JPH11175151A - Method and device for controlling moving robot and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a robot to adapt itself flexibly to different work places and to increase the readout speed of a control rule. SOLUTION: Control rule numbers corresponding to a control rule one to one for enery pixel are determined and read in a control rule data array for every pixel, to generate map information wherein the control rules regarding movement for every specified area are described (S2). The command position of a moving robot is generated (S3) from its current position and an operation instruction to the moving robot, coordinates of the command position on an X-Y coordinate system are found, and a control rule is read out (S4) by matching the control rule number of the corresponding coordinates in the control rule data array against a number-control rule corresponding table showing the corresponding relation between the control rule numbers and control rules corresponding to the control rule numbers, thereby controlling the movement of the robot according to the control rule.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movement control technique for a mobile robot which has map information defining a control rule for movement for each predetermined area and performs movement control based on the map information.

[0002]

2. Description of the Related Art As a movement control device for a mobile robot, a region is defined as a geometrical figure, the map has map information defining a control rule for each area, and is based on mathematical characteristics of the figure defining the area. For example, there is a movement control device of a mobile robot that performs an approach determination (analytically determines whether or not a figure is included in a figure).

In this mobile robot movement control apparatus, geometric data is extracted by processing image data of an image in the traveling direction captured by a television camera of the mobile robot, and the geometric data is extracted and set in advance. The control rule of the closest geometrical figure is compared with the map information that defines the control rule for each feature of the geometrical figure thus obtained, and the control rule of the traveling direction captured by the television camera is determined as the closest control law of the geometrical figure. .

[0004]

As described above, conventionally, when corresponding to a plurality of work places, image data in a traveling direction captured by a television camera of a mobile robot is processed to form a geometric feature. The extracted geometric features are compared with the map information in which control rules are set for each of the geometric features set in advance, and the control rules of the closest geometric shapes are determined by the TV. It was a control law for the direction of travel captured by the camera. Therefore, it takes time to process the image data in the traveling direction captured by the television camera of the mobile robot to extract the geometric feature, and further, it is necessary to further process the geometric feature and the preset geometric feature. It takes a long time to perform a process of comparing the map information with a control rule for each characteristic of a simple figure.

Further, in order to be able to cope with many different work sites, it is necessary to increase the setting of control rules for the features of geometric figures. Therefore, it is necessary to compare the map information having more geometrical features with the geometrical features of the image data in the traveling direction to perform the control rule determination process. It took time to perform the judgment.

[0006] As described above, there is a problem that it is difficult to obtain a sufficient reading speed for applying the control rule at all times when performing a time-consuming process. In addition, since map information having a plurality of geometric figure features is compared with the geometric features of the image data in the traveling direction to perform the control rule determination process, when the number of defined regions increases, In addition, there is a problem that it takes time to determine the control law, and the reading speed is reduced.

An object of the present invention is to make it possible to flexibly cope with a plurality of different work places and to increase the speed of reading out control rules.

[0008]

According to the present invention, in order to solve the above-mentioned problems, map information describing a control rule relating to the movement of a mobile robot is created for each predetermined area by map information creating means.

The control law reading means generates a command position, which is a position to which the mobile robot moves next, from the current traveling position of the mobile robot and an operation command for the mobile robot,
A control rule for a position corresponding to the command position is read from the map information.

The movement of the mobile robot is controlled by the mobile robot control means on the basis of the operation command from the control unit and the control rules read by the control law reading means, so that map information is prepared for each work place. It is possible to deal with a plurality of work places without performing special processing.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. According to the embodiment of the present invention, a control law number corresponding to a control law for each pixel in one-to-one correspondence is determined,
By reading the control rule number into a control rule data array for each pixel, map information describing a control rule relating to movement for each predetermined area is created.

A command position, which is a position to which the mobile robot moves next, is generated from the current traveling position of the mobile robot and an operation command for the mobile robot, and the coordinates of the command position on the XY coordinate system are obtained. Read the control law number of the corresponding coordinate in the array.

The control law number is represented by a number representing the correspondence between the control law number and the control law corresponding to the control law number.
The control law is read out in comparison with the control law correspondence table, and the movement of the mobile robot is controlled based on the control law.

