JPH07281748A - Method and system for self-propelled object operation - Google Patents

Abstract

PURPOSE:To provide the system for self-propelled object operation with which an efficient route from a start point to an arrival point can be provided by using a simple node map. CONSTITUTION:The route from a start point node N1 to an arrival point node N4 is selected by a graph search, and a detour route is set in the route for which nodes N10, N12, N11 and N9 for obstacle detour and arcs A13, A17, A16, A15 and A11 are added to the node map. Then, existent arcs A1, A2 and A5 arriving at an obstacle node N2 and the obstacle node N2 are erased and on the node map completed with addition and erasure, the route from the start point node N1 to the arrival point node N4 is selected again by the graph search and defined as the route for a self-propelled robot 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for operating a self-propelled body that travels on a flat surface by itself.

[0002]

2. Description of the Related Art Conventionally, the following is known as a technique for operating a self-propelled vehicle. [A] A route that can be reached at the lowest cost from the departure node to the arrival node is obtained by graph search (Japanese Patent Laid-Open No. 4-3
40607 publication).

[B] Using a map obtained by dividing a two-dimensional area with a mesh, a candidate point group that minimizes the movement cost from the starting point to the arrival point is formed on the grid point coordinates, and these candidate point groups are connected. (Japanese Patent Laid-Open No. 63-200207).

[0004]

However, the above-mentioned conventional techniques have the following problems. In the above [a],
Since the route obtained by the graph search is limited to the arc, if there is an obstacle, the route largely detours as shown in FIG.

In the above-mentioned [a], a detour route that bypasses an obstacle is formed at the shortest distance, but the map becomes complicated, so that the route search is costly.

An object of the present invention is to provide a method for operating a self-propelled body and a system for operating a self-propelled body, which can obtain an efficient course from a starting point to an reaching point by using a simple node map.

[0007]

[Means for Solving the Problems] In order to solve the above problems,
The present invention has the following configurations. (1) A plurality of nodes for a self-propelled body existing on a running plane to change directions or stop traveling, and an arc for connecting adjacent nodes in a mesh shape to allow the self-propelled body to travel. Using the described node map, the most efficient course from the node corresponding to the departure point to the node corresponding to the arrival point is selected by graph search, and obstacles encountered when the self-propelled body travels based on the course. Exists on the operation plane, an obstacle detouring node and an arc detouring an obstacle node occupied by the obstacle in the node map are added to the node map to set up a detour in the course. To do.

(2) In order for the self-propelled body existing on the running plane to connect to a plurality of nodes for changing the direction and stopping the traveling and adjacent nodes in a mesh shape, the self-propelled body for traveling. Using a node map describing arcs, the most efficient course from the node corresponding to the departure point to the node corresponding to the arrival point is selected by graph search, and it is encountered that the self-propelled body runs based on the course. When an obstacle to be present exists on the operation plane, a node and an arc for obstacle bypass that bypasses the obstacle node occupied by the obstacle in the node map are added to the node map to bypass the route. The path is set and the existing arc and obstacle node leading to the obstacle node are deleted.

(3) A plurality of nodes for the self-propelled body existing on the operation plane to change direction or stop traveling and adjacent nodes are connected in a mesh form so that the self-propelled body can travel. Using a node map describing arcs, the most efficient course from the node corresponding to the departure point to the node corresponding to the arrival point is selected by graph search, and it is encountered that the self-propelled body runs based on the course. When an obstacle to be present exists on the operation plane, a node and an arc for obstacle bypass that bypasses the obstacle node occupied by the obstacle in the node map are added to the node map to bypass the route. Along with setting the route, deleting existing arcs and obstacle nodes that reach the obstacle node, and arriving from the node corresponding to the departure point again on the node map where the above addition and deletion have been completed Until node corresponding to the point, the path of the most efficient route to selected by the graph search self body.

(4) It has the configuration of (1) or (2) or (3) above, and the obstacle bypass node has a predetermined relative distance from the node where the obstacle is located in the node map. A plurality of values are set at the position where the value is set.

(5) The above (1) or (2) or (3) or (4)
And the self-propelled body is a self-propelled robot that changes the direction, loads and unloads, avoids encountering obstacles, stops traveling such as work at the operation plane position corresponding to the node. The obstacle is another self-propelled robot stopped on the operation plane corresponding to an arbitrary node.

