KR20210143402A - Mobile robot for performing scenario-based tasks and method for generating task-based paths - Google Patents

Abstract

Provided is an operation-based moving route generation method of a mobile robot for performing a scenario-based operation. The method comprises the following steps of: receiving a selection input of an area for performing at least one role included in the operation; making a node or a link for a section corresponding to the selected area and including the same in map data; when reaching the area, generating a parameter for status change to correspond to the role in the area and including the same in the map data; receiving the selection input of a destination for the operation; and generating a moving route including the selected area and the destination. The mobile robot designates the area for performing the role, generates the moving route to the destination, and generates information to convert the robot into a state corresponding to the role when reaching the area.

Description

MOBILE ROBOT FOR PERFORMING SCENARIO-BASED TASKS AND METHOD FOR GENERATING TASK-BASED PATHS

The present invention relates to a mobile robot that performs a scenario-based task and a method for generating a task-based movement route thereof.

With the development of artificial intelligence in various industries such as distribution, hotel, and logistics in the era of the 4th industrial revolution, the introduction of service robots is increasing.

In order for the service robot to run smoothly, it is necessary to provide the maintained map environment data to be shared and used by a number of robots.

The map data for this is maintained through the map editor and distributed to each mobile robot so that the mobile robots can run smoothly.

Map data basically provides common map space information in accordance with the robot's operation plan, but the specific setting of which information to provide in which environment is insufficient.

Patent Publication No. 10-2015-0126482, 2015.11.12

The problem to be solved by the present invention is to designate an area for performing a role included in a scenario-based task, and create a movement route for performing a role to a destination, but when reaching the area, the role included in the scenario-based task An object of the present invention is to provide a mobile robot that performs a scenario-based task capable of generating information for switching to a corresponding state along with a movement route, and a method for generating a task-based movement route thereof.

However, the problems to be solved by the present invention are not limited to the problems described above, and other problems may exist.

According to the first aspect of the present invention, the method for generating a task-based movement path of a mobile robot performing a scenario-based task receives an input for selecting an area for performing at least one role included in the task. to do; nodeizing a region corresponding to the selected region or linking a region corresponding to the selected region to include the region in map data; generating a parameter for changing a state to correspond to a role in the area when the area is reached and including the parameter in the map data; receiving a selection input of a destination for the task; and generating a movement route including the selected area and destination.

In some embodiments of the present invention, the step of receiving a selection input for a region for performing at least one role included in the task may include receiving a selection input for one or more waypoints passing through the destination to the region. have.

In some embodiments of the present invention, the step of nodeizing an area corresponding to the selected area or linking a section corresponding to the selected area to include in the map data may include any one of arrival, passing, and detour of the waypoint. The step of including one or more of the zone and section in the map data according to an option, and generating a parameter for changing a state to correspond to a role in the waypoint and including it in the map data includes: A parameter for changing the state of the direction may be generated and included in the map data.

In some embodiments of the present invention, the step of receiving a selection input of a region for performing at least one role included in the task includes: a first region for performing a first role included in the task; Receiving a selection input of a second area for performing a role, and generating a parameter for changing a state to correspond to a role in the area and including the parameter in the map data includes: By moving to , a parameter for changing from the first state for performing the first role to the second state for performing the second role may be generated and included in the map data.

In some embodiments of the present invention, the step of generating a parameter for changing a state to correspond to a role in the region and including it in the map data includes adding data and weights for determining the first and second states to the map. It can be generated as the parameter together with metadata of data and included in the map data.

In some embodiments of the present invention, the steps of determining a movement restriction area of the mobile robot on the generated movement path; and generating a parameter for a state change in the region determined to have the movement restriction and including the parameter in the map data.

In some embodiments of the present invention, the determining of the region where the movement of the mobile robot is restricted on the generated movement path includes: an impossible region based on size data of the mobile robot among the generated movement paths; It may be determined whether at least one of an area having a high risk of collision between mobile robots and an area prohibited from accessing the mobile robots exists.