An overall configuration of a control device for a mobile robot according to an embodiment of the present invention will be described with reference to FIG. C
The PU 2 stores the VRAM 3 and the RAM 4 on the basis of an operation command from the control unit 9 and the current position information of the mobile robot, based on a program or the like stored in an external recording medium 2 a or a ROM 5 mounted on a storage device (not shown).
The necessary processing is performed in the control device 1 of the mobile robot 29 while using.

The travel drive unit 6 operates based on a travel operation command generated based on an operation command from the control unit 9 and a control parameter of a control law at the current position of the mobile robot 29 from the CPU 2.

The manipulator 7 operates based on an operation command from the control unit 9 and a control parameter of a control law at the current position of the mobile robot 29 from the CPU 2. The monitor camera 8 captures an image of the traveling direction of the mobile robot 29, and the monitor television 10 displays the image.

When the operator operates while watching the image displayed on the monitor television 10, the control unit 9 transfers an operation command corresponding to the operation status to the CPU 2, the drive unit 6, and the manipulator 7.

Next, a schematic operation of the control device 1 of the mobile robot 29 according to the embodiment of the present invention will be described with reference to FIG. FIG. 2 is a diagram illustrating the overall configuration of the control device 1 and the control unit 9 of the mobile robot 29.

An image captured by the television camera 8 of the mobile robot 29 is displayed on a monitor television 10. When the worker 21 operates the control unit 9 while watching the image, the operation command corresponding to the operation status is transmitted from the control unit 9 to the wireless device 23 built in the mobile robot 29 via the wireless device 22. Instructions are transferred.

The operation command transferred to the wireless device 23 built in the mobile robot 29 is transferred to the traveling control unit 24 and the manipulator control processing unit 27, and control processing based on the operation command is performed.

The command position is obtained by obtaining the command position from the current position and the operation command, reading out the control parameters of the control law based on the command position, and transferring the control parameters to the travel control unit 24 and the manipulator 7. When the same time as the time elapses, the position where the mobile robot 29 is located, and each pixel of the map information is much smaller than the mobile robot 29.

The travel control unit 24 also uses the travel current position information, which is information on the current position of the mobile robot 29 transferred from the travel drive unit 6, and an operation command, to execute the mobile robot 29.
Generates command position information of the command position that is the next position to move. The generated command position information is transferred to the control law read processing unit 25.

The control law read processing unit 25 reads out the manipulator control parameters, travel control parameters, and interlock types of the control law from the map information storage unit 26 based on the command position information, and reads the manipulator control parameters into the manipulator control processing unit 27. To the traveling control parameters to the traveling control unit 24, and the interlock type to the interlock processing unit 28.

The manipulator control processing unit 27 controls the operation of the manipulator 7 based on the operation command and the manipulator control parameter, and also controls the manipulator 7.
Is transferred to the interlock processing unit 28.

The interlock processing section 28 transfers the interlock data to the traveling control section 24 based on the type of the interlock and the current state of the manipulator 7. The traveling control unit 24 performs traveling control based on the operation command, traveling control parameters, and interlock data.

The traveling control unit 24, the control law reading processing unit 25, and the manipulator control processing unit 27
Represents a function realized by executing a program stored in the recording medium 2a or the ROM 5, and the map information storage unit 26 virtually represents a function realized by the VRAM 3. It is a thing.

Next, a detailed operation of the embodiment of the present invention will be described with reference to FIGS. The overall operation of the control device 1 of the mobile robot 29 according to the embodiment of the present invention will be described.

FIG. 3 is a flowchart of a mobile robot control process according to the embodiment of the present invention, which is performed by the CPU 2 executing a program stored in the recording medium 2a.

First, if new map information is created by operating the control unit 9, map information is created. It is determined whether or not map information is created (S1), and map information is created (S2). ).

FIG. 4 shows the details of the procedure for creating map information.
This will be described with reference to FIG. FIG. 4 is a flowchart of the map information creation process, and FIG. 5 is a diagram showing a procedure for creating the map information. This will be described with reference to FIGS.

Before describing the procedure for creating the map information, the layout of the work place to be created and the rules for controlling the mobile robot 29 will be described as an example of the procedure for creating the map information.