(6) A plurality of nodes for the self-propelled body existing on the operation plane to change the direction or stop the traveling and the adjacent nodes are connected in a mesh form so that the self-propelled body can travel. A map storage unit that stores a node map that describes arcs, an obstacle description unit that describes the existence of an obstacle on the operation plane when the obstacle exists on the operation plane, and a arrival point from the node corresponding to the departure point. Up to the node corresponding to the above, the graph search means for selecting the most efficient course ignoring the obstacle by the graph search, and the obstacle encountered when the self-propelled body travels based on the course on the operation plane. If present, an obstacle detouring node and an arc detouring the obstacle node occupied by the obstacle in the node map are added to the node map to set up a detour in the path. Comprising a circuit generating means, existing arc leading to the obstacle nodes, and a deleting means for deleting the obstacle nodes.

(7) A plurality of nodes for the self-propelled body existing on the operation plane to change the direction or stop traveling, and adjacent nodes are connected in a mesh form so that the self-propelled body can travel. A map storage unit that stores a node map that describes arcs, an obstacle description unit that describes the existence of an obstacle on the operation plane when the obstacle exists on the operation plane, and a arrival point from the node corresponding to the departure point. Up to a node corresponding to the first graph search means for selecting the most efficient course ignoring the obstacle by graph search, and the obstacle encountered when the self-propelled body travels based on the course is the traveling plane. If present, an obstacle bypass node and an arc that bypass the obstacle node occupied by the obstacle in the node map are added to the node map to set a bypass route in the path. Detour generation means for deleting, existing arc to reach the obstacle node, and deleting means for deleting the obstacle node, and arrive again from the node corresponding to the departure point on the node map where the addition and deletion have been completed. The second graph search means is provided for selecting the most efficient route to the node corresponding to the point by the graph search and setting it as the route of the self-propelled body.

(8) It has the configuration of (6) or (7) above, and the self-propelled body is capable of changing direction, loading / unloading, and obstructing at an operation plane position corresponding to the node. It is a self-propelled robot that stops traveling such as encounter avoidance and work, and the obstacle is another self-propelled robot that is stopped on a traveling plane corresponding to an arbitrary node.

[0015]

[Action]

[Claim 1] Regardless of the presence or absence of obstacles, the most efficient route from the node corresponding to the starting point of the operation plane to the node corresponding to the arrival point is selected by the graph search.

When an obstacle encountered when the self-propelled vehicle travels based on the above-mentioned route exists on the operation plane, the node detouring node and arc for detouring the node occupied by the obstacle in the node map In addition, a detour is set in the course.

The self-propelled body travels on the operation plane based on the above-mentioned route and runs around the obstacle so as to bypass the obstacle based on the detour, and the self-propelled body reaches the arrival point from the departure point. To do.

[Claim 2] Regardless of whether or not there is an obstacle, the most efficient route from the node corresponding to the starting point to the node corresponding to the arrival point of the operation plane is selected by the graph search.

When an obstacle encountered when the self-propelled vehicle travels based on the above route exists on the operation plane, the node detouring node and arc for detouring the node occupied by the obstacle in the node map Add to and set a detour on the way.

Delete existing arcs and obstacle nodes leading to obstacle nodes. The self-propelled body travels on the traveling plane based on the above-mentioned route, and runs so as to bypass the obstacle based on the detour in the vicinity of the obstacle, and the self-propelled body reaches the arrival point from the departure point.

[Claim 3] Regardless of the presence or absence of an obstacle, the most efficient route from the node corresponding to the starting point of the operation plane to the node corresponding to the arrival point is selected by the graph search.

When an obstacle encountered when the self-propelled vehicle travels on the above route exists on the operation plane, the node detouring node and arc for detouring the node occupied by the obstacle in the node map Add to and set a detour on the way.

Delete existing arcs and obstacle nodes leading to obstacle nodes. The most efficient route from the node corresponding to the departure point to the node corresponding to the arrival point is again selected by the graph search on the node map for which the addition and deletion have been completed.

Based on the route, the self-propelled body travels on the operation plane, the self-propelled body bypasses the obstacle and reaches the arrival point from the departure point.

[Claim 4] A plurality of obstacle avoiding nodes are set at positions where the relative distance to the node where the obstacle is located has a predetermined value in the node map.

[Claim 5] Claims 1, 2, 3,
In 4, the self-propelled body is a self-propelled robot, and at the operation plane position corresponding to the node in the node map, direction change, loading,
You can load and unload, avoid encounters with obstacles, and stop traveling such as work.

[Claim 6] The map storage means,
A node map that describes a plurality of nodes for the self-propelled body existing on the operation plane to change direction or stop traveling, and an arc for connecting the adjacent nodes in a mesh shape and the self-propelled body traveling To store.

