JP6943068B2 - Route search device, route search method, and route search program - Google Patents

Description

The present invention relates to a route search device, a route search method, and a route search program for searching a route of a moving body.

In recent years, the development of various autonomous mobile robots has been remarkable. Examples of these robots include a disaster rescue robot that enters a place where people cannot enter in the event of a disaster and acquires information, and a familiar example is an automatic cleaning robot. In these autonomous mobile robots, it is important to search for the movement route. As a technique for searching the movement path of a robot, there are those disclosed in Patent Document 1 and Patent Document 2.

Patent Document 1 discloses a technique in which a robot alone moves the shortest path from an arbitrary initial position to a target position while avoiding an inaccessible prohibited area. Further, Patent Document 2 describes a technique in which a preceding moving body wirelessly transmits travel locus data to a later moving body, and the later moving body determines a movement route of its own machine based on the received traveling locus data. Is disclosed.

Japanese Unexamined Patent Publication No. 2011-227807 Japanese Unexamined Patent Publication No. 2004-184269

By the way, as such a moving body, a moving body in which two moving bodies are connected to each other by a cable or the like can be considered. For example, there is a case where power for driving is supplied from one moving body to the other moving body. In the case of such a moving body, there is a problem that an appropriate route may not be searched by the route search method described in Patent Document 1 or Patent Document 2. This is because the cable connecting the two moving bodies may enter the restricted area.

Therefore, the present invention has been made in view of the above problems, and even a moving body composed of two moving bodies connected to each other by a string-like object such as a cable does not enter the entry prohibited area. An object of the present invention is to provide a route search device, a route search method, and a route search program capable of searching a route.

In order to solve the above problems, the route search device according to one aspect of the present invention moves a moving body including a first moving body and a second moving body connected to the first moving body by a string-shaped object. A route search device for determining a route, which includes map information within a predetermined range including information on an initial position of a first mobile body, a target position for reaching the first mobile body, and a position of an inaccessible prohibited area, and at least the first. A reception unit that accepts input of moving body information including distance information between the first moving body and the second moving body, which is determined based on a string-shaped object connecting the first moving body and the second moving body. The movement route from the initial position to the target position without contacting the entry prohibited area with any of the first moving body, the string-shaped object, and the second moving body, and the map information and the moving body information. It is provided with a search unit for searching based on.

Further, the route search method according to one aspect of the present invention is a route search for determining a movement route of a moving body including a first moving body, a first moving body, and a second moving body connected by a string-shaped object. The device includes map information within a predetermined range including the initial position of the first moving body, the target position for reaching the first moving body, and the position of the no-entry area, and at least the first moving body and the second moving body. A reception step for accepting input of moving body information including distance information between a first moving body and a second moving body determined based on a string-shaped object connecting the moving body, a first moving body, and The movement route from the initial position to the target position is searched based on the map information and the moving body information without the string-shaped object and the second moving body touching the inaccessible prohibited area. Includes exploration steps.

Further, the route search program according to one aspect of the present invention is a route search for determining the movement route of a moving body composed of a first moving body, a first moving body, and a second moving body connected by a string-shaped object. A program that allows the computer to provide map information within a predetermined range, including information about the initial position of the first moving object, the target position to reach the first moving object, and the position of the no-entry area, and at least the first moving object. A reception function that accepts input of moving body information including distance information between the first moving body and the second moving body, which is determined based on a string-shaped object connecting the second moving body and the second moving body, and a first movement. Based on the map information and the moving body information, the movement route from the initial position to the target position without any of the body, the string-shaped object, and the second moving body touching the inaccessible prohibited area. , Realize the search function to search.

Further, in the route search device, the search unit searches for a first route candidate for the first moving body to reach the target position from the initial position while avoiding the entry prohibited area, and after searching for the first route candidate. , A second route that allows the second moving body to reach the target position by passing within the longest distance between the first moving body and the second moving body from the route indicated by the route candidate and avoiding the no-entry area. You may search for candidates.

Further, in the route search device, the search unit uses the search unit so that the string-shaped object connecting the first mobile body and the second mobile body at each position indicated by the first route candidate does not overlap the entry prohibited area. 2 It may be possible to search for a route candidate.

Further, in the above-mentioned route search device, the search unit divides a predetermined range into a predetermined region, and assumes that the first mobile body is located in each of the predetermined regions on the route indicated by the first route candidate. It is assumed that the second moving body is located in each of the predetermined regions on the route indicated by the two route candidates, and the user enters a region connecting each position of the first moving body and each position of the second moving body with a straight line. The second route candidate may be searched based on whether or not the prohibited area is located.

Further, in the route search device, the predetermined region may have a size including at least one of the first mobile body and the second mobile body.

Further, in the route search device, the predetermined area has a smaller area than the first mobile body or the second mobile body, and the route search device responds to each direction of the first mobile body or the second mobile body. The search unit may search for the first route candidate and the second route candidate based on the range information, including a storage unit that stores range information indicating the range of the predetermined region included in the search unit.

Further, in the route search device, the acquisition unit acquires angle information indicating an angle that the string-shaped object can take with respect to the first moving body as the moving body information, and the searching unit obtains the angle information based on the angle information. , The feature may be to search the route of the second moving body.

The route search device according to one aspect of the present invention is a moving path of a moving body formed by connecting a first moving body and a second moving body with a string-shaped object, and is a moving path of the first moving body and the second moving body. , It is possible to search for a movement route in which none of the string-shaped objects enters the restricted area.