The layout of the work place 41 to be created as an example of the procedure for creating map information includes a machine tool A42 and a machine tool B43.
According to the first operation, the workpiece processed by the machine tool B43 is extracted in the direction of arrow 49 and inserted into the machine tool A42 in the direction of arrow 50. A fire shutter 44 is provided between the machine tool A42 and the machine tool B43, and the fire shutter 44 is normally open. The work place 41 is surrounded by a wall and has a door 48. Note that the position of the command position of the mobile robot 29 in the detection system is represented on an orthogonal coordinate system having coordinate axes parallel to the wall of the work place 41.

When controlling the movement of the mobile robot 29 in the work place 41, it is assumed that the following promises are made. You must run slowly around walls and machines. When passing through a narrow place, the manipulator 7 must be contracted. Do not enter near door 48. Also machinery,
The fire protection shutter 44 must not enter.

The places where the respective promises are applied are defined as a low-speed traveling area 45 (corresponding to each promise), a manipulator inoperable area 46 (corresponding to each promise), and an inaccessible area 47 (corresponding to each promise). , Respectively, to determine a control law. For simplification, it is assumed that the manipulator inoperable region 46 runs at low speed.

A procedure for creating map information under the above conditions will be described. First, the places to which each promise is applied are determined as the low-speed traveling area 45, the manipulator inoperable area 46, and the inaccessible area 47, and the drawing area 52 is determined (S11). It is assumed that the size of the drawing area 52 is large enough to distinguish areas having different control rules. The number of vertical and horizontal pixels in the drawing area 52 is the size of the control rule data array described later.

Next, as shown in FIG.
A line dividing the line 2 into regions having different control rules, a division line 51, is drawn (S12). The drawing color of the dividing line 51 is different from the filling color described later.

For each area divided by the dividing line 51,
As shown in FIG. 5 (c), an arbitrary point 53 in the area is designated (S13), and as shown in FIG. 5 (d), the area is painted out with a color representing a control rule in the area (S14). In addition,
Since the position shown in FIG. 5C passes between the machine tool B43 and the wall and between the fireproof shutter 44 and the wall, the position passes through a narrow place, and the restrictions when controlling the robot apply. Therefore, a manipulator inoperable area 46 is formed, and the area is painted with the color of the control rule applied to the manipulator inoperable area 46.

The colors representing the control rules correspond to the control rules on a one-to-one basis, and are converted by referring to a control rule-color correspondence table (not shown). The method of filling is the same as the method of filling on a general video memory, and the description is omitted here. By performing the filling process, the data in the array corresponding to the points in each area becomes the control rule number.

Note that the boundary of the filling is determined as follows. -Up to the dividing line 51 (including the dividing line 51). -To the end of the drawing area 52 (including the end). Other than the above, up to a point where the data of the array corresponding to the point does not indicate no restriction (the point is not included).

Then, map information can be created by converting a color into a control law number for each point in the drawing area 52 and reading it into a control law data array corresponding to the work place 41 (S1).
5). The description returns to the overall operation of the control device 1 of the mobile robot 29 according to the embodiment of the present invention.

Next, from the information on the current traveling position of the mobile robot 29 and the operation command from the control unit 9, a commanded position which is a position at which the mobile robot 29 enters next is obtained (S).
3). Then, the control law at the command position obtained by the processing in step S3 is read.

FIG. 6 shows details of the control rule readout process.
This will be described with reference to FIG. FIG. 6 is a flowchart of the control rule reading process, and FIG. 7 is a diagram illustrating reading of the control rule from the map information.

First, the control law readout processing section 25 decomposes command position information from the traveling control section 24 into Y-axis command position information and X-axis command position information (S21), and reads the Y-axis command position information and the X-axis command information. The conversion of the command position information into an integer value representing the coordinate position (hereinafter referred to as a suffix) is performed by converting the Y-axis command position information into a Y value.
The Y-axis value of the control law data array 62 corresponding to the ratio of the value of the Y-axis command position of the Y-axis command position information to the maximum value of the axis command position is obtained as the coordinate value yy of the Y-axis command position.
The value of the X axis of the control law data array 62 corresponding to the ratio of the value of the X axis command position of the X axis command position information to the maximum value of the X axis command position of the axis command position information is defined as the coordinate value ix of the X axis command position. It is determined and converted to an integer (rounded off, rounded down, etc.) (S22).

