjacent element, element shape (coordinates) and arrangement information of an obstacle inside the element, attributes indicating an elevator or a corridor, and a building or floor to which the element belongs. The operation information necessary for passing through the ID (button position, button shape data, etc.) is included.

  The connection relationship in which the robot can move between the elements is connected by a link element called a connector. Hereinafter, this connector will be described.

  The elevator room 1 (EvRoom: 1) and the corridor 1 (Passage: 1) on the second floor (Floor: 2) of the building 1 are connected by a p2e connector which is an elevator connector. The elevator room 1 (EvRoom: 1) on the second floor (Floor: 2) of the building 1 and the elevator room 1 (EvRoom: 1) on the first floor (Floor: 1) of the building 1 are f2f connectors that are inter-floor connectors. It is connected.

  The elevator room 1 (EvRoom: 1) and the corridor 2 (Passage: 2) on the first floor (Floor: 1) of the building 1 are connected by an e2p connector which is an elevator connector. Corridor 2 (Passage: 2) and Corridor 3 (Passage: 3), Corridor 3 (Passage: 3), Corridor 4 (Passage: 4), Corridor 4 (Passage: 4) on the first floor of Building 1 (Floor: 1) The lobby is connected with the p2p connector, which is a normal connector. Corridor 4 (Passage: 4) on the first floor (Floor: 1) of Building 1 and Corridor 2 (Passage: 2) on the first floor (Floor: 1) of Building 2 are connected by a b2b connector that is an inter-building connector. ing.

  Corridor 2 (Passage: 2) on the first floor (Floor: 1) of building 2 and elevator room 1 (EvRoom: 1) are connected by a p2e connector which is an elevator connector. The elevator room 1 (EvRoom: 1) on the first floor (Floor: 1) of the building 2 and the elevator room 1 (EvRoom: 1) on the second floor (Floor: 2) of the building 2 are f2f connectors that are inter-level connectors. It is connected.

  Elevator room 1 (EvRoom: 1) on the second floor (Floor: 2) of building 2 and corridor 5 (Passage: 5) on the second floor (Floor: 1) of building 2 are connected by an e2p connector, which is an elevator connector. ing. Corridor 5 (Passage: 5), Corridor 4 (Passage: 4), Corridor 4 (Passage: 4), Corridor 3 (Passage: 3), Corridor 3 (Passage: 3) on the second floor of Building 2 (Floor: 2) And corridor 2 (Passage: 2), corridor 2 (Passage: 4), corridor 1 (Passage: 1), corridor 1 (Passage: 1) and room 1 (Room: 1) are p2p connectors which are normal connectors respectively. It is connected with.

  These connectors (link elements) include the ID of the node element to which they are connected, attribute information such as passing points and doors, and operation information necessary for passing through the boundary with the connected node element. Yes.

(5): Description of Data Structure FIG. 5 is an explanatory diagram of the data structure. FIG. 5 shows a data storage method and has a tree structure. The element of the area (Area) branches to the element of the inter-building connector (b2bConnector) that holds the connection information between the building 1 (Building: 1) and the building 2 (Building: 2) that hold the internal information of the building and the building ing. Building 1 (Building: 1) is between the first floor (Floor: 1) and the second floor (Floor: 1) that hold the internal information of the floor and the elevator 1 (Elevator: 1) that holds the information inside the elevator and the floor It branches to the element of the inter-floor connector (f2fConnector) that holds the connection information. The inter-building connector (b2bConnector) branches to the elements of the connector 3 (Connector: 3). The second floor (Floor: 1) branches to the elements of the connectors (Connectors), which are all the connectors that connect the elements on the floor and the halls (Passages) that hold the node elements on this floor. . This room (Rooms) branches to room 1 (Rooms: 1), the hallway (Passages) branches to hallway 1 (Passage: 1), and the connector (Connectors) branches to connector 1 (Connector: 1). .

  Room 1 (Rooms: 1) is a shape (Shape) that holds the shape inside the element of the room, an obstacle (Obstacles) that holds the obstacle in the element, a connection (Connections) that holds the connection relationship, and the elevator body Branches to an elevator ID (ElevatorID) that holds the ID (identifier). Obstacles branch to Obstacles, and Connections branch to Connection 1 (Connection: 1) and Connection 2 (Connection: 2) that hold the IDs of the connectors to which the elements are connected. is doing.

  FIG. 6 is an explanatory diagram of the data structure of the connector. In FIG. 6, the connector branches to a connection element ID1 (ComponentID1) and a connection element ID2 (ComponentID2) which are elements connected to a passing point 1 (PassPinnt: 1) and a passing point 2 (PassPinnt: 2). is doing.