It is a block diagram which shows the configuration example of the route search apparatus. It is a top view which shows the example of the map in which a moving body moves. (A) to (c) are schematic views showing an example of a mode of a moving body. It is a flowchart which shows the process of the route search by the route search apparatus. It is a flowchart which shows the detailed processing of the route search of a moving body by a route search device. It is a figure which shows typically the movable range of the 2nd moving body and the distance between moving bodies in a route search. (A) is a movement example of the second moving body, and is a schematic diagram of a map showing an example in which a cable enters a prohibited area. (B) is a schematic diagram of a map showing an example of movement of the second moving body, in which the cable does not enter the restricted area. (A) and (b) are schematic diagrams of a map showing an example of a route search when a cable enters a prohibited area no matter how the second moving body advances. (A) and (b) are schematic diagrams of a map showing an example of a route search when the second moving body cannot move with the first moving body while maintaining a predetermined distance. (A) and (b) are diagrams showing an example of mapping with respect to the map of the moving body according to the second embodiment. In the second embodiment, it is a schematic diagram of the map information which shows the movable area with respect to each angle of the moving body held by the route search apparatus. It is a schematic diagram of the information about the connection position of a cable. (A) and (b) are schematic views which show the operating area of a cable. It is a block diagram which shows the configuration example of the route search apparatus.

Hereinafter, the route search device according to one embodiment of the present invention will be described in detail with reference to the drawings.

<Embodiment 1>
<Structure>
As shown in FIG. 1, the route search device 100 according to the present invention includes a reception unit 110 and a control unit 130 that functions as a search unit 131. Further, the route search device 100 may include a storage unit 120 and an output unit 140. FIG. 1 is a block diagram showing a functional configuration example of the route search device 100.

As shown in FIGS. 2 and 3, the route search device 100 is a moving body 1 composed of a first moving body 1a, a first moving body 1a, and a second moving body 1c connected by a string-shaped object 1b. It determines the movement route. FIG. 2 is a plan view schematically showing a predetermined range 200 in which the moving body 1 moves.

The reception unit 110 has an initial position of the first moving body 1a (coordinates indicated by (K, 15) in the example of FIG. 2) and a target position for reaching the first moving body 1a (in the example of FIG. 2). Speaking of which, while accepting the input of (coordinates indicated by (H, 05)), the map information within the predetermined range 200 including the information regarding the position of the entry prohibited area 210, and at least the first moving body 1a and the second moving body It accepts the input of moving body information including distance information between the first moving body and the second moving body, which is determined based on the string-shaped object 1b connecting to 1c. Here, the map information is information indicating an area in which a moving body can move, for example, information on a moving terrain, or information indicating an immovable place (no entry area). You can do it. In addition, the moving body information includes at least information on the distance that can be taken between the first moving body and the second moving body. Further, the moving body information may include information on the shape of the moving body, the place where the string-shaped object is connected, the moving characteristic information indicating the movable direction of the moving body, and the like.

In the search unit 131, the first moving body 1a, the string-shaped object 1b, and the second moving body 1c all reach the target position from the initial position without touching the entry prohibited area 210. The movement routes of the moving body 1a and the second moving body 1c are searched based on the map information and the moving body information. In FIG. 2, the dotted arrow is an example of the movement path of the moving body 1a searched, and the alternate long and short dash arrow is an example of the moving path of the moving body 1c searched. Hereinafter, a detailed description will be given.

In the present embodiment, the map is divided into a grid-like grid (predetermined region) as an example as shown in FIG. 2, and the search unit 131 searches for a movement route in a mode in which the moving body moves on the grid. It shall be. As shown in FIG. 2, each grid is a grid having a size large enough to accommodate one moving body, and the search unit 131 searches for a movement route moving from one grid to another. It determines the coordinates of movement. That is, the grid shown in the map 200 of FIG. 2 is used as one unit of movement.

3A to 3C are diagrams schematically showing the moving body 1. As shown in FIG. 3A, the moving body 1 is composed of a first moving body 1a that mainly moves and a second moving body 1c that moves as a slave, and the first moving body 1a and The second moving body 1c is connected to each other by a string-shaped object 1b. Here, the first moving body 1a and the second moving body 1c are devices that can be moved by a driving device provided in each moving body, and may be, for example, a vehicle (or a vehicle-type robot). It may be a walking robot or the like. Although the detailed structure of each moving body will be omitted, it is a moving body that can autonomously move along the route when the route is determined. Here, the moving bodies are connected by a string-shaped object, but this may be connected by a solid object (for example, plastic). In this case, the object is connected. It may be rotatably connected to the moving body. Further, the string-shaped object may include a band-shaped object. That is, the string-shaped object may be a wide object, may be made of cloth, or may be a flexible substrate. It can be said that connecting with a string-shaped object has a higher degree of freedom as a moving body.

Further, the string-shaped object 1b may be any as long as the first moving body 1a and the second moving body 1c can be connected, but here, it is assumed that the string-shaped object 1b is a power cable. The string-shaped object 1b may also be a communication line for executing communication between mobile bodies. Hereinafter, the string-shaped object 1b will be referred to as a cable 1b.

FIG. 3B schematically shows a state in which the distance between the first moving body 1a and the second moving body 1c is the shortest. The distance between the first moving body 1a and the second moving body 1c at this time is defined as Lmin. Further, FIG. 3C shows a state in which the distance between the first moving body 1a and the second moving body 1c is the longest, that is, the cable 1b is not loosened. The distance between the first moving body 1a and the second moving body 1c at this time is defined as Lmax. The movement search device 100 searches for a movement route so that the distance between the moving body 1a and the moving body 1c is the distance between Lmin and Lmax. That is, in this case, the permissible distance information between the first moving body 1a and the second moving body 1c indicates between Lmin and Lmax. When searching for a movement path while keeping the distance between the first moving body 1a and the second moving body 1c constant, for example, Lmax is set between the first moving body 1a and the second moving body 1c. You can search for a route as a distance.

Returning to FIG. 2, the reception unit 110 has a function of receiving input of various information. The reception unit 110 may be realized in any manner as long as it can accept input of various information. For example, the route search device 110 uses a hard key or a soft key provided in the route search device 100. It may be manually input by the operator of 100, or various information may be input by communication via the network to which the route search device 100 is connected. The reception unit 110 transmits the received information to the control unit 130.