When there is an obstacle on the operation plane, the obstacle writing means writes the presence on the node map. The graph search means selects the most efficient route from the node corresponding to the departure point to the node corresponding to the arrival point, ignoring obstacles, by the graph search.

When there is an obstacle in the selected route, the detour generating means adds an obstacle detouring node and arc for bypassing the obstacle node occupied by the obstacle to the node map and adds the obstacle detouring node to the route. Set up a detour.

The deleting means deletes the existing arc reaching the obstacle node and the obstacle node. The self-propelled body travels on the operation plane based on the above route in the node map, and in the vicinity of the obstacle, bypasses the obstacle based on the obstacle bypass node and the arc detour, and starts from the departure point. Reach the arrival point.

[Claim 7] The map storage means,
A node map that describes a plurality of nodes for the self-propelled body existing on the operation plane to change direction or stop traveling, and an arc for connecting the adjacent nodes in a mesh shape and the self-propelled body traveling To store.

When there is an obstacle on the operation plane, the obstacle describing means describes the presence on the node map. The first graph search means selects the most efficient route from the node corresponding to the departure point to the node corresponding to the arrival point, ignoring obstacles, by graph search.

When an obstacle exists in the selected route, the detour generating means adds an obstacle detouring node and an arc for bypassing the obstacle node occupied by the obstacle to the node map to add the obstacle to the route. Set up a detour.

The deleting means deletes the existing arc reaching the obstacle node and the obstacle node. The second graph search means selects the most efficient route from the node corresponding to the departure point to the node corresponding to the arrival point on the node map to which the obstacle detouring node and the arc are added by the graph search.

The self-propelled body travels on the operation plane based on the route in the node map, bypasses the obstacle, and reaches the arrival point from the departure point.

[Claim 8] In Claims 6 and 7, the self-propelled body is a self-propelled robot, and at the operation plane position corresponding to the node of the node map, the direction change, loading, unloading, and obstacle You can avoid encounters and stop running for work.

[0037]

【The invention's effect】

[Claim 1] Assuming that there is no obstacle, a route that can be most efficiently traveled from the node corresponding to the starting point of the operation plane to the node corresponding to the arrival point is selected by the graph search. If it exists on the operation plane, it is configured to add an obstacle bypass node and arc for bypassing the node occupied by the obstacle in the node map to the node map and set up a bypass route in the course. The running method of the running body has the following effects.

Since the detour path for bypassing the obstacle can be set short, it is possible to extend the operation time by bypassing the obstacle. Since the node map is simple, there is no need to make the system large in size and the cost is low. Since the route is first determined by the graph search, it is easy to set the detour.

[Claim 2] Assuming that there are no obstacles, the most efficient course from the node corresponding to the starting point of the operation plane to the node corresponding to the arrival point is selected by the graph search. When an obstacle exists on the operation plane, while adding a node and an arc for obstacle detour that bypasses the node occupied by the obstacle in the node map to the node map and setting a detour in the course,
Since the existing arc reaching the obstacle node and the obstacle node are deleted, the operation method of the self-propelled vehicle has the following effects.

Since the detour route for bypassing the obstacle can be set short, it is possible to extend the operation time by bypassing the obstacle. Since the node map is simple, there is no need to make the system large in size and the cost is low. By deleting the existing arc reaching the obstacle node and the obstacle node, it is possible to prevent the encounter of the self-propelled body with the obstacle.

[Claim 3] Assuming that there are no obstacles, the most efficient route from the node corresponding to the starting point of the operation plane to the node corresponding to the arrival point is selected by the graph search. When an obstacle exists on the operation plane, while adding a node and an arc for obstacle detour that bypasses the node occupied by the obstacle in the node map to the node map and setting a detour in the course,
The most efficient route from the node corresponding to the departure point to the node corresponding to the arrival point on the node map where the existing arc reaching the obstacle node and the obstacle node are deleted and the addition and deletion described above are completed. Is selected as a path of the self-propelled body by graph search, and thus the method of operating the self-propelled body has the following effects.

Since the detour path for bypassing the obstacle can be set short, it is possible to extend the operation time only slightly by bypassing the obstacle. Since the node map is simple, there is no need to make the system large in size and the cost is low. Even if it is possible to reach the arriving node more efficiently without passing through the detour, such as when an obstacle crosses two nodes or exists at two locations, the node corresponding to the departure point is sure to correspond to the arrival point. You can always choose the most efficient route to a node.

