JPS63265312A - Searching method for traveling route - Google Patents

Abstract

PURPOSE:To obtain a free and shortest traveling route by obtaining the data on a boundary line between two traveling areas as the continuous traveling areas and deciding a traveling route based on the relationship among the boundary line data, a start point and an end point. CONSTITUTION:A CPU 3 searches the traveling areas continuous toward an end point area from a start point area or vice versa and obtains the traveling route data via the traveling route conversion if the continuous traveling area are obtained. Then the CPU 3 obtains the boundary line coordinates of the continuous traveling areas with the area searching data 22 and defines an overlapping area in the Y axis direction as the boundary line data. Therefore the boundary lines l1-l9 among the traveling areas are obtained in the form of a sequence an the range of X and Y coordinates are stored in the area 22 as the boundary line data of the prescribed value. The route points are obtained by the traveling route conversion via the lines l1-l9 and the range of the boundary line data is limited. The limited segments are corrected by six patterns and processes repetitively until they are all turned into points.

Description

[Detailed description of the invention] [Table of contents] Overview Industrial field of application Prior art (Fig. 18) Problems to be solved by the invention Means for solving the problems (Fig. 1) Working examples (a ) Explanation of the overall operation, (Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7)
(Figure) (b) Explanation of the driving area search process (Figures 8, 9, 10, and 11) (c) Explanation of the travel route conversion process (Figures 12, 13, and 14) , Fig. 15, Fig. 16, Fig. 17) (d) Description of other embodiments Effects of the invention [Summary] A plurality of driving areas are searched on a map, and a continuous driving area connecting the starting point and the ending point is searched. In the travel route search method, which searches for and then determines the travel route from continuous travel areas, boundary line data between travel areas is determined as a continuous travel area, and the travel route is determined from the relationship between the boundary line data and the start point and end point. By doing this, the free and shortest travel route can be found.

[Industrial application field]

The present invention relates to a travel route search method for searching a travel route of a mobile object such as a self-propelled vehicle by referring to a map that describes the travel environment such as obstacles.

Self-propelled vehicles are widely used in offices and factories to automate transportation.

The travel route of such a self-propelled vehicle is generally set using a tape or mark, and the self-propelled vehicle detects the tape or mark and travels along the route.

However, in the case where the route is set using tape or the like, the route is fixed, and when the layout of an office or the like is frequently changed, the troublesome work of relocating the tape or the like is required.

For this reason, there is a need for autonomous self-propelled vehicles that can travel along arbitrary routes while avoiding obstacles in offices and the like, and there is a particular need for the development of technology for searching routes.

[Conventional technology]

Such route searches were performed by creating a database of the positions and shapes of obstacles, storing it as a map, and referring to the position and status of the self-propelled vehicle.

Conventionally, the first method of searching for travel routes from this map was
The one shown in FIG. 8 is known (for example, see Paper No. 5N-6 of the 32nd Annual Conference of the Information Processing Society of Japan).

That is, as shown in FIG. 18(A), two obstacles OBI
, OB2 as data, the starting point is P
s, and the end point is given as Pf, first the obstacles OBI, O in the area of the map ■ from map 1 to FIG.
The area excluding B2 is divided into rectangular driving areas (driving areas) A, B, and C1DSESF, and a network connecting areas A to F is created.

Next, the network of areas A to F is searched to find a plurality of continuous driving areas. In this case, the area (route) from Ps to Pf is (ACF), (ACDEF), (A
There are four types: BDCF) and (ABDEF).

Furthermore, the travel routes r1 to r4 are first selected from each region route.
The route r4 is generated as shown in FIG. 8(C), the cost is evaluated based on distance, etc. for each route, and the route r4 is determined as shown in FIG. 18(D).

[Problem that the invention seeks to solve]

In such conventional technology, after finding a continuous travel area connecting the starting point Ps and the ending point PI, the moving route is uniquely determined in parallel to the area, wall, etc.

For this reason, there is a problem in that only such routes can be taken, and it is not possible to freely obtain the shortest route within the area.