The storage unit 120 has a function of storing various data and programs required for the route search device 100 to execute the route search process for searching the route. Various data and programs may be stored in advance, or may be added and stored as appropriate. The storage unit 120 can be realized by various recording media such as an HDD (Hard Disc Drive), an SSD (Solid State Drive), and a flash memory. The storage unit 120 stores a search program for the route search process. In addition, the storage unit 120 can store map information indicating a predetermined range 200 in which the moving body moves. The map information may include information indicating the position of the entry prohibited area 210 in which the moving body cannot enter. In addition, the storage unit 120 can also store information about the moving body (size, shape, moving characteristics, length of the cable 1b, etc. of the moving body).

The control unit 130 has a function of controlling each unit of the route search device 100. The control unit 130 can be realized by, for example, a processor. The control unit 130 realizes the function as the search unit 131 by reading and executing the search program stored in the storage unit 120. The details of the route search processing procedure by the search unit 131 will be described later. Further, the control unit 130 causes the output unit 140 to output information on the movement route obtained as a result of the route search process.

The output unit 140 has a function of outputting information regarding the movement path of the moving body 1 in accordance with an instruction from the control unit 130. The information regarding the movement route may be in any form, for example, image information showing the movement route in map information, or voice information for guiding the movement route by voice. , The movement program itself that moves the movement route to the moving body 1 or a set value (for example, a coordinate value that moves on the map) input to the movement program may be used. Therefore, the output unit 140 can be realized by, for example, a monitor that displays an image, a speaker that outputs sound, a communication interface that outputs a mobile program that moves a route to the mobile body 1 by communication, and the like.

The above is the description of the configuration of the route search device 100. The mobile body composed of the two mobile bodies connected by a cable as described above is used for, for example, in the event of a disaster or the like, for the first mobile body 1a to perform advance reconnaissance and to follow the second mobile body 1c. be able to. According to the moving body having this configuration, even if the first moving body 1a is hit by some kind of accident, it may be possible to recover on the side of the second moving body. For example, even if the first moving body 1a is about to slip into some gap, the second moving body can prevent the first moving body 1a from slipping, or the first moving body 1a that has slipped can be pulled up. Further, in the case where the driving power of the second moving body 1c is supplied from the second moving body to the first moving body 1a via the cable 1b, even if the first moving body 1a fails and cannot move, at least It is possible to improve the possibility that the second mobile body 1c returns safely.

<Operation>
From here, the operation of the route search device 100 will be described. FIG. 4 is a main flowchart of the route search process in the route search device 100, and FIG. 5 is a sub-flow chart showing the detailed process of the route search process.

(Step S401)
In step S401, the reception unit 110 of the route search device 100 receives the input of the map information of the predetermined range 200 in which the moving body 1 moves. The map information includes information such as the topography of the moving range, and includes information indicating the position of the entry prohibited area 210 indicating the area where the moving body 1 cannot move. The reception unit 110 transmits the received map information to the control unit 130. The control unit 130 stores the received map information in the storage unit 120, and proceeds to the process of step S402.

(Step S402)
In step S402, the reception unit 110 receives input of allowable distance information indicating an allowable distance between the first moving body 1a and the second moving body 1c as information regarding the moving body 1. The permissible distance information may be information indicating the length of the cable 1b. The reception unit 110 transmits the received allowable distance information to the control unit 130. The control unit 130 stores the received allowable distance information in the storage unit 120, and proceeds to the process of step S403.

(Step S403)
In step S403, the reception unit 110 receives inputs such as the shape and movement characteristics of the moving body 1 as information about the moving body 1. The reception unit 110 transmits information about the received mobile body 1 to the control unit 130. The control unit 130 stores the received information about the moving body 1 in the storage unit 120, and proceeds to the process of step S404.

(Step S404)
In step S404, the reception unit 110 receives the input of the initial position information of the moving body 1. The initial position information includes information on the initial positions of the moving body 1a and the moving body 1c in the map information received in step S401. The reception unit 110 transmits the received initial position information to the control unit 130. The control unit 130 stores the received initial position information in the storage unit 120, and proceeds to the process of step S405.

(Step S405)
In step S405, the reception unit 110 receives the input of the target position information of the moving body 1. The target position information includes information on the target placement position with the moving body 1a in the map information received in step S401, and may also include information on the target placement position of the moving body 1c. The reception unit 110 transmits the received target position information to the control unit 130. The control unit 130 stores the received target position information in the storage unit 120, and proceeds to the process of step S406.

(Step S406)
In step S406, the search unit 131 executes the search program stored in the storage unit 120, and executes the route search process using the various data stored in the storage unit 120 in steps S401 to S405. The search unit 131 searches for a route from the initial position to the target position without the first moving body 1a, the second moving body 1c, and the cable 1b passing through the entry prohibited area 210 (does not enter or touch). I do. Further details of the process will be described later. After performing the route search process, the process proceeds to step S407.

(Step S407)
In step S407, the control unit 130 instructs the output unit 140 to output the route searched by the search unit 131. The output unit 140 outputs information about the searched route according to the instruction, and ends the process.

The above is a rough flow of route search by the route search device 100. Next, details in the process of step S406 in the flowchart of FIG. 4 will be described. This process is a process for determining the movement route of the second moving body 1c while determining the moving route of the first moving body 1a. In other words, in the process of FIG. 5, the movement route of the temporary first moving body 1a is determined, the moving route of the second moving body 1c is determined in accordance therewith, and the moving route of the second moving body 1c cannot be determined. In this case, it can be said that it is a process of determining the movement paths of both moving bodies while modifying the moving paths of the first moving body 1a.

