JP6289791B1 - Information processing apparatus and information processing system - Google Patents

Abstract

The creation unit (1e) sets the first area (240, 240a1, 240a2, 240b1, 240b2, 240c, 240d) in which the movement of the mobile device (13) is permitted indoors, and the set first area ( 240, 240a1, 240a2, 240b1, 240b2, 240c, 240d), the first area information (130) is created. The mobile device (13) detects the features (150, 220, 220a, 220b) existing indoors. A sensor device (11) for detecting features (150, 220, 220a, 220b) existing indoors is installed indoors. The creation unit (1e) generates the indoor information based on the map information indicating the indoor map, the detection distance (d1) of the mobile device (13), and the position of the indoor feature detected by the sensor device (11). One area (240, 240a1, 240a2, 240b1, 240b2, 240c, 240d) is set.

Description

  The present invention relates to information processing.

  In recent years, as a countermeasure to social problems such as an increase in the number of elderly people and a decrease in the labor force population, technology development for causing a robot to perform various indoor tasks has been advanced. Examples of the work to be performed by the robot indoors include transportation of goods, cleaning, and support for movement of people.

  Patent Documents 1 to 3 disclose techniques related to a mobile device that performs autonomous movement.

Japanese Patent No. 5902275 Japanese Patent Laying-Open No. 2015-138489 JP 2010-86416 A

  It is desired that a mobile device such as a robot can appropriately move autonomously indoors.

  Therefore, the present invention has been made in view of the above-described points, and an object of the present invention is to provide a technique that enables a mobile device to appropriately move autonomously indoors.

One aspect of the information processing apparatus according to the present invention relates to a method for indoor mobile equipment performs autonomous mobile sets a first area in which movement of the mobile equipment is allowed, the first area that has been set a creation unit for creating a first region information, said comprising a <br/> a determination unit first region whether or not it is properly set, the mobile equipment is earth present in the indoor Detecting an object, outputting first position information indicating the position of the detected feature , detecting the indoor moving device, outputting second position information indicating the position of the detected moving device, sensor equipment for detecting the land object existing indoors is installed in the indoor, the creating unit includes: a map information indicating a map of the indoor, the detection distance of the mobile equipment, the sensor equipment is detected based on the position of the to that land object, sets the first area to the indoors, the determination unit before Based on the first and second position information, it determines whether the first area is properly set.

Further, one embodiment of the information processing apparatus according to the present invention, the mobile equipment is set indoors for performing autonomous movement, the first area in which movement of the mobile equipment is authorized, it is set appropriately comprising a determining unit whether said mobile equipment, said detects the earth that is present indoors, and outputs the first position information indicating a position of the detected said locations thereof, the moving instrumentation of the indoor detecting the location, the sensor equipment for outputting a second position information indicating the detected position of the said mobile equipment is installed in the indoor, the determination unit, based on the first and second position information, the It determines whether the first area is properly set.

  According to the present invention, the mobile device can appropriately move autonomously indoors.

It is a figure which shows an example of an information processing system. It is a figure which shows an example of the hardware constitutions of information processing apparatus. It is a figure which shows an example of a mode that a robot moves on an indoor virtual lane. It is a flowchart which shows an example of operation | movement of information processing apparatus. It is a figure which shows an example of an indoor virtual lane. It is a figure which shows an example of the information contained in indoor map information. It is a figure which shows an example of an indoor virtual lane. It is a figure which shows an example of the immovable area | region set to an indoor virtual lane. It is a flowchart which shows an example of operation | movement of information processing apparatus. It is a figure which shows an example of the stop prohibition area | region set to an indoor virtual lane. It is a figure which shows an example of the stop prohibition area | region set to an indoor virtual lane. It is a figure which shows an example of an information processing system.

Embodiment 1 FIG.
<Outline of information processing system>
FIG. 1 is a diagram illustrating an example of the configuration of the information processing system 10. The information processing system 10 according to the present embodiment is indoor map information indicating an indoor map (indoor map) on which the mobile device autonomously moves, and indicates an area in which movement of the mobile device is permitted. Create indoor map information including information. Therefore, it can be said that the information processing system 10 is an indoor map creation system.

  As shown in FIG. 1, the information processing system 10 includes an information processing apparatus 1, an indoor installation type sensor apparatus 11 (hereinafter sometimes referred to as a first sensor apparatus 11) installed indoors, And a robot 13 that is a mobile device that moves autonomously. The robot 13 includes a moving body-mounted sensor device 12 (hereinafter sometimes referred to as a second sensor device 12). Based on the information output from the indoor sensor device 11 and the information output from the mobile body-mounted sensor device 12, the information processing device 1 displays information indicating an area where the robot 13 is permitted to move indoors. It is possible to create indoor map information including. Therefore, it can be said that the information processing apparatus 1 is an indoor map creation apparatus.

  Hereinafter, indoors means indoors where the robot 13 moves autonomously. In addition, an area where the movement of the robot 13 is permitted indoors may be referred to as a movement permitted area. In addition, information indicating the movement permitted area may be referred to as movement permitted area information.

At least one first sensor device 11 is installed indoors. Accordingly, comprising a first sensor device 11 of a single even the information processing system 10 rather low. The first sensor device 11 is installed, for example, on an indoor ceiling or pillar. The first sensor device 11 can detect each of the indoor feature, the person, and the robot 13 as the first detection target. Here, the indoor feature means an object (physically existing object) existing indoors other than a person, the robot 13 and the first sensor device 11. Examples of indoor features that can be detected by the first sensor device 11 include pillars, walls, floors, windows, and lighting. The first sensor device 11 is, for example, a laser range sensor or a camera sensor.

  The first sensor device 11 specifies the type of the detected first detection object. In addition, the first sensor device 11 obtains the position of the first detection object (the relative position of the first detection object with respect to the position of the first sensor device 11) with the position of the first sensor device 11 as the origin. The first sensor device 11 measures the distance from the first sensor device 11 to the first detection target, and based on the measurement result, the first detection target with the position of the first sensor device 11 as the origin It is possible to determine the position of an object. Hereinafter, the position of the first detection object with the position of the first sensor device 11 as the origin may be referred to as a first relative position.

  The first sensor device 11 outputs indoor installation type sensor information 110 including type information indicating the specified type and position information indicating the obtained first relative position. In the indoor sensor information 110, type information indicating the type of the first detection object and position information indicating the first relative position of the first detection object are associated with each other.

  The first sensor device 11 detects the first detection target object, for example, periodically (for example, every 100 ms). And whenever the 1st sensor apparatus 11 detects a 1st detection target object, the classification information and positional information about the detected 1st detection target object, and the identification information for identifying the said 1st sensor apparatus 11 and The indoor installation type sensor information 110 including is output. The first sensor device 11 outputs the indoor installation type sensor information 110, for example, periodically (for example, every 100 ms). Hereinafter, the indoor sensor information 110 may be referred to as first sensor information 110.

  The second sensor device 12 mounted on the robot 13 can detect each of an indoor feature and a person as a second detection target. Examples of indoor features that can be detected by the second sensor device 12 include pillars, walls, floors, windows, and lighting. The second sensor device 12 is, for example, a laser range sensor or a camera sensor. In the present embodiment, the detection accuracy of the first sensor device 11 is higher than the detection accuracy of the second sensor device 12.

  The second sensor device 12 specifies the type of the detected second detection object. In addition, the second sensor device 12 obtains the position of the second detection object (the relative position of the second detection object with respect to the position of the second sensor device 12) with the position of the second sensor device 12 as the origin. The second sensor device 12 measures the distance from the second sensor device 12 to the second detection target, and based on the measurement result, the second detection target with the position of the second sensor device 12 as the origin It is possible to determine the position of an object. Hereinafter, the position of the second detection object with the position of the second sensor device 12 as the origin may be referred to as a second relative position.

