JP6007409B2 - Autonomous mobile device and autonomous mobile method - Google Patents

Description

  The present invention relates to an autonomous mobile device and an autonomous mobile method for generating a route for moving to a destination using a plurality of nodes and moving to the destination along the route.

  An autonomous mobile device that moves through a passage in a building (for example, a hospital or a commercial facility) has been proposed. The autonomous mobile device generates a route passing through a plurality of nodes between its own position and the destination. Then, the autonomous mobile device moves along the route. Specifically, the autonomous mobile device moves a node on the route as a passing point target for the time being, and when that node is reached, switches the next node on the route connected to the reached node to the current passing point target. Then, it moves toward the next node. In this way, the autonomous mobile device moves along the route by changing the current passing point target in order and continuing to move toward the current passing point target node.

  However, for example, there may be a person or other mobile device at the location of the current target node of the passing point, and the autonomous mobile device cannot reach the destination. In this case, the autonomous mobile device cannot approach the node to avoid approaching the obstacle by regarding the person or the mobile device as an obstacle. Therefore, the autonomous mobile device approaches or leaves the node of the current pass point target and waits in front of that node until the obstacle moves from the current pass point target position to another position. It becomes a state.

  Then, the autonomous mobile apparatus which determines with having reached the node when approaching the predetermined distance to a node is proposed (for example, refer patent document 1).

  FIG. 11 is a plan view illustrating a conventional autonomous mobile device that moves along a route. As shown in FIG. 11, the conventional autonomous mobile device 1 first moves toward the node n1, which is the current passing point target. Then, when approaching the node n1 and the distance from the node n1 reaches the predetermined distance r, it is determined that the node n1 has been reached. Then, the autonomous mobile device 1 switches the next node n2 to the current passing point target and moves toward the node n2. As described above, the autonomous mobile device 1 moves to the destination along the route 2 generated by the nodes n1, n2, and n3. The autonomous mobile device 1 determines whether or not the node has reached the node at a position separated from the node by a predetermined distance r, so that even if an obstacle exists on the nodes n1, n2, and n3, the obstacle Can be moved to the next node.

JP 2006-50105 A

  However, since the node is often set at a turning point such as a corner or an intersection, when the direction is changed toward the next node n2 by a predetermined distance r before the node n1, the node approaches the corner of the passage. May end up. Conversely, if the predetermined distance r is shortened as a countermeasure, the autonomous mobile device 1 may not be able to pass the obstacle. That is, the conventional autonomous mobile device 1 determines that the node has been reached when approaching the predetermined distance r. However, depending on the position of the node, the shape of the passage, the shape of the route, etc., the passage cannot be moved smoothly. there is a possibility.

  An object of the present invention is to provide an autonomous mobile device and an autonomous mobile method that can move smoothly regardless of the position of a node, the shape of a passage, the shape of a route, and the like.

In order to solve the above problems, an autonomous mobile device of the present invention includes a vehicle body, a moving unit that moves the vehicle body, a self-position acquisition unit that acquires the self-position of the vehicle body, the positions of a plurality of nodes, and the plurality of nodes. A storage unit for storing the size of the arrival determination area surrounding each of the nodes and map information;
A route generator that connects the plurality of nodes to generate a route from the self-location to a destination;
A movement control unit that switches the next node as the current passing point target and moves it toward the next node when the arrival determining area surrounding the node that is the current passing point target is reached. The area is characterized in that the size differs according to the distance between the enclosing node and the wall of the passage included in the map information .

  ADVANTAGE OF THE INVENTION According to this invention, the autonomous moving apparatus and the autonomous moving method which can move smoothly irrespective of the position location of a node, the shape of a channel | path, the shape of a path | route, etc. can be provided.