(Step S501)
In step S501, the search unit 131 searches for the movement path (M _{0 to} M _n ) of the first moving body 1a. Here, M _i represents the coordinates of the movement path of the first moving body 1a passes on the map. The search unit 131 first is based on the map information stored in the storage unit 120, the position of the entry prohibited area 210 set in the map, the initial position of the first moving body 1a, and the target position. The movement path of the moving body 1a is searched. The search unit 131 can search the movement path of the first mobile body 1a by using a known algorithm such as the Dijkstra method or the A-star method, or the method shown in Patent Document 1. When the search unit 131 searches for the movement path of the first moving body 1a, the search unit 131 shifts to the process of step S502.

(Step S502)
In step S502, the search unit 131 sets the variable i to be processed to 0. The variable is a variable indicating the movement order of the coordinates that determine the position of the second moving body 1b. When the variable i is set to 0, the search unit 131 shifts to the process of step S503.

(Step S503)
In step S503, the search unit 131, i + 1-th position of the first movable body 1a and _(M i +1), the i-th position of the second moving body 1c _{(S i),} and connecting, express cable 1b do. That is, on a straight line connecting the M i ₊₁ and S _i is identified as present position of the cable 1b on the map. When the search unit 131 specifies the position of the cable 1b, the search unit 131 shifts to the process of step S504.

(Step S504)
In step S504, the search unit 131 determines whether or not any of the positions of the specified cable 1b overlaps with the entry prohibited area 210. The determination is performed by comparing the coordinates of the entry prohibition area 210 stored in the storage unit 120 with the coordinates of the cable 1b. When the search unit 131 determines that any of the positions of the cables 1b overlaps with the entry prohibited area 210 (YES), the process proceeds to the process of step S509, and when it is determined that they do not overlap (NO), the search unit 131 proceeds to step S505. Move to processing.

(Step S505)
In step S505, the search unit 131 determines whether or not the first and second distance conditions are satisfied. The first distance condition is that the distance between the first moving body 1a and the second moving body 1c is Lmax or less, and the second distance condition is the first moving body 1a and the second moving body. The distance to the body 1c is Lmin or more. If it is determined that the first and second distance conditions are satisfied, the search unit 131 proceeds to the process of step S506, and if it is determined that the conditions are not satisfied, the search unit 131 proceeds to the process of step S509.

(Step S506)
In step S506, the search unit 131 increments i and shifts to the process of step S507.

(Step S507)
In step S507, it is determined whether or not i is n. n is the number of all grids on the movement path of the first moving body 1a, and indicates the total number of coordinates passed through when moving. If i is n (YES), the process is terminated, and if i is not n (NO), the search unit 131 proceeds to the process of step S508.

(Step S508)
In step S508, the search unit _131, the _{S i + 1} as the next _{S i,} the process returns to step S503.

(Step S509)
In step S509, the search unit 131 searches for the movement path (S _{i to} S _i-goal ) of the second moving body 1c. Specifically, the search unit 131 performs a route search by using the allowable distance information M _i, only overlapping grid allowable distance information M i _{+ 1.} That is, the search unit 131 has a grid in which the second moving body 1c is allowed to exist from the i-th position of the first moving body 1a, and the second moving body from the i + 1th position of the first moving body 1a. The route search is performed using the overlapping position with the grid where 1c is allowed to exist. After that, the search unit 131 shifts to the process of step S510.

(Step S510)
In step S510, the search unit 131 determines whether or not there is a path in which the second moving body 1c can move. If there is a movable route (YES), the search unit 131 shifts to the process of step S511, and if not (NO), the search unit 131 shifts to the barricade installation process. The barricade installation process is a process in which the search unit 131 newly provides an inaccessible prohibited area on the map where the moving body and the cable cannot enter. Details of the barricade installation process will be described later.

(Step S511)
In step S511, the search unit 131, i-th position of the first moving body 1a and _{(M i), i} + 1-th position of the second moving body 1c and _{(S i-goal),} was ligated, the cable 1b Express. That is, on a straight line connecting the _{M i} and _{S i-goal} is identified as present position of the cable 1b on the map. When the search unit 131 specifies the position of the cable 1b, the search unit 131 shifts to the process of step S512.

(Step S512)
In step S512, the search unit 131 determines whether or not any of the positions of the specified cable 1b overlaps with the entry prohibited area 210. The determination is performed by comparing the coordinates of the entry prohibition area 210 stored in the storage unit 120 with the coordinates of the cable 1b. The search unit 131 returns to the process of step S509 when it is determined that any of the positions of the cables 1b overlaps with the entry prohibited area 210 (YES), and returns to the process of step S509 (NO), and the process of step S506. Move to.

The above is the description of the route search process by the route search device 100. By this process, the route search device 100 allows the first mobile body 1a to reach the target position without any of the first mobile body 1a, the second mobile body 1c, and the cable 1b coming into contact with the entry prohibited area 210. Can be searched.

<Specific example of movement>
From here, a method of determining the destination of the second moving body 1c will be described with reference to some specific examples.