  The second sensor device 12 outputs moving body mounted sensor information 120 including type information indicating the specified type and position information indicating the obtained second relative position. In the mobile body mounted sensor information 120, type information indicating the type of the second detection target and position information indicating the second relative position of the second detection target are associated with each other.

  The second sensor device 12 detects the second detection target object, for example, periodically (for example, every 100 ms). And whenever the 2nd sensor apparatus 12 detects a 2nd detection target object, the mobile body mounting sensor information 120 containing the classification information and position information about the detected 2nd detection target object is output. The second sensor device 12 outputs the mobile body mounted sensor information 120, for example, periodically (for example, every 100 ms). Hereinafter, the mobile body mounted sensor information 120 may be referred to as second sensor information 120.

  The information processing apparatus 1 includes, as functional blocks, an indoor installation type sensor information collection unit 1a, a moving body position calculation unit 1b, an indoor map information storage unit 1c, a mobile body mounted sensor information collection unit 1d, and indoor virtual lane information. A creation unit 1e and an indoor virtual lane information verification unit 1f are provided. The information processing device 1 is, for example, a kind of computer device (computer circuit). The information processing apparatus 1 may be provided indoors or outdoors.

  The indoor installation type sensor information collecting unit 1a collects the first sensor information 110 output from the first sensor device 11. The indoor installation type sensor information collecting unit 1a can perform wired communication or wireless communication with the first sensor device 11. The indoor installation type sensor information collecting unit 1 a collects the first sensor information 110 by communicating with the first sensor device 11. When performing wired communication, the indoor sensor information collecting unit 1a may perform communication in accordance with, for example, Ethernet (registered trademark) or serial communication. In addition, in the case of performing wireless communication, the indoor sensor information collecting unit 1a may perform communication based on, for example, Wi-Fi, or perform communication based on Bluetooth (registered trademark). Also good. Hereinafter, the indoor installation type sensor information collection unit 1a may be referred to as a first collection unit 1a.

  The mobile body-mounted sensor information collection unit 1d collects the second sensor information 120 output from the second sensor device 12. The mobile body-mounted sensor information collection unit 1d can perform wireless communication with the second sensor device 12, for example. The mobile body-mounted sensor information collection unit 1d collects the second sensor information 120 by communicating with the second sensor device 12. The mobile body-mounted sensor information collection unit 1d may perform communication based on, for example, Wi-Fi, or may perform communication based on Bluetooth. The mobile body-mounted sensor information collection unit 1d communicates with a communication unit included in the robot 13 on which the second sensor device 12 is mounted, so that the second sensor device 12 outputs the second sensor device 12 via the communication unit. Sensor information 120 may be collected. Hereinafter, the mobile body-mounted sensor information collection unit 1d may be referred to as a second collection unit 1d.

  The indoor map information storage unit 1c stores indoor map information indicating an indoor map. The indoor map information includes, for example, feature information for specifying indoor features such as pillars, walls, and passages, and first sensor specifying information for specifying the first sensor device 11. In the feature information, for example, an identification number (ID) assigned to the indoor feature, type information indicating the type of the indoor feature (such as a pillar and a wall), and position information indicating the position of the indoor feature, Are associated. The feature information for identifying the passage includes passage shape information indicating the shape of the passage. In the first sensor specifying information, identification information for identifying the first sensor device 11 and position information indicating the position of the first sensor device 11 are associated with each other.

  Here, an XYZ orthogonal coordinate system having an origin at a predetermined position in the room is set indoors. Indoor map information is created using this XYZ rectangular coordinate system. This XYZ orthogonal coordinate system is called a map coordinate system. The position information included in the indoor map information indicates the position in the map coordinate system. It can be said that the map coordinate system is a coordinate system set in the indoor map or the indoor map information. Indoor map information is produced | generated based on an architectural drawing etc., for example, and is beforehand memorize | stored in the indoor map information storage part 1c.

  As will be described later, the indoor virtual lane information that is generated by the indoor virtual lane information creation unit 1e as the movement-permitted area information is not stored in the indoor map information storage unit 1c in advance, but is stored in the indoor map information storage. The indoor map information stored in advance in the part 1c is included later. Hereinafter, the indoor map information storage unit 1c may be referred to as a storage unit 1c.

  The moving body position calculating unit 1b uses the position information indicating the first relative position of the robot 13 included in the first sensor information 110 collected by the first collecting unit 1a to position the robot 13 on the indoor map. Is calculated. In other words, the moving body position calculation unit 1b calculates the position of the robot 13 in the map coordinate system using the first relative position of the robot 13 detected by the first sensor device 11. A position in the map coordinate system may be called a map position. In addition, the position of the robot 13 in the map coordinate system calculated by the moving body position calculation unit 1b using the first relative position of the robot 13 may be referred to as a first map position of the robot. In addition, the moving body position calculation unit 1b may be referred to as a calculation unit 1b.

  The calculating unit 1b calculates the map position of the robot 13 using position information indicating the second relative position of the indoor feature included in the second sensor information 120 collected by the second collecting unit 1d. In other words, the calculation unit 1b calculates the map position of the robot 13 using the second relative position of the indoor feature detected by the second sensor device 12. Hereinafter, the map position of the robot 13 calculated by the calculation unit 1b using the second relative position of the indoor feature may be referred to as the second map position of the robot 13.

  The indoor virtual lane information creation unit 1e moves indoors where the robot 13 is permitted to move based on the map position of the indoor feature detected by the first sensor device 11 and the indoor map information in the storage unit 1c. Set the permission area. Then, the indoor virtual lane information creation unit 1e creates movement permission area information 130 indicating the set movement permission area and includes it in the indoor map information in the storage unit 1c. The movement permission area information 130 is information for specifying a movement permission area in the indoor map. Hereinafter, the movement permitted area and the movement permitted area information 130 may be referred to as indoor virtual lane and indoor virtual lane information 130, respectively. In addition, the indoor virtual lane information creation unit 1e may be referred to as a creation unit 1e.

  The indoor virtual lane information verification unit 1f verifies whether the indoor virtual lane information 130 created by the creation unit 1e is appropriate based on the first map position and the second map position of the robot 13 calculated by the calculation unit 1b. To do. In other words, the indoor virtual lane information verification unit 1f verifies whether or not the indoor virtual lane is appropriately set. When the indoor virtual lane information verification unit 1f determines that the indoor virtual lane information 130 is appropriate, the verification result information 140 indicating the indoor virtual lane information 130 is included in the verified indoor virtual lane information 130.

  Hereinafter, the indoor virtual lane information 130 including the verification result information 140 may be referred to as indoor virtual lane information (verified) 130. Also, the indoor virtual lane information 130 (including the indoor virtual lane information 130 that has not been verified by the indoor virtual lane information verification unit 1f) that is not determined to be appropriate by the indoor virtual lane information verification unit 1f is used as the indoor virtual lane information. Sometimes called (unverified) 130. In addition, the indoor virtual lane information verification unit 1f may be referred to as a verification unit 1f.

  In the present embodiment, the position information indicating the first relative position of the robot 13 output from the first sensor device 11 and the indoor feature output from the second sensor device 12 are output by the calculation unit 1b and the verification unit 1f. Based on the position information indicating the second relative position, a determination unit 1y that determines whether or not the indoor virtual lane set by the creation unit 1e is appropriately set is configured.