It is a figure for demonstrating the autonomous mobile device concerning Embodiment 1 of this invention, (a) The schematic diagram for demonstrating the movement of the autonomous mobile device in a channel | path, (b) The block diagram of an autonomous mobile device Schematic diagram of the passage when the arrival judgment area is the same size The flowchart before the movement start of the autonomous movement method concerning this Embodiment 1. Flowchart during movement of the autonomous movement method according to the first embodiment Schematic diagram for explaining the movement of the autonomous mobile device according to the second embodiment of the present invention. It is a figure which shows the change of the moving speed of the autonomous mobile apparatus concerning this Embodiment 2, (a) The figure which shows the change of the moving speed of the autonomous mobile apparatus from which the magnitude | size of an arrival determination area differs, (b) An arrival determination area The figure which shows the change of the moving speed of the autonomous mobile apparatus without a figure, (c) The figure which shows the change of the moving speed of the autonomous mobile apparatus with the same arrival determination area size The schematic diagram of the channel | path concerning Embodiment 3 of this invention. Schematic diagram of the passage when the size of the arrival judgment area is the same The schematic diagram of the arrival determination area for demonstrating the change of the arrival determination area concerning Embodiment 4 of this invention. The schematic diagram of the arrival determination area for demonstrating the change of the arrival determination area concerning this Embodiment 4. FIG. Plan view for explaining a conventional autonomous mobile device moving along a route

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same component and description may be abbreviate | omitted. In addition, for easy understanding, the drawings schematically show each component mainly.

(Embodiment 1)
Fig.1 (a) and FIG.1 (b) are the figures for demonstrating the autonomous mobile apparatus 11 concerning Embodiment 1 of this invention. FIG. 1A is a schematic diagram for explaining the movement of the autonomous mobile device in the passage, and FIG. 1B is a block diagram of the autonomous mobile device 11. The autonomous mobile device 11 moves through a passage 21 in a building (for example, a hospital or a commercial facility).

  As shown in FIGS. 1A and 1B, the autonomous mobile device 11 includes a vehicle body 12, a moving unit 13, a self-position acquiring unit 14, a storage unit 15, a route generating unit 16, and a movement. And a control unit 17. Furthermore, the autonomous mobile device 11 includes an external environment information acquisition unit 18 that detects an external obstacle, a passage wall 20 in the building, and the like, a battery 19, and an arrival determination area generation unit 31. The self-position acquisition unit 14, the storage unit 15, the route generation unit 16, the movement control unit 17, and the arrival determination area generation unit 31 described above are included in the control unit 23.

  First, each configuration of the autonomous mobile device 11 will be described.

  The moving unit 13 includes a motor (not shown) driven by the battery 19 and four drive wheels (not shown) that are rotated by the motor. This motor is provided with an encoder (not shown) for measuring the rotation speed and rotation speed. The movement control unit 17 can know the movement distance and the movement direction from the output of the encoder.

  The self position acquisition unit 14 calculates the position of the autonomous mobile device 11 from the output of the encoder of the moving unit 13. Specifically, the self-position acquisition unit 14 outputs the output of the encoder, the sensor information obtained by the external environment information acquisition unit 18, the position information of the wall 20 of the passage in the building stored in the map information storage unit, and the like. By comparing, the position of the vehicle body 12 of the autonomous mobile device 11 is acquired.

  The storage unit 15 stores the positions of the nodes N1, N2, and N3 and the sizes of the arrival determination areas E2 and E3 that surround the nodes N2 and N3 in the map information storage unit. The arrival determination areas E2 and E3 are generated by an arrival determination area generation unit 31 described later. The map information storage unit records map information such as the arrangement of the walls 20 of the passage 21 in the building in addition to the nodes N1, N2, and N3 and the arrival determination areas E2 and E3. The storage unit 15 stores the sizes of the plurality of arrival determination areas E2 and E3. In the present embodiment, there are at least two different sizes of the plurality of arrival determination areas. The sizes of the arrival determination areas E2 and E3 stored in the storage unit 15 are set according to the arrangement position of the node, the shape of the passage 21 or the shape of the movement route. In the present embodiment, the arrival determination area has a circular shape.

  The route generation unit 16 generates a movement route from the position of the autonomous mobile device 11 to the destination P. The movement route is a route for autonomously moving the autonomous mobile device 11. First, the route generation unit 16 selects the node N1 having the smallest cost from the position of the autonomous mobile device 11 (hereinafter, the current position) acquired by the self-position acquisition unit 14 as the node to be reached first from the current position. Select as a certain start node. The cost here indicates the distance to reach each of the nodes N1, N2, and N3 from the current position, and the small cost indicates that the distance is short. Then, the route generation unit 16 selects nodes N1, N2, and N3 according to a predetermined condition between the start point node and the node of the destination P, and generates a movement route from these nodes. In FIG. 1A, a trajectory that the autonomous mobile device 11 has moved along the travel path is shown as a travel trace F.