FIG. 6 is a diagram for explaining a method in which the search unit 131 specifies a grid to which the second moving body 1c is moved, and is a diagram showing a specific example of the process of step S503. FIG. 6 shows a state in which the positional relationship between the moving body 1a and the moving body 1c at a certain point in time is shown on the map 200. As shown in FIG. 6, when the first moving body 1a exists on the grid (M, 10) and moves to the grid (M, 09), the second moving body 1a is separated from the grid (M, 09) by the distance indicated by the allowable distance information. The grid on which the moving body 1c can exist is determined. In FIG. 6, when the first moving body 1a is present on the grid (M, 10), the grid hatched with the right diagonal line pattern, the lattice pattern, and the diagonal lattice pattern is the grid on which the second moving body 1c can exist ( (H, 11), (H, 12), (I, 11), (I, 12), (I, 13), (J, 12), (J, 13), (J, 14), (K , 05), (K, 13), (K, 14), (K, 15), (L, 05), (L, 14), (L, 15), (M, 04), (M, 05) ), (M, 06), (M, 14), (M, 15), (M, 16), (N, 05), (N, 06), (N, 14), (N, 15), (O, 05), (O, 06), (O, 07), (O, 13), (O, 14), (O, 15)). Further, when the first moving body 1a moves to the grid (M, 09), that is, when it exists in the grid (M, 09) as shown in the first moving body 1a', the second moving body 1c exists. In FIG. 6, the possible grid can exist in the grid hatched by the checkered pattern, the diagonal checkered pattern, and the vertical striped pattern. That is, the second moving body 1c has grids ((I, 11), (J, 05), (J, 11), (J, 12), (J, 13), (K, 04), (K, 05), (K, 12), (K, 13), (L, 04), (L, 05), (L, 13), (L, 14), (M, 03), (M, 04) , (M, 05), (M, 13), (M, 14), (M, 15), (N, 04), (N, 05), (N, 13), (N, 14), ( It shows that it can exist in (O, 04), (O, 05), (O, 06), (O, 12), (O, 13), (O, 14)).

In FIG. 6, the grid hatched by the checkered pattern and the diagonal checkered pattern indicates a grid that can exist regardless of whether the first moving body 1a is located in the grid (M, 09) or (M, 10). Then, as shown in FIG. 6, when the second moving body 1c is present on the grid (J, 13), the search unit 131 can proceed to the grid substantially adjacent to the grid, so that the search unit 131 is an oblique grid. The grids (J, 12) and (K, 13) hatched with a pattern are specified as grids on which the second moving body 1c can move. In this way, the search unit 131 searches for the movement route of the second moving body 1c.

Next, among these movable grids, the process of determining the move destination (processes of steps S504 to S507) will be described with reference to specific examples.

7 (a) and 7 (b) show specific examples of a case where the search unit 131 does not determine the movement destination among the grids specified as the movement destination grid of the second moving body 1c and a case where the search unit 131 determines the movement destination. There is. Of the grids specified as candidates for the movement destination of the second moving body 1c, the search unit 131 basically preferentially identifies the grid with a shorter distance from the first moving body 1a as a candidate for the moving destination. do.

FIG. 7A shows an example in which the second moving body 1c is not used as a moving destination. Here, the search unit 131 identifies the two grids ((J, 12), (K, 13)) hatched by the diagonal grid lines in FIG. 7A as candidates for the movement destination of the second moving body 1c. It is assumed that

As shown in FIG. 7A, it is assumed that the search unit 131 selects the grid (J, 12) as a candidate for the movement destination of the second moving body 1c. Then, the search unit 131, the position of the first movable body _{1a (M i = (M,} 10)), the destination candidate position of the second moving body _{1c (S i-goal = (} J, 12)) and Tie. Then, the search unit 131 regards the connection as the cable 1b, and determines whether the cable 1b overlaps with the entry prohibited area 210. In the case of FIG. 7A, the search unit 131 determines that the cable 1b has passed through the grid ((K, 11), (K, 12), (L, 10), (L, 11)). do. In this case, since the grid (L, 10) overlaps the entry prohibited area 210, the search unit 131 is ineligible for the grid (L, 10) as the destination of the second moving body 1c (YES in step S505). See).

When the search unit 131 determines that the second moving body 1c cannot move to the grid (J, 12), it then determines whether or not the second moving body 1c can move to the grid (K, 13). That is, connecting the position of the first movable body _{1a (M i = (M,} 10)), the destination candidate position of the second moving body _{1c (S i-goal = (} K, 13)) and. Then, the search unit 131 regards the connection as the cable 1b, and determines whether the cable 1b overlaps with the entry prohibited area 210. In the case of FIG. 7B, the search unit 131 determines that the cable 1b has passed through the grid ((K, 12), (L, 11), (L, 12), (M, 11). In this case, since neither grid overlaps with the entry prohibited area 210, the search unit 131 determines the grid (K, 13) as the grid to which the second moving body 1c is moved. In this way, the search unit 131. 131 searches for the movement path of the second moving body 1c by determining the moving destinations of the second moving body 1c one by one in order.

Next, the processes of steps S509 to S511 will be described with reference to FIG. Assuming that, as shown in FIG. 8A, the position of the virtual cable 1b obtained by connecting the second mobile body 1c to the first mobile body 1a in any candidate of the movement destination is the entry prohibited area 210. If it is determined, the state of selection of the movement route is returned to the front, and the second moving body 1c is moved again from the current position of the second moving body 1c. In the example of FIG. 8A, when the first moving body 1a exists on the grid (M, 10), even if the second moving body 1c moves to the grid (K, 13), the cable 1b , The entry prohibited area 210 is not overlapped (contacted). However, when the second moving body 1c is present on the grid (K, 13), if the first moving body 1a moves to the next moving destination grid (M, 09), the cable 1b'is It overlaps with the no-entry area 210. In such a case, the search unit 131 once again moves the second moving body 1c to search for a route. Therefore, the process is synonymous with moving the second moving body 1c two or more times in a row. That is, the search unit 131 further searches for the next movement destination from the grid (K, 13) in which the second moving body 1c exists. The cable 1b connecting the second moving body 1c'moved to the grid (L, 14) and the first moving body 1a does not overlap with the entry prohibited area 210. In this case, as shown in FIG. 8B, the search unit 131 searches for the next destination of the second moving body 1c, and tentatively determines the grid (L, 14) as one of the destinations. Then, when the second moving body 1c'is on the grid (L, 14), even if the first moving body 1a moves to the grid (M, 09) which is the next moving destination, the cable 1b'enters. It does not overlap with the prohibited area 210. Therefore, in the example of FIG. 8, in the search unit 131, when the first moving body 1a exists on the grid (M, 10) as the moving path of the moving body 1, (i) the second moving body 1c is , The grid (J, 13) moves to (K, 13), the (ii) second moving body 1c moves from the grid (K, 13) to (L, 14), and the (iii) first moving body. 1a searches for a movement route of moving from the grid (M, 10) to (M, 09).