[Claim 4] In the node map,
Since a plurality of obstacle bypass nodes are set on the node map at a position where the relative distance to the node where the obstacle is located is a predetermined value, the self-propelled body can keep a safe distance from the obstacle. You can set the detour that can be kept and run to the shortest distance.

[Claims 5 and 8] (1) Since the detour path that bypasses another autonomous robot that is stopped can be set short, extension of the operation time by bypassing another autonomous robot is small. I'm done. (2) There is no need to make the system large-scale because the node map is simple,
Low cost. (3) Since the route is first determined by graph search, it is easy to set up a detour that bypasses another self-propelled robot.

[Claim 6] Assuming that there are no obstacles, the graph search means selects the most efficient route from the node corresponding to the starting point of the operation plane to the node corresponding to the arrival point. , When an obstacle exists on the operation plane, the detour generation means adds an obstacle detouring node and an arc detouring the node occupied by the obstacle in the node map to the node map to detour the route. And the deleting means deletes the existing arc reaching the obstacle node and the obstacle node, the operation system of the self-propelled vehicle has the following effects.

Since the detour route for bypassing the obstacle can be set short, it is possible to extend the operation time by bypassing the obstacle. Since the node map is simple, there is no need to make the system large in size and the cost is low. Since the route is first determined by the graph search, it is easy to set the detour.

[Claim 7] Assuming that there is no obstacle, the first graph searching means selects a route that can be most efficiently traveled from the node corresponding to the starting point of the operation plane to the node corresponding to the arrival point. If an obstacle exists on the operation plane, the detour generation means adds an obstacle detouring node and an arc that bypass the node occupied by the obstacle in the node map to the node map. While setting the detour, the deleting means deletes the existing arc and the obstacle node leading to the obstacle node, and again on the node map where the above addition and deletion are completed, from the node corresponding to the departure point to the arrival point again. Since the most efficient course up to the corresponding node is selected by the second graph search means to be the course of the self-propelled body, the operation system of the self-propelled body has the following effects. To.

Since the detour route for bypassing the obstacle can be set short, it is possible to extend the operation time by bypassing the obstacle. Since the node map is simple, there is no need to make the system large in size and the cost is low. Even if it is possible to reach the arriving node more efficiently without passing through the detour, such as when an obstacle crosses two nodes or exists at two locations, the node corresponding to the departure point is sure to correspond to the arrival point. You can always choose the most efficient route to a node.

In the node map, a plurality of obstacle detour nodes are set on the node map at a position where the relative distance to the node where the obstacle is located becomes a predetermined value. Can set the shortest distance to the detour that allows you to keep a safe distance from obstacles.

[0050]

The first embodiment of the present invention (claims 3, 4, 5,
(Corresponding to 7 and 8) will be described with reference to FIGS. Figure 1
As shown in FIG. 1, the operation system S of the self-propelled robot has a map storage means 11, an obstacle describing means 12 for describing the position of an obstacle in a node map, a graph searching means 13, a detour generating means 14, and a deleting means 15. , A memory 2 for storing a node map, a keyboard 3 for inputting node map data and the like, a CRT 6 for monitoring the operating states of the self-propelled robots 4, 5, and a microcomputer 1- A wireless interface 7 for exchanging data between the self-propelled robots 4 and 5 is provided.

The map storage means 11 stores the node map data input from the keyboard 3 in the memory 2 as a node map.

The node map can be stopped for the self-propelled robots 4 and 5 on the operation plane U to change directions, load / unload, avoid encounter with obstacles, or work. The nodes and the arcs for connecting the adjacent nodes in a mesh shape and causing the self-propelled robots 4 and 5 to travel are described (see FIG. 2).

The node data Ni is described as follows using the X coordinate value and Y coordinate value of the node position and the node direction θ. Note that i is a subscript indicating a node number.

Ni = {Xi, Yi, θi} On the other hand, the arc data Ai is described as follows using the numbers of adjacent nodes to be connected. In addition, j and k are
The node numbers at both ends of arc i are shown.

Ai = {j, k} Further, the node map data is described as the set N of these node data and the set A of arc data as follows. Note that n is the total number of nodes and m is the total number of arcs.

N = {N1, N2, ..., Nn} A = {A1, A2, ..., Am}

In this embodiment, the node map is manually input by the operator from the keyboard 3, as shown in FIG. 2, and includes eight nodes N1 to N8 and A1 to A10.
The map storage means 11 of the microcomputer 1 stores it as array data (see Table 1) in the memory 2.

[0058]

[Table 1]

The obstacle describing means 12 describes the presence of an obstacle on the travel plane U in the node map when the obstacle is present or set.