  The movement control unit 17 controls the moving unit 13 to move the autonomous mobile device 11 toward the destination P along the movement path. Specifically, the movement control unit 17 sets the node with the lowest cost on the movement route as the current passing point target T, and moves toward the current passing point target T. Then, when the movement control unit 17 reaches the node N1 as the current passing point target T, the movement control unit 17 switches the current passing point target T to the next node N2 and moves toward the next node N2. To control. When the vehicle body 12 enters the arrival determination area E2 of the node N2, the movement control unit 17 switches the current passing point target T to the next node N3. Then, the autonomous mobile device 11 moves toward the node N3 that becomes the new passing point target T for the time being. When the vehicle body 12 enters the arrival determination area E3 of the node N3, the movement control unit 17 switches the current passing point target T to the next node (destination P) that forms the route.

  The external environment information acquisition unit 18 is configured by a rider (Light Detection And Ranging) that is provided at the center of the front lower portion of the vehicle body 12 and scans the front periphery thereof. A rider (also known as a laser radar) acquires a distance to an object in a semicircular obstacle detection area A having a predetermined radius by oscillating a laser beam within the scan plane. The external environment information acquisition unit 18 scans intermittently at a constant cycle, and stores a set of distance data acquired for each scan in the storage unit 15 in time series as sensor information at each time point. Let The external environment information acquisition unit 18 may include an ultrasonic sensor in addition to the rider (laser radar).

  The arrival determination area generating unit 31 generates a circular (or) arrival determination area having a predetermined radius for determining that the nodes N2 and N3 have reached the nodes. The sizes of the arrival determination areas E2 and E3 change according to the shape of the movement route, and the centers of the circular arrival determination areas E2 and E3 are the nodes N2 and N3. Note that the sizes of the arrival determination areas E2 and E3 differ according to the inter-link angles θ2 and θ3 formed by connecting the first node and the second node adjacent to each other along the movement route with a straight line. Here, the first node adjacent to the node N2 is N3, and the second node adjacent to the node N2 is N1. Further, when a straight line connecting the node N1 and the node N2 is a link R1, and a straight line connecting the node N2 and the node N3 is a link R2, a narrower angle formed between the link R1 and the link R2 is an inter-link angle. θ2. The first node adjacent to the node N3 is the destination P, and the second node adjacent to the node N3 is the node N2. When a straight line connecting the node N3 and the destination P is a link R3, a narrower angle formed between the link R2 and the link R3 is an inter-link angle θ3. The radii of the arrival determination areas E2 and E3 are approximately proportional to the inter-link angles θ2 and θ3. Therefore, when the inter-link angle θ2 is larger than the inter-link angle θ3, the radius of the arrival determination area E2 becomes longer than the radius of the arrival determination area E3. For this reason, when the turning angle of the passage 21 is small (the inter-link angle is large), the radius of the arrival determination area E2 becomes long, and the autonomous mobile device 11 sets the current passing point target T at the position away from the node N2. P will be set. Further, when the turning angle of the passage 21 is large (the angle between links is small), the radius of the arrival determination area E3 becomes short, and the autonomous mobile device 11 sets the current passing point target T to the destination P before the node N3. Will be set.

  As described above, in the autonomous mobile device 11 according to the first embodiment, when the inter-link angle connecting the nodes is small, the arrival determination area is reduced, so that even if the autonomous mobile device 11 greatly changes the moving direction, The movement direction is not changed at a distant place, and the approach to the corner 22 of the passage 21 is prevented. That is, the autonomous mobile device 11 according to the first embodiment can move smoothly by changing the size of the arrival determination area based on the inter-link angle so that the movement is not hindered by the corner 22 of the passage 21. Can do. This is because the nodes N1, N2, and N3 are often set at the intersections and turning corners of the passage 21, so that when the passage 21 turns greatly, the autonomous mobile device 11 can be reduced by reducing the arrival determination area of the turning corner. This is because it can move away from the corner 22.

  Here, if the arrival determination areas E2 and E3 have the same size, the corner 22 may overlap the course direction S3 of the autonomous mobile device 11, which may hinder smooth movement of the autonomous mobile device 11. This case will be described with reference to FIG.

