JP6762919B2 - Travel route planning equipment, methods, programs and moving objects - Google Patents

Description

An embodiment of the present invention relates to a travel route planning device, a method, a program, and a moving body for autonomously traveling the moving body.

As an example of such a moving body, there is a robot that autonomously travels according to a predetermined traveling route. Various methods have been proposed for planning the travel route based on the environmental map of the travel area. As an example of the proposal, there is a method of expressing the environment map as a grid map and making each grid on the grid map a runnable grid or a non-runnable grid.

Japanese Unexamined Patent Publication No. 2015-1820

The judgment as to whether each grid on the grid map is a runnable grid or a non-runnable grid differs depending on various situations in the travel area. Therefore, conventionally, there has been a problem that it is difficult to determine an appropriate traveling route of the moving body.

An object of the present invention is to provide a traveling route planning device, a method, a program, and a moving body capable of determining an appropriate traveling route of the moving body.

According to the embodiment, the travel route planning device includes input means, selection means, and editing means. The input means inputs map information including a first area in which the moving body can travel and a second area in which the moving body cannot travel. The selection means selects the first mode or the second mode. When the first mode is selected, the editing means moves the boundary between the first region and the second region in the direction in which the second region expands by the maximum width adjustment size of the moving body, and is included in the enlarged region. The first region is changed to the second region. When the second mode is selected, the editing means moves the boundary between the first region and the second region by the radius of gyration of the moving body in the direction in which the second region expands, and moves the first region included in the enlarged region. After changing to the second region, the boundary between the first region and the second region is moved in the direction in which the second region is reduced (the radius of gyration-the maximum width adjustment size), and the second region of the reduced region is changed to the second region. Change to one area.

FIG. 1 shows an example of the appearance of a cleaning robot which is an example of a moving body of the embodiment. FIG. 2 is a block circuit diagram showing an example of the electrical configuration of the cleaning robot. FIG. 3 is a flowchart showing an example of the flow of the route generation process of the route generation unit. FIG. 4 shows an example of editing the grid map in the first mode in which narrow road entry is permitted. FIG. 5 shows another example of editing the grid map in the first mode in which narrow road entry is permitted. FIG. 6 shows yet another example of editing the grid map in the first mode where narrow road entry is permitted. FIG. 7 shows yet another example of editing the grid map in the first mode where narrow road entry is permitted. FIG. 8 shows an example of editing the grid map in the second mode in which narrow road entry is not permitted.

Hereinafter, embodiments will be described with reference to the drawings. The disclosure is merely an example, and the invention is not limited by the contents described in the following embodiments. Although some elements are given multiple names, the examples of these names are merely examples, and it is not denied that these elements are given other names. Further, elements that are not given a plurality of names may be expressed with different names. Modifications that can be easily conceived by those skilled in the art are naturally included in the scope of disclosure. In order to clarify the explanation, in the drawings, the size, thickness, plane size, shape, etc. of each part may be changed with respect to the actual embodiment and represented schematically. In addition, there may be a portion where the relationship and ratio of the dimensions of the drawings are different from each other. In a plurality of drawings, the corresponding elements may be given the same reference number and detailed description may be omitted.

The embodiment may include any moving body that travels autonomously, but here, an embodiment of a cleaning robot will be described as an example.

[First Embodiment]
Cleaning robots for home use often have a circular flat shape, but here we assume a cleaning robot for business use that cleans a large area such as a building or warehouse while autonomously traveling according to a predetermined travel route. To do. Therefore, the body of the robot may be a rectangular parallelepiped, and the size may be several tens of cm (width) x a little less than 1 m (length) x several tens of cm (height), and the weight may be several tens of kilograms.

Buildings and warehouses may include narrow passages. A passage is an area where there are fixed bodies (hereinafter, also referred to as obstacles) that hinder the running of walls, fixtures, luggage, etc. on both sides, and the traveling to the side is restricted. If the robot enters a passage that has a constant width and is not blocked, the robot can pass through the passage if it keeps moving forward. Even when the robot enters the passage where the width is constant and the tip is blocked, the robot can rotate and return in the passage if the plane shape of the robot is circular.

However, for a robot whose plane shape is other than a circle, for example, a rectangle, if the radius of gyration is larger than the width of the robot, there is a narrow passage (hereinafter, also referred to as a narrow path) that can enter but cannot rotate inside the robot. When the robot enters such a narrow road, it is conceivable that the user manually pulls the robot out of the aisle. If the robot is configured to be able to move backward, it is possible to autonomously move backward and exit the narrow road. However, some robots can only move forward and cannot move backward. Further, even a robot capable of moving backward may have worse running performance when moving backward than when moving forward. For example, when moving forward, the vehicle can travel faithfully along the traveling route, but when traveling backward, the vehicle may deviate slightly from the traveling route and travel in a zigzag manner.