When the obstacle is the robot invasion prohibited area, the input from the keyboard 3 is used. When the obstacle is the stationary robot 4, the input from the keyboard 3 is used in addition to the input from the keyboard 3. The presence information thereof is stored in the memory 2 by the obstacle describing means 12 of the microcomputer 1 as array data of node numbers occupied by the obstacle (see Table 2). It

[0061]

[Table 2]

The position data of the obstacle is the number of the node occupied by the obstacle (in the case of the self-propelled robot) or the node number closest to the XY coordinate value of the representative point of the obstacle (in the case of the robot intrusion prohibited area). Described in the node map. still,
When an obstacle occupies a large area such as a robot intrusion prohibited area, a plurality of node numbers are set.

The position data of the obstacle is described as follows. Note that O is a set of obstacles, the number on the right side is the node number occupied by the obstacles, and L is the number of obstacles.

O = {O1, O2, ..., OL}

The graph searching means 13 has the most efficient route (eg, as shown in FIG. 2) from the node Ni (eg, N1) corresponding to the departure point on the operation plane U to the node Nj (eg, N4) corresponding to the arrival point. , Arc A1 → arc A2
→ Select arc A3) by graph search.

The most efficient route is an optimum route selected by a known graph search method in consideration of the total length of the route (for example, A1 + A2 + A3), the number of times of direction change, and the like.

The detour route generating means 14 is the graph searching means 1
When an obstacle (for example, the self-propelled robot 4) exists in the route selected by 3 (ignoring the obstacle, for example, arc A1 → arc A2 → arc A3), as shown in FIG. Nodes for bypassing obstacles (N10, N12, N
11, N9) and arc (A13, A17, A16, A1)
5, A11) is added to the node map. The nodes and arcs for avoiding obstacles are stored in the memory 2 as array data as shown in Table 3.

[0068]

[Table 3]

The deleting means 15 deletes the existing arc and the obstacle node reaching the obstacle node (N2). In this embodiment, the arcs A1, A2, A5 and the node N2 are deleted ( (See FIG. 4).

When the obstacle is a self-propelled robot which is stopped, the node for obstacle avoidance surrounds the node occupied by the obstacle as shown in FIG. 5, and the distance to the node occupied by the obstacle is a predetermined value. Four detours (Np1, Np2, Np3, Np4) are automatically set in a trapezoidal shape by the detour generation unit 14. It should be noted that the predetermined value is a distance (for example, 1
The minimum value that m) can be secured is set.

The position data of the obstacle avoiding node is described as follows by the relative distance from the obstacle position so that the avoidance route can be easily added to the node map data. Np = {(Xp1, Yp1), (Xp2, Yp2),
(Xp3, Yp3), (Xp4, Yp4)}

Further, arcs (Ap1, Ap) for avoiding obstacles are used.
2, Ap3) is set so as to connect adjacent obstacle avoiding nodes, and a detour {A13 → A17 → A16 → A1
5 → A11} is a set of arcs connecting nodes for obstacle avoidance, and is described as follows.

Ap = {(p1, p3), (p2, p
4), (p3, p4)}

When the detour is formed and the existing arc reaching the obstacle node and the obstacle node are deleted, the set N of node data and the set of arc data A of the node map are written as shown below. It will be revised. In addition, N ', A',
n ′ and m ′ are the rewritten set of node data, the set of arc data, the number of nodes, and the number of arcs, respectively.

N '= {N1, N2, ..., Nn'} A '= {A1, A2, ..., Am'}

Next, the operation of the operation system S of the self-propelled robot will be described based on the flowchart shown in FIG.

At step s1, the operator inputs the node arc data for the node map from the keyboard 3, and the map storage means 11 stores the array data in the memory 2 (Table 1).
Reference). In this embodiment, the initial stop positions of the self-propelled robots 4 and 5 are the nodes N2 and N1.

At step s2, the self-propelled robot (the self-propelled robot 5 in this embodiment), the departure point node (N1 in this embodiment), and the arrival point node (N4 in this embodiment) to be operated are determined. , Described in the node map. The node occupied by the self-propelled robot (the self-propelled robot 4 in this embodiment) which is not operated automatically becomes the obstacle node (N2 in this embodiment). Specifically, the operator inputs data from the keyboard 3, and the microcomputer 1 stores it in the memory 2 as array data (see Table 2). When a robot intrusion prohibited area is provided, the range on the node map is specified.