  FIG. 2 is a schematic diagram of a passage when the arrival determination area E2 and the arrival determination area E3 have the same size. As shown in FIG. 2, a corner 22 of the passage 21 exists in the course direction S3 of the autonomous mobile device 11 that has reached the arrival determination area E3. As a result, the autonomous mobile device 11 detects the corner 22 of the passage 21 by the external environment information acquisition unit 18 while moving in the course direction S3, and moves while avoiding the corner 22 of the passage 21. I can't move.

  On the other hand, the autonomous mobile device 11 according to the first embodiment enables smooth movement by changing the size of the arrival determination area according to the shape of the passage or the shape of the route.

  Furthermore, the autonomous mobile device 11 according to the first embodiment changes the size of the arrival determination area according to the inter-link angle, thereby making the arrival determination area more suitable for the shape of the route, and more smoothly. You can move through the aisle. Note that the sizes of the arrival determination areas E2 and E3 are automatically set by the inter-link angles θ2 and θ3 by the arrival determination area generation unit 31 of the autonomous mobile device 11. Specifically, as illustrated in FIG. 1A, the arrival determination area generation unit 31 linearly connects the node N3 that is the first node and the node N1 that is the second node adjacent to each other in the route around the node N2. The size of the arrival determination area E2 of the node N2 is set according to the inter-link angle θ2 formed by tying.

  The flowchart of the autonomous movement method of the autonomous mobile device 11 concerning this Embodiment 1 is demonstrated using FIG. 3, FIG. FIG. 3 is a flowchart before the start of movement of the autonomous mobile device 11 according to the first embodiment, and FIG. 4 is a flowchart during the movement of the autonomous mobile device 11 according to the first embodiment.

  First, the flowchart of FIG. 3 will be described.

  As shown in FIG. 3, first, when the autonomous mobile device 11 starts preparation for movement (step S01), map information is read from the map information storage unit of the storage unit 15 (step S02).

  Next, the destination P preset by the user and stored in the storage unit 15 is acquired (step S03).

  Next, based on the destination P, the route generation unit 16 sets a start point node and generates a route (step S04). Here, the starting point node is, for example, a node having the lowest cost for reaching from the position of the vehicle body 12 calculated by the self-position acquisition unit 14. Further, the route is a route connecting the start point node and the destination P using a plurality of nodes. The route generated by the route generation unit 16 is stored in the storage unit 15. Note that it is possible to select a node other than the node with the lowest cost as the start point node.

  Next, the autonomous mobile device 11 uses the arrival determination area generation unit 31 to generate an arrival determination area from the route generated in step S02 (step S05).

  Next, it is determined whether or not the inter-link angle formed by connecting the first node and the second node adjacent to each other with a straight line around the target node is equal to or less than a first predetermined value (for example, 60 °). (Step S06). When the inter-link angle is equal to or smaller than the first predetermined value (“yes” in step S06), the arrival determination area is reduced (step S07).

  If the inter-link angle is larger than the first predetermined value (“no” in step S06), it is determined whether the inter-link angle is larger than the second predetermined value (90 °) (step S08). When the inter-link angle is larger than the second predetermined value (“yes” in step S08), the arrival determination area is increased (step S09).

  Then, after Steps S07 and S09, or when the inter-link angle is not less than the first predetermined value and not more than the second predetermined value (“no” in Step S06 and “no” in Step S08), the process proceeds to Step S10.

  In this Embodiment 1, the arrival determination area of the magnitude | size substantially proportional to the magnitude | size of the angle between links is set by performing step S06-S10. In the first embodiment, the arrival determination area is set by performing the above-described steps S06 to S10 for all nodes except the start point node and the destination P.

  Here, for specific determinations in steps S06 to S10, for example, when the inter-link angle is greater than 0 ° and 30 ° or less, the radius of the arrival determination area is 0.2 m, and the inter-link angle is greater than 30 °. The radius of the arrival determination area is 0.4 m when the angle is 60 ° or less, and the radius of the arrival determination area is 0.6 m when the inter-link angle is greater than 60 ° and 90 ° or less. Further, when setting the arrival determination area in more detail, the radius of the arrival determination area is set to a value proportional to the inter-link angle, and the radius of the arrival determination area [m] = 0.3 + 0.2 × inter-link angle (rad) You may ask.