If the robot does not travel along the traveling route on a narrow road, the robot may collide with the wall of the passage and damage the robot itself or the wall. For this reason, it has been difficult to determine a traveling route for a narrow road whose tip is blocked by a wall or the like. This applies not only to cleaning robots, but also to warning robots and sensor robots that monitor an area while autonomously traveling in a certain area.

[Outline configuration]
Hereinafter, an embodiment of a travel route planning device capable of determining an appropriate travel route even when such a narrow road exists will be described.

1A and 1B show the appearance of the cleaning robot 10 according to the first embodiment, FIG. 1A is a side view seen from the left side of the cleaning robot 10, and FIG. 1B is a plan view seen from the upper side. .. The robot 10 includes a substantially rectangular parallelepiped body 12. The traveling direction of the aircraft 12 is the left-right direction in FIG. 1, and it is assumed that the aircraft 12 moves from the right side to the left side when moving forward. The length L of the machine body 12 is the size in the horizontal direction of FIG. 1, and the width W is the size of the vertical direction of FIG. 1 (b).

A sensor unit 14 that acquires environmental information regarding the surrounding conditions is attached to the upper part of the tip of the aircraft 12 in the traveling (advancing) direction in order to prevent the robot 10 from colliding with an obstacle that is a fixed body in the room. Has been done. The sensor unit 14 includes, for example, a laser range sensor, an infrared sensor, an ultrasonic sensor, a camera, a GPS sensor, and the like. For example, a laser range sensor, an ultrasonic sensor, and an infrared sensor measure the distance to a surrounding obstacle that is an obstacle to the running of the robot 10. When the robot 10 approaches an obstacle to a certain distance, the autonomous traveling / cleaning control unit 32 (FIG. 2), which will be described later, stops the robot 10 from traveling. In addition, the presence or absence of an obstacle and the distance to the obstacle can be detected by analyzing the surrounding image taken by the camera. If the sensing area of the sensor unit 14 covers the entire circumference of the airframe 12 at 360 degrees, a collision can be prevented not only when moving forward but also when moving backward. However, when it is not necessary to consider the reverse movement of the robot 10 in the determination of the traveling route, that is, when the determination is based on the route due to the forward movement, the sensing area of the sensor unit 14 does not have to cover the rear of the machine body 12.

The GPS sensor detects the current position of the robot 10. An acceleration sensor may be used instead of the GPS sensor. The GPS sensor can also generate travel route information. For example, the user manually moves and cleans the robot 10 in the traveling area. During this cleaning, travel route information can be acquired based on the output of the GPS sensor. If the robot 10 autonomously travels based on the acquired travel route information, the robot 10 can autonomously clean the same route as the route once manually cleaned by the user from the next time.

Two drive wheels 16a and 16b are provided on the left and right on the bottom surface of the rear portion of the airframe 12 in the traveling direction, and one steering wheel 18 is provided in the center on the bottom surface of the front portion of the airframe 12. The number of steering wheels 18 is not limited to one, and two may be provided on the left and right as in the case of the driving wheels 16. In the case of four wheels, the front wheels may be drive wheels and steering wheels. The fact that the steering wheel 18 of the front wheel is one wheel is one of the causes that the traveling performance at the time of reverse movement is slightly inferior to that at the time of forward movement. However, as described above, there is an option of not considering the reverse movement of the robot 10 in determining the traveling route, so that the front wheels do not necessarily have to be two wheels. The center of rotation C when the body 12 is rotated by steering the steering wheels 18 is located between the steering wheels 18 and the drive wheels 16. The distances between the center of rotation C and the four corners of the machine body 12 may be the same or different. When the distance between the rotation center C and the four corners of the machine body 12 is the same, the distance becomes the rotation radius R. Even if they are different, the distance between the rotation center C and the two corners at the front end of the machine body 12 is the same, and the distance between the rotation center C and the two corners at the rear end of the machine body 12 is the same. In this case, the radius of gyration R is the longer of the distance between the center of rotation C and the two corners at the front end of the machine body 12 and the distance between the center of rotation C and the two corners at the rear end of the machine body 12. In the example of FIG. 1, the distance between the center of rotation C and the four corners of the machine body 12 is the same.

Cleaning rollers 20 such as rotating brushes are provided in the center of the rear portion of the machine body 12 in the traveling direction, that is, between the steering wheels 18 and the drive wheels 16a and 16b, over substantially the entire width of the body 12. The rotation axes of the steering wheels 18, the drive wheels 16a and 16b, and the cleaning roller 20 are orthogonal to the paper surface of FIG. 1 (a) (parallel to the paper surface in FIG. 1 (b)). The cleaning roller 20 is rotated by a motor (not shown) to collect dust on the floor. A suction motor (not shown) is provided above the cleaning roller 20 inside the machine 12, and dust and the like collected by the cleaning roller 20 are sucked and collected in a dust box (not shown) inside the machine 12. The explanation of the cleaning functions of dust collection by a rotating brush and suction by a motor is just an example, and any cleaning function may be provided. For example, in addition to the cleaning roller 20, side brushes that rotate about an axis orthogonal to the bottom surface of the machine body 12 may be provided on both sides of the cleaning roller 20. Further, cleaning may include cleaning with a liquid, waxing, and the like.