  FIG. 2 is a diagram illustrating an example of a hardware configuration of the information processing apparatus 1. As illustrated in FIG. 2, the information processing apparatus 1 includes a processing circuit 2, a storage device 3, a first communication device 4, and a second communication device 5 as hardware.

  The processing circuit 2 is, for example, a CPU (Central Processing Unit). The processing circuit 2 may include a DSP (Digital Signal Processor). The storage device 3 includes a non-transitory recording medium that can be read by the processing circuit 2 (CPU), such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage device 3 may include a computer-readable non-transitory recording medium other than ROM and RAM. The storage device 3 may include, for example, an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage device 3 includes a control program 3 a for controlling the information processing device 1. The storage device 3 stores indoor map information and functions as the storage unit 1c described above.

  In the present embodiment, each of the calculation unit 1b, the creation unit 1e, and the verification unit 1f includes, for example, functional blocks realized by the processing circuit 2 (CPU) executing the control program 3a in the storage device 3. Has been.

  The first communication device 4 is a communication circuit that performs wired communication or wireless communication with the first sensor device 11. The first communication device 4 functions as the first collection unit 1a described above. The second communication device 5 is a communication circuit that performs wired communication or wireless communication with the second sensor device 12. The second communication device 5 functions as the second collection unit 1d described above.

  Note that the processing circuit 2 may be realized by a hardware circuit that does not require software to realize the function. In this case, the processing circuit 2 includes, for example, at least a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (field-programmable gate array). It may be composed of one. When the processing circuit 2 is realized by a hardware circuit that does not require software for realizing its function, each of the calculation unit 1b, the creation unit 1e, and the verification unit 1f requires hardware that does not require software for realizing its function. This is realized by a wear circuit. Further, at least one of the calculation unit 1b, the creation unit 1e, and the verification unit 1f may be realized by a hardware circuit that does not require software for realizing the function.

<Robot autonomous movement>
The robot 13 on which the second sensor device 12 is mounted autonomously moves on the indoor virtual lane indicated by the indoor virtual lane information 130 in the storage unit 1c based on the position of the indoor feature detected by the second sensor device 12. can do.

  FIG. 3 is a diagram illustrating an example of a state in which the robot 13 autonomously moves on the indoor virtual lane 240. As shown in FIG. 3, the second sensor device 12 mounted on the robot 13 calculates the distance from the indoor feature 150 when the indoor feature 150 enters the detection range 12a, Based on this, the position of the indoor feature 150 with the second sensor device 12 as the origin, that is, the second relative position of the indoor feature 150 is obtained. The detection distance d1 (radius of the circular detection range 12a) of the second sensor device 12 is, for example, 5 to 30 m. Then, the robot 13 obtains the map position of the robot 13 from the second relative position of the indoor feature 150. The robot 13 repeatedly obtains the map position of the robot 13 using, for example, a CPU mounted thereon. Each time the robot 13 obtains the map position of the robot 13, the robot 13 compares the obtained map position with the indoor virtual lane (movement permission area) 240 indicated by the indoor virtual lane information 130, and based on the comparison result. The map position moves toward the destination so as not to deviate from the indoor virtual lane 240. Thereby, the robot 13 can appropriately autonomously move on the indoor virtual lane 240.

  When determining the movement route to the destination, the robot 13 may determine a route including only the indoor virtual lane indicated by the indoor virtual lane information (verified) 130 or the indoor virtual lane information (verified) 130. A route including both the indoor virtual lane indicated by and the indoor virtual lane indicated by the indoor virtual lane information (unverified) 130 may be determined. In the latter case, for example, the robot 13 gives priority to the indoor virtual lane indicated by the indoor virtual lane information (verified) 130 as a moving area over the indoor virtual lane indicated by the indoor virtual lane information (unverified) 130. To decide.

  When the robot 13 obtains the map position of the robot 13, the robot 13 uses the second collection unit 1d (second communication device 5) as the map position of the detected indoor feature 150 included in the indoor map information in the storage unit 1c. ) Through the information processing apparatus 1. Then, the robot 13 obtains the map position of the robot 13 based on the map position of the indoor feature 150 received from the information processing apparatus 1 and the obtained second relative position of the indoor feature 150. If the map position of the indoor feature 150 is (X0, Y0, Z0) and the second relative position of the indoor feature 150 is (Xr, Yr, Zr), the map position of the robot 13 is (X0-Xr, Y0- Yr, Z0-Zr). When the robot 13 moves autonomously, for example, it detects a pillar, and obtains the map position of the robot 13 based on the detected second relative position of the pillar and the map position of the pillar.

  Thus, the robot 13 can determine its own map position by detecting the indoor feature 150. The robot 13 can autonomously move indoors based on the obtained map position and the indoor virtual lane information 130.

The indoor features that can be detected by the second sensor device 12 of the robot 13 may include a dedicated marker (position recognition marker) for the robot 13 to obtain its own map position. Also shown in Figure 3, the shape of the detection range 12a of the second sensor device 12 are merely examples, the shape of the detection range 12a is this not always linear.

<Indoor virtual lane information creation process>
FIG. 4 is a flowchart illustrating an example of a process for creating the indoor virtual lane information (movable area information) 130 performed by the information processing apparatus 1. FIG. 5 is a diagram illustrating an example of the indoor virtual lane 240 indicated by the indoor virtual lane information 130 created by the information processing apparatus 1. FIG. 5 shows a passage 200, a wall 210, a first pillar 220 a, a second pillar 220 b, and the first sensor device 11 in which a person and the robot 13 can move indoors. In the example of FIG. 5, an indoor virtual lane 240 is set for the passage 200 divided by the wall 210 indoors. Hereinafter, the first sensor device 11 to be described may be referred to as the target first sensor device 11.

  As shown in FIG. 4, in step S <b> 101, the first collection unit 1 a collects first sensor information (indoor installation type sensor information) 110 output from the target first sensor device 11.

  Next, in step S102, the creating unit 1e detects the indoor feature detected by the target first sensor device 11 based on the first sensor information 110 collected in step S101 and the indoor map information in the storage unit 1c. The range in which the robot 13 can detect and the range in which the robot 13 can move is set indoors. Hereinafter, the range in which the robot 13 can detect the indoor features detected by the target first sensor device 11 may be referred to as a detectable range. Further, the range in which the robot 13 can detect the indoor feature detected by the target first sensor device 11 and the range in which the robot 13 can move is referred to as a detection / movable range. is there. Hereinafter, step S102 will be described in detail.

  The creation unit 1e sets, for example, an area in which the robot 13 can detect the column 220 detected by the target first sensor device 11 as a detectable range. Then, for example, the creation unit 1e sets the range in which the path 200 in which the robot 13 can move and the detectable range overlap as the detectable / movable range 230.

  An example of a method in which the creation unit 1e sets the detectable range indoors will be described. First, the creation unit 1e uses the map position of the pillar 220 detected by the target first sensor device 11 as an indoor map in the storage unit 1c. Obtain from information. Specifically, the creation unit 1 e specifies the type of the column 220 detected by the first sensor device 11 from the type information included in the first sensor information 110. Then, the creation unit 1e acquires position information associated with the type information indicating the type of the identified pillar from the indoor map information in the storage unit 1c. Since this position information indicates the map position of the column 220 detected by the target first sensor device 11, the creation unit 1 e can acquire the map position of the column 220 detected by the target first sensor device 11.

  Next, the creating unit 1e sets a circular area centered on the acquired map position of the pillar 220 and having a radius of the detection distance d1 (see FIG. 3) of the target first sensor device 11 as a detectable range indoors. As the detection distance d1 used for setting the detectable range, a value obtained in advance by an experiment may be employed, or a value described in a spec sheet of the robot may be employed.