  Thus, in the map data structure, each node element is classified and held in the building and floor elements, and the inter-building connectors and the inter-floor connectors that connect the buildings and floors are classified and held.

(6): Explanation of route search processing A route search is given a start point and a target point. The global coordinates (x, y), building ID, and floor ID are attached to the information on these two points. The search procedure is as follows.

  First, an element to which two points of a start point and a target point belong is searched. Then, the element belonging to the building and the floor information is searched for, and the element to which the point belongs is acquired.

  Next, the node search is performed by tracing the connector held by the node using the acquired two elements as a start node and an end node. The node search may use a general method such as “A *” which is a route search algorithm. As a node search cost, the following method can be used.

  A value obtained by multiplying the distance between the centers of two elements (elements 1 and 2) connected by the connector by the weight set for the connector, and the three-dimensional (x, y, Floor) Calculate the cost of passing through the two elements by adding the distance.

  ・ Calculate the center of the two passing point information held by the connector that connects the two elements (elements 1 and 2), and set the distance between the center and the center of the two passing point information of the previous connector. The cost of passing through the two elements is obtained by adding the value multiplied by the weight and the three-dimensional (x, y, floor) distance between the target point and the center of the element 2. For example, when moving on the same floor, different weights are provided for stair connectors and elevator connectors.

  FIG. 7 is an explanatory diagram of a route search processing flow. Hereinafter, a route search processing flow (algorithm) performed by the processing means (CPU) of the robot will be described with reference to steps S1 to S8 in FIG.

  S1: The processing means (CPU) of the robot loads map data from the storage means, and when a start point (current position) and an end point (target point) are given, the process proceeds to process S2.

  S2: The processing means of the robot searches for an element to which the start point and the end point belong, sets the element at the start point to the current element, and proceeds to process S3.

  S3: The processing unit of the robot acquires the connector of the current element and proceeds to process S5. If there is no connector to be acquired, the process proceeds to process 4.

  S4: The processing means of the robot sets a searched flag on the connector of the current element, sets the previous element as the current element, and returns to process S3.

  S5: The processing means of the robot calculates the cost (movement distance, etc.) at the time of selecting each connector, and proceeds to processing S6.

  S6: The processing means of the robot selects the connector with the lowest cost, and proceeds to process S7.

  S7: The processing means of the robot sets the next element as the current element, and proceeds to process S8.

  S8: The processing means of the robot determines whether the current element is an end point element. If it is determined that the current element is an end point element, the search process ends. If the current element is not an end point element, the process returns to step S3.

  In addition, when the start point and target point across buildings and floors are specified in the map data, the inter-building connector and inter-floor connector are searched first, and the node element including the start point and the searched connector are connected. By performing the route search by dividing into node elements including the node element / target point to be performed, the search process can be performed at high speed.

(7): Explanation of moving route and moving operation Here, an example of moving the floor by operating the elevator by pressing a button will be described. Elements such as stairs, elevators, and elevator rooms (representative elements on each floor of the elevator elements hold information for elevator boarding) are defined, and these are connected by connectors. The elevator room element holds information necessary for boarding the elevator and the ID of the elevator element. The information necessary for boarding the elevator includes information on the pattern and template of the elevator button, use of the right / left arm, the position of the elevator button, the position of approaching the button, etc. when the robot pushes the elevator button with the arm. Information inside the elevator (button information inside the elevator, etc.) is held by the elevator element.

  FIG. 8 is an explanatory diagram of the route. In FIG. 8, an example in which the robot moves the floor by operating the elevator by pressing a button will be described with reference to arrows (1) to (13). The black circle on the connector indicates the passing point.

  (1) The robot moves from the current location in Hallway 1 (Passage: 1) to the button position on the elevator. (2) Move to the passing point 1 of the p2e connector. (3) Move from the passing point 1 of the p2e connector to the passing point 2 (elevator room 1; elevator 1, in this figure, the elevator room and the elevator are in the same position and overlap). (4) Move to the inner button position of Elevator 1 (EV1) and press the 5th floor button. (5) Move from elevator 1 (EV1) to the passing point 1 of the e2p connector in elevator room 2 (EVR2). (6) Move from passing point 1 of e2p connector to passing point 2 (corridor 2). (7) Move from the passage point 2 of the e2p connector in the hallway 2 (Passage: 2) to the passage point 1 of the p2p connector. (8) Move from the passing point 1 of the p2p connector in hallway 2 (Passage: 2) to the passing point 2 (hallway 3). (9) Move from the passing point 2 of the p2p connector in the hallway 3 (Passage: 3) to the passing point 1 of the p2p connector that is the connector to the hallway 4. (10) Move from the passing point 1 of the p2p connector in the hallway 3 (Passage: 3) to the passing point 2 (hallway 4). (11) Move to the passing point 1 of the p2p connector, which is the connector with room 1 (Room: 1) in the corridor 4 (Passage; 4). (12) Move from the passing point 1 of the p2p connector, which is the connector between the corridor 4 (Passage; 4) and the room 1 (Room: 1), to the passing point 2 (room 1). (13) Move to the destination of Room 1 (Room: 1).