A display / operation unit 22 including a keyboard, a screen, and the like is provided on the upper part of the rear end of the machine body 12 in the traveling direction. The display / operation unit 22 may use a general-purpose notebook PC connected to the machine body 12 by a cable or wirelessly. The display / operation unit 22 displays various menus and setting screens, and gives various instructions to the autonomous driving / cleaning control unit 32 (FIG. 2) described later.

Although not shown, the robot 10 may be used by connecting it to an outlet, but it may also be provided with a rechargeable secondary battery or a wireless power supply function so that it can be used cordlessly.

[Block circuit diagram]
FIG. 2 is a block circuit diagram showing an example of the electrical configuration of the cleaning robot 10 of FIG. The cleaning robot 10 includes an autonomous traveling / cleaning control unit 32 that controls the overall traveling and cleaning of the robot. The autonomous driving / cleaning control unit 32 may be configured by a CPU that executes a program, or may be configured by a dedicated IC (hardware).

Display / operation unit 32, sensor unit 14 (for example, laser range sensor 14a, infrared sensor 14b, ultrasonic sensor 14c, GPS sensor 14d, camera 14e), map input unit 42, SLAM (Simultaneous Localization and Mapping) unit 44, route The generation unit 46 is connected to the autonomous traveling / cleaning control unit 32. The autonomous driving / cleaning control unit 32 may be connected to the network 36 via the wireless communication unit 34 and may be configured to be able to communicate with the host device (or server) 38 connected to the network 36. The host device 38 is not essential, but if it is connected to the host device 38, it is possible to use the host device 38 as a substitute for the display / operation unit 22 without providing the display / operation unit 22 on the machine body 12.

Further, the robot 10 can be remotely controlled by the host device 38. For example, a user who uses a plurality of robots 10 in a wide area such as a plurality of floors does not need to directly operate each robot to start autonomous driving. Further, when the user needs to manually leave the robot 10 that has entered the narrow road from the passage, the running state of each robot is monitored by the host device 38, and the user is notified of the robot that is stuck in the narrow road. The user can respond quickly.

The map input unit 42 may be a storage medium for storing map information, for example, a USB (registered trademark) memory, a USB connector into which a DVD is inserted, or a DVD drive. If the machine 12 is connected to the host device 38, the map input unit 42 may not be provided in the machine body 12, and map information may be input from the host device 38 to the autonomous travel / cleaning control unit 32 via the network 36. The SLAM unit 44 uses SLAM technology to estimate its own position and create an environmental map based on the environmental information from the laser range sensor 14a, the infrared sensor 14b, the ultrasonic sensor 14c, and the camera 14e and the current position information from the GPS sensor 14d. At the same time. The environmental map is a map in which information such as the position and shape of obstacles such as walls, luggage, and fixtures that obstruct traveling is displayed on a plan view of a traveling area such as a room where the robot 10 may travel. ..

Further, as described above, since the sensor unit 14 can measure the distance to the surrounding obstacles, it is possible to acquire the environmental map while running the robot 10 on a trial basis so as not to collide with the obstacles in the traveling area. it can.

The map data may be composed of vector data (set of line segments) created by CAD.

The route generation unit 46 first creates a grid map from the environment map. To create a grid map, first, grid lines are added horizontally (or horizontally) and vertically (or vertically) to the environment map at regular intervals. The intervals in the horizontal direction and the vertical direction are not limited to the same case, but may be different. One area surrounded by four grid lines is defined as a grid. The grid is the smallest unit that controls the running of the robot 10, and is, for example, several cm. However, the shape and size of the grid (horizontal size, vertical size) are the shape and size of the traveling area, the size of the robot 10 (horizontal size, vertical size, radius of gyration), the accuracy of the position control of the robot 10, etc. It may be decided automatically according to the above, or it may be set by the user. The display / operation unit 22 can display a grid size setting menu.

After generating the initial grid map, the route generation unit 46 sets, as an attribute, an approachable grid on which the robot 10 can travel or an inaccessible grid on which the robot 10 cannot travel. When creating the initial grid map, the route generation unit 46 sets all grids as accessible grids. After that, the route generation unit 46 changes the grid corresponding to obstacles such as walls, luggage, and fixtures to an inaccessible grid based on the environmental information.

As the grid map, in a grayscale image file showing a plan view of a traveling area, each pixel may be regarded as one grid, and a grid whose pixel value is less than 1/2 of the maximum value may be regarded as an enterable grid.