From the coordinates Dij63 corresponding to the suffix obtained by the processing in step S22, the control law number representing the control law of the coordinates is read from the map information storage unit 26 into the control law reading processing unit 25 (S23).

The control law number is represented by a number-control law correspondence table 64.
Then, a control parameter of a control law corresponding to the control law number is obtained. The number-control law correspondence table 64 is a table having the control law numbers and the corresponding control parameter columns as elements.

FIG. 8 shows an example of a number-control parameter correspondence table showing the correspondence between the control law numbers and the control parameters of the control law. The control parameters include manipulator control parameters, travel control parameters, and interlock types.

The manipulator control parameters are transferred to the manipulator control processing section 27 and the manipulator 7
, And includes an operation enable / disable flag and a manipulator operation range.

The travel control parameters are transferred to the travel control unit 24 and control the operation of the travel drive unit 6, and include a travel enable / disable flag, an operation enable / disable flag, and a maximum speed.

The type of the interlock is transferred to the interlock processing unit 28. If there is an interlock, the operation of the manipulator control processing unit 27 is prohibited, and based on the current state of the manipulator 7, a travel prohibition command is issued. The data is transferred to the travel control unit 24, and the travel drive unit 6 is stopped.

Returning to the description of the overall operation of the control device 1 of the mobile robot 29 according to the embodiment of the present invention. Next, the operations of the manipulator 7 and the traveling drive unit 6 are controlled based on the manipulator control parameters, traveling control parameters, and interlock types transferred from the control law read processing unit 25 (S5). The control processing of the operations of the manipulator 7 and the traveling drive unit 6 will be described with reference to FIGS.

As an example of the control of the operation of the manipulator 7 and the traveling drive unit 6, a description will be given on the assumption that the following operational restrictions are used as control rules in performing control processing. (A) The operation of the manipulator 7 is prohibited in some places. In addition, the manipulator 7 is prohibited from entering the place while being extended (the manipulator inoperable area 46). (B) The traveling speed of the mobile robot 29 is restricted depending on the location (low-speed traveling area 45). (C) The operating range of the manipulator 7 of the mobile robot 29 is limited depending on the place (manipulator degenerate operation area). (D) The entry of the mobile robot 29 is prohibited depending on the location (entry prohibited area). (E) Depending on the location, the stopping of the mobile robot 29 by the operation command is prohibited, and the operation is prohibited on the spot (operation prohibited area).

The above control law can be realized by setting control parameters as follows. (A) Manipulator inoperable area 46 The interlock type is set to interlock. (B) Low-speed running area 45 The maximum speed of the running control parameters is set low. (C) Manipulator degenerate operation area The manipulator operation range is set narrow by manipulator control parameters. (D) Entry prohibited area The travel is prohibited by the travel control parameter. (E) Operation prohibition area The operation control parameter of the manipulator control parameter is disabled, and the operation control parameter of the traveling control parameter is disabled.

First, the control processing of the manipulator 7 based on the manipulator control parameters will be described with reference to the flowchart of the control processing of the manipulator 7 based on the manipulator control parameters in FIG.

First, it is determined whether or not there is an operation command for the manipulator 7 (S31). If there is an operation command for the manipulator 7 (YES), it is determined whether or not the operation enable / disable flag is "1" (S32).

If there is no operation command for the manipulator 7 (NO), the operation of the manipulator 7 is stopped (S3).
5). It is determined whether the operation enable / disable flag is “1” (S
32) If the operation enable / disable flag is "1" and the manipulator 7 is operable, then it is determined whether or not there is a command to inhibit the operation of the manipulator 7 due to the interlock (S3).
3).

If the command position of the mobile robot 29 is outside the operation prohibited area, the operation enable / disable flag is set to "1" (operation enabled).
(YES). If the command position of the mobile robot 29 is in the operation prohibited area, the operation enable / disable flag is set to "0" (NO), and the operation of the manipulator 7 is stopped based on the operation command of the manipulator 7 (S35).

It is determined whether there is a command to prohibit operation of the manipulator 7 due to the interlock (S33). If the command position of the mobile robot 29 is not in the manipulator inoperable area 46, there is no command to prohibit operation of the manipulator 7 due to the interlock. The manipulator 7 is operated within the operation range specified by the manipulator operation range of the manipulator control parameter based on the operation command of the manipulator 7 (S34). If the operation range of the manipulator 7 is not limited by the operation range of the manipulator, the manipulator 7 is operated based on the operation command of the manipulator 7 (S34).