At step s3, the graph search means 13
The most efficient route from the departure point node (N1) corresponding to the departure point to the arrival point node (N4) corresponding to the arrival point ignoring obstacles is selected by graph search. In this embodiment, the course is arc A1 → arc A2 → arc A3.

At step s4, the microcomputer 1
Determines whether or not an obstacle (the self-propelled robot 4 or the robot intrusion prohibited area) is present or set on the operation plane U, and if it is present (YES), the process proceeds to step s5,
If it does not exist (NO), the process proceeds to step s10. still,
The presence is determined by a position notification signal from the self-propelled robot (self-propelled robot 4) which is not operated, data analysis of the memory 2, and the like.

At step s5, the detour generation means 14
From the nodes occupied by the obstacles and the route selected in step s3, the obstacle detour nodes (N10, N12, N1) are selected.
The coordinate values of 1, N9) on the node map are obtained.

In this embodiment, the obstacle is at the position of the node N2, and the positions of the obstacle bypass nodes (N9, N10, N11, N12) are as follows from the positional relationship of the nodes shown in FIG. Is calculated so that a detour is formed along the direction of the node. Note that θ is the direction of the node.

N9 = {X ₂ + Xp1cos θ-Yp1
・ Sinθ), (Y ₂ + Xp1 ・ sinθ + Yp1 ・ c
os θ), θ} N10 = {X ₂ + Xp2 · cos θ−Yp2 · sin
θ), (Y ₂ + Xp2 · sin θ + Yp2 · cos
θ), θ} N11 = {X ₂ + Xp3 · cos θ−Yp3 · sin
θ), (Y ₂ + Xp3 · sin θ + Yp3 · cos
θ), θ} N12 = {X ₂ + Xp4 · cos θ−Yp4 · sin
θ), (Y ₂ + Xp4 · sin θ + Yp4 · cos
θ), θ}

At step s6, these obstacle detouring nodes (N10, N12, N11, N9) are added to the node map, and a new node data set N'is described as follows (see FIG. 3). ).

N '= {N1, N2, N3, N4, N5,
N6, N7, N8, N9, N10, N11, N12}

At step s7, an obstacle bypass arc (A13, A17, A1) for connecting the obstacle bypass nodes.
6, A15, A11) are created and added to the node map. In addition, A13 → A17 → A16 → A15 → A11 → A
3 is a detour.

At step s8, the existing arcs (A1, A2, A5) leading to the obstacle node (N2) and the obstacle node (N2) are deleted, and a new arc data set A '.
Is described as follows (see FIG. 4).

A '= {A3, A4, A6, A7, A8,
A9, A10, A11, A13, A15, A16, A1
7}

A11 = {3,9} A13 = {1,12} A14 = {2,12} A15 = {9,10} A16 = {11,12} A17 = {10,11}

At step s9, the graph searching means 13
From the rewritten node map (see FIG. 4), the most efficient route from the departure point node (N1) to the arrival point node (N4) is selected by graph search. In this embodiment, the route is arc A13 → arc A17 → arc A1.
6 → arc A15 → arc A11 → arc A3.

At step s10, the microcomputer 1 operates the self-propelled robot 5 along the above-mentioned path through the wireless interface 7.

Operation system S of the self-propelled robot of this embodiment
Has the following advantages: In step s3, a graph search is performed for the most efficient route (arc A1 → arc A2 → arc A3) from the departure node (N1) corresponding to the departure point to the node (N4) corresponding to the arrival point, ignoring obstacles. It is selected by means 13.

When an obstacle exists on the traveling plane U (YES in step s4), a node and an arc that bypass the node occupied by the obstacle are automatically set in the node map to set a bypass route in the course. (Steps s6, s
7) Since the existing arc reaching the obstacle node and the obstacle node are deleted (step s8), the following effects are obtained.

Compared with the route (A4 → A8 → A9 → A6 → A3 shown in FIG. 7) according to the prior art [A], the route (A13 set by the operation system S of the self-propelled robot is set.
(→ A17 → A16 → A15 → A11 → A3) is shorter, so the self-propelled robot can be operated from the departure point to the arrival point in a shorter time than before, and the time can be shortened.

Since the operation system S of the self-propelled robot needs only a simple node map, the amount of node arc data input from the keyboard 3 is small, the burden on the operator is small, and the capacity of the memory 2 is small. It can be small.