SUMMARY OF THE INVENTION An object of the present invention is to provide a travel route search method that can freely and easily obtain the shortest route from the determined travel area.

[Means for solving problems]

FIG. 1 is a diagram explaining the principle of the present invention.

The divided driving area of the map 1 shown in FIG. 1(A) excluding obstacles OBI to OB5 is examined, and as shown in FIG. 1(B), a continuous driving area connecting the starting point ps and the ending point pr. (
B, C, D, E, F, G, H) in FIG. 1(A) are searched, and the boundaries between these travel areas are used as data.

Next, a travel route is determined based on the relationship between this boundary line, the starting point, and the ending point.

[Effect]

In the present invention, the route is determined not by using the searched travel area itself, but by using its boundaries. That is, the movement route connecting the starting point and the ending point must always pass through this boundary line in order.

Therefore, a free and shortest route can be easily determined based on the relationship between the boundary line, which is a line segment, the starting point, and the ending point.

In addition, although the running area is used as an axis (divided parallel to the X-axis direction) in the figure, this makes it possible to easily search a continuous running area by simply searching in the axial direction. It is not limited to this.

〔Example〕

(a) Explanation of overall operation FIG. 2 is a block diagram of one embodiment of the present invention.

In the figure, 2 is a memory that stores map data and search data, and as will be described later in FIG. As will be described later, the driving area data area 21 and the 10th area have each divided driving area on the map 1 as data.
As will be described later in the figure, it includes an area 22 for area search data obtained by searching the travel area, and a storage area 23 for route data obtained by determining the travel route.

3 is a CPU (processor), which has a starting point Ps and an ending point P
f and obstacle positions are input, and the creation of obstacle data, driving area data, and driving area search processing (Figs. 7, 9,
(Fig. 11) and a unit that performs the travel route determination process (Fig. 12) and instructs the self-propelled vehicle with the determined route data. 4 is a wireless interface unit that wirelessly transmits the determined route data and other commands. This applies to self-propelled vehicles.

3 and 4 are explanatory diagrams of map (environment) data according to one embodiment of the present invention, FIG. 5 is an explanatory diagram of obstacle data according to one embodiment of the present invention, and FIG. 6 is an explanatory diagram of one embodiment of the present invention. FIG. 3 is an explanatory diagram of driving area data.

The position and size of the entire area and obstacles that exist there,
It can be represented on a two-dimensional map. Therefore, Figure 3 (
As shown in A), the entire area is shown in the XSY coordinate system, and the range occupied by the obstacle is shown in the coordinates on the map.

To do this, the position coordinates of the obstacles OBI to OB5 may be input to the map 1 of the X-Y coordinate system prepared in advance.

On the other hand, when searching for a route, since moving objects have different sizes, it is convenient to expand the range of obstacles by the size of the moving object and consider the moving object as a point. For example, if the minimum passable width of a running object is 60C11, the range of the obstacle is expanded to the outside by 30 am. As a result, areas with a width of 60 mm or less become impassable, and areas narrower than the running object are no longer searched. In an environment where obstacles (shaded area) exist as shown in Figure 3 (A), the impassable range based on the obstacle data is calculated as the hatched area plus the dotted line area as shown in Figure 3 (B). It is assumed.

The area thus obtained is divided at predetermined intervals in the axial direction, and obstacle data is expressed as a set of line segments included in the obstacle area existing at each X and Y coordinate.

For example, XSY1 where the obstacles shown in FIG. 3(B) are placed.
When a space of 0 m square is represented on a map of 1 unit, the obstacle data is as shown in Fig. 5.

That is, the starting point Ysi and the ending point Yfi of the impassable area in the Y-axis direction are set for every 100 cm (In) of the X-axis, and the starting point Xsi and the ending point Xfi of the impassable area in the X-axis direction are used as obstacle data for every 1001 cm (In) of the Y-axis. Store in area 2o. At this time, if the ranges overlap due to expansion of the obstacle area, they are treated as one range.

In the figure, obx represents the region divided in the X direction, and oby represents the Y direction. Example Eva, obx2
(7) (200, (650, 800)) has an X coordinate of 2
00 indicates that there is an impassable area between Y coordinates 650 and 800, and in addition, at an X coordinate of 200, the Y coordinate is 0 to 3o, 200 to 450, and 970 to 1
The area between 000(7) is an impassable area.