The search unit 131 of the route search device 100 determines the destination to move the second mobile body 1c by one after the first mobile body 1a has moved by one, and also determines the destination to move the first mobile body 1a by one. The route of the second moving body 1c is searched by the iterative process of determining the moving destination to move the second moving body 1c by one minute after moving the second moving body 1c by one minute. In this process, when the first moving body 1a moves and the cable overlaps with the entry prohibited area 210, the second moving body 1c is moved again (in other words, the first moving body 1a exists in the same place. By moving the second moving body 1c twice or more in this state), it is possible to perform a compensation process when the second moving body 1c cannot move to any of the moving destinations. Therefore, with this configuration, it is possible to reduce the possibility that the route search device 100 cannot search for a route.

In addition, in the processing of the flowchart of FIG. 5, there is a possibility that the second moving body 1c cannot move with the first moving body 1a while maintaining the distance indicated by the allowable distance information (see NO in step S510). .. In such a case, the barricade installation process executed by the search unit 131 to search for a route will be described here.

For example, at the position of the first moving body 1a in passing through the narrow passage as shown in FIG. 9A, the second moving body 1c is obliquely above the drawing in the direction indicated by the arrow (grid (O, 08)). Where you want to move in the direction), it is not possible to move because it is outside the moving range of the second moving body 1c.

In such a case, in addition to the originally set entry prohibited area 210, an entry prohibited area where the first moving body 1a cannot enter is set as a barricade 800, and the movement route of the first moving body 1a is searched again. After re-searching, the movement path of the second moving body 1c may be searched. It is assumed that the cable 1b and the second moving body 1c can pass through the grid on which the barricade 800 is set. As an installation example in which the barricade 800 is installed, the search unit 131 is in a state where both the first moving body 1a and the second moving body 1c cannot move, and at that time, the first moving body 1a is positioned next. (If it is the current position M _{n , place it at M n + 1} ) so that the movement route of the first moving body 1a can be recalculated. At this time, if the search unit 131 cannot search for a route even in the route search after installing the barricade 800, the search unit 131 additionally installs the barricade 800. The barricade 800 is treated as an additional no-entry area through which the moving body cannot pass, while the barricade 800 is set as a grid that allows overlapping cable positions.

That is, as shown in FIG. 9A, the first moving body 1a was planned to move from the right to the left as shown by the arrow, but when moving along this route, the second moving body 1a 1c cannot move on the way. Therefore, as shown in FIG. 9B, the barricade 800 is newly added as map information as a region through which the first mobile body 1a cannot pass. As a result, the search unit 131 searches for a route in which the first moving body 1a bypasses the barricade 800, as shown in FIG. 9B. Then, since the first moving body 1a moves one step further from the second moving body 1c, the second moving body 1c can also move to the grid (O, 07).

The barricade 800 may be set for each grid in order until the first moving body 1a and the second moving body 1c can reach the target position. That is, set up a barricade, search for the route again, and if you still cannot reach the destination, set up the barricade again, and so on, so that you can reach the destination. You can repeat the search. Further, the setting may be made by the operator of the route search device 100, or the control unit 130 of the route search device 100 cannot move both the first mobile body 1a and the second mobile body 1c. If it is determined that the first moving body 1a and the second moving body 1c cannot move, the first moving body 1a and the second moving body 1c may be provided on the path of the first moving body 1a as a trigger.

<Embodiment 2>
In the first embodiment, an example of a route search when the moving body is adjusted to fit in one grid is shown, but it is not always possible to adjust the moving body so that it fits in one grid. .. In the second embodiment, a route search process when the moving body does not fit in one grid will be described.

FIG. 10 is a diagram showing how a moving body is defined on a map when the moving body does not fit in one grid. FIG. 10A shows a state in which the basic shape of the moving body is turned sideways and rotated by 1/8 Π radians from the state. Further, FIG. 10B shows a state in which the moving body is rotated by 1/4 radian from the basic shape.

In the second embodiment, the route search device 100 specifies the position of each vertex of the moving body at each angle, connects the vertices, and the inside of the shape obtained by connecting the vertices is an occupied area on the map of the moving body. Identify as. That is, in FIGS. 10 (a) and 10 (b), the outer shape of the moving body is shown by the black-painted squares, but the inside thereof is the occupied area of the moving body, and the search unit 131 describes the moving body. Based on this shape, a route search is performed after identifying a region in which the moving body can move.

In the second embodiment, the center of rotation in FIG. 10 is set as the center of the moving body, and the center is also used in the search for the moving path. That is, by searching for the movement path at the center of the moving body instead of the entire moving body, the search is replaced with the search for the path of the moving body.

FIG. 11 shows the moving body information 1100 in which the orientation of the moving body to be stored in the storage unit 120 and the movable area at that time are associated with each other when searching for the moving route in the embodiment of the second embodiment. It is a data conceptual diagram which shows the data structure example of. As shown in FIG. 11, the moving body information 1100 is information in which the direction 1101 of the moving body, the moving shape 1102, and the movable area 1103 are associated with each other.

The orientation 1101 of the moving body is information indicating an angle of orientation from the basic position of the moving body. Although FIG. 11 shows an example of eight angles, this is not limited to eight. The resolution of rotation is preferably a multiplier of 2, and the greater the resolution, the more accurate the path search can be provided.

The moving body shape 1102 is information indicating the shape of the moving body in the direction 1101 of the corresponding moving body, and is the position of the occupied area of the grid and the center of the moving body used for searching the path of the moving body at that time (in the figure). Information indicating a circle).