In some embodiments of the present invention, the generating a parameter for a state change in the area determined to have a movement restriction and including the parameter in the map data may include: reading a path cost-based map from the map data; and adding parameter information for the state change on a layer corresponding to the region determined to have the movement restriction of the route cost-based map.

In some embodiments of the present invention, transmitting the map data including the generated movement route to a server; and receiving, from the server, map data including a movement route in which an area for performing each role of the entire mobile robot and an area requiring traffic control through movement route collection are modified.

In addition, the mobile robot for generating a movement route for a scenario-based task according to the second aspect of the present invention receives a selection input of an area for performing at least one role included in the task and a selection input of a destination for the task. A communication module for receiving, a memory storing a program for generating a path including the selected input area and a destination, and a processor executing the program stored in the memory. In this case, as the processor executes the program, the region corresponding to the selected region is noded or a section corresponding to the selected region is linked to be included in the map data, and when the region is reached, in the region A parameter for changing a state is generated to correspond to the role of , and included in the map data, and a route including the selected area and destination is generated.

A computer program according to another aspect of the present invention for solving the above-described problems is combined with a computer, which is hardware, and executes the movement path generation method, and is stored in a computer-readable recording medium.

Other specific details of the invention are included in the detailed description and drawings.

According to the present invention described above, when generating the movement route of the mobile robot, it is possible to create the mobile robot in consideration of a waypoint to be passed through, an area for performing a role, an area with movement restrictions, and an area requiring traffic control.

In particular, it is possible to control the speed or direction of the mobile robot according to the necessary role of the mobile robot in each area, and it is possible to create a movement route considering the characteristics of each area, such as changing the status information when switching to another area There is an advantage that

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a diagram for explaining a mobile robot management system according to an embodiment of the present invention.
2 is a block diagram of a mobile robot that generates a movement route for a scenario-based task according to an embodiment of the present invention.
3 is a flowchart of a method for generating a task-based movement path of a mobile robot according to an embodiment of the present invention.
4 is a diagram illustrating an example of generating a moving route including a waypoint and a destination.
5 is a diagram for explaining map data.
6 is a diagram for explaining the contents of modifying a route cost-based map.
7 is a diagram illustrating an example in which movement restriction area information is reflected.
8 is a diagram for explaining a traffic control function.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully understand the scope of the present invention to those skilled in the art, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components. Like reference numerals refer to like elements throughout, and "and/or" includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein will have the meaning commonly understood by those of ordinary skill in the art to which this invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view for explaining a mobile robot management system 1 according to an embodiment of the present invention. 2 is a block diagram of a mobile robot 200 for generating a movement route for a scenario-based task according to an embodiment of the present invention.

Referring to FIG. 1 , a mobile robot management system 1 according to the present invention includes a mobile robot management server 100 and a plurality of mobile robots 200 .

The plurality of mobile robots 200 perform a scenario-based task. The scenario task is configured to include a role assigned to at least one area, and the mobile robot 200 moves along a movement path to perform a scenario-based task, performs a role in a set area, and moves to a destination.

The mobile robot includes a communication module 210 , a memory 220 , and a processor 230 .

The communication module 210 receives a selection input for an area for performing at least one role included in a job, and receives a selection input for a destination for the job.

The memory 220 stores a program for generating a path including the selected input area and the destination.

As the processor 230 executes the program stored in the memory 220 , a region corresponding to the selected region is noded or a section corresponding to the selected region is linked and included in the map data. Then, upon reaching the selected area, a parameter for changing the state is generated to correspond to a role in the area and included in the map data, and a route including the selected area and the destination is generated.

The mobile robot management server 100 manages the movement path based on the state of the mobile robot 200. At this time, the mobile robot management server 100 collects the areas in which each role of the entire mobile robots 200 is performed, and each By collecting the movement routes of the mobile robot 200 , various states such as stopping and resuming the mobile robot 200 may be adjusted for an area requiring traffic control of the mobile robot 200 .

Hereinafter, a method for generating a task-based movement path of the mobile robot 200 will be described in more detail with reference to FIGS. 3 to 8 .