  When the creation unit 1e determines the detectable range, the creation unit 1e identifies a range in which the determined detectable range and the passage 200 overlap indoors, and sets the identified range as the detectable / movable range 230.

  For example, in the example of FIG. 5, it is assumed that the first sensor device 11 detects the first pillar 220a and the second pillar 220b. In this case, the creation unit 1e sets a circular area centered on the map position (X1, Y1, Z1) of the first pillar 220a and having the detection distance d1 of the target first sensor device 11 as a radius as a detectable range. Then, the creating unit 1e sets a range where the determined detectable range and the passage 200 overlap as a first detectable / movable range 230a with the first column 220a as a reference. Similarly, the creation unit 1e sets a circular area centered on the map position (X2, Y2, Z2) of the second pillar 220b and having a detection distance d1 of the target first sensor device 11 as a radius as a detectable range. Then, the creation unit 1e sets a range where the determined detectable range and the passage 200 overlap as a second detectable / movable range 230b with the second column 220b as a reference. In FIG. 5, the first detectable / movable range 230a and the second detectable / movable range 230b are schematically shown.

  When the detectable / movable range 230 is set indoors in step S102, the creating unit 1e sets the indoor virtual lane 240 in the detectable / movable range 230 in step S103. For example, the creation unit 1e sets the indoor virtual lane 240 within the detectable / movable range 230 based on the traffic direction information indicating the indoor traffic direction and the robot dimension information indicating the size of the robot. The traffic direction information includes, for example, information indicating whether the indoor passage is right-hand traffic or left-hand traffic. The robot dimension information includes each dimension of the robot, that is, the robot width Wr, depth Dr, and height Hr. As the robot dimension information, an actual measurement value may be adopted, or a value described in a robot spec sheet may be adopted.

  An example of how the creation unit 1e sets the indoor virtual lane 240 in the detectable / movable range 230 will be described. First, the creation unit 1e specifies the direction of travel in the detectable / movable range 230 from the traffic direction information. To do. Then, the creation unit 1e is an area in which there is no obstacle to the movement of the robot 13 (indoor feature that becomes an obstacle to the movement of the robot 13) extending along the specified direction of travel, and the width of the robot 13 An area having a width W1 corresponding to Wr is set as an indoor virtual lane 240 within the detectable / movable range 230. As a result, the robot 13 can move on the indoor virtual lane 240 along the traffic direction determined indoors. Examples of obstacles to robot movement include pillars, walls, and exhibits. The creation unit 1e can specify the map position of the indoor feature that becomes an obstacle to the movement of the robot 13 from the indoor map information.

  For example, the width W1 of the indoor virtual lane is set to a value obtained by adding a margin α to the width Wr of the robot 13 (W1 = Wr + α). The margin α is such that when the robot 13 moves on the indoor virtual lane 240 indoors, the robot 13 moves on the indoor virtual lane 240 even if the position of the robot 13 is slightly shifted. It is set to a value that is possible. The margin α can also be said to be an offset value or a margin value.

  In the example of FIG. 5, the first indoor virtual lane 240a1 and the second indoor virtual lane 240a2 having a width W1 extending along the passage direction 250 are included in the detection / movable range 230a with the first pillar 220a as a reference. And a third indoor virtual lane 240a3 is set. Further, within the detectable / movable range 230b with the second column 220b as a reference, the fourth indoor virtual lane 240b1, the fifth indoor virtual lane 240b2, and the sixth An indoor virtual lane 240b3 is set.

  For example, when the first indoor virtual lane 240a1 and the second indoor virtual lane 240a2 shown in FIG. 5 are set, the creating unit 1e follows the direction of travel 250 within the detectable / movable range 230. A long and narrow rectangular region having a predetermined width is sequentially arranged from the wall 210 toward the inside thereof. Then, the creation unit 1e sets an area obtained by bundling rectangular areas that do not overlap obstacles such as the pillars 220 by the width W1 as the indoor virtual lane 240. Note that the method of setting the indoor virtual lane 240 having the width W1 within the detection / movable range 230 by the creating unit 1e is not limited to this. In the example of FIG. 5, the direction of travel 250 is a straight line, but may not be a straight line.

  When the creating unit 1e sets the indoor virtual lane 240 within the detectable / movable range 230, the creating unit 1e creates indoor virtual lane information 130 indicating the set indoor virtual lane 240. Thereby, indoor virtual lane information (unverified) 130 is obtained. The indoor virtual lane information 130 includes information indicating the range of the indoor virtual lane 240 on the indoor map and information indicating the map position. Then, the creation unit 1e includes the created indoor virtual lane information 130 in the indoor map information in the storage unit 1c. The indoor virtual lane information 130 indicating the indoor virtual lane 240 set in the detectable / movable range 230 includes information indicating the detectable / movable range 230 and information indicating the direction of travel in the indoor virtual lane 240. include.

  In the example of FIG. 5, first to third indoor virtual lane information 130 indicating the first indoor virtual lane 240a1, the second indoor virtual lane 240a2, and the third indoor virtual lane 240a3 is created. In addition, fourth to sixth indoor virtual lane information 130 indicating the fourth indoor virtual lane 240b1, the fifth indoor virtual lane 240b2, and the sixth indoor virtual lane 240b3 is created.

  In the indoor map information, the indoor virtual lane information 130 indicating the indoor virtual lane 240 set in the detectable / movable range 230 based on the indoor feature (the pillar in this example) detected by the target first sensor device 11 is displayed. On the other hand, feature information (ID, type information, and position information) for specifying the indoor feature is associated.

  FIG. 6 is a diagram illustrating an example of information included in the indoor map information 100 corresponding to the example of FIG. As shown in FIG. 6, the first indoor virtual lane 240a1, the second indoor virtual lane 240a2 and the third indoor virtual lane 240a2 are set in the first detectable / movable range 230a based on the first pillar 220a. The first feature information for identifying the first pillar 220a is associated with the first to third indoor virtual lane information indicating the indoor virtual lane 240a3. In the example of FIG. 6, the ID of the first pillar 220a is 1. Further, the fourth indoor virtual lane 240b1, the fifth indoor virtual lane 240b2, and the fifth indoor virtual lane 240b3 set in the second detectable / movable range 230b with the second pillar 220b as a reference are respectively shown. The fourth to sixth indoor virtual lane information shown is associated with second feature information for specifying the second pillar 220b. In the example of FIG. 6, the ID of the second pillar 220b is 2.

  In this way, the indoor virtual lane 240 that is an area where the robot 13 is permitted to move is set indoors, and the indoor virtual lane information 130 indicating the indoor virtual lane 240 is included in the indoor map information. Thereby, the robot 13 can specify the area | region permitted to move indoors by acquiring indoor map information from the information processing apparatus 1. FIG. Therefore, the robot 13 can autonomously move on the area permitted to move. That is, the robot 13 can appropriately autonomously move indoors.

  Note that the information processing apparatus 1 may execute the indoor virtual lane information creation process (steps S101 to S103) illustrated in FIG. 4 according to a user's execution instruction or automatically. Good.

  When the information processing system 10 includes a plurality of first sensor devices 11, the first sensor information 110 output by the first sensor device 11 is used for each of the plurality of first sensor devices 11. Thus, indoor virtual lane information 130 is created.