The movable region 1103 is information indicating a range in which the center of the moving body can move when the shape 1102 of the corresponding moving body is taken. Here, the movable area with respect to the map 200 is shown as the area in the left lane. The hatched portion of the diagonal grid line indicates an entry prohibited area, and the center of the moving body has a certain distance from the outer frame of the moving body, so that the apparent area of the entry prohibited area is expanded. In the movable area 1103 of FIG. 11, the area hatched by the left diagonal line indicates the movable area of the rotation center of the moving body, and the area hatched by the diagonal lattice pattern indicates the inaccessible prohibited area. Further, the white portion indicates an area where the center of rotation of the moving body cannot move, and the black-painted portion indicates a surrounding area (for example, a wall) where the moving body cannot enter.

In the second embodiment, the search method of the movement route by the search unit 131 is basically the same as that of the first embodiment, but by performing a three-dimensional search using a map in which the movable regions 1103 are stacked in layers. Perform a route search considering the orientation shape.

According to the aspect of the second embodiment, by making the grid finer than that of the first embodiment, it is possible to search for a more detailed movement route. On the other hand, in the case of the first embodiment, since the movement route can be searched by a simpler process than in the second embodiment, the processing load of the route search device 100 can be reduced as compared with the second embodiment. ..

<Summary>
The route search device according to the above embodiment is a movement path of two or more moving objects connected by a string-shaped object such as a cable, and the string-shaped object does not come into contact with the entry prohibited area. Can be searched. Therefore, when the string-shaped object is a power cable, it is possible to prevent a situation in which the moving body receiving power cannot move due to the cable being broken due to contact with the restricted area. Can be done. In addition, when the string-shaped object is a communication cable, the cable may be broken due to contact with the entry prohibited area, and communication between the moving bodies becomes impossible, which makes it difficult to control the moving bodies. Such a situation can also be prevented.

<Supplement>
Needless to say, the route search device according to the above embodiment is not limited to the above embodiment, and may be realized by another method. Hereinafter, various modification examples will be described.

(1) Although not particularly described in the above embodiment, the route search device 100 may be mounted on a moving body or may be a device outside the moving body.

(2) In the above embodiment, the grid is said to be square, but this is not the case. The grid may have other shapes, such as a hexagon. Even in the case of other shapes, as in the above embodiment, after searching for the movement route of the first moving body 1a, a candidate for the moving route of the second moving body 1c is formulated and located in the candidate. There is no change in the method of searching for a route by determining whether or not the cable 1b overlaps the entry prohibited area 210.

Further, instead of the movement control by the grid, the control by the coordinate system on the map may be performed. In this case, the search unit 131 identifies the cable 1b as a function in the map form from the coordinates of the first moving body 1a and the coordinates of the second moving body 1c, and whether or not the function intersects the entry prohibited area 210. It may be determined whether the cable 1b overlaps with the entry prohibited area 210 based on the above.

As described above, the route search device 100 searches for a route in which none of the first moving body 1a, the second moving body 1c, and the cable 1b comes into contact with the inaccessible prohibited area 210 in the map of any expression. Can be done flexibly.

(3) In the first embodiment, the moving body (first moving body, second moving body) has been described as being capable of advancing to the grid in eight directions, but the moving body is advancing with respect to the grid in eight directions. It is not always possible. Therefore, the route search device 100 may receive information on the traveling direction of the moving body as the information of the moving body received in step S403, and the search unit 131 searches the route of the moving body based on the traveling direction. You may do it.

For example, if the moving body can travel only in the front-back and left-right directions, the search unit 131 searches for a route by narrowing the progressable grid to the front-back and left-right grids with respect to the direction of the moving body. Alternatively, if the moving body can only rotate on the spot and move forward, the search unit 131 searches for a route by combining the rotation control of the moving body and the progress control.

In this way, the route search device 100 can flexibly search for a route by receiving (or storing in advance) the input of the movement characteristics of the moving body even in response to the movement characteristics of various moving bodies. Can be formulated.

(4) In the first embodiment, the search unit 131 searches for a moving path of the moving body in which the cable 1b does not contact the inaccessible prohibited area 210, assuming that the cable 1b is connected to the center of each moving body. And said. However, the cable 1b is not always connected to the center of each moving body. In that case, by using the method shown in the second embodiment, it is possible to more strictly determine the overlap between the cable 1b and the inaccessible prohibited area 210.

This will be specifically described with reference to FIG. FIG. 12 shows the storage unit 120 of the route search device 100 when the orientation of the moving body is set as described in the second embodiment and the connection position of the cable 1b is not the center of the moving body. This is the mobile information that will be stored in. In the example shown in FIG. 12, the center of the moving body is indicated by a circle, and the connection position of the cable 1b is indicated by a triangle. By holding this information in the storage unit 120, in the second embodiment, the movement route is searched based on the center of the moving body, but in addition, the cable 1b is used with respect to the center of the moving body. Where the connection position is can be specified by using the table shown in FIG. Then, the search unit 131 can more accurately identify which grid the cable 1b virtually passes through by connecting the connection positions of the specified cables 1b to each other.

Therefore, by using the configuration of this supplement, the search unit 131 can handle the case where the connection position of the cable 1b is not the center of the moving body.

(5) In the above embodiment, the cable 1b has been described as being able to be routed to the entire circumference when viewed from the first mobile body 1a. That is, as shown in FIG. 13A, the grid position separated from the first moving body 1a by the distance indicated by the allowable distance information is the region where the second moving body 1c can exist (FIG. 13). (See the grid hatched by the right diagonal line in (a)).

However, it is not always possible for the cable 1b to be routed around the entire circumference when viewed from the moving body 1a. For example, as shown in FIG. 13B, there may be a case where the cable 1b can be routed only within a predetermined angle rearward with respect to the traveling direction of the moving body 1a. In such a case, the search unit 131 limits the grid in which the second moving body 1c can exist to the grid hatched by the right diagonal line in FIG. 13B, and sets the movable grid of the second moving body 1c. Identify. In the identification, the search unit 131 can respond by receiving information on an angle that can be handled with respect to the first moving body 1a of the cable 1b as information on the moving body.