  Next, it is determined whether or not the calculated arrival determination area intersects the wall of the passage 21 (step S10).

  If the arrival determination area intersects with the wall of the passage 21 (“yes9” in step S10), the size of the arrival determination area is reduced to a size that does not intersect the wall, and the process moves to step S12.

  If the arrival determination area does not intersect with the wall of the passage 21 (“no” in step S10), the process directly moves to step S12.

  Thus, by performing steps S02 to S11, the preparation for movement is completed, and the autonomous mobile device 11 starts moving (step S12).

  Next, the flowchart of FIG. 4 will be described.

  As shown in FIG. 4, first, it is determined whether or not the autonomous mobile device of the next target node can arrive while the autonomous mobile device 11 is moving (step S21) (step S22). Specifically, based on the information acquired by the external environment information acquisition unit 18, the control unit 23 determines whether or not the vehicle body 12 can reach the target node that is the target.

  If it is determined that the target node cannot be reached (“no” in step S22), the size of the arrival determination area of the target node is increased (step S23). Specifically, when it is determined that the autonomous mobile device 11 cannot reach the target node due to an obstacle around the target node, the radius of the arrival determination area is changed from 0.3 m to 0. The autonomous mobile device 11 can be reached at the target node by changing to .4m.

  If it is determined that the target node can be reached (“yes” in step S22), it is determined whether or not it is within a predetermined time after starting the node movement (step S24).

  If it is not within the possession time after the start of node movement (“no” in step S24), the size of the target node arrival determination area is increased (step S25). For example, when a predetermined time has elapsed since the start of node movement, it is determined that the autonomous mobile device 11 cannot arrive at the target node because, for example, an obstacle exists around the target node. It is to do.

  Next, after steps S23 and S25, or when it is within a predetermined time since the start of node movement (“yes” in step S24), it is determined whether or not the target node has been reached (step S26). ).

  If the node has arrived at the target node (“yes” in step S27), the node movement is completed.

  If the node has not arrived at the target node (“no” in step S27), the process returns to step S22 to repeat the determination of whether or not the node can be reached.

  In the first embodiment, after the movement preparation shown in FIG. 3 is completed, the movement between nodes shown in FIG. 4 is performed between the nodes, and the movement toward the destination P is performed. By controlling the movement in this way, it is possible to provide an autonomous movement method or an autonomous mobile device that can move smoothly regardless of the location of the node, the shape of the passage, the shape of the route, and the like.

(Embodiment 2)
FIG. 5 is a schematic diagram for explaining the movement of the autonomous mobile device according to the second embodiment of the present invention. FIG. 6 is a diagram illustrating changes in the moving speed of the autonomous mobile device 11. FIG. 6A is a diagram illustrating a change in the moving speed of the autonomous mobile device 11 having different arrival determination areas, and FIG. 6B is a diagram illustrating a change in the moving speed of the autonomous mobile device 11 having no arrival determination area. FIG. 6C is a diagram showing changes in the moving speed of autonomous mobile devices having the same arrival determination area size.

  Hereinafter, differences of the second embodiment from the first embodiment will be described with reference to the drawings.

  The movement control unit 17 of the autonomous mobile device 11 according to the second embodiment controls the moving speed of the vehicle body by the speed change shown in FIG. When the distance is equal to or less than the predetermined distance, the moving unit 13 is controlled at a moving speed substantially proportional to the distance between the position of the vehicle body 12 and the current passing point target T.

  For example, when the autonomous mobile device 11 moves the movement trace F along the route shown in FIG. 5, the movement control unit 17 of the autonomous mobile device 11 controls the movement speed by the speed change shown in FIG. As a result, the autonomous mobile device 11 reaching the arrival determination area E2 draws a large arc at a high speed, turns and moves toward the node N3, reaches the arrival determination area E3, and sets the current passing point target T. The autonomous mobile device 11 set at the destination P bends in a small arc at a low speed and moves toward the destination P.