If the command position of the mobile robot 29 is the manipulator inoperable area 46, there is a command to prohibit the operation of the manipulator 7 by an interlock, and the operation of the manipulator 7 is stopped based on the command to prohibit the operation (S35).

With the above processing, if the command position of the mobile robot 29 is outside the operation prohibited area, the manipulator 7 can be operated within the operation range specified by the manipulator operation range of the manipulator control parameter based on the operation command of the manipulator 7. If the command position of the mobile robot 29 is in the operation prohibited area, the operation of the manipulator 7 can be controlled such that the operation of the manipulator 7 based on the operation command of the manipulator 7 is prohibited. If the command position of the mobile robot 29 is the manipulator inoperable area 46, the operation of the manipulator 7 can be controlled such that the operation of the manipulator 7 is stopped based on the operation prohibition command of the manipulator 7 by the interlock.

Next, a control process of the traveling drive unit 7 based on the traveling control parameters will be described with reference to a flowchart of a control process of the traveling drive unit 7 based on the traveling control parameters in FIG.

First, in order to determine whether or not the command position of the mobile robot 29 is in the operation prohibited area, and whether or not the operation on the spot is prohibited, it is determined whether or not the operation enable / disable flag is "1" (S41). ).

If the command position of the mobile robot 29 is in the operation prohibited area, the operation enabled / disabled flag is set to "0" (operation disabled), and the operation is prohibited on the spot (S43). If the command position of the mobile robot 29 is not in the operation prohibited area, the operation possible / impossible flag becomes “1” (operable), and the vehicle can travel based on the operation command from the control unit 9. Is determined to be stopped (S42).

If the operation command is stopped (YES), since the worker 21 intentionally operated the control unit 9 to stop the mobile robot 29, the traveling drive unit 6 is stopped according to the operation command and the mobile robot 29 is stopped. The operation stops (S48).

If the operation command is traveling (NO), it is determined whether or not traveling is possible before driving the traveling drive unit 6 based on the operation command and traveling control parameters (S44). If the command position of the mobile robot 29 is in the no-go area, traveling is possible /
The refusal flag becomes “0” (prohibition of traveling), and the traveling drive unit 6
Is stopped to stop the mobile robot 29 (S48).

If the command position of the mobile robot 29 is not in the entry-prohibited area, the travel permission / prohibition flag becomes “1” (travel permission), and the vehicle can travel based on the operation command from the control unit 9. Before driving the traveling drive unit 6 based on the control parameters, it is further determined whether or not traveling is stopped by an interlock (S45).

If there is a traveling stop command by the interlock (YES), the traveling drive unit 6 is stopped and the mobile robot 29 is stopped (S48). If there is no travel stop command due to the interlock (NO), the travel maximum speed of the travel control parameter is checked (S46), and the vehicle travels within the travel maximum speed based on the operation command from the control unit 9 (S4).
7).

It should be noted that the traveling stop command by the interlock is issued by the interlock processing unit 28 when the command position of the mobile robot 29 is located in the manipulator inoperable area 46 and the manipulator 7 is extended.
Is forwarded to

According to the above processing, the command position of the mobile robot 29 is located in the manipulator inoperable area 46. If the manipulator 7 is in the extended state, the traveling is stopped by the interlock. When the operation instruction is present in the operation prohibition area, the operation permission / inhibition flag is set to “0” and the operation permission / inhibition flag is set to “0”. The operation can be disabled.

Next, the interlock applied in the control processing of the manipulator control processing section 27 based on the manipulator control parameters and the control processing of the travel drive section 7 based on the travel control parameters will be described.

The details of the interlock will be described with reference to the flowchart of the interlock process of the interlock processing unit 28 based on the interlock type shown in FIG.

The interlock determines whether or not an interlock flag, which is a flag indicating the type of interlock of the interlock type in the control parameters, is "1" (S51), and the command position of the mobile robot 29 is changed to the manipulator. If it is located in the inoperable area 46, the interlock flag is set to "1" (YES), and a manipulator operation prohibition command is transferred to the manipulator control processing unit 27 (S52).