In this way, even when the movable range of the cable 1b is limited, the search unit 131b can search for the movement path of the second moving body 1c.

(6) In the above embodiment, an example in which two moving bodies are connected to each other via a cable 1b has been described. However, the number of moving bodies forming the moving body 1 is not limited to two. The moving body 1 is composed of, for example, three moving bodies, a first moving body 1a, a second moving body 1c, and a third moving body 1e (not shown), and the first moving body 1a and the second moving body 1c are , The second mobile body 1c and the second mobile body 1e may be connected by the cable 1b, and may be configured in such a manner that they are connected by the cable 1d. In this case, the routes of the first mobile body 1a and the second mobile body 1c are searched for in the same manner as those shown in the above embodiment, and the routes of the third mobile body 1e are the second mobile body 1c. Is regarded as the first moving body in the above embodiment, and the third moving body 1e may be regarded as the second moving body in the above embodiment, and the movement route may be searched.

In this way, the route search device 100 can reach the target position without contacting the entry prohibited area 210, regardless of how many moving bodies are connected by cables. Can be searched.

(7) In the above embodiment, the route search device 100 in which two moving bodies in which the route search device is connected by a string-like object such as a cable searches for a route to a target position without entering the entry prohibited area. The processor that functions as each functional unit that composes the device searches for a route by executing a search program or the like. This is an integrated circuit (IC (Integrated Circuit) chip, LSI (Large Scale Integration)) in the device. It may be realized by a logic circuit (hardware) or a dedicated circuit formed in the above. Further, these circuits may be realized by one or a plurality of integrated circuits, and the functions of the plurality of functional units shown in the above embodiment may be realized by one integrated circuit. LSIs are sometimes called VLSIs, super LSIs, ultra LSIs, etc., depending on the degree of integration. That is, as shown in FIG. 11, each functional unit constituting the route search device 100 may be realized by a physical circuit. As shown in FIG. 14, the route search device 100 includes a reception circuit 110a, a storage circuit 120a, a control circuit 130a (search circuit 131a), and an output circuit 140a, and each circuit has the above-mentioned functional unit of the same name. Has the same function as.

Further, the search program may be recorded on a recording medium that can be read by a processor, and the recording medium may be a "non-temporary tangible medium" such as a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. Etc. can be used. Further, the search program may be supplied to the processor via an arbitrary transmission medium (communication network, broadcast wave, etc.) capable of transmitting the search program. The present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the search program is embodied by electronic transmission.

The search program can be implemented using, for example, a script language such as ActionScript or JavaScript (registered trademark), an object-oriented programming language such as Objective-C or Java (registered trademark), or a markup language such as HTML5.

(8) The above-described embodiment and the configurations shown in each supplement may be combined as appropriate.

1 Moving body 1a First moving body 1b String-shaped object (cable)
1c Second mobile 100 Route search device 110 Reception unit 120 Storage unit 130 Control unit 131 Search unit 140 Output unit

Claims (8)

A route search device for determining a movement route of a moving body including a first moving body, the first moving body, and a second moving body connected by a string-shaped object.
Map information within a predetermined range including information on the initial position of the first moving body, the target position for reaching the first moving body, the position of the entry prohibited area, and at least the first moving body and the second moving body. A reception unit that accepts input of moving body information including distance information between the first moving body and the second moving body, which is determined based on the string-shaped object connecting the body.
The movement path from the initial position to the target position without contacting any of the first moving body, the string-shaped object, and the second moving body with the entry prohibited area is described. A route search device including a search unit for searching based on map information and the moving object information. The search unit searches for a first route candidate for the first moving body to reach the target position from the initial position while avoiding the entry prohibited area.
After searching for the first route candidate, the route indicated by the first route candidate passes within the range of the longest distance between the first moving body and the second moving body, and passes through the inaccessible prohibited area. The route search device according to claim 1, wherein the second moving body searches for a second route candidate capable of reaching the target position while avoiding it. The search unit uses the second search unit so that the string-shaped object connecting the first moving body and the second moving body at each position indicated by the first route candidate does not overlap the inaccessible prohibited area. The route search device according to claim 2, further comprising searching for a route candidate. The search unit divides the predetermined range into predetermined regions, and assumes that the first mobile body is located on each of the predetermined regions on the route indicated by the first route candidate, and the second route. It is assumed that the second moving body is located in each of the predetermined regions on the route indicated by the candidate, and a region connecting each position of the first moving body and each position of the second moving body with a straight line. The route search device according to claim 3, wherein the second route candidate is searched based on whether or not the entry prohibited area is located in the second route candidate. The route search device according to claim 4, wherein the predetermined region has a size including at least one of the first mobile body and the second mobile body. The predetermined area has a smaller area than the first mobile body or the second mobile body, and has a smaller area.
The route search device includes a storage unit that stores range information indicating a range of a predetermined region included according to each direction of the first mobile body or the second mobile body.
The route search device according to claim 4, wherein the search unit searches for the first route candidate and the second route candidate based on the range information. The search unit acquires angle information indicating an angle that the string-shaped object can take with respect to the first moving body as the moving body information, and based on the angle information, the second moving body. The route search device according to claim 4, wherein the route is searched. A route search program for determining the movement path of a moving body including a first moving body, the first moving body, and a second moving body connected by a string-shaped object.
On the computer
Map information within a predetermined range including information on the initial position of the first moving body, the target position for reaching the first moving body, the position of the entry prohibited area, and at least the first moving body and the second moving body. A reception function that accepts input of moving body information including distance information between the first moving body and the second moving body, which is determined based on the string-shaped object connecting the body.
The movement path from the initial position to the target position without contacting any of the first moving body, the string-shaped object, and the second moving body with the entry prohibited area is described. A route search program that realizes a search function for searching based on map information and the moving object information.

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