  In addition, the detection distance d1, the traffic direction information, and the robot dimension information of the second sensor device 12 used in the creation of the indoor virtual lane information 130 may be stored in advance in the storage unit 1c, or the indoor virtual lane When the information 130 is created, the information 130 may be input to the information processing apparatus 1 from outside the information processing apparatus 1. In the latter case, the user may input the detection distance d1, the traffic direction information, and the robot dimension information to the information processing apparatus 1, or the information processing apparatus 1 stores the detection distance d1, the traffic direction information, and the robot dimension information. Such information may be acquired from the device by performing wireless communication or wired communication with the device.

  When the indoor virtual lane 240 is in contact with an indoor feature such as a pillar or a wall, when the robot 13 moving on the indoor virtual lane 240 protrudes from the indoor virtual lane 240, the indoor feature becomes an obstacle. Thus, the robot 13 may come into contact with the indoor feature.

  Therefore, as illustrated in FIG. 7, the creation unit 1e includes an indoor virtual lane 240 and an indoor feature 150 (such as a pillar, a wall, and an exhibition) that may become an obstacle when the robot 13 protrudes therefrom. The indoor virtual lane 240 may be set indoors so that the distance L1 between the two is equal to or greater than the predetermined distance Lo. Thereby, even if the robot 13 protrudes from the indoor virtual lane 240, the possibility that the robot 13 contacts the indoor feature can be reduced.

  The detection distance of the first sensor device 11 (hereinafter sometimes referred to as the first detection distance) is larger than the detection distance d1 of the second sensor device 12 (hereinafter sometimes referred to as the second detection distance). It may be the same as that, or smaller.

  Here, when the first detection distance is smaller than the second detection distance, the first sensor device 11 detects an indoor feature that can be detected by the second sensor device 12 depending on the installation location of the first sensor device 11. There are things that cannot be done. As can be understood from the above description, for indoor features that cannot be detected by the first sensor device 11, the detection / movable range 230 based on the indoor features is not set. Lane 240 is not set. Therefore, even if the robot 13 can detect the indoor feature and determine its own map position, the movement is permitted because the indoor virtual lane 240 does not exist near the indoor feature. It becomes difficult to move the area.

  On the other hand, when the first detection distance is larger than the second detection distance, the possibility that the first sensor device 11 cannot detect the indoor feature that can be detected by the second sensor device 12 can be reduced. Accordingly, the possibility that the indoor virtual lane 240 does not exist near the indoor feature detected by the robot 13 can be reduced. Therefore, the robot 13 can move more reliably in the area where movement is permitted. When the first detection distance is larger than the second detection distance, if the second detection distance (d1) is 5 to 10 m as described above, the first detection distance is set to about 100 m, for example.

  Further, when the second detection distance is smaller than the first detection distance, the power consumption of the second sensor device 12 can be reduced, and as a result, the power consumption of the robot 13 can be reduced. When the robot 13 is driven by a battery, the driving time of the robot 13 can be lengthened because the second detection distance is smaller than the first detection distance.

  In addition, when the 1st sensor apparatus 11 installed indoors is not driven with a battery but a commercial power supply etc. are always supplied, a 1st detection distance is set larger than a 2nd detection distance. Even if the power consumption of the first sensor device 11 is increased, it is unlikely that the driving time of the first sensor device 11 is shortened due to this.

  In addition, when the second detection distance is smaller than the first detection distance, the second sensor device 12 that is less expensive than the first sensor device 11 can be employed, so that the material cost of the robot 13 is reduced. It becomes possible.

  When a plurality of types of robots 13 move indoors, an average value of the widths of the plurality of types of robots 13 may be used as the width Wr included in the robot dimension information, or the maximum value is used. May be. When the maximum value of the widths of the plurality of types of robots 13 is adopted as the width Wr, the possibility that each robot 13 is detached from the indoor virtual lane 240 can be reduced. Accordingly, each robot 13 can appropriately move autonomously indoors.

  The indoor virtual lane information 130 indicating the indoor virtual lane 240 may include the height from the floor surface to the ceiling in the indoor virtual lane 240. In this case, the indoor map information includes the height from the floor surface to the ceiling in the passage. Hereinafter, the height from the floor to the ceiling is called the ceiling height. The creation unit 1e identifies the ceiling height in the indoor virtual lane 240 set in the detectable / movable range 230 from the ceiling height of the passage included in the indoor map information, and uses the identified ceiling height as the indoor virtual It is included in the indoor virtual lane information 130 indicating the lane 240. When performing a route search, the robot 13 determines a route that moves on the indoor virtual lane 240 indicated by the indoor virtual lane information 130 including a ceiling height lower than its own height. Thereby, the robot 13 can appropriately autonomously move indoors.

  If there is an indoor feature that becomes an obstacle, such as a pillar, wall, or exhibit, in a certain area between two indoor virtual lanes 240 adjacent to each other, the robot 13 passes through the certain area. Thus, it becomes difficult to move between the two indoor virtual lanes 240.

  Therefore, the creation unit 1e cannot move from the indoor virtual lane 240 to the next indoor virtual lane 240 based on the map position of the obstacle (indoor feature) located between the indoor virtual lanes 240. An immovable area may be set. In this case, the creation unit 1 e includes the non-movable area information indicating the non-movable area set in the indoor virtual lane 240 in the indoor virtual lane information 130 indicating the indoor virtual lane 240. The immovable area information is information for specifying an immovable area on the indoor map. The creation unit 1e can specify the map position of the obstacle between two adjacent indoor virtual lanes 240 based on the feature information and the indoor virtual lane information 130 included in the indoor map information.

  FIG. 8 shows a state in which an obstacle 280 exists between the first indoor virtual lane 240a1 and the second indoor virtual lane 240a2 in FIG. 5 described above. In the example of FIG. 8, in the first indoor virtual lane 240a1, a non-movable area 290a1 is set that cannot move to the adjacent second indoor virtual lane 240a2. Further, in the second indoor virtual lane 240a2, a non-movable area 290a2 that cannot move to the adjacent first indoor virtual lane 240a1 is set.

  As described above, by including the immovable area information in the indoor virtual lane information 130, the robot 13 moving on the indoor virtual lane 240 is based on the indoor virtual lane information 130 indicating the indoor virtual lane 240. It can be determined whether or not the vehicle can move from the lane 240 to the adjacent indoor virtual lane 240. Therefore, the robot 13 moving on the indoor virtual lane 240 can determine whether or not the robot 13 can move from the indoor virtual lane 240 to the adjacent indoor virtual lane 240 without detecting an obstacle. As a result, processing by the robot 13 is simplified.

  In addition, indoors, there are cases where the floor surface is made of tempered glass or wood and has a low load resistance. If the robot 13 moves on such an area, the floor may be damaged.

Accordingly, the indoor virtual lane information 130 indicating the indoor virtual lane 240 may include load resistance information indicating the load resistance of the floor surface of the indoor virtual lane 240. In this case, the indoor map information includes, for example, load resistance information indicating the load resistance of the floor surface of the passage. The creation unit 1e acquires load resistance information indicating the load resistance of the set floor surface of the indoor virtual lane 240 from the load resistance information included in the indoor map information. It is included in the indoor virtual lane information 130 shown. The load resistance information indicating the load resistance of the floor surface of a certain area may be the upper limit value (for example, kg) of the weight of the robot 13 capable of moving in the certain area. The load capacity per unit area of the surface (unit: kg / m ² , for example) may be used.

  In this way, by including the load resistance information in the indoor virtual lane information 130, the robot 13 performs the route search, and includes the load resistance information included in the indoor virtual lane information 130 and its own weight (robot weight) stored in advance. ), The route in which the weight of the vehicle moves on the indoor virtual lane 240 that does not exceed the load capacity of the floor surface can be determined. Therefore, the robot 13 can appropriately autonomously move indoors.