When generating the initial grid map, the route generation unit 46 does not consider the size of the robot 10. Therefore, a narrow road that the robot 10 can enter but cannot rotate, and a passage that is narrower than the width of the robot 10 and cannot be entered by the robot 10 are also defined as an accessible grid. Further, when the width of the robot 10 corresponds to a plurality of grids, some approachable grids in contact with obstacles cannot travel. Assuming that the robot 10 travels so that the center of rotation of the robot 10 passes through a predetermined position on the grid, for example, the center, the right end, and the left end, the side surface of the robot 10 is required to travel along the obstacle. It is necessary that the distance between the robot and the obstacle is secured by the distance from the center of rotation to one side surface of the robot 10 (this is referred to as the maximum width adjustment size).

Therefore, the route generation unit 46 edits the initial grid map, which will be described later, to change the attributes of the grid.

The cleaning control unit 52, the travel control unit 62, and the steering control unit 70 are also connected to the autonomous driving / cleaning control unit 32. The cleaning control unit 52 rotates the cleaning roller 20 by driving the drive motor 56 via the motor driver 54, and drives the suction motor 60 via the motor driver 58. The travel control unit 62 rotates the drive wheels 16a and 16b by driving the drive motor 66 via the motor driver 64. The steering control unit 70 changes the direction of the steering wheels 18 by driving the drive motor 74 via the motor driver 72.

It should be noted that the running and cleaning do not necessarily have to be performed at the same time, and the cleaning function is not operated during the trial running for acquiring the environmental map by the sensor unit 14 described above.

[Edit grid map and generate route]
FIG. 3 is a flowchart showing an example of creating a traveling route by the route generation unit 46 in the cleaning robot 10 of FIG. 1, and FIGS. 4 to 8 explain a grid map editing process.

The situation in the cleaning area can change from day to day. For example, the location of furniture and large luggage may change, which may create new aisles. Therefore, the user inputs a route generation instruction from the display / operation unit 22 before starting cleaning.

As described above, when the planar shape of the robot 10 is not circular, a narrow path is created in the passage where the robot 10 can enter but cannot rotate. It is assumed that the width W of the robot 10 is 6 grids, the length is 8 grids, and the turning radius is 5 grids. It is assumed that the traveling path is generated so that the rotation center C of the robot 10 passes through the center of the grid. Therefore, the rotation center C is also referred to as the movement center of the robot 10. The maximum width adjustment size that the robot 10 can approach the wall or the like as much as possible is 3 grids that are 1/2 of the size (width) in the direction orthogonal to the traveling direction of the robot 10 at the center of rotation C. Considering the case where the robot 10 advances with respect to a wall or the like, the maximum approach size that the robot 10 can approach the wall or the like as much as possible is the size (length) of the robot 10 in the traveling direction at the rotation center C. It is a 1/2 4 grid. Since the width of the robot 10 is 6 grids, the robot 10 cannot physically enter the passage having a width of 1 to 6 grids. The width of the passage that the robot 10 can enter must be 7 grids or more. However, although you can enter the passage with a width of 7 grids, you cannot rotate in it. Assuming that the passage path of the robot is the center of the passage, the width of the passage must be 11 grids or more in order to be able to rotate in the passage. Therefore, the narrow road where the robot 10 can enter but cannot rotate in the passage is a passage having a width of 7 grid to 10 grid.

There is an idea that the robot 10 is not allowed to enter such a narrow road, but even if the robot 10 only moves forward, the user may manually pull out the robot 10 that has entered the narrow road. Convenience is improved by allowing the user to choose whether or not to allow entry into the road.

In the embodiment, when the route is generated, the display / operation unit 22 displays a menu for specifying the traveling area and selecting whether or not to allow the entry into the narrow road. The user specifies the traveling area and whether or not to enter a narrow road from the menu screen. After that, the route creation is instructed. This menu may specify the size of the grid.

When the route creation is instructed (yes of block 102), the route generation unit 46 acquires the environment map from the map input unit 42 or the SLAM unit 44 in block 104, and creates an initial grid map from the environment map in block 106. Here, a square grid is used. An example of the initial grid map is shown in FIGS. 4 (b), 5 (a), and 8 (a). FIG. 4B is an initial grid map for a passage with a grid width of 6, FIG. 5A is an initial grid map for a narrow road with a grid width of 7, and FIG. 8A is an initial grid map for a narrow road with a grid width of 10. It is a grid map. The grid map consists of an inaccessible grid (diagonal lines from the upper right to the lower left) corresponding to obstacles such as walls, luggage, and fixtures, and other accessible grids (no diagonal lines).

[Narrow road entry permission mode]
The route generation unit 46 refers to the possibility of entering a narrow road preset in the menu in the block 108. Editing the grid map when narrow entry is permitted (yes in block 112) will be described with reference to FIGS. 4-7. FIG. 4 shows editing in the case of a passage having a width of 6 grids, FIG. 5 and FIG. 6 show editing in the case of a narrow passage having a width of 7 grids, and FIG. 8 shows editing in the case of a passage having a width of 12 grids. As shown in FIG. 4A, the size of the robot 10 is assumed to be 3 grids for the maximum width adjustment size, 5 grids for the turning radius R, and 4 grids for the maximum approach size.