3 is a flowchart of a method for generating a task-based movement route of the mobile robot 200 according to an embodiment of the present invention.

Referring to FIG. 3 , the method for generating a movement path based on a task of the mobile robot 200 includes the steps of receiving a selection input for a region for performing at least one role included in a task ( S310 ), and a region corresponding to the selected region. A step of nodeizing or linking sections corresponding to the selected area to include in the map data (S320), generating a parameter for changing the state to correspond to the role in the selected area when reaching the selected area and including it in the map data Step S330, receiving a selection input of a destination for the scenario-based task (S340), and generating a movement route including the selected area and destination (S350).

At this time, the mobile robot 200 in the present invention has a driving function of a designated waypoint according to an embodiment, a state change function according to a role in each area, a state change function in a movement restriction area, and a function with the mobile robot management server 100 . Since it is possible to perform a traffic control function through interlocking, it will be described sequentially below.

Driving function at designated waypoints

4 is a diagram illustrating an example of generating a moving route including a waypoint and a destination.

An embodiment of the present invention may first receive a selection input of a region for performing at least one role included in a task. That is, when the mobile robot 200 moves to a destination, it may receive a selection input for one or more waypoints through which it passes.

Accordingly, according to an embodiment of the present invention, the mobile robot 200 may generate a movement route including a waypoint just by receiving a destination for performing a task. In this case, the waypoint may be included in the movement route for performing the role included in the work, unless it is a stopover for the shortest distance or the shortest time when moving from the starting point to the destination.

Then, at least one of a zone and a section corresponding to the selected area is included in the map data, and a parameter for changing a state is generated to correspond to a role in the area when the corresponding area is reached and included in the map data.

That is, one or more of the zones and sections corresponding to the area selected according to the option to arrive at the waypoint or to pass or bypass the waypoint are included in the map data, and the status change of the driving speed and direction according to the option is included in the map data. You can create parameters for and include them in the map data.

Then, receiving a selection input of a destination for the operation, and generating a movement route including the selected area and destination.

For example, in an embodiment of the present invention, when generating a movement path of the mobile robot 200, an area corresponding to a stopover may be determined by a ray-casting method as shown in FIG. A route to a destination can be created by setting a place corresponding to the input area as a waypoint.

As another example, in generating a movement route including a selected area and a destination, an optimal movement route may be generated using an area to be moved as a stopover according to the way-point technique as shown in FIG. 4(b).

In addition, according to an embodiment of the present invention, the waypoint area to be selected and input may be an area in which an obstacle exists or an area in which other mobile robots exist, and according to these input items, a collision situation that may occur during driving of the mobile robot 200 is evaluated. You can avoid it in advance.

State change function according to role in each area

An embodiment of the present invention may serve as a short-term process or a process lasting for a certain period of time according to a scenario-based task performed by the mobile robot 200 . Scenario tasks may be, for example, security, surveillance, rescue, exploration, and the like.

Specifically, the mobile robot 200 is a selection input of a region for performing at least one role included in the scenario-based task, and performs a first region for performing the first role included in the task and a second role for performing the first role included in the task. may receive a selection input of the second area for

For example, in the case of the mobile robot 200 performing a monitoring task, in the first area, a patrol role is performed as a first role, and a camera monitoring algorithm, a human monitoring algorithm, an authentication guide process, etc. are used together to perform the patrol role. can be done In addition, the second area performs a security role, and in order to perform a security role, a designated area monitoring information update, an authentication guide process, a circular movement return function, an emergency alarm and tracking function, etc. can be performed together.

Then, the mobile robot 200 includes a zone or section corresponding to the selected area in the map data, and upon reaching the selected area, generates a parameter for changing the state to correspond to the role in the selected area and includes it in the map data. . At this time, according to an embodiment of the present invention, as the mobile robot 200 moves from the first area to the second area, it is a method for changing from a first state for performing a first role to a second state for performing a second role. You can create parameters and include them in the map data.