  As described above, in the present embodiment, the creation unit 1e determines the robot 13 based on the indoor map information, the detection distance d1 of the robot 13, and the position of the indoor feature detected by the first sensor device 11. The indoor virtual lane 240 that is an area where movement is permitted is set indoors. Thus, the indoor virtual lane 240 that allows the robot 13 to move autonomously while detecting indoor features can be set indoors. Therefore, the robot 13 can appropriately autonomously move indoors.

  In addition, since the indoor virtual lane 240 is automatically set, unlike the line tracer utilized in a factory or the like, it is not necessary to draw a line on the floor surface in order for the robot 13 to move autonomously. The line tracer is a technology that enables the robot to move autonomously when the robot recognizes a line drawn in advance with respect to the floor.

  Further, in the present embodiment, even if the actual position of the indoor feature changes, the appropriate indoor virtual lane 240 is automatically set indoors by updating the map position of the indoor feature included in the indoor map information. Can be set.

  Moreover, even if the actual position of the first sensor device 11 changes, the appropriate indoor virtual lane 240 is automatically set indoors by updating the map position of the first sensor device 11 included in the indoor map information. can do.

  In the present embodiment, since the indoor virtual lane 240 is set based on the traffic direction information, the robot 13 can easily move along the traffic direction determined indoors.

  In the present embodiment, since the indoor virtual lane 240 is set based on the width of the robot 13, the creation unit 1e can easily set the indoor virtual lane 240 having an appropriate width.

  The creation unit 1e may set the indoor virtual lane 240 without using the traffic direction information. In this case, for example, the creation unit 1e sets, in the indoor virtual lane 240, an area where no obstacle exists in the detectable / movable range 230. When the direction of travel is not defined within the detectable / movable range 230, the creation unit 1e sets the indoor virtual lane 240 without using the direction of travel information.

  The creation unit 1e may set the indoor virtual lane 240 without using the width Wr included in the robot dimension information. In this case, for example, the creation unit 1e sets the indoor virtual lane 240 having a fixed width W1 stored in advance in the storage unit 1c indoors.

<Indoor virtual lane information verification process>
Next, verification processing of the indoor virtual lane information 130 performed by the information processing apparatus 1 will be described. FIG. 9 is a flowchart illustrating an example of the verification process. For example, when the robot 13 is autonomously moving indoors based on indoor map information as described above, the verification process illustrated in FIG. 9 is repeatedly or periodically performed repeatedly. Hereinafter, the second sensor device 12 to be described may be referred to as the target second sensor device 12.

  As shown in FIG. 9, in step S <b> 201, the first collection unit 1 a collects the first sensor information 110 output from the target first sensor device 11. In step S201, the second collection unit 1d collects the second sensor information 120 output by the target second sensor device 12 in parallel with the collection of the first sensor information 110 in the first collection unit 1a.

  Next, in step S202, the calculation unit 1b obtains the map position of the robot 13 based on the first relative position of the robot 13 included in the first sensor information 110 collected in step S201. Specifically, the calculation unit 1b identifies information for identifying the target first sensor device 11 from the first sensor information 110 collected in step S201 (hereinafter, may be referred to as first sensor identification information). To get. And the calculation part 1b acquires the positional information matched with the acquired 1st sensor identification information in the indoor map information in the memory | storage part 1c. Since this position information indicates the map position of the target first sensor device 11, the calculation unit 1 b can acquire the map position of the target first sensor device 11. The first sensor identification information may be an IP address or a port number of a network to which the target first sensor device 11 is connected, or a COM number (COM1 or COM1) of serial communication performed by the target first sensor device 11 It may be a physical port number such as COM2.

  When the calculation unit 1b acquires the map position of the target first sensor device 11, the calculation unit 1b uses the acquired map position to calculate the first relative position of the robot 13 included in the first sensor information 110 collected in step S201. Convert to For example, if the map position of the target first sensor device 11 is (X3, Y3, Z3) and the first relative position of the robot 13 included in the first sensor information 110 is (Xp, Yp, Zp), The map position (first map position of the robot) is represented by (X3 + Xp, Y3 + Yp, Z3 + Zp).

  Next, in step S203, the calculation unit 1b obtains the map position of the robot 13 based on the second relative position of the indoor feature included in the second sensor information 120 collected in step S201. Specifically, the calculation unit 1b acquires the map position for the indoor feature whose second relative position is included in the second sensor information 120 collected in step S202 from the indoor map information in the storage unit 1c. In other words, the calculation unit 1b acquires the map position of the indoor feature detected by the second sensor device 12 from the indoor map information in the storage unit 1c. In this example, the calculation unit 1b acquires the map position of the pillar detected by the second sensor device 12 from the indoor map information in the storage unit 1c. Then, the calculation unit 1b calculates the map position of the indoor feature (post) detected by the second sensor device 12 and the second of the indoor feature (post) included in the second sensor information 120 collected in step S201. The map position of the robot 13 is obtained based on the relative position (the second relative position of the indoor feature detected by the second sensor device 12). For example, if the map position and the second relative position of the indoor feature detected by the second sensor device 12 are (X4, Y4, Z4) and (Xq, Yq, Zq), respectively, the map position of the robot 13 (robot 13 (Second map position) is represented by (X4-Xq, Y4-Yq, Z4-Zq).

  As can be understood from the above description, the second map position of the robot 13 obtained in step s203 is the same as the map position of the robot 13 obtained by detecting the indoor feature by the robot 13 itself.

  Next, in step S204, the verification unit 1f determines a distance D (unit: cm, for example) between the first map position of the robot 13 obtained in step S202 and the second map position of the robot 13 obtained in step S203. ) It can be said that the distance D indicates the difference between the first map position and the second map position of the robot 13. The distance D is expressed as follows using the first map position (X3 + Xp, Y3 + Yp, Z3 + Zp) of the robot 13 and the second map position (X4-Xq, Y4-Yq, Z4-Zq) of the robot 13.

  Next, in step S205, the verification unit 1f determines whether or not the distance D obtained in step S204 is equal to or less than the threshold value K. As the threshold value K, a value obtained in advance through experiments or the like is employed. The threshold value K is set to be less than 25 cm, for example.

  If it is determined in step S205 that the distance D is equal to or less than the threshold value K, in step S206, the verification unit 1f indicates that the indoor virtual lane information 130 indicating the indoor virtual lane 240 where the robot 13 is currently located is appropriate. Is determined. In other words, the verification unit 1f determines that the indoor virtual lane 240 where the robot 13 is currently located is appropriately set. And the verification part 1f is suitable with respect to the indoor virtual lane information 130 indicating the indoor virtual lane 240 where the robot 13 is currently located, which is included in the indoor map information in the storage part 1c. The verification result information 140 indicating this is included. At this time, the verification unit 1f specifies the indoor virtual lane 240 in which the robot 13 is located by using the first map position of the robot 13 (the map position obtained from the first sensor information 110) as the current position of the robot 13. Thereby, indoor virtual lane information (verified) 130 is obtained. The obtained indoor virtual lane information (verified) 130 is included in the indoor map information.

  Here, when it is difficult for the robot 13 to appropriately move on the indoor virtual lane 240 while calculating its own map position, it is difficult to say that the indoor virtual lane 240 is appropriately set. . That is, it is difficult to say that the indoor virtual lane 240 that is difficult for the robot 13 to appropriately move on is appropriately set.