The route generation unit 46 is a block 114 and moves along the boundary between the accessible grid and the inaccessible grid by the maximum width adjustment size (3 grids) of the robot 10 in the direction in which the inaccessible grid area consisting of a set of the inaccessible grids expands. .. As a result, as shown in FIGS. 4 (c) and 5 (b), the accessible grid included in the enlarged area is changed to the inaccessible grid (diagonal lines from the upper left to the lower right). By the processing of the block 114, as shown in FIG. 4C, when the width of the passage is 6 grids, all the accessible grids in the passage are changed to the inaccessible grids, and the robot 10 cannot enter. Since there are only 3 grids that cannot be entered between obstacles other than the passage and the movement center C of the robot 10 due to the expansion of the inaccessible grid area, keep the robot 10 as close to the obstacle as possible. You can drive.

When the width of the aisle is 7 grids, as shown in FIG. 5B, an accessible grid row having a width of 1 grid remains in the center of the aisle. The robot 10 can enter this grid row. Since the distance between the tip of this grid row and the obstacle is 3 grids, when the robot 10 advances to the grid at the tip of this grid row, the tip of the robot 10 collides with the obstacle. However, when moving forward, the sensor unit 14 detects the distance to the obstacle in front of the robot, so that the front end of the robot 10 stops moving forward before colliding with the obstacle, so that there is no problem.

However, in consideration of the malfunction of the sensor unit 14, the collision may be avoided by editing. Therefore, in the embodiment, the route generation unit 46 determines in the block 116 whether or not there is a passage (accessible grid) surrounded by the inaccessible grid generated by the expansion. If not, block 128 creates a travel route using the accessible grid.

When there is such a passage, the route generation unit 46 in step 118 of the robot 10 (maximum) in the direction in which the passage consisting of a set of accessible grids is reduced at the boundary between the accessible grid and the inaccessible grid at the tip of the passage. Move by approach size-maximum width adjustment size = 4-3 = 1 grid). As a result, as shown in FIG. 5C, the accessible grid at the tip of the aisle is changed to the inaccessible grid. Since the distance between the tip of the passage and the obstacle is secured in 4 grids, as shown in FIG. 6A, even if the moving center of the robot 10 advances to the tip of the passage, the tip of the robot 10 becomes an obstacle. There is no collision.

The route generation unit 46 generates a travel route using an accessible grid in block 128 next to block 118.

As shown in FIG. 6B, the inaccessible grid of the three grids enlarged by the block 114 remains between the obstacle other than the passage and the robot 10, so that the robot 10 is as wide as possible to the obstacle. Can be run with.

7 (a) and 7 (b) show an example of editing a passage having a width of 10 grids, and correspond to FIGS. 6 (a) and 6 (b) in the case of 7 grid widths, respectively.

[Narrow road entry not permitted mode]
Next, editing the grid map when narrow road entry is not permitted (no in block 112) will be described with reference to FIG. FIG. 8A shows an example of an initial grid map of a passage having a width of 10 grids.

The route generation unit 46 moves at the block 122 by the turning radius (5 grids) of the robot 10 in the direction in which the inaccessible grid area composed of the set of the inaccessible grids expands at the boundary between the inaccessible grid and the inaccessible grid. As a result, as shown in FIG. 8B, the accessible grid included in the enlarged area is changed to the inaccessible grid (diagonal lines from the upper left to the lower right). By the processing of the block 122, all the accessible grids in the narrow road having a width of 10 grids are changed to the inaccessible grids, and the robot 10 cannot enter.

If this is left as it is, the robot 10 can only narrow the width of obstacles other than the passage to 5 grids, so that the route generation unit 46 is a block 126 and consists of a set of non-accessible grids at the boundary between the accessible grid and the non-accessible grid. The inaccessible grid area moves in the direction of shrinking (radius of rotation-maximum width adjustment size = 5-3 = 2 grids). As a result, as shown in FIG. 8C, there is an inaccessible grid of 3 grids instead of 5 grids between the obstacle other than the passage and the moving center of the robot 10, so that the robot 10 can be moved. You can drive as close to the obstacle as possible.

The route generation unit 46 generates a travel route using an accessible grid in block 128 next to block 126. As an example of a route, a route is generated in which the vehicle travels straight from the wall to the center of the area or from the center to the wall while repeating straight, rotating, and straight in a wide area. At the wall, as shown in FIG. 4A and the like, a path is generated in which the side portion of the robot 10 approaches the wall as much as possible. In the narrow road, as shown in FIGS. 6A and 7A, a path is generated in which the side portion of the robot 10 approaches the side surface of the narrow road as close as possible to the wall. The route may be configured so that the user can manually edit the route after the route creation unit 46 automatically creates the route.

