JP7791035B2 - Route setting device, route setting method, and program - Google Patents

Description

The present invention relates to a route setting device, a route setting method, and a program.

A technology is known that, when an obstacle identified as a pillar is present, causes an autonomous coverage robot to rotate until it assumes a saved orientation to avoid the obstacle (see, for example, Patent Document 1).

JP 2016-32655 A

When an autonomously mobile vehicle (autonomous mobile device) autonomously travels along a route from a pre-specified starting point to an end point, if there is an obstacle on the route, it is preferable for the vehicle to be able to reach the end point while avoiding the obstacle. In this case, it is necessary to be able to set a route that avoids obstacles using as simple a calculation as possible.

The present invention was made in consideration of these circumstances, and aims to enable an autonomous mobile device to easily set a route that avoids obstacles when moving autonomously.

One aspect of the present invention for solving the above-mentioned problem includes a map information storage unit that stores a map showing the three-dimensional shape of a moving space in which an autonomous mobile device moves, a route setting unit that sets a route for the autonomous mobile device to move from a starting point to an end point based on a starting point and an end point specified on the map, an obstacle detection unit that detects an obstacle present ahead of the autonomous mobile device on a main route that is set based on the specification of a main starting point and a main end point on the route, and a secondary starting point that is a predetermined position on the main route in front of the obstacle detected by the obstacle detection unit, the secondary starting point being a primary secondary starting point, and being spaced a first distance from the obstacle in a direction intersecting the main route and being located at a position on the main route. a detour control unit that sets a position a second distance from the primary secondary starting point along the direction of travel as a primary secondary end point, and calculates a primary secondary route using the set primary secondary starting point and primary secondary end point, wherein the obstacle detection unit measures a width finding dimension of the obstacle at the specified position, and the detour control unit determines an avoidance direction for the autonomous mobile device in a direction intersecting with the main route based on the width finding dimension of the obstacle measured by the obstacle detection unit, and sets the second distance including a distance based on the width finding dimension and a limit distance that the autonomous mobile device can approach the obstacle on the main route .

In one aspect of the present invention, a route setting unit sets a route for the autonomous mobile device to travel from a starting point to an end point based on a starting point and an end point specified on a map stored in a map information storage unit and showing a three-dimensional shape of a movement space in which the autonomous mobile device moves, the route setting unit detecting an obstacle present ahead of the autonomous mobile device on a main route set based on the specification of a main starting point and a main end point on the route; and a route setting unit sets a primary secondary starting point at a predetermined position on the main route in front of the obstacle detected by the obstacle detection step, the primary secondary starting point being a first distance from the obstacle in a direction intersecting the main route and along a traveling direction of the main route. and a detour control step of setting a position a second distance from the obstacle detection point as a primary sub-end point, and calculating a primary sub-route using the set primary sub-start point and primary sub-end point, wherein the obstacle detection step measures a width finding dimension of the obstacle at the predetermined position, and the detour control step determines an avoidance direction for the autonomous mobile device in a direction intersecting with the main route based on the width finding dimension of the obstacle measured in the obstacle detection step, and sets the second distance including a distance based on the width finding dimension and a limit distance by which the autonomous mobile device can approach the obstacle on the main route .

In one aspect of the present invention, a computer includes a route setting unit that sets a route for the autonomous mobile device to travel from a starting point to an end point based on a starting point and an end point specified on a map that is stored in a map information storage unit and shows a three-dimensional shape of a mobile space in which the autonomous mobile device travels, an obstacle detection unit that detects an obstacle present ahead of the autonomous mobile device on a main route that has been set based on the specification of a main starting point and a main end point on the route, an obstacle detection unit that sets a predetermined position on the main route in front of the obstacle detected by the obstacle detection unit as a primary secondary starting point, and a primary secondary position that is spaced a first distance from the obstacle in a direction intersecting the main route and along a traveling direction of the main route. A program for functioning as a detour control unit that sets a position moved a second distance from a starting point as a primary sub-end point and calculates a primary sub-route using the set primary sub-start point and primary sub-end point, wherein the obstacle detection unit measures the width finding dimension of the obstacle at the specified position, and the detour control unit determines an avoidance direction of the autonomous mobile device in a direction intersecting the main route based on the width finding dimension of the obstacle measured by the obstacle detection unit, and sets the second distance including a distance based on the width finding dimension and a limit distance that the autonomous mobile device can approach the obstacle on the main route .