That is, in performing a role based on map data, each role may be changed by changing an algorithm corresponding to each area. For example, when moving to a node or link corresponding to the second area while performing a monitoring role in the first role in the node or link corresponding to the first area, the patrol role corresponding to the second area in the second area can be converted to The mobile robot 200 may include a state-machine, and through the state-machine, a separate algorithm or process capable of making a different judgment for each state may be performed.

At this time, the first state is a state in which a camera monitoring algorithm or an authentication guide processor corresponding to the first role is being performed, and the second state to be switched is a cyclic movement recovery algorithm or an authentication guide processor corresponding to the second role. means the state of being

In this case, according to an embodiment of the present invention, data and weights for determining the first and second states may be generated as parameters together with the metadata of the map data and included in the map data. That is, since the information to be selected and used, such as the traveling speed, detection range, and algorithm of the mobile robot, is different for each designated role in each area of each mobile robot 200, an embodiment of the present invention provides data for determining this and a weight to map data. It can be included in the map data along with the metadata of

Thereafter, upon receiving a selection input of a destination for work, the mobile robot 200 may generate a movement path including the selected area and destination.

State change function in movement constraint area

According to an embodiment of the present invention, when the mobile robot 200 moves, a path may be created so that a state change is possible in an area with a movement restriction.

5 is a diagram for explaining map data. 6 is a diagram for explaining the contents of modifying a route cost-based map. 7 is a diagram illustrating an example in which movement restriction area information is reflected.

Upon receiving a destination selection input for the scenario-based task, a movement route including the selected area and destination is generated.

Thereafter, it is possible to determine an area where the movement restriction of the mobile robot 200 is located on the generated movement path, and generate a parameter for changing the state in the area determined to have movement restriction and include it in the map data.

In an embodiment, the non-movable area of the mobile robot 200 may be determined as the movement restriction area based on the size data of the mobile robot 200 among the generated movement paths. For example, even if the movement path of the mobile robot 200 is set, it is impossible to know how much space the mobile robot 200 needs to secure in a narrow space such as a hallway, an entrance, an elevator, and the like. To this end, an embodiment of the present invention compares the size data of the mobile robot 200 with the width of the movement path on the map data to determine whether the mobile robot 200 is a movable area or an immovable area. .

As another embodiment, a region having a high risk of collision between a plurality of mobile robots among the generated movement paths may be determined as a movement restriction region. For example, even if the movement path of the mobile robot 200 is simply set, if an area where there is a frequent risk of collision between the mobile robots is not considered, the mobile robot 200 knows how much speed should be reduced in the corresponding area. can't Accordingly, according to an embodiment of the present invention, an area having a high risk of collision is set as an area having movement restrictions, and the state of the mobile robot 200 is changed when the area is reached.

As another embodiment, it is possible to determine an access-prohibited area of the mobile robot 200 among the generated movement paths as a movement-restricted area. This is because even if the movement path is set and the size data of the robot or the high collision risk area is set, there may be an area that cannot be known only by the map. It can be determined as a movement restriction area of the mobile robot 200 .

In the case of an area determined to have movement restrictions as described above, a state change of the mobile robot 200 should occur, and parameters for this should be generated and included in the map data.

Accordingly, an embodiment of the present invention can read a path cost-based map from map data and add parameter information for state change on a layer corresponding to an area determined to have movement restrictions on the path cost-based map. have. Through this, it is possible to modify the route cost-based map, and depending on the route cost, it is possible to enable a space that cannot be moved or, conversely, information can be added to prevent movement of a space that can be moved.

Map data may be initially generated through a map editor as shown in FIG. 5A , and map data through the map editor may be manually generated by a user, but preferably, ultrasound of the mobile robot 200 , LiDAR, radar sensors, etc. can be generated based on data collected. The route cost-based map may be configured in a layered form as shown in FIG. 5( b ). In this case, the route cost-based map may be provided in a layered form such as an obstacle area or a movement restriction area.