[Summary of embodiments]
As described above, according to the embodiment, when creating a track for a narrow road that can be entered but cannot be rotated, it is possible to distinguish between a case where the entry into the narrow road is permitted and a case where the entry is not permitted. It is possible to generate a track suitable for each. If entry is permitted, the inaccessible grid area on the grid map is expanded by the maximum width adjustment size. As a result, the robot can be driven in a state where the inside of the passage is as close as possible to the wall of the passage. If entry is not permitted, after expanding the inaccessible grid area on the grid map by the radius of gyration, enter from the inaccessible grid by enlarging so that the movement center of the robot and the wall are the maximum width alignment size. Reduce the accessible grid area consisting of the changed grid to the possible grid. As a result, passages that can only be driven straight are not subject to reduction because there is no runnable grid left, and user needs such as "generation of routes that can be as close as possible to walls and obstacles" and "passages that can only be driven straight" are available. It is possible to generate a grid map that makes it impossible to enter.

According to the embodiment, in the area where the area where the robot can rotate can be secured, the path that can be moved to the wall / obstacle as much as possible (the minimum distance that does not collide with the wall / obstacle when the robot travels straight). Specifically, a wall (a route connecting points away from obstacles) is generated by a distance of 1/2 of the size that is the maximum width of the robot in the direction orthogonal to the straight direction of the robot, and only straight passage is possible. For such passages, the user can select whether or not to enter according to the reverse performance of the robot and the required collision safety. Collision safety means whether or not a collision between a robot and a wall or an obstacle is allowed in the environment in which the robot is driven. For example, it is allowed when a very lightweight robot is used in a home. However, it is not acceptable when using a heavy robot in a public facility.

