JPWO2021182020A5 - - Google Patents

Claims (10)

a first map, which is an occupation grid map containing information about the range and direction of movement of a robot; a route generating means for generating a movement route of the robot using a certain second map;
controlling the robot to move along the movement path, and when the movement path includes both the first map and the second map, based on the predetermined inclination; A robot control system comprising: control means for controlling a direction of movement of a robot; 2. The robot control system according to claim 1, wherein the second map indicates a direction of movement that obliquely intersects the direction of movement indicated by the first map. 3. The robot control according to claim 1, further comprising map creation means for creating the first map and the second map and combining the first map and the second map. system. 4. The robot control system according to claim 3, wherein said mapping means connects a first area on said first map and a second area on said second map. 5. The robot control system according to claim 1, further comprising map storage means for storing information relating to said first map and said second map. The map storage means stores map information of the first map and the second map, and combination information indicating that the first map and the second map are combined. 6. The robot control system according to claim 5. The combined information includes information about a first area on the first map and information about a second area on the second map that is linked to the first area. The robot control system according to claim 6. The control means controls the traveling direction of the robot based on the predetermined inclination at a point where the route corresponding to the first map and the route corresponding to the second map intersect. A robot control system according to any one of claims 1 to 7. A first map, which is an occupation grid map containing information about the range and direction in which the robot can move, and the occupation grid map having a predetermined inclination with respect to the first map and being connected to the first map generating a movement route of the robot using a certain second map;
controlling the robot to move along the movement path, and when the movement path includes both the first map and the second map, based on the predetermined inclination; A robot control method, characterized by controlling the traveling direction of a robot. A first map, which is an occupation grid map containing information about the range and direction in which the robot can move, and the occupation grid map having a predetermined inclination with respect to the first map and being connected to the first map generating a movement route of the robot using a certain second map;
controlling the robot to move along the movement path, and when the movement path includes both the first map and the second map, based on the predetermined inclination; A computer program that causes a computer to control the direction of travel of a robot.