  In the present embodiment, the first map position of the robot 13 obtained by using the first relative position of the robot 13 obtained by the first sensor device 11 with high detection accuracy is the correct position of the current robot 13. Used. Therefore, when the distance D is less than or equal to the threshold value K, it can be said that the calculation accuracy of the second map position of the robot 13 is high. That is, it can be said that the position calculation accuracy when the robot 13 obtains its own map position is high. When the position calculation accuracy of the robot 13 moving on the indoor virtual lane 240 is high, the robot 13 is unlikely to be detached from the indoor virtual lane 240 and appropriately moves on the indoor virtual lane 240. Can do. Therefore, when the distance D is less than or equal to the threshold value K, it can be said that the indoor virtual lane 240 to which the robot 13 currently moves is set appropriately. That is, when the distance D is less than or equal to the threshold value K, it can be said that the indoor virtual lane information 130 indicating the indoor virtual lane 240 to which the robot 13 currently moves is appropriate. When the distance D required when the robot 13 moves on the indoor virtual lane 240 is equal to or less than the threshold value K, the robot 13 moves on the indoor virtual lane 240 while maintaining a predetermined position calculation accuracy. I can say that. In addition, when the distance D required when the robot 13 moves on the indoor virtual lane 240 is equal to or less than the threshold value K, the robot 13 itself uses the second sensor information 120 to determine It can be said that the robot can appropriately move on the indoor virtual lane 240 based on the map position of the robot 13. When the distance D is equal to or less than the threshold value K, the indoor virtual lane 240 in which the robot 13 is located is an area in which the map position of the robot 13 can be calculated within a predetermined error range when the robot 13 moves on the indoor virtual lane It can be said that.

  As described above, when it is determined in step S205 that the distance D is equal to or smaller than the threshold value K, it is determined that the indoor virtual lane information 130 is appropriate, and indoor virtual lane information (verified) 130 is created. The

  On the other hand, if it is determined in step S205 that the distance D is greater than the threshold value K, step s206 is not executed and the verification process ends.

  The verification unit 1f may determine that the indoor virtual lane information 130 is appropriate when the distance D is less than the threshold value K.

  Further, the information processing apparatus 1 may execute the indoor virtual lane verification process (steps S201 to S206) illustrated in FIG. 9 according to a user's execution instruction or may be automatically executed.

  Thus, in this embodiment, the information processing apparatus 1 determines whether the indoor virtual lane information 130 is appropriate. That is, the information processing apparatus 1 causes the robot 13 to appropriately move on the indoor virtual lane 240 based on its own map position obtained using the second sensor information 120 output from its second sensor apparatus 12. Judging whether or not can be done. Therefore, the indoor virtual lane 240 that can be actually used by the robot 13 can be set indoors. That is, reliable indoor virtual lane information 130 that can be actually used by the robot 13 can be provided to the robot 13. Thereby, the robot 13 can appropriately autonomously move indoors. The determination unit 1y determines whether the indoor virtual lane 240 set indoors by another method is set appropriately instead of the indoor virtual lane 240 set indoors by the creation unit 1e as described above. May be.

Embodiment 2. FIG.
The robot 13 that moves indoors may move near the door. If the robot 13 stops before the hinged door (the door that opens and closes forward and backward), the robot 13 may obstruct the opening and closing of the hinged door.

  The robot 13 may use elevators and escalators. In this case, when the robot 13 stops near the boarding gate of the elevator, the robot 13 may interfere with the user of the elevator. Further, if the robot 13 stops near the entrance or exit of the escalator, the robot 13 may interfere with the escalator user.

  Therefore, in the present embodiment, in the indoor virtual lane 240, stop prohibited area information indicating a stop prohibited area where the stop of the robot 13 is prohibited is included in the indoor virtual lane information 130 indicating the indoor virtual lane 240.

  FIG. 10 is a diagram illustrating an example of the stop prohibition area. In FIG. 10, in the indoor virtual lane 240c, a predetermined range including the open / close range 320 where the hinged door 310 opens and closes is set as the stop prohibition region 300c. In the example of FIG. 10, the minimum rectangle (circumscribed rectangle) including the opening / closing range 320 is set as the stop prohibition area 300c. In the example of FIG. 10, information indicating the opening / closing range 320 is included in advance in the indoor map information. The creation unit 1e specifies the open / close range 302 from the indoor map information, and sets the stop prohibition area 300c including the specified open / close range 302 in the set indoor virtual lane 240c. Then, the creating unit 1e includes the stop prohibited area information indicating the set stop prohibited area 300c in the indoor virtual lane information 130 indicating the indoor virtual lane 240c. This stop prohibition area information is information for specifying the stop prohibition area 300c on the indoor map.

  FIG. 11 is a diagram showing another example of the stop prohibited area. FIG. 11 shows an elevator car 350, a door 360, and a call button 370. In the example of FIG. 11, the stop prohibition area 300 d is set in front of the door 360 in the indoor virtual lane 240 d. The stop prohibition area 300d is set in the indoor virtual lane 240d so that when the robot 13 stops there, the robot 13 interferes with a person coming out of the elevator car 350 and a person getting into the elevator car 350. The In the example of FIG. 11, the indoor map information includes information indicating the size of the elevator door 360 and the map position in advance. The creation unit 1e specifies the size of the elevator door and the map position from the indoor map information, and sets the stop prohibition area 300d in front of the specified door 260 in the set indoor virtual lane 240d. Then, the creation unit 1e includes the stop prohibited area information indicating the set stop prohibited area 300d in the indoor virtual lane information indicating the indoor virtual lane 240d. This stop prohibition area information is information for specifying the stop prohibition area 300d on the indoor map.

  As described above, in the present embodiment, the indoor virtual lane information 130 indicating the indoor virtual lane 240 includes information indicating an area in the indoor virtual lane 240 where the stop of the robot 13 is prohibited. Accordingly, the robot 13 can prevent the robot 13 from stopping in an area that disturbs a person indoors based on his / her own judgment. Thereby, the indoor traffic environment where a person and the robot 13 can move smoothly is realizable.

Embodiment 3 FIG.
When the robot 13 moves in the indoor virtual lane 240 where people are crowded, the robot 13 and the people may come into contact with each other.

  Therefore, in the present embodiment, the congestion level of the person in the indoor virtual lane 240 is included in the indoor virtual lane information 130 indicating the indoor virtual lane 240. Thus, the robot 13 can move indoors avoiding the indoor virtual lane 240 where people are crowded.

  FIG. 12 is a diagram illustrating an example of the configuration of the information processing system 10 according to the present embodiment. The information processing system 10 according to the present embodiment further includes a congestion degree calculation unit 1g in the information processing system 10 shown in FIG. 1 described above. The congestion degree calculation unit 1g calculates the degree of congestion of people indoors. The congestion degree calculation unit 1g may be a functional block realized by the above-described processing circuit 2 (CPU) executing the control program 3a in the storage device 3, and software is not necessary for realizing the function. It may be realized by a hardware circuit. Hereinafter, the congestion degree calculating unit 1g may be referred to as a calculating unit 1g.

  In the present embodiment, congestion in the indoor virtual lane 240 is performed based on the position information indicating the first relative position of the person included in the first sensor information 110 by the mobile body position calculation unit 1b and the congestion degree calculation unit 1g. An acquisition unit 1z that acquires the degree is configured. It can be said that the acquisition unit 1z acquires the degree of congestion in the indoor virtual lane 240 based on the position of the person detected by the first sensor device 11.