  As described above, the movement control unit 17 of the autonomous mobile device 11 according to the second embodiment detects the position of the vehicle body when the distance between the position of the vehicle body 12 and the current passing point target T is equal to or less than a predetermined distance (deceleration distance). And a moving speed that is substantially proportional to the interval between the target and the passing point target T for the time being. Therefore, when the deceleration distance is shorter than the radius of the arrival determination area, the autonomous mobile device 11 can bend at a high speed, and when the deceleration distance is longer than the radius of the arrival determination area, the autonomous mobile device 11 is decelerated and bends. be able to. For example, when the node link angle is small, the radius of the arrival determination area may be shorter than the deceleration distance. In that case, the autonomous mobile device 11 of the second embodiment decelerates into the arrival determination area and decelerates to change the moving direction. As a result, the autonomous mobile device 11 can smoothly move toward the passing point target T for the time being.

  Here, for reference, an example in which the arrival determination area is not set will be described with reference to FIG. 6B, and an example in which the arrival determination area has the same size will be described with reference to FIG. explain.

  When the arrival determination area is not set, as shown in FIG. 6B, the movement control unit 17 of the autonomous mobile device 11 has reached the node by reducing the moving speed when reaching each node. Control to stop at the moment.

  When the arrival determination area E2 and the arrival determination area E3 have the same size and the movement speed is constant, the change in the movement speed of the autonomous mobile device 11 is as shown in FIG. In that case, the autonomous mobile device 11 must change the moving direction while moving at high speed. When the inter-link angle θ3 is small, the autonomous mobile device changes its moving direction while moving at a high speed, so there is a possibility that the autonomous moving device is far away from the route and approaches the wall of the passage.

  On the other hand, in the second embodiment, the arrival determination areas are set to different sizes, and the moving speed is controlled by the speed change shown in FIG. 6A, so that the autonomous mobile device 11 is moved smoothly. be able to.

(Embodiment 3)
FIG. 7 is a schematic diagram of a passage according to the third embodiment of the present invention.

  Hereinafter, the differences of the third embodiment from the first embodiment will be described with reference to the drawings.

  As shown in FIG. 7, the arrival determination areas E12 and E13 stored in the storage unit 15 of the autonomous mobile device 41 according to the third embodiment are intervals between the passage wall 43 and the nodes N2 and N3 included in the map information. The size varies depending on L2 and L3. The distances L2 and L3 are the shortest distances from the nodes N2 and N3 to the wall 43. The shortest distance from the nodes N2 and N3 to the wall 43 is a distance from the wall 43 on the side of an angle of less than 180 ° formed by a straight line connecting adjacent nodes. That is, the distances L2 and L3 are distances from the corners 44 of the bending wall 43 when the autonomous mobile device 41 changes the moving direction.

  The radii of the arrival determination areas E12 and E13 are approximately proportional to the distances L2 and L3 between the wall 43 and the nodes N2 and N3. Therefore, when the interval L2 is longer than the interval L3, the radius of the arrival determination area E12 is longer than the radius of the arrival determination area E13. Then, the autonomous mobile device 41 sets the current passing point target T to the node N3 at a position away from the node N2 by the interval L2, and sets the current passing point target T at the position P3 away from the node N3. Set to.

  Thus, by changing the sizes of the arrival determination areas E12 and E13, the autonomous mobile device 41 can move smoothly without being hindered by the corner 44 of the passage 42.

  Here, if the arrival determination areas E12 and E13 have the same size, the corner 44 may overlap the course S3 of the autonomous mobile device 41, which may hinder smooth movement of the autonomous mobile device 41. That is, there may be a corner 44 in the route direction S3 of the autonomous mobile device 41. This case will be described with reference to FIG. FIG. 8 is a schematic diagram of the passage 42 when the arrival determination areas have the same size. As shown in FIG. 8, a corner 44 exists in the course direction S3 of the autonomous mobile device 41 that has reached the arrival determination area E13. Therefore, the autonomous mobile device 41 detects the corner 44 by the external environment information acquisition unit 18 while moving in the course direction S3, and moves while avoiding the corner 44. Therefore, the autonomous mobile device 41 cannot move smoothly through the passage.

  The autonomous mobile device 41 according to the fourth embodiment sets the size of the node arrival determination area according to the wall distances L2 and L3 between the wall 43 and the node included in the map information. It is possible to generate an arrival determination area suitable for the shape.

(Embodiment 4)
9 and 10 are schematic diagrams of arrival determination areas for explaining changes in the arrival determination area according to the fourth embodiment of the present invention.

  Hereinafter, differences of the fourth embodiment from the first embodiment will be described with reference to the drawings.