When it is determined that there is a movement restriction such as an access-prohibited area, the mobile robot 200 adds parameter information for state change so that movement is impossible on the layer corresponding to the obstacle area as shown in FIG. 6A . Accordingly, the mobile robot 200 may bypass the corresponding area through state changes such as speed and direction.

Conversely, in the case of an area without movement restrictions such as a passage area, there is no additional information added to the obstacle area as shown in FIG. .

In the case of an area determined to have a movement restriction, the movement restriction area may be displayed as shown in FIG. 7(b) through a separate display P1 on the basic map data as shown in FIG.

Meanwhile, according to an embodiment of the present invention, when a path-based map is read from map data, new environment information may be added by adding a new layer on the path-based map configured in a layer form. In addition, an embodiment of the present invention may adjust the tendency to generate a path by adjusting the cost diffusion range for each environmental information.

Traffic control function by mobile robot management server

In one embodiment of the present invention, each mobile robot 200 generates a movement route, but in the case of an area requiring traffic control, the mobile robot 200 transmits map data including the generated movement route to the server 100 . Thus, it is possible to receive traffic control by the server 100 .

8 is a diagram for explaining a traffic control function.

As shown in FIG. 8 , when a plurality of mobile robots 200 enter a physical space P2 such as a hallway, an entrance, an elevator, or a factory environment, since the plurality of mobile robots 200 cannot pass at the same time A queue will occur.

At this time, not all areas require traffic control, and when traffic control is performed for all areas, the mobile robot management server 100 increases the amount of computation and communication data according to the number of mobile robots 200 that need to perform traffic control. Since the amount also increases, the server 100 needs to understand the movement path of each mobile robot 200, extract each area requiring traffic control for each mobile robot 200, and correct the movement route.

To this end, in an embodiment of the present invention, when map data including a movement path generated by the mobile robot 200 is transmitted to the server 100 , the server 100 performs each role from all the mobile robots 200 . Information on the area to be performed and information on each movement route are collected. Then, after correcting the area P2 requiring traffic control through the collected information, map data including the corrected movement path is distributed to each mobile robot 200 .

The mobile robot 200 sets a movement route by referring to the location of the waypoint, the starting point, and the destination, and each mobile robot ( 200) can be traffic control.

In addition, when each mobile robot 200 determines that traffic control is necessary as it arrives at a specific area, it notifies the mobile robot management server 100 that traffic control is required, thereby receiving strict control from the server 100 . have.

Meanwhile, in the above description, steps S310 to S350 may be further divided into additional steps or combined into fewer steps according to an embodiment of the present invention. In addition, some steps may be omitted as necessary, and the order between steps may be changed. In addition, even if other contents are omitted, the above-described contents of FIGS. 1 and 2 may also be applied to the method of generating a movement path of FIGS. 3 to 8 .

The method for generating a movement path according to an embodiment of the present invention described above may be implemented as a program (or application) and stored in a medium in order to be executed in combination with a computer, which is hardware.

The above-mentioned program, in order for the computer to read the program and execute the methods implemented as a program, C, C++, JAVA, Ruby, which the processor (CPU) of the computer can read through the device interface of the computer; It may include code coded in a computer language such as machine language. Such code may include functional code related to functions defining functions necessary for executing the methods, etc. can do. In addition, the code may further include additional information necessary for the processor of the computer to execute the functions or code related to memory reference for which location (address address) in the internal or external memory of the computer to be referenced. have. In addition, when the processor of the computer needs to communicate with any other computer or server located remotely in order to execute the above functions, the code uses the communication module of the computer to determine how to communicate with any other computer or server remotely. It may further include a communication-related code for whether to communicate and what information or media to transmit and receive during communication.

The storage medium is not a medium that stores data for a short moment, such as a register, a cache, a memory, etc., but a medium that stores data semi-permanently and can be read by a device. Specifically, examples of the storage medium include, but are not limited to, ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. That is, the program may be stored in various recording media on various servers accessible by the computer or in various recording media on the computer of the user. In addition, the medium may be distributed in a computer system connected by a network, and a computer readable code may be stored in a distributed manner.