Of the environmental data, driving area data indicates the range in which the vehicle can travel without obstacles.

This data is created by comparing obstacle data and summarizing the range without obstacles.

Therefore, as shown in FIGS. 4(A) and 4(B), the area in which the vehicle can run is divided by an extension of the outline of the obstacle.

The travel area data is created by dividing the area in the X-axis direction as shown in FIG. 4(A) and in the Y-axis direction as shown in FIG. 4(B) in parallel to other axes.

That is, as shown in FIG. 6, when the traveling areas FXI, FX2a, etc. are divided in parallel along the X-axis direction shown in FIG. 4(A), the divided areas FXI, FX
The starting end Xn and ending point Xn' on the X-axis of 2a-., and the starting end Yn and ending point Yn' on the Y-axis are running area data. Similarly, when the running areas FYI, FY2a- are divided parallel to the Y-axis direction shown in FIG. 4(B), the starting end Y on the Y-axis of the divided areas FYI, FY2a-.
n % end Yn', start end Xn on the X axis, end Xn'
is the driving area data. These are stored in area 21.

For example, the FXI data in Figure 6 shows the leftmost rectangle FXI in Figure 4 (A), and the X coordinate is from 40 to 12.
0, which indicates that the range of Y coordinates from 40 to 970 is the driving area.

In this way, the coordinates of the obstacle input to the CPU 3 are calculated into obstacle data as shown in FIG. 5, and stored in the area 20 of the memory 2.
3 creates the travel area data of FIG. 6 for the X and Y axes and stores it in the area 21 of the memory 2.

Since the location of such obstacles is known in advance,
These are prepared in the memory 2 as map data before the self-propelled vehicle actually runs.

Based on such map data (environmental data), the following two
Route search is performed in stages.

One is a process (driving area search process) in which a boundary line of an area to be passed is searched from the driving area data to determine a movement area that has a possibility of becoming a route.

The other is a process of converting a moving area into a moving route (moving route conversion process) by finding route points from the data of the boundary lines to be passed.

FIG. 7 is a flowchart of a search process according to an embodiment of the present invention.

(a-1) When the coordinates of the starting point Ps and the ending point Pf of the self-propelled vehicle are input to the CPU 3, the driving area data in the area 21 of the memory 2 is referred to, and the driving area to which the starting point Ps belongs and the ending point pr
Find the travel area to which .

That is, the starting point area and the ending point area are identified.

For example, if the starting point Ps and ending point Pf are given as shown in FIG. 1(A), for the X direction in FIG. 4(A),
The starting point area is FXI, the ending point area is FX9b, Figure 4 (B)
For those in the Y direction, the starting point area is FY5a and the ending point area is FY8b.

The starting point area and the ending point area become search start areas for continuous areas.

(a-2) Next, the CPU 3 performs a driving area search process to search for a continuous driving area from the starting point area to the ending point area. This content will be explained in (b).

Here, if a continuous travel area is searched (if it exists), the travel route conversion process described in (c) is performed based on this search to obtain travel route data. Conversely, if it is determined that there is no continuous travel area, it is determined that a continuous area from the starting point cannot be found.

(a-3) Next, the CPU 3 searches for a continuous running area from the end point area to the start point area by the process described in (b).

As described above, if there is a continuous travel area, travel route data is obtained by the travel route conversion process described in (C). Conversely, if it is determined that there is no continuous travel area, it is determined that a continuous area from the end point cannot be found.

(a-4) The CPU 3 thus obtains the route data, stores it in the area 23 of the memory 2, and checks whether there is only one route. That is, it is determined whether route data was obtained only by searching from the starting point or searching from the ending point.

If there is only one route, this is adopted as the movement route and the process ends.

(a-5) On the other hand, if the CPU 3 determines that there is not one route, since there are two routes, one searching from the starting point and the other searching from the ending point, it checks whether these two routes are the same.

If they are the same, this is adopted as the travel route.