In the operation system S of the self-propelled robot, since the route is first determined by the graph search, the node group for obstacle bypass can be easily determined, and the route of the self-propelled robot 5 can be promptly selected. You can

Since the existing arc reaching the obstacle node and the obstacle node are deleted (step s8), the most efficient route from the departure node (N1) to the arrival node (N4) is found using the graph search. Can be elected.
It should be noted that even if the arrival node can be efficiently reached without passing through the detour (for example, there are obstacles at two places), the most efficient route from the departure node (N1) to the arrival node (N4) can be surely achieved. Can be elected.

A second embodiment of the present invention (claims 2, 4, 5,
(Corresponding to 6 and 8) will be described based on FIGS. 1 to 5 and 8. The operation system of the self-propelled robot of this embodiment differs from that of the first embodiment in the following points.

In this embodiment, there is no step s9 as shown in FIG.
The route (A13) with a detour formed at the time of executing
→ A17 → A16 → A15 → A11 → A3) The self-propelled robot 5 is operated.

When the node map is simple as shown in FIG. 2, no matter which node the self-propelled robot 4 is stopping at, the most efficient course is to always use a detour route that bypasses the obstacle node. Since it includes it, the second graph search can be omitted. Moreover, the effect (,,) of the first embodiment is also obtained.

A third embodiment of the present invention (corresponding to claims 1, 4, and 5) will be described with reference to FIGS. 1 to 3, 5, and 9.
The operation system of the self-propelled robot of this embodiment differs from that of the first embodiment in the following points.

In this embodiment, as shown in FIG. 9, steps s8 and s9 are not provided, and a route with a detour (A13 → A17 → formed at the time of executing step s7 without using a graph search). The self-propelled robot 5 is operated by A16 → A15 → A11 → A3). Further, the microcomputer 1 does not have the deleting means 15 (see FIG. 1).

In the simple case where the node map is as shown in FIG. 2, no matter which node the obstacle self-propelled robot 4 stops, the most efficient course is to always use the detour route that bypasses the obstacle node. Since it includes it, the second graph search can be omitted. Further, since the second graph search is not performed, it is possible to omit the deletion of the existing arc reaching the obstacle node and the deletion of the obstacle node. In addition, the effect of the first embodiment (,,
) Is played in the same way.

The present invention includes the following embodiments in addition to the above embodiments. a. If there are two or more self-propelled robots that are stopped,
It suffices to repeat steps s5 to s8 for the number of stopped self-propelled robots.

B. The node map is as shown in FIG. 10, and when the mobile robot 81 moves from the departure point node 82 to the arrival point node 83, the stop robot 8 which is an obstacle.
When bypassing the obstacle node 85 occupied by 4, the obstacle bypass nodes 88 and 89 may be set on the existing arcs 86 and 87.

C. The arc for bypassing the obstacle may be a circular arc.

[Brief description of drawings]

FIG. 1 is a block diagram of an operation system of a self-propelled robot according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of a node map stored in a memory in the system.

FIG. 3 is an explanatory diagram showing a course of a self-propelled robot in the system.

FIG. 4 is an explanatory diagram showing a course in which an existing arc leading to an obstacle node and an obstacle node are deleted in the system.

FIG. 5 is an explanatory diagram showing a setting state of a detour in the system.

FIG. 6 is a flowchart showing the operation of the system.

FIG. 7 is an explanatory diagram showing a route on a node map selected by using a conventional technique.

FIG. 8 is an explanatory diagram of a node map stored in a memory in the operation system of the self-propelled robot according to the second embodiment of the present invention.

FIG. 9 is an explanatory diagram of a node map stored in a memory in the operation system of the self-propelled robot according to the third embodiment of the present invention.

FIG. 10 is an explanatory diagram showing another example of an obstacle detouring node and an arc.

[Explanation of symbols]

4 Another self-propelled robot (obstacle) 5 Self-propelled robot (self-propelled body) 11 Map storage means 12 Obstacle description means 13 Graph search means 14 Detour generation means 15 Deletion means A1 to A10 Arcs A1, A2, A5 Obstacles Existing arcs A11, A13, A15, A16, A17 leading to the object node Arcs N1 to N8 for bypassing obstacles Node N1 Node N1 corresponding to the departure point Node N2 Obstacle node N4 Nodes corresponding to the arrival point N9, N10, N11, N12 Node for obstacle detour U Operation plane S Operation system for self-propelled robot (Operation system for self-propelled body)

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Akio Fukuyasu 1-1, Showa-cho, Kariya city, Aichi prefecture Nihon Denso Co., Ltd.