(Description of moving operation)
The procedure for autonomous movement is as follows. A route is moved by making a list of the connectors of the route searched by the processing of FIG. If the node elements to which the connector is connected are corridors or rooms (Passage, Room) (p2pConnector), the two points held by the connector (referred to as pass points 1 and 2) are changed from the previous element to the next element. Run. At this time, if the attribute of the connector is a door, information is obtained from the connector and the door is opened and closed.

  When the node element to which the connector is connected is from the corridor or room (Passage, Room) to the elevator room (p2eConnector), to find and press the buttons such as the button pressing position and button template required for elevator boarding from the elevator room element Obtain the necessary button information. Furthermore, it obtains the upper and lower information from the next floor connector and performs the elevator ride operation.

  After boarding the elevator, the elevator element information (elevator internal information) is obtained from the elevator ID held in the elevator room, and the internal button is pressed and it is confirmed that the destination floor has been reached. Elevator down operation is performed. Information on which floor to get off is obtained from floor information of the elevator room in front of the elevator down connector.

  FIG. 9 is an explanatory diagram of the movement operation of the route. FIG. 9 shows an example of processing performed from the attribute of a connector or a connected element when a route is moved from the generated connector list.

  The node element at the start point is P1 (corridor 1), and the robot moves from the passing point 1 to the passing point 2 (elevator room 1) from the information of the p2e connector to travel through the corridor 1 and get into the elevator. Obtain information such as the push position of the outer button from EVR1 (Elevator Room 1), obtain information on the position of the inner button of the elevator from EV1 (Elevator 1) linked to EVR1, and select the target floor (5th floor) from the f2f connector. ) Acquire information, press the outer button to get on the elevator, press the button on the 5th floor of the inner button (inside the elevator), go down on the 5th floor, pass from the passing point 1 from the information on the e2p connector of EVR2 (elevator room 2) Move to point 2 (P2). Move from passing point 1 to passing point 2 (P3) from the information of the p2p connector at P2 (hallway 2). At P3 (corridor 3), move from the passing point 1 to the passing point 2 (P4) from the information of the p2p connector. It moves from the passing point 1 to the passing point 2 (R1 as the element to which the destination point belongs) from the information of the p2p connector of the corridor 4 (Passage; 4). Move to the destination of R1 (room 1).

  FIG. 10 is an explanatory diagram of a route movement processing flow. Hereinafter, the movement process flow (algorithm) of the route when the processing means (CPU) of the robot performs will be described according to the processes S11 to S22 of FIG.

  S11: The processing means of the robot loads the route data from the connector list in the storage unit in which the searched route data and the like are stored, and proceeds to step S12.

  S12: The processing means of the robot sets the starting point as the current location (position), and proceeds to processing S13.

  S13: The processing means of the robot obtains the connector from the list and proceeds to process S14. If there is no connector to be obtained, the robot travels to the end point and ends the movement process.

  S14: The processing means of the robot determines whether the attribute of the connector is p2p (normal connector) or p2e (elevator connector). In this determination, if the connector attribute is p2p, the vehicle travels to the passing point and returns to the process S13. If p2e, the process proceeds to the process S15.

  S15: The processing means of the robot acquires boarding data from the next element (elevator room), and proceeds to processing S16.

  S16: The processing means of the robot acquires the next connector f2fConnector from the list to acquire the upper and lower information, and proceeds to process S17.

  S17: The processing means of the robot presses the button, gets into the elevator, and proceeds to processing S18.

  S18: The processing means of the robot acquires the elevator element information from the elevator room, and proceeds to process S19.

  S19: The processing means of the robot acquires the destination floor from the next connector f2fConnector, and proceeds to the process S20.

  S20: The processing means of the robot presses the internal button of the elevator, and proceeds to processing S21.

  S21: The processing means of the robot acquires the next connector e2pConnector from the list, acquires the elevator down route, and proceeds to processing S22.

  S22: The processing means of the robot gets off the elevator and returns to the process S13.