(a-6) On the other hand, if the two routes are not the same, the CPU
3 select either one.

Therefore, the CPU 3 calculates the distance of each of the two routes, selects the shorter distance as the travel route, and ends the process.

In this way, the search is performed twice, from the starting point to the ending point and from the ending point to the starting point, and the one with the shorter distance is adopted as the route. This is because when searching for a route, the candidate data that is most likely to be the optimal solution is checked, but since the search ends when one route is discovered, searching from the opposite direction will result in another This is to investigate route possibilities.

(b) Description of driving area search process FIG. 8 is a flowchart of driving area searching process according to an embodiment of the present invention.
FIG. 9 and FIG. 1O are explanatory diagrams of a search operation according to an embodiment of the present invention.

(2) In step (a-1) of FIG. 7, the CPU 3 sets the coordinates of the search start area to As and the coordinates of the search end area to Ae.

Whether this search is performed from the X-axis direction or the Y-axis direction is determined depending on the positional relationship between the starting point and the ending point.

As shown in FIG. 9, the inclination of a straight line connecting two points, the starting point Ps and the ending point Pf, is determined, and the search is performed from the axial direction closest to the inclination.

That is, in FIG. 9(A), the traveling area data in the X-axis direction and in FIG. 9(B) are from the Y-axis direction, and in FIG. 9(A), the traveling area data in the X-axis direction in FIG. ), the travel area data in the Y-axis direction shown in FIG. 6 is used.

In the above example, in step (a-2), As is FX
The coordinates of FY9b are set in I and Ae, and in step (a-3), the coordinates of FXI are set in As and FY9bSAe.

Then, the CPU 3 sets the search pointer N to 1 (initial value) and assigns As to AN.

(2) The CPU 3 checks whether AN is equal to the end area Ae, and if not, the end area Ae has not been reached, and the CPU 3 searches for an adjacent area by referring to the travel area data area 21 (FIG. 6).

At this time, selection is performed by monotonically increasing or decreasing the coordinates in the axial direction toward the end region.

Then, the CPU 3 determines whether there is an adjacent movement (traveling) area. This means that the start (or end) of the X axis is the area AN
, and whose Y-axis range overlaps with the Y-axis range of the area AN.

■ If it is determined that there is a moving area, it is determined whether there are multiple searched areas.

If there are not more than one, jump to step ■.

On the other hand, if there are a plurality of adjacent travel areas that are candidates for the moving area, the areas closest to the straight line connecting the starting point and the ending point are selected as candidates, and the others are stored in a queue.

(2) Next, the CPU 3 updates the search pointer to N@N+1 in order to search the next area.

■ Next, the CPU 3 sets the selected area as a continuous area.
Store it in area 22 of memory 2, assign it to AN, and return to step (2).

(2) On the other hand, if it is determined in step (2) that there is no moving area, this means that the route has entered a dead end.

Therefore, the CPU 3 checks in step (2) whether there is an element (area) that was previously discarded and stored in the queue.

If so, the pointer M of the foremost element is set as the search pointer N, the data (selection area) searched for after this point and stored in area 22 is released and discarded, and the area of the queue is set as the selection area and selection in step (■) is made. Fly to storage area.

On the other hand, if there is no element in the queue, the continuous area cannot be searched any further, so it is assumed that the continuous VteTI area does not exist, and the process ends.

(2) On the other hand, if it is determined in step (2) that AN matches the end area Ae, it means that the area search has been performed up to the end area and ends. At this time, a continuous area connecting the starting point and the ending point is stored in the area 22 of the memory 2.

For example, as shown in Figure 10 (A), obstacles OBI to OB5
is placed and given the starting point Ps and the ending point Pf, the continuous area connecting the starting point Ps and the ending point Pf is ``FX2a-FX3b-FX4 b-FX5-FX as shown in Figure 10 (A).
6 b-FX7 b-FX8 b-FX9a.

In this search, only those whose coordinates monotonically increase or decrease in the axial direction are selected. Therefore, when the coordinate value exceeds the target, the search fails and the next candidate is examined.