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

1: Mobile robot management system
100: mobile robot management server
200: mobile robot
210: communication module
220: memory
230: processor

Claims (10)

A method for generating a task-based movement path of a mobile robot performing a scenario-based task, the method comprising:
receiving a selection input of a region for performing at least one role included in the task;
nodeizing a region corresponding to the selected region or linking a region corresponding to the selected region to include the region in map data;
generating a parameter for changing a state to correspond to a role in the area when the area is reached and including the parameter in the map data;
receiving a selection input of a destination for the task; and
generating a movement route including the selected area and destination
A method of creating a task-based movement route for a mobile robot that performs a scenario-based task.
According to claim 1,
Receiving an input for selecting an area for performing at least one role included in the task includes:
receiving a selection input for one or more waypoints via the destination to the area.
A method of creating a task-based movement route for a mobile robot that performs a scenario-based task.
3. The method of claim 2,
The step of nodeizing the area corresponding to the selected area or linking the section corresponding to the selected area to include in the map data,
including at least one of the zones and sections in the map data according to any one option of arrival, passing, and detour of the waypoint;
The step of generating a parameter for changing the state to correspond to the role at the waypoint and including it in the map data includes:
Creating a parameter for changing the state of the driving speed and direction according to the option and including it in the map data
A method of creating a task-based movement route for a mobile robot that performs a scenario-based task.
According to claim 1,
Receiving an input for selecting an area for performing at least one role included in the task includes:
receiving a selection input of a first area for performing a first role included in the task and a second area for performing a second role,
The step of generating a parameter for changing a state to correspond to a role in the area and including it in the map data includes:
Creating a parameter for changing from the first state for performing the first role to the second state for performing the second role as moving from the first area to the second area is included in the map data sign
A method of creating a task-based movement route for a mobile robot that performs a scenario-based task.
5. The method of claim 4,
The step of generating a parameter for changing a state to correspond to a role in the area and including it in the map data includes:
Data and weights for determining the first and second states are generated as the parameters together with the metadata of the map data and included in the map data.
A method of creating a task-based movement route for a mobile robot that performs a scenario-based task.
According to claim 1,
determining an area in which movement of the mobile robot is restricted on the generated movement path; and
The method further comprising the step of generating a parameter for state change in the area determined to have the movement restriction and including the parameter in the map data
A method of creating a task-based movement route for a mobile robot that performs a scenario-based task.
7. The method of claim 6,
The step of determining an area in which the movement of the mobile robot is restricted on the generated movement path comprises:
Determining whether at least one of a non-movable area based on the size data of the mobile robot, a high risk of collision between the plurality of mobile robots, and an access-prohibited area of the mobile robot exists among the generated movement paths sign
A method of creating a task-based movement route for a mobile robot that performs a scenario-based task.
7. The method of claim 6,
The step of generating a parameter for state change in the area determined to have the movement restriction and including it in the map data includes:
reading a route cost-based map from the map data; and
adding parameter information for the state change on a layer corresponding to the region determined to have the movement restriction of the route cost-based map
A method of creating a task-based movement route for a mobile robot that performs a scenario-based task.
According to claim 1,
transmitting map data including the generated movement path to a server; and
Receiving from the server map data including a movement route in which an area for performing each role of the entire mobile robot and an area requiring traffic control through movement route collection is modified
A method of creating a task-based movement route for a mobile robot that performs a scenario-based task.
A mobile robot for generating a movement path for a scenario-based task, the mobile robot comprising:
a communication module for receiving a selection input of an area for performing at least one role included in the job and a selection input of a destination for the job;
a memory in which a program for generating a route including the selected input area and the destination is stored; and
Including a processor for executing the program stored in the memory,
As the processor executes the program, the region corresponding to the selected region is noded or a section corresponding to the selected region is linked to be included in the map data, and a role in the region when the region is reached Creating a parameter for changing the state to correspond to and including it in the map data, and generating a route including the selected area and destination
A mobile robot that generates movement paths for scenario-based tasks.

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