  In this way, when the robot is given a movement start point and a movement target point, the node to which the start point and the target point belong is first obtained from the map data information in which the node elements of rooms, corridors, elevators and stairs are linked by link elements. The element is searched. Next, a list of node elements and link elements that are passed by the node search is generated. The node element includes information necessary for movement and operation such as a shape and an internal obstacle, and in the case of an elevator, the position of a button, and the link element includes information such as a passing point when passing through the node element to be connected. Based on the information contained in each element, obstacle avoidance is performed based on the information in the node element, and the vehicle moves to the target point while performing operations such as boarding an elevator. As a result, it is possible to automatically generate an autonomous movement route including information such as elevator boarding and door passage and execute the route movement. In addition, by dividing the map information into elements and searching for a route from elements connected by a connector, a route plan for a large area can be obtained at high speed.

(8): Explanation of GUI (Graphical User Interface) of Map Tool Creation of map data can be easily set using the GUI. FIG. 11 is an explanatory diagram of the GUI of the map tool. In FIG. 11, map data is generated by specifying and setting an arrow part with a map tool as follows.

  An arrow (1) is an area setting and a connector setting for connecting buildings (see FIG. 12A). Arrow (2) is the setting of the building and the setting of the connector that connects the floors of the building (see FIG. 12B). An arrow (3) is a setting of the floor in the building, for example, setting of a floor plan CAD file to be referred to (see FIG. 13A). An arrow (4) is an element setting, for example, a shape, a setting of an internal obstacle shape, an attribute setting, and the like (see FIG. 13B). An arrow (5) is a setting of a connector that connects elements, and is, for example, a passing point or an attribute (see FIG. 14A). An arrow (6) is an elevator room setting, for example, a data file such as a button template, a button pressing position setting, and the like (see FIG. 14B).

  FIG. 12 is an explanatory diagram (1) of map data generation, and FIG. 12 (a) is a diagram illustrating setting of an area and setting of a connector for connecting buildings (buildings). In FIG. 12A, area names, connector lists (in this example, “1-2” is building No. 1 and No. 2), names of connectors between buildings (b2b connector), element 1, element 2, ID, etc. Is a screen on which is set.

  FIG.12 (b) is description of the setting of a building and the setting of the connector which connects between the floors of a building. In FIG. 12B, the building (No. 2 building in this example), the list of connectors between floors (f2f connector), the name of the connector (2-3 in this example), element 1, element 2, ID of each, etc. This is the screen to be set.

  FIG. 13 is an explanatory diagram (2) of map data generation, and FIG. 13 (a) is an explanation of setting a floor in a building, setting a CAD file of a floor plan to be referred to, and the like. In FIG. 13A, a floor name (sixth floor in this example), an ID, a file name of a referenced drawing (see FIG. 11), and the like are set.

  FIG. 13B illustrates the setting of elements, the shape, the setting of the shape of an obstacle inside, the setting of attributes, and the like. FIG. 13B is a setting screen for the X coordinate and the Y coordinate (in this example, the shape of the corridor).

  FIG. 14 is an explanatory diagram (3) of map data generation, and FIG. 14 (a) is a description of setting of connectors for connecting elements, passing points and attributes. In FIG. 14A, the object type is a setting screen for a connector (in this example, a p2p connector for connecting a hallway and a room), its name, ID, and the like.

  FIG. 14B illustrates the setting of an elevator room, a data file such as a button template, and the setting of a button pressing position. In FIG. 14B, the type as an object is an elevator room, and its name, ID, data file, connection elevator, etc. are set, and the setting of the name, approach position, button position, etc. is set as a ControlPanel setting. There is a screen to do.

  An XML (eXtensible Markup language) format or the like can be used as a storage data format of the editing result by such GUI.

(9): Description of program installation The processing means 1, display section (display means) 2, input section (input means) 3, communication section (input means) 4, storage means 5 and the like can be constituted by programs, and the main control section ( CPU) and is stored in the main memory. This program is processed by a computer. The computer includes hardware such as a main control unit, main memory, a file device, an output device such as a display device, and an input device.

  The program of the present invention is installed on this computer. In this installation, these programs are stored in a portable recording (storage) medium such as a floppy disk or a magneto-optical disk, and a drive device for accessing the recording medium provided in the computer is used. Alternatively, it is installed in a file device provided in the computer via a network such as a LAN.

  As a result, it is possible to automatically generate an autonomous movement route including information such as a door passing operation and execute the route movement, and to divide the route into elements and to change the route from the elements connected by the connector. By searching, it is possible to easily provide a route generation apparatus for a mobile robot that can quickly obtain a route plan for a large area.