Further, if the interlock flag is "1", it is determined whether or not the manipulator 7 has been extended (S53), and if the manipulator 7 has been extended (Y
ES), and transmits the travel prohibition command to the travel control unit 24 (S
54).

According to the above processing, if the command position of the mobile robot 29 is located in the manipulator inoperable area 46, the manipulator operation prohibition command is sent to the manipulator control processor 27 by the interlock even if the manipulator 7 is operated. The operation is transferred and the operation of the manipulator 7 can be prohibited. In addition, the manipulator 7
Even if the user tries to enter the manipulator inoperable area 46 with the extension, the travel prohibition command is transferred to the travel control unit 24 by the interlock, and the vehicle can be stopped at that position.

As described above, according to the command position of the mobile robot 29 and the state of the manipulator 7, the manipulator 7 and the traveling drive unit 6 can be controlled based on the read control rules, and the movement of the mobile robot 29 can be controlled. can do.

Therefore, if the map information 61 is created in accordance with the work place 41 of the mobile robot 29, the control rule for the command position of the mobile robot 29 can be read from the created map information 61, and based on the control rule. Since the mobile robot 29 can be controlled, the read time of the control rule does not change, and the processing time becomes longer to perform a special process as in the related art, and the control rule is always applied to the mobile robot 29. Reading speed is not difficult to obtain.

Further, if the map information 61 is created, the mobile robot 29 corresponding to a plurality of work places 41 can be realized. The present invention is not limited to the mobile robot shown in FIG. 2, but may be applied to a mobile robot having a plurality of manipulators, a mobile robot transmitting an operation command through a cable, or the like.

In the embodiment of the present invention, as the recording medium 2a, for example, as shown in FIG.
ROM disk, floppy disk, and MO disk, DVD-ROM disk (not shown),
Alternatively, a portable storage medium 76 such as a removable disk,
Network line 7 from computer 71 including PU2
5 includes a storage device 74 of a program server 73 connected via the storage device 5 or a storage device 72 (RAM or hard disk) of the computer 71 itself.

[0078]

As described above, according to the present embodiment, map information describing a control rule for movement is created for each predetermined area, and when the mobile robot is moving,
A command position is generated from the current running position of the mobile robot and an operation command for the mobile robot, a control rule for the position of the map information corresponding to the command position is read, and the mobile robot is controlled based on the operation command and control rule from the operation unit. Since the movement is controlled, it is possible to obtain the movement rules of the mobile robot at a plurality of work places without performing special processing, only by creating map information describing the control rules.

Further, even if the work place changes, the processing for obtaining the control law relating to the movement of the mobile robot does not change, so that the processing time becomes longer and the reading speed does not decrease, and a sufficient reading speed can be obtained. it can.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a circuit configuration of an embodiment according to the present invention.

FIG. 2 is a diagram showing an overall configuration of a control device for a mobile robot according to the present invention.

FIG. 3 is a flowchart illustrating a mobile robot control process according to the present invention.

FIG. 4 is a flowchart illustrating a map information creation process according to the present invention.

FIG. 5 is a diagram showing a procedure for creating map information.

FIG. 6 is a flowchart illustrating a control law reading process according to the present invention.

FIG. 7 is a diagram showing reading of a control law from map information.

FIG. 8 is a diagram showing an example of a number-control law parameter correspondence table.

FIG. 9 is a flowchart illustrating a manipulator control process based on manipulator control parameters according to the present invention.

FIG. 10 is a flowchart illustrating a control process of a traveling control unit based on traveling control parameters according to the present invention.

FIG. 11 is a flowchart illustrating an interlock process based on an interlock type according to the present invention.

FIG. 12 is a diagram showing an example of a computer-readable recording medium of the present invention.