The possibility of connection is checked for all candidates, and if a route cannot be found in that direction, a similar search is performed in the other axis direction.

If the route cannot be found by searching from both wheels,
In the first axis direction, all movable regions are searched as candidates.

In other words, areas that become S-shaped routes or routes that move away from the destination are also investigated.

At this time, a flag is attached to the boundary line that has been passed once to prevent the search from falling into an infinite loop.

The above-mentioned restrictions on the area search are made in order to make the route to be found as short as possible.

Next, the data (line data) of the boundary line to be passed is determined from the determined continuation of the driving area.

In this case, the CPU 3 determines the boundary line coordinates of continuous driving areas of the aforementioned area 22, and sets the overlapping range in the Y-axis direction as boundary line data.

Therefore, as shown in FIGS. 10(B) and 10(C), the boundary lines J, -1, of the running area are obtained as a sequence, and the ranges of their X and Y coordinates are as shown in FIG. 10(C). This is stored in area 22 as boundary line data.

Because the resulting sequence of boundaries is created from redundant boundary data, data compression may be possible. That is, no matter how many pieces of boundary data exist in a region that is actually considered to be one, data other than line segment data at both ends are unnecessary. This is because the route to be sought is defined by the data at both ends.

Consider the case where the moving area is determined as shown in FIG. The sequence of boundaries in this moving region is shown in Figure 10 (
C). At this time, the X coordinate is 600.72
Three line segments that are 0.820 1. ．． 1. exist in the same rectangular area.

Therefore, these three pieces of data can be represented by two pieces of data (line segment l4, fig) at both ends of the area.

FIG. 11 is a data compression flow diagram for this purpose.

First, the CPU 3 sets the line segment pointer N to an initial value "1".

Next, Nth line segment data 1 and N+1th line segment data are input.

It is determined whether this N+1-th line segment data is the last line segment data (2. in the figure), and if it is the last line segment data, the process ends.

If it is not the last line segment data, enter the N+2 line segment data, determine whether the range of the three line segments (range in the Y-axis direction in the figure) is the same, and if they are not the same, do not omit the line segment. , N is set to N+1 to determine the next line segment, and the process returns to inputting the Nth line segment data described above.

On the other hand, if they are the same, the intermediate N+12th data (line segment) is deleted and the process returns to inputting the Nth line segment data as described above.

The final line segment obtained in this way is 11, Itz,
13.14, l2, Rh5R,, l, and in order to connect two given points, it is necessary to pass through the above line segments in order.

These line segment (boundary line) data and the coordinates of the starting point Ps and ending point Pf are stored as area search data in the area 22 for the route conversion process described in the next (C).

(C) Explanation of movement route conversion process Next, route points are determined using such line segments.

The route points are determined as follows so as to be as short as possible within the obtained movement area.

First, the passing line segment is corrected. That is, the range of the boundary line data is further limited based on the relationship between three consecutive passing line segments or passing points.

FIGS. 12 and 13 are explanatory views of such passing line segment correction.

First, three line segments Ll ((XI, Yl 1), (Xi,
Yl2)), L2 ((X2, Y21), (X2, Y
22)), L3 1X3, YS 1), (X3, Y32
)) When considering the relationship, there are the following six patterns.

Pattern 1: As shown in Figure 12 (A), when the line segment projected from the first two line segments L1 and L2 completely encompasses the last line segment L3: In this case, the middle line segment L2 is unnecessary. , and the middle line segment L2 is omitted.

That is, the intersection points YS1, YS2, YLI, YL on the line segment L3 that pass through both ends of the line segment L1 and both ends of the line segment L2.
2 and compare it with line segment L3.

At this time, YSx (YSI, YS2), YLx (9L1
, YL2) is determined by the following equation.

YSx-(Y21-Yl x)X (X3-XI)/(
X2−XI)+Y1x −−−−−−11) YLx=
(Y22-Ylx)X (X3-Xi)/(X 2-
X 1 ) + Y 2 x −−−−−−−(2
) However, X is 1 or 2.

Therefore, from the figure, when XI<X2 and YXI<YX2, YSI<Y31 and Y32<YLI...(3)
If so, line L2 is omitted.