According to the embodiment, the following is provided.
(1) A means for inputting map information including a first area in which the moving body can travel and a second area in which the moving body cannot travel.
A selection means that can select the first mode or the second mode,
When the first mode is selected by the selection means,
The boundary between the first region and the second region is moved in the direction in which the second region expands by the maximum width adjustment size of the moving body, and the first region included in the enlarged region is changed to the second region. And
When the second mode is selected by the selection means,
After moving the boundary between the first region and the second region by the radius of gyration of the moving body in the direction in which the second region expands, and changing the first region included in the expansion region to the second region. ,
An editing means that moves the boundary between the first region and the second region by the first size in the direction in which the second region is reduced, and changes the second region of the reduced region to the first region.
Equipped with
The first size is a travel route planning device corresponding to a value obtained by subtracting the maximum width adjustment size from the turning radius.
(2) In the travel route planning device described in (1),
The map information is a grid map composed of a large number of grids divided by a grid.
The first grid corresponding to the fixed body in the area represented by the map information constitutes the first area.
The second grid other than the first grid constitutes the second region.
The editing means is a traveling route planning device that changes the first grid included in the enlarged area to the second grid and changes the second grid included in the reduced area to the first grid.
(3) In the travel route planning device described in (2),
The editing means, when the first mode is selected,
The boundary between the first region and the second region is moved by the maximum width alignment size of the moving body in the direction in which the second region expands, and the first region included in the enlarged region is changed to the second region. After doing
The first number of the first grids surrounded by the second region in three directions is changed to the second grid.
The first number is a travel route planning device corresponding to a value obtained by subtracting the maximum width adjustment size from the maximum approach size.
(4) In the travel route planning device according to any one of (1) to (3).
The travel route planning device whose maximum width adjustment size is 1/2 of the size in the direction orthogonal to the traveling direction of the moving body at the center of rotation of the moving body.
(5) In the travel route planning device according to any one of (1) to (4).
The planar shape of the moving body is rectangular,
The traveling radius is a maximum value of the distance between the center of rotation of the moving body and the four corners of the moving body, or the distance between the center of rotation of the moving body and the four corners of the moving body.
(6) In the travel route planning device described in (3),
The travel path planning device whose maximum approach size is the distance between the center of rotation of the moving body and the front end of the moving body.
(7) Input of map information including a first area in which the moving body can travel and a second area in which the moving body cannot travel.
Selecting the first or second mode and
When the first mode is selected
The boundary between the first region and the second region is moved by the maximum width alignment size of the moving body in the direction in which the second region expands, and the first region included in the enlarged region is changed to the second region. To do and
When the second mode is selected
After moving the boundary between the first region and the second region by the radius of gyration of the moving body in the direction in which the second region expands, and changing the first region included in the expansion region to the second region. ,
The boundary between the first region and the second region is moved by the first size in the direction in which the second region is reduced, and the second region of the reduced region is changed to the first region.
Equipped with
The first size is a traveling route planning method corresponding to a value obtained by subtracting the maximum width adjustment size from the turning radius.
(8) In the travel route planning method described in (7),
The map information is a grid map composed of a large number of grids divided by a grid.
The first grid corresponding to the fixed body in the area represented by the map information constitutes the first area.
The second grid other than the first grid constitutes the second region.
When the first mode is selected, the first grid included in the enlarged area is changed to the second grid.
When the second mode is selected, the traveling route for changing the first grid included in the enlarged area to the second grid and then changing the second grid included in the reduced area to the first grid. Planning method.
(9) In the travel route planning method described in (8),
When the first mode is selected
The boundary between the first region and the second region is moved in the direction in which the second region expands by the maximum width adjustment size of the moving body, and the first region included in the enlarged region is changed to the second region. After doing
The first number of the first grids surrounded by the second region in three directions is changed to the second grid.
The first number is a traveling route planning method corresponding to a value obtained by subtracting the maximum width adjustment size from the maximum approach size.
(10) A program executed by a computer, in which the program inputs map information including a first area in which a moving body can travel and a second area in which the moving body cannot travel. When,
Selecting the first or second mode and
When the first mode is selected
The boundary between the first region and the second region is moved by the maximum width alignment size of the moving body in the direction in which the second region expands, and the first region included in the enlarged region is changed to the second region. To do and
When the second mode is selected
After moving the boundary between the first region and the second region by the radius of gyration of the moving body in the direction in which the second region expands, and changing the first region included in the enlarged region to the second region. ,
The boundary between the first region and the second region is moved by the first size in the direction in which the second region is reduced, and the second region of the reduced region is changed to the first region.
To execute,
The first size is a program corresponding to a value obtained by subtracting the maximum width adjustment size from the turning radius.
(11) In the program described in (10),
The map information is a grid map composed of a large number of grids divided by a grid.
The first grid corresponding to the fixed body in the area represented by the map information constitutes the first area.
The second grid other than the first grid constitutes the second region.
When the first mode is selected, the first grid included in the enlarged area is changed to the second grid.
When the second mode is selected, a program that changes the first grid included in the enlarged area to the second grid and then changes the second grid included in the reduced area to the first grid.
(12) In the program described in (11),
When the first mode is selected
The boundary between the first region and the second region is moved in the direction in which the second region expands by the maximum width adjustment size of the moving body, and the first region included in the enlarged region is changed to the second region. After doing
The first number of the first grids surrounded by the second region in three directions is changed to the second grid.
The first number is a program corresponding to a value obtained by subtracting the maximum width adjustment size from the maximum approach size.
(13) A means for inputting map information including a travelable first area and a non-travelable second area,
A selection means that can select the first mode or the second mode,
When the first mode is selected by the selection means,
The boundary between the first region and the second region is moved by the maximum width adjustment size in the direction in which the second region expands, and the first region included in the enlarged region is changed to the second region.
When the second mode is selected by the selection means,
After moving the boundary between the first region and the second region by the radius of gyration in the direction in which the second region expands, and changing the first region included in the enlarged region to the second region,
An editing means that moves the boundary between the first region and the second region by the first size in the direction in which the second region is reduced, and changes the second region of the reduced region to the first region.
A generation means for generating a traveling path in the first region, and
Equipped with
The first size is a moving body corresponding to a value obtained by subtracting the maximum width adjustment size from the turning radius.
(14) In the moving body according to (13),
The map information is a grid map composed of a large number of grids divided by a grid.
The first grid corresponding to the fixed body in the area represented by the map information constitutes the first area.
The second grid other than the first grid constitutes the second region.
The editing means is a moving body that changes the first grid included in the enlarged area to the second grid and changes the second grid included in the reduced area to the first grid.
(15) In the moving body according to (14),
The editing means, when the first mode is selected,
After moving the boundary between the first region and the second region by the maximum width adjustment size in the direction in which the second region expands, and changing the first region included in the enlarged region to the second region,
The first grid of the first size surrounded by the second region in three directions is changed to the second grid.
The first size is a moving body corresponding to a value obtained by subtracting the maximum width adjustment size from the turning radius.
(16) In the moving body according to any one of (13) to (15),
A traveling means that autonomously travels according to the traveling path generated by the generating means,
A detection means for detecting the distance from the moving body to the surrounding fixed body,
When the detection means reaches the first distance, the traveling means stops autonomous driving, and
A moving body further equipped with.

[Modification example]
In the above embodiment, the number of grids to be enlarged or reduced is determined based on the size of the robot. Therefore, if there is some error in the environment map, the robot may come into contact with an obstacle at the time of width adjustment or the like. In order to reduce this possibility as much as possible, a margin should be considered in the number of grids to be scaled up or down. For example, if + α is added to the number of grids to be expanded to make the expansion area larger, and -β is added to the number of grids to be reduced to make the reduction area smaller, if there is some error in the environmental map, the robot will make a width adjustment. You can reduce the possibility of contact with obstacles.

Although the robot of the embodiment has been described as a cleaning robot that sucks dust on the floor with a brush, the embodiment can be applied not only to cleaning but also to a robot having a cleaning function of cleaning the floor with detergent or water. Further, the embodiment can be applied not only to cleaning and cleaning but also to warning robots and sensor robots that simply monitor an area.

Since the processing of this embodiment can be realized by a computer program, it is the same as that of this embodiment only by installing and executing this computer program on a computer through a computer-readable storage medium in which the computer program is stored. The effect of can be easily realized.