[Additional notes are described below]
(Supplementary note 1) Input means for inputting information;
Storage means for storing information;
Processing means for generating a robot path,
The storage means is information that divides a corridor, a room, or the like that becomes a route of the robot into appropriate units, and connects the node elements that are information of the divided units and the adjacent node elements that the robot can move to. Stores map data with connectors,
When the movement start point and the movement target point of the robot are given from the input unit, the processing unit generates a list of connectors through which the robot passes from the search of the node element and the connector of the storage unit. A mobile robot path generation device characterized by that.

  (Supplementary note 2) The mobile robot path generation device according to supplementary note 1, wherein the node element includes an ID of a connector connected to an adjacent node element and arrangement information of an internal obstacle.

  (Supplementary Note 3) The route of the mobile robot according to Supplementary Note 1 or 2, wherein the connector includes information necessary for passing through a boundary between the ID of the node element to which the connector is connected and the node element to be connected. Generator.

(Supplementary Note 4) Building and floor elements are provided in the map data,
4. The mobile robot path generation device according to any one of appendices 1 to 3, wherein the node elements are held in the building and floor elements.

  (Additional remark 5) The path | route production | generation apparatus of the mobile robot of Additional remark 4 characterized by hold | maintaining the inter-building connector which connects the said building, and the inter-floor connector which connects the said floor to the said storage means.

(Appendix 6) When a start point and a target point that straddle a building or floor are specified by the input means,
In the processing means, first, the inter-building connector and the inter-floor connector are searched, and the route search is performed by dividing into the node element including the start point, the node element connected to the searched connector, and the node element including the target point. The route generation device for a mobile robot according to appendix 5, wherein

  (Supplementary note 7) The route generation apparatus for a mobile robot according to any one of supplementary notes 1 to 6, wherein the map data is generated by a GUI.

(Supplementary note 8) A connector that is information that connects a node element that is information of each divided unit and an adjacent node element that can be moved by the robot, by dividing a corridor, a room, or the like serving as a robot path into appropriate units. Storage means for storing map data comprising:
Input means for giving a movement start point and a movement target point of the robot;
As a processing means for generating a list of connectors through which the robot passes from the search of the node element and the connector of the storage means by the movement start point and the movement target point,
A computer-readable recording medium on which a program for causing a computer to function or a program is recorded.

It is a block diagram of the robot of this invention. It is explanatory drawing of the visual element of this invention. It is explanatory drawing of the connection of the floor of this invention. It is explanatory drawing of the data structure of this invention. It is explanatory drawing of the data structure of this invention. It is explanatory drawing of the data structure of the connector of this invention. It is explanatory drawing of the search process flow of the path | route of this invention. It is explanatory drawing of the path | route of this invention. It is explanatory drawing of the movement operation | movement of the path | route of this invention. It is explanatory drawing of the movement processing flow of the path | route of this invention. It is explanatory drawing of GUI of the map tool of this invention. It is explanatory drawing (1) of map data generation of this invention. It is explanatory drawing (2) of map data generation of this invention. It is explanatory drawing (3) of map data generation of this invention.

Explanation of symbols

1 CPU (processing means)
2 Display section (display means)
3 Input section (input means)
4 Communication unit (input means)
5 Storage unit (storage means)
6 Driving unit control board 7 Image processing board 8 Stereo camera 9 Traveling unit 10 Arm

Claims (3)

An input means for inputting information;
Storage means for storing information;
Processing means for generating a robot path,
The storage means divides the route of the robot, and stores map data including node elements that are information of each divided unit and connectors that are information that connects the adjacent node elements to which the robot can move,
The connector includes information necessary for the robot to execute a process of passing through the boundary between the ID of the node element to which the connector is connected and the node element to be connected.
When the movement start point and the movement target point of the robot are given from the input means, the processing means searches for the node element and the connector of the storage means, and the ID of the node element to which the connector itself is connected. Information that is necessary for the robot to pass through the boundary between the node element and the node element to be connected to the passing point at the node element position of the movement source when the robot passes and the node element position of the movement destination. Connector for passing by using the robot, including information on a certain passing point, information on opening / closing operation of the door when there is a door, and information for pressing a button necessary for boarding when riding on the elevator A route generation device for a mobile robot, characterized by generating a list of Building the building and floor elements in the map data,
The route generation apparatus for a mobile robot according to claim 1, wherein the node elements are held in the building and floor elements.   The mobile robot path generation device according to claim 1 or 2, wherein an inter-building connector for connecting the buildings and an inter-floor connector for connecting the floors are held in the storage means.

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