  The autonomous mobile device 51 determines whether or not the position of the vehicle body can reach the arrival determination area E31 in the node N3, which is the current passing point target T, under a predetermined condition. When the autonomous mobile device 51 determines that the node N3 cannot be reached, the autonomous mobile device 51 increases the size of the arrival determination area E31 of the node N3. Specifically, as shown in FIG. 9, the obstacle 52 is located at the node N3, and the arrival determination area E31 is smaller than the obstacle 52. In some cases, the determination area E31 cannot be reached. In this case, the current passing point target T cannot be changed to the destination P, and the autonomous mobile device 51 cannot move to the destination P. Therefore, in the fourth embodiment, it is determined that the arrival determination area E31 in the node N3 cannot be reached on the condition that the elapsed time since the latest arrival determination is made is a predetermined time or more.

  For example, if the autonomous mobile device 51 does not reach the arrival determination area E31 even after 10 seconds have elapsed after reaching the arrival determination area E2, the determination unit determines that the autonomous mobile device 51 cannot reach the arrival determination area E2. judge. Then, the arrival determination area setting unit enlarges the arrival determination area E31 and changes it to the arrival determination area E32. Since arrival determination area E32 is set to be larger than obstacle 52, even if obstacle 52 larger than arrival determination area E31 exists at the position of node N3, arrival determination is made to autonomous mobile device 51. Can be made. As a result, even when there is an obstacle larger than the arrival determination area at the position of the node, the autonomous mobile device 51 can smoothly move toward the next passing point target that is the next node.

  As shown in FIG. 10, even if there is no obstacle 52 at the position of the node N3, there is an obstacle 53 near the node N3, and this obstacle 53 prevents the autonomous mobile device 51 from reaching the node N3. There is a case. Also in this case, if the determination unit of the autonomous mobile device 51 determines that it cannot reach, there is an obstacle that obstructs reaching the arrival determination area by increasing the size of the arrival determination area E31 of the node N3. However, it is possible to move smoothly toward the passing point target for the time being the next node.

  If the arrival determination area setting unit determines that the determination unit is not reachable, the arrival determination area setting unit E3 may increase the arrival determination area E31 of the node N3 over time.

  Further, when it is determined from the environment information detected by the external environment information acquisition unit 18 that the determination unit cannot be reached, the arrival determination area setting unit may enlarge the arrival determination area E31 of the node N3.

  The autonomous mobile device of the present invention is useful for a communication robot and a mobile device that performs operations such as transportation, delivery, security, and cleaning.

DESCRIPTION OF SYMBOLS 11, 41, 51 Autonomous mobile device 12 Car body 13 Moving part 14 Self-position acquisition part 15 Storage part 16 Path | route production | generation part 17 Movement control part 18 External environment information acquisition part 19 Battery 20, 43 Wall 21, 42 Passage 22, 44 Corner | angular 31 Arrival determination area generation unit 52, 53 Obstacle N1, N2, N3 Nodes E2, E3, E12, E13, E31, E32 Arrival determination area T Passing point target P Destination

Claims (3)

The car body,
A moving unit for moving the vehicle body;
A self-position obtaining unit for obtaining the self-position of the vehicle body;
A storage unit for storing the position of a plurality of nodes, the size of an arrival determination area surrounding each of the plurality of nodes, and map information;
A route generator that connects the plurality of nodes to generate a route from the self-location to a destination;
When reaching the arrival determination area surrounding the node as the current passing point target, a movement control unit that switches the next node as the current passing point target and moves toward the next node, and
The said arrival determination area is an autonomous mobile apparatus from which a magnitude | size differs according to the space | interval of the node and the wall of the channel | path included in the said map information. In the node that is the current passing point target, a determination unit that determines whether or not the vehicle body enters the arrival determination area of the node under a predetermined condition;
When the determination unit determines that a vehicle body cannot be put in the arrival determination area, the determination unit includes an arrival determination area setting unit that changes the size of the arrival determination area.
The autonomous mobile device according to claim 1 . Connect multiple nodes to create a route from your location to your destination,
When reaching the arrival judgment area surrounding the node as the current passing point target, when switching the next node as the current passing point target and moving the vehicle body toward the next node,
The arrival determination area varies in size according to the distance between the enclosing node and the wall of the passage included in the map information.
Autonomous movement method.

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