  In this Embodiment, the mobile body position calculation part 1b calculates | requires the said map position of the said person based on the 1st relative position of the person included in the 1st sensor information 110 collected by the 1st collection part 1a. In other words, the calculation unit 1b obtains the map position of the person based on the first relative position of the person detected by the first sensor device 11. When calculating the map position of the person, the calculation unit 1b acquires the map position of the first sensor device 11 from the indoor map information in the storage unit 1c. Then, the calculation unit 1b obtains the map position of the person based on the map position of the first sensor device 11 and the first relative position of the person included in the first sensor information 110. When the map position of the first sensor device 11 is (X3, Y3, Z3) and the first relative position of the person is (Xs, Ys, Zs), the map position of the person is represented by (X3 + Xs, Y3 + Ys, Z3 + Zs). Is done. The calculation unit 1b obtains a map position for each person detected by the first sensor device 11.

  Based on the map position of each person obtained by the moving body position calculation unit 1b, the congestion degree calculation unit 1g obtains the degree of person congestion in each indoor virtual lane 240 set by the creation unit 1e. The first map position of the person obtained by the calculation unit 1b is input to the calculation unit 1g at regular intervals, for example. The calculation unit 1g obtains the degree of congestion of people in each indoor virtual lane 240 regularly or irregularly. Hereinafter, the indoor virtual lane 240 to be described is referred to as a target indoor virtual lane 240.

  When calculating the human congestion level in the target indoor virtual lane 240, the calculation unit 1g divides the target indoor virtual lane 240 into a plurality of divided areas for each unit area. The shape of the divided area is, for example, a square having a side length of 50 cm. And the calculation part 1g calculates | requires a person's congestion degree separately about each divided area based on the map position of the person who inputs. For example, for each divided area, the calculation unit 1g obtains the number of people who enter the divided area during a unit time based on the input map position of the person. For example, the calculation unit 1g obtains the number of people who enter the divided area in 30 minutes. And the calculation part 1g employ | adopts the calculated | required number as a person's congestion degree. For example, if the number of people entering a divided area in 30 minutes is 150, the degree of congestion of people in the divided area is 150 people / 30 minutes (= 5 people / minute). When the calculation unit 1g obtains the degree of human congestion for each divided area of the target indoor virtual lane 240, the calculation unit 1g creates the obtained degree of human congestion for each divided area as the degree of human congestion in the target indoor virtual lane 240. Enter 1e. The creation unit 1e includes the degree of congestion of the person in the target indoor virtual lane 240 received from the calculation unit 1g in the indoor virtual lane information 130 indicating the target indoor virtual lane 240.

  Note that the calculation unit 1g may obtain the degree of congestion of people in the indoor virtual lane 240 by another method. For example, for each divided area of the target indoor virtual lane 240, the calculation unit 1g obtains a time average of the number of people existing in the divided area. For example, the calculation unit 1g obtains the number of persons existing in the divided area a plurality of times at a predetermined timing, and calculates the average value of the number of persons present in the divided area, which is obtained a plurality of times. The time average of the number of. And the calculation part 1g makes the time average of the number of persons who existed in the division area calculated | required as a congestion degree of the person in the said division area. Then, the calculation unit 1g sets the obtained congestion level of each person in each divided area as the congestion level of the person in the target indoor virtual lane 240.

  As described above, in the present embodiment, the congestion level of the person in the indoor virtual lane 240 is included in the indoor virtual lane information 130 indicating the indoor virtual lane 240. Thereby, the robot 13 can move indoors avoiding the indoor virtual lane 240 where people are crowded. Therefore, an indoor traffic environment in which a person and the robot 13 can move smoothly can be realized. Further, the robot 13 can predict the travel time to the destination using the degree of congestion of people included in the indoor virtual lane information 130.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

  DESCRIPTION OF SYMBOLS 1 Information processing apparatus, 1e preparation part, 1y determination part, 1z acquisition part, 10 Information processing system, 11 Indoor installation type sensor apparatus (1st sensor apparatus), 13 Robot, 130 Indoor virtual lane information (movement permission area information), 150, 220, 220a, 220b Indoor features, 240, 240a1, 240a2, 240b1, 240b2, 240c, 240d Indoor virtual lane (movement permitted area), 250 traffic directions, 290a1, 290a2 Non-movable area, 300c, 300d Stop prohibited area .

Claims (13)

Indoors mobile equipment performs autonomous mobile, a creation unit sets a first area in which movement of the mobile equipment is allowed to create a first region information indicating the first area set,
A determination unit for determining whether or not the first region is appropriately set ;
The mobile equipment detects a land object existing in the indoor, and outputs the first position information indicating the detected position of the relevant feature,
Wherein detecting the movement device indoors, and outputs the second position information indicating the detected position of the relevant mobile device, the sensor equipment for detecting the land object existing in the indoor is installed in the indoor,
The creation unit includes: a map information indicating a map of the indoor, the detection distance of the mobile equipment, based on the position of the feature that the sensor equipment detects, the first area to the indoors set,
The determination unit is an information processing apparatus that determines whether or not the first region is appropriately set based on the first and second position information . The information processing apparatus according to claim 1,
The creation unit is configured also based on traffic direction information indicating the passage Direction indoors, setting the first area, the information processing apparatus. The information processing apparatus according to claim 1 or 2 ,
The creation unit, based on the width of the mobile device, setting the first area, the information processing apparatus. The information processing apparatus according to claim 3,
The creation unit, including the height of the ceiling in the first area information from the floor in the first area, the information processing apparatus. An information processing apparatus according to any one of claims 1 to 4,
The creation unit is configured Oite the first area, set the second area movement is impossible from there to the first area of the neighboring, second area indicating the second area set information, included in the first area information, the information processing apparatus. An information processing apparatus according to any one of claims 1 to 5,
The creation unit include load bearing information indicating the load-bearing floor of the first area in the first area information, the information processing apparatus. An information processing apparatus according to any one of claims 1 to 6,
The creation unit, including a third area information indicating the third area to prohibit the stop of Oite said mobile equipment to said first area to said first area information, the information processing apparatus. An information processing apparatus according to any one of claims 1 to 7,
The sensor equipment, the detecting a person existing in an indoor, and outputs the third position information indicating the position of the person detected,
Based on the third position information, further comprising: an obtaining unit obtaining a degree of congestion of a human in the first area,
The creation unit include the congestion degree in the first area information, the information processing apparatus. A determination unit configured to determine whether or not the first region where the movement of the mobile device is permitted, which is set indoors where the mobile device performs autonomous movement, is appropriately set;
The mobile device detects a feature existing in the indoor, and outputs first position information indicating a position of the detected feature,
A sensor device that detects the indoor mobile device and outputs second position information indicating the detected location of the mobile device is installed indoors,
The determination unit is an information processing apparatus that determines whether or not the first region is appropriately set based on the first and second position information .   A mobile device that autonomously moves indoors, detects the indoor feature, and outputs first position information indicating the position of the detected feature;
  A sensor device that detects the indoor mobile device and outputs second position information indicating the detected position of the mobile device;
  A determination unit configured to determine, based on the first and second position information, whether or not an area that is set indoors and is permitted to move the mobile device is set appropriately;
An information processing system comprising: An information processing apparatus according to any one of claims 1 to 9,
Autonomously move indoors, and the mobile equipment that detects the earth of the indoor, and outputs the first position information indicating the detected position of the relevant feature,
Detecting the movement device of the indoor, and outputs the second position information indicating the detected position of the said mobile device, for detecting a land object existing in the indoor, the installed indoors the sensor equipment <br An information processing system comprising: The information processing system according to claim 10,
The sensor device further detects a feature existing indoors,
Based on the map information indicating the indoor map, the detection distance of the mobile device, and the position of the feature detected by the sensor device, the region is set in the indoor, and the region information indicating the set region An information processing system further comprising a creation unit for creating An information processing system according to any one of claims 10 to 12,
Detection distance of the sensor equipment is also large Ri by detection distance of the mobile equipment, an information processing system.

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