The present invention is not limited to the above embodiment as it is, and at the implementation stage, the components can be modified and embodied within a range that does not deviate from the gist thereof. In addition, various inventions can be formed by an appropriate combination of a plurality of components disclosed in the above-described embodiment. For example, some components may be removed from all the components shown in the embodiments. In addition, components from different embodiments may be combined as appropriate.

14 ... Sensor unit, 16a, 16b ... Drive wheel, 18 ... Steering wheel, 20 ... Cleaning roller, 22 ... Display / operation unit, 32 ... Autonomous driving / cleaning control unit, 38 ... Host device, 44 ... SLAM unit, 46 ... Route generator.

Claims (9)

A means for inputting map information including a first area in which the moving body can travel and a second area in which the moving body cannot travel.
A selection means that can select the first mode or the second mode,
When the first mode is selected by the selection means,
The boundary between the first region and the second region is moved by the maximum width alignment size of the moving body in the direction in which the second region expands, and the first region included in the enlarged region is changed to the second region. And
When the second mode is selected by the selection means,
After moving the boundary between the first region and the second region by the radius of gyration of the moving body in the direction in which the second region expands, and changing the first region included in the expansion region to the second region. ,
An editing means that moves the boundary between the first region and the second region by the first size in the direction in which the second region is reduced, and changes the second region of the reduced region to the first region.
Equipped with
The first size is a travel route planning device corresponding to a value obtained by subtracting the maximum width adjustment size from the turning radius. The map information is a grid map composed of a large number of grids divided by a grid.
The first grid corresponding to the fixed body in the area represented by the map information constitutes the first area.
The second grid other than the first grid constitutes the second region.
The travel route planning device according to claim 1, wherein the editing means changes the first grid included in the enlarged area to the second grid, and changes the second grid included in the reduced area to the first grid. .. The editing means, when the first mode is selected,
After moving the boundary between the first region and the second region by the maximum width adjustment size in the direction in which the second region expands, and changing the first region included in the enlarged region to the second region. ,
The first number of the first grids surrounded by the second region in three directions is changed to the second grid.
The travel route planning device according to claim 2, wherein the first number corresponds to a value obtained by subtracting the maximum width adjustment size from the maximum approach size. The travel route planning device according to any one of claims 1 to 3, wherein the maximum width adjustment size is 1/2 of the size in the direction orthogonal to the traveling direction of the moving body at the center of rotation of the moving body. The planar shape of the moving body is rectangular,
The radius of rotation is the maximum value of the distance between the center of rotation of the moving body and the four corners of the moving body, or the distance between the center of rotation of the moving body and the four corners of the moving body, according to claims 1 to 4. The travel route planning device according to any one of the items. The travel route planning device according to claim 3, wherein the maximum approach size is a distance between the center of rotation of the moving body and the front end of the moving body. Inputting map information including a first area in which the moving body can travel and a second area in which the moving body cannot travel,
Selecting the first or second mode and
When the first mode is selected
The boundary between the first region and the second region is moved in the direction in which the second region expands by the maximum width adjustment size of the moving body, and the first region included in the enlarged region is changed to the second region. To do and
When the second mode is selected
After moving the boundary between the first region and the second region by the radius of gyration of the moving body in the direction in which the second region expands, and changing the first region included in the enlarged region to the second region. ,
The boundary between the first region and the second region is moved by the first size in the direction in which the second region is reduced, and the second region of the reduced region is changed to the first region.
Equipped with
The first size is a traveling route planning method corresponding to a value obtained by subtracting the maximum width adjustment size from the turning radius. A program executed by a computer, the program inputs map information including a first area in which a moving body can travel and a second area in which the moving body cannot travel to the computer.
Selecting the first or second mode and
When the first mode is selected
The boundary between the first region and the second region is moved in the direction in which the second region expands by the maximum width adjustment size of the moving body, and the first region included in the enlarged region is changed to the second region. To do and
When the second mode is selected
After moving the boundary between the first region and the second region by the radius of gyration of the moving body in the direction in which the second region expands, and changing the first region included in the expansion region to the second region. ,
The boundary between the first region and the second region is moved by the first size in the direction in which the second region is reduced, and the second region of the reduced region is changed to the first region.
To execute,
The first size is a program corresponding to a value obtained by subtracting the maximum width adjustment size from the turning radius. A means for inputting map information including a travelable first area and a non-travelable second area,
A selection means that can select the first mode or the second mode,
When the first mode is selected by the selection means,
The boundary between the first region and the second region is moved by the maximum width adjustment size in the direction in which the second region expands, and the first region included in the enlarged region is changed to the second region.
When the second mode is selected by the selection means,
After moving the boundary between the first region and the second region by the radius of gyration in the direction in which the second region expands, and changing the first region included in the enlarged region to the second region,
An editing means that moves the boundary between the first region and the second region by the first size in the direction in which the second region is reduced, and changes the second region of the reduced region to the first region.
A generation means for generating a traveling path in the first region, and
Equipped with
The first size is a moving body corresponding to a value obtained by subtracting the maximum width adjustment size from the turning radius.

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