Pattern 2: Line segments (Y
S2, YL2), (YSI, YLl) are included in the last line segment; in this case, no data is omitted.

This can be determined by finding YSx and YLx from equations (1) and (2) and determining that Y31<YSI and YL2<Y32--(4).

Pattern 3: The line segments projected as shown in Figure 13 (A) are
If the Y coordinate is larger than the last line segment L3; in this case,
The intermediate line segment L2 is the minimum point of its Y coordinate (X2, Y21
).

This is because all straight lines connecting the points on the first and last line segments L1 and L3 pass through an area with a smaller Y coordinate than the middle line segment L2, so within the movable area, this minimum point (
This is because passing through X2, Y21) is the shortest time.

This condition is determined by the fact that YS2 in equation (1) satisfies YS 1 <YS 2 - - - (5).

Pattern 4: As shown in Figure 13 (B), the line segment is from L3 to Y
When projected onto a location with small coordinates; in this case, contrary to pattern 3, the data is projected at the maximum Y coordinate (X
2, Y22).

This condition also means that YLI in equation (2) is YLI<Y31
−・・・・−(6) It is.

Pattern 5: When the projected line segment intersects the maximum value of the last line segment L3 as shown in FIG. , the minimum end (X2, Y21) from the intersection NP with the straight line connecting the maximum values of L3
The data will be corrected by.

Similarly, this condition is YS 2 < YS 2 < YL 1 (7).

The coordinates of the intersection NP are It is.

Pattern 6: As shown in Fig. 13 (D), when intersecting the minimum value in the opposite way to pattern 5; in this case, as shown in the figure, the middle line segment L2 connects the minimum ends of the left and right line segments L1 and L3. It is corrected from the intersection point NP with the ellipsoid to the maximum end (X2, Y22).

This condition is YS2<YS1<YLI-- (9), and the coordinates of the intersection NP are as follows.

Although the example of modification described here is shown for the case where the data is given as a line segment, the case where any of the data is represented as a point is considered in the same way.

Then, the process is repeated until all line segments become points.

FIG. 14 is a flowchart of the passing line segment correction process.

(C-1) The CPU 3 sets the successive pointer N to the initial value "1"
shall be.

(C-2) The CPU 3 inputs the Nth data Dn and the N+1st data Dn+1 from the area 22 of the memory 2.

Then, it is checked whether the input N+1-th data [)n+1 is the end point.

(C-3) Next, the CPU 3 inputs the N+2nd data Dn+2 from the area 22 of the memory 2.

Then, three data D n s D n + 1, D
From n+2, find YSx and YLx using (1) and (2)2, and then compare the sizes to find (3), (4), (5), and (6).
), (7), and (9) are classified into survey patterns 1 to 6.

(C-4) If the relationship is pattern 2, the aforesaid data is not omitted or compressed, so N is set to N+1 and the process returns to step (C-2).

For patterns 3 to 6, the middle line segment N+1
Modify or compress the data Dn+1 as described above, and
is set to N+1 and returns to step <C-2).

Further, if the relationship is as shown in pattern 1, data Dn+1 is omitted and the process returns to step (C-2).

(C-5) On the other hand, if the (N+1)th data [)n+1 is the end point in step (C-2), the line segment has been corrected up to the end point, so the process ends.

In reality, this process is performed once and then again using the corrected data, and is repeated many times until the data is converted into point data.

Next, the operation of converting the example shown in FIG. 10(B) into points will be explained with reference to the route conversion operation explanatory diagrams of FIGS. 15 to 17.

First, in the example of FIG. 10(B), if we examine the relationship between the starting point Ps1 and line segment 12 as shown in FIG. 15(A), we will find that the relationship of pattern 5 in FIG. 13(C) is Therefore, line segment 11
The lower part is omitted, and 1 in Figure 15 (B), /
Correct +.

Next, line segments 1, l, 12, l in FIG. 15(B).

When examining the relationship, it is found that the lower part of line
Correct C1z as in 2'.

Next, line segment 1 tT,ll,! in FIG. 15(C). .