Claims (8)

[Claims] 1. An arc for connecting a plurality of nodes for a self-propelled body existing on an operation plane to change direction or stop traveling and to connect adjacent nodes in a mesh shape so that the self-propelled body may travel. Using the node map described in and, the most efficient course from the node corresponding to the departure point to the node corresponding to the arrival point is selected by graph search, and it is encountered that the self-propelled body travels based on the course. When an obstacle exists on the operation plane, a node and an arc for obstacle detour that bypass the obstacle node occupied by the obstacle in the node map are added to the node map to make a detour in the course. How to operate the self-propelled body to set. 2. An arc for connecting a plurality of nodes for a self-propelled body existing on a running plane to change directions or stop traveling and to connect adjacent nodes in a mesh shape so that the self-propelled body may travel. Using the node map described in and, the most efficient course from the node corresponding to the departure point to the node corresponding to the arrival point is selected by graph search, and it is encountered that the self-propelled body travels based on the course. When an obstacle exists on the operation plane, a node and an arc for obstacle detour that bypass the obstacle node occupied by the obstacle in the node map are added to the node map to make a detour in the course. The method of operating a self-propelled vehicle that deletes existing arcs and obstacle nodes that lead to obstacle nodes. 3. An arc for connecting a plurality of nodes for a self-propelled body existing on a running plane to change direction or stop traveling and to connect adjacent nodes in a mesh shape so that the self-propelled body may travel. Using the node map described in and, the most efficient course from the node corresponding to the departure point to the node corresponding to the arrival point is selected by graph search, and it is encountered that the self-propelled body travels based on the course. When an obstacle exists on the operation plane, a node and an arc for obstacle detour that bypass the obstacle node occupied by the obstacle in the node map are added to the node map to make a detour in the course. In addition to setting the above, delete existing arcs and obstacle nodes that reach the obstacle node, and again from the node corresponding to the departure point to the arrival point on the node map where the above addition and deletion have been completed. A method of operating a self-propelled vehicle that selects the most efficient course up to the node corresponding to (1) by graph search and uses it as the course of the self-propelled vehicle. 4. A plurality of obstacle detouring nodes are set at a position where a relative distance to a node where the obstacle is located has a predetermined value in a node map. The method of operating a self-propelled body according to claim 3. 5. The self-propelled body is a self-propelled robot that performs traveling stop such as direction change, loading / unloading, avoidance of encounter with obstacles, work, etc. at an operation plane position corresponding to the node, The method of operating a self-propelled body according to claim 1, 2 or 3, or 4, wherein the obstacle is another self-propelled robot stopped on a movement plane corresponding to an arbitrary node. 6. An arc for connecting a plurality of nodes for a self-propelled body existing on a running plane to change direction or stop traveling and to connect adjacent nodes in a mesh shape so that the self-propelled body may travel. When there is an obstacle on the operation plane, a map storage means for storing a node map that describes A graph search means for selecting the most efficient course ignoring the obstacle up to a corresponding node by a graph search, and an obstacle encountered when the self-propelled body travels based on the course exists on the operation plane. In this case, a bypass for adding an obstacle bypass node and an arc for bypassing an obstacle node occupied by the obstacle in the node map and setting a bypass route in the path. An operation system for a self-propelled body, comprising: a route generating means; an existing arc reaching the obstacle node; and a deleting means for deleting the obstacle node. 7. An arc for connecting a plurality of nodes for a self-propelled body existing on an operation plane to change direction or stop traveling and to connect adjacent nodes in a mesh shape so that the self-propelled body may travel. When there is an obstacle on the operation plane, a map storage means for storing a node map describing the above and the obstacle description means for describing the existence in the node map, and from the node corresponding to the departure point to the arrival point. First graph search means for selecting the most efficient course ignoring the obstacle up to a corresponding node by graph search, and an obstacle encountered when the self-propelled body travels based on the course on the operation plane. If present in the node map, an obstacle bypass node and an arc that bypass the obstacle node occupied by the obstacle in the node map are added to the node map to set a bypass route in the path. Detour generation means, existing arc leading to the obstacle node, and deletion means for deleting the obstacle node, and again on the node map where addition and deletion are completed, from the node corresponding to the departure point to the arrival point again. To the node corresponding to the above, the operation system of the self-propelled body, comprising the second graph search means for selecting the most efficient course by the graph search and using it as the course of the self-propelled body. 8. The self-propelled body is a self-propelled robot that changes the direction, loads and unloads, avoids encountering obstacles, stops traveling such as work at a traveling plane position corresponding to the node, The operation system of the self-propelled body according to claim 6 or 7, wherein the obstacle is another self-propelled robot stopped on an operation plane corresponding to an arbitrary node.