[Explanation of symbols]

 Reference Signs List 1 control device 2 CPU 2a recording medium 3 VRAM 4 RAM 5 ROM 6 traveling drive unit 7 manipulator 8 monitor camera 9 operation unit 10 monitor television 21 worker 22 wireless device 23 wireless device 24 travel control unit 25 control rule read processing unit 26 map Information storage unit 27 Manipulator control processing unit 28 Interlock processing unit 29 Mobile robot 41 Working place 42 Machine tool A 43 Machine tool B 44 Fireproof shutter 45 Low-speed running area 46 Manipulator inoperable area 47 Inaccessible area 48 Door 49 Arrow 50 Arrow 51 Division line 52 Drawing area 53 Arbitrary point 61 Map information 62 Control law data array 63 Coordinate Dij 64 Number-control law correspondence table 71 Computer 72 Storage device 73 Program server 74 Storage device 75 Network line 76 Portable recording medium body

Claims (15)

[Claims] 1. A map information that describes a control rule relating to movement of a mobile robot is created for each predetermined area, and a command indicating a position to which the mobile robot moves next is obtained from a current travel position of the mobile robot and an operation command for the mobile robot. Generating a position, reading a control rule of a position corresponding to the command position from the map information, and controlling movement of the mobile robot based on an operation command from a control unit and the read control rule. How to control a mobile robot. 2. The map information according to claim 1, wherein the drawing area corresponds to the entire work place, and a plurality of pixels forming the drawing area are a two-dimensional array of control law numbers corresponding one-to-one with the control law. 2. The control method for a mobile robot according to claim 1, wherein the control data is a law data array. 3. The method according to claim 2, wherein, when creating the map information, the drawing area is divided into regions having different control rules by dividing the drawing region into regions having different control rules. The method for controlling a mobile robot according to claim 2. 4. The control method for a mobile robot according to claim 3, wherein, when creating the map information, the map information divided by a dividing line is filled with an area in a different color for each control rule. 5. The map information is created by converting the color of each pixel into a control rule number corresponding to a control rule on a one-to-one basis and reading the control rule number into a control rule data array. Mobile robot control method. 6. The control law data is decomposed into X-axis and Y-axis coordinates, further decomposed into an X-axis command position and a Y-axis command position, and coordinates on an XY coordinate system are obtained. 3. The control method for a mobile robot according to claim 2, wherein a control law number of a corresponding coordinate in the array is read. 7. A number control law correspondence table showing a correspondence relation between a control law number and a control law corresponding to the control law number, and the read out control law number is compared with the number control law correspondence table. The control method for a mobile robot according to claim 2, wherein the control rule is obtained. 8. A map information creating means for creating map information describing a control rule relating to the movement of the mobile robot for each predetermined area, and the mobile robot moves next based on the current running position of the mobile robot and an operation command for the mobile robot. A control rule reading unit that generates a command position that is a position to perform, and reads a control rule of a position corresponding to the command position from the map information; A control device for a mobile robot, comprising: mobile robot control means for controlling movement of the mobile robot based on the mobile robot control device. 9. The map information, wherein a drawing area corresponds to the whole work place, and a plurality of pixels constituting the drawing area are a two-dimensional array of control law numbers corresponding one-to-one with control laws. 9. A law data array.
The control device of the mobile robot according to the above. 10. The map information creating means divides the drawing region into regions having different control rules by drawing a dividing line for dividing the drawing region into regions having different control rules. 10. The control device for a mobile robot according to claim 9. 11. The control device for a mobile robot according to claim 10, wherein said map information creating means fills an area of the map information divided by a dividing line with a different color for each control rule. 12. The map information creating means creates the map information by converting the color of each pixel into a control law number corresponding to a control law on a one-to-one basis and reading the converted control law data array. The control device for a mobile robot according to claim 11, wherein: 13. The control law reading means decomposes the command position into X-axis and Y-axis coordinates, and further decomposes the command position into an X-axis command position and a Y-axis command position. 10. The control device for a mobile robot according to claim 9, wherein coordinates are obtained and the control law number in a control law data array is read. 14. The control law reading means has a number control law correspondence table showing a correspondence relation between a control law number and a control law corresponding to the control law number, and reads the read control law number into the number control law. The control device for a mobile robot according to claim 9, wherein the control rule is obtained by comparing the control rule with a correspondence table. 15. A function for creating map information describing a control rule relating to movement for each predetermined area, and a command position as a position to which the mobile robot moves next based on a current traveling position of the mobile robot and an operation command for the mobile robot. And a function of reading a control rule of a position corresponding to the commanded position from the map information, and a function of controlling movement of a mobile robot based on an operation command from a control unit and the read control rule. And a computer-readable storage medium storing a program for causing the computer to execute the program.