When examining the relationship, it is found that because of the relationship of pattern 5 in FIG. 13(C), the lower part of line segment βS is omitted, and 7 in FIG. 15(D)
! 3' Modify <ZX.

Next, when examining the relationship between line segments Z, /, I14, l in FIG. 15(D), the upper part of line segment 14 is omitted because it is the relationship of pattern 6 in FIG. 13(D), and as shown in FIG. Modify 14 as in 141 of (A).

Next, line segment 14/, lS, l in FIG. 16(A).

When examining the relationship, the line segment IS is omitted as shown in FIG. 15(B) because it is the relationship of pattern 1 in FIG. 12(A).

Next, as shown in FIG. 16(B), line segment Z 41, lb, β,
When examining the relationship, the lower part of line segment l is omitted because of the relationship of pattern 5 in FIG.
Correct <lb as in 1.

Furthermore, as shown in FIG. 16(C), line segments 16', 18, l,
When we examine the relationship, we find that because of the relationship of pattern 2 in Figure 12 (B), the line segment! , is left as is.

Finally, as shown in Figure 16(C), line segment 18.21, end point Pf
When we examine the relationship, we find that because of the relationship of pattern 2 in Figure 12 (C), the line segment! , are omitted as shown in FIG. 16(D).

Therefore, in one process, the route data is converted to the starting point Ps1 line segment g,L,1,/1. iH, l, 14L, 1, l
, 18, is converted to the end point Pf.

Next, when line segments are corrected as shown in FIG. 17(A) in the same way as described above, line segments 1, /, l, /, (2, r, 18 are omitted, line segments !, ', N, / becomes smaller and becomes lI'',
! ,'', and the line segments are 11#, l as shown in Figure 17 (B).
, only # remains.

Furthermore, if the line segment is corrected as shown in Fig. 17 (C), the 17th
As shown in Figure (D), only the path point P1 is obtained, Ps, , Pl
, Pf becomes route data.

(d) Description of other embodiments In the above embodiment, the seventh
Although the search is performed as shown in the figure, the search may be performed from one side, and although the search example has been explained in the X-axis direction, it may be performed in the Y-axis direction.

Furthermore, although the explanation has been given using route commands to self-propelled vehicles as an example, the present invention may also be used to notify routes of general vehicles, and is not limited to self-propelled robots.

Although the present invention has been described above using examples, the present invention can be modified in various ways according to the gist of the present invention, and these are not excluded from the present invention.

〔Effect of the invention〕

As explained above, according to the present invention, since boundary lines are used, it is possible to obtain a free and shortest route by simply examining the relationship between the starting point and the ending point of the line segment. , since the relationship between line segments and points is investigated, the travel route can be easily changed.

[Brief explanation of drawings]

Figure 1 is a diagram explaining the principle of the present invention, Figure 2 is a block diagram of an embodiment of the present invention, Figures 3 and 4.
Fig. 5 is an explanatory diagram of map data, Fig. 5 is an explanatory diagram of obstacle data, Fig. 6 is an explanatory diagram of driving area data, Fig. 7 is a flowchart of search processing in an embodiment of the present invention, and Fig. 8 is an illustration of the book A flowchart of a driving area search process according to an embodiment of the invention. FIGS. 9 and 10 are explanatory diagrams of the search operation. FIG. 11 is a flowchart of data compression according to an embodiment of the invention. FIGS. 12 and 13 are passing lines. Fig. 14 is a flowchart of passing line correction processing according to an embodiment of the present invention. Figs. 15 to 17 are explanatory diagrams of the Pr conversion operation according to the present invention. Fig. 18 is an explanatory diagram of the prior art. It is. In the figure, 1-Map, 2--Memory, 3--
CPU, Ps - start point, Pf -... end point.

Claims (1)

[Claims] A map (1
), and a step of determining a travel route connecting the starting point Ps and the ending point Pf using the searched continuous traveling area. In the travel route searching method, the travel route is determined by determining boundary line data between the travel areas as the continuous travel area, and examining the relationship between the boundary line data, the starting point Ps, and the ending point Pf. A travel route search method characterized by the following.