The present invention has the advantage that an autonomous mobile device can easily set a route that avoids obstacles when moving autonomously.

FIG. 10 is a diagram illustrating an example of setting a main route in the embodiment. FIG. 10 is a diagram illustrating an example of a state in which an obstacle is detected on a main route in the embodiment. FIG. 10 is a diagram illustrating an example of a method for setting a detour route according to an embodiment. FIG. 2 is a diagram illustrating an example of the functional configuration of an autonomous mobile device according to an embodiment. 10 is a flowchart illustrating an example of a processing procedure executed by an autonomous mobile device according to an embodiment. FIG. 10 is a diagram illustrating an example of a method for setting a detour route in Modification 1. FIG. 10 is a diagram illustrating an example of a method for setting a detour route in Modification 2. FIG. 10 is a diagram illustrating an example of a method for setting a detour route in Modification 2. FIG. 11 is a diagram illustrating an example of a method for setting a detour route in Modification 3. 13 is a flowchart illustrating an example of a processing procedure executed by an autonomous mobile device in Modification 3.

<Embodiment>
An autonomous mobile device (an example of a route setting device) according to this embodiment will be described below. In the following description, the autonomous mobile device according to this embodiment moves autonomously within a building (an example of a mobile space) according to a predetermined purpose.

In this embodiment, there are no particular limitations on the use of the autonomous mobile device. For example, the autonomous mobile device may be a device for transporting luggage. Alternatively, the autonomous mobile device may be something like a surveillance robot that moves around while monitoring the inside of a building.

The autonomous mobile device of this embodiment uses map information showing the three-dimensional shape of the interior of a building when performing autonomous movement according to a predetermined purpose. The autonomous mobile device uses the map information to estimate its own position and set a route. In this embodiment, setting a route is described as being synonymous with calculating a route.
The map information in this embodiment may be generated based on information about the three-dimensional shape of the interior of a building acquired by the autonomous mobile device using a range sensor (such as a laser scanner or LIDAR (Light Detection and Ranging)). Alternatively, the map information may be information created based on, for example, a blueprint of the building BL (such as BIM (Building Information Modeling) data).

Fig. 1 shows an example of setting a main route R1 for the autonomous mobile device 100 in a building BL. Fig. 1 is a diagram showing floors on which the autonomous mobile device 100 moves, extracted from map information showing a three-dimensional shape, viewed from above. The main route R1 is a route set for the autonomous mobile device 100 as a travel route within the building BL.
When setting the main route R1, a main starting point S0 (starting position) and a main ending point G0 (destination) are specified for the autonomous mobile device 100.
The main starting point S0 and the main ending point G0 for the autonomous mobile device 100 may be specified by, for example, a terminal or a server (not shown) communicatively connected to the autonomous mobile device 100. Alternatively, the main starting point S0 and the main ending point G0 may be specified by the autonomous mobile device 100 itself by determining the main starting point S0 and the main ending point G0 within the building BL in accordance with predetermined conditions, etc.
The autonomous mobile device 100 then sets the route calculated in this manner from the main starting point S0 to the main end point G0 as the main route R1, starts moving from the main starting point S0, and moves to the destination main end point G0 by following the set main route R1.

Here, when the autonomous mobile device 100 is moving along the main route R1, if there is an object on the main route R1 that is not included in the map information, this object located on the main route R1 becomes an obstacle. Therefore, the autonomous mobile device 100 is able to detect obstacles that exist ahead in its own direction of travel using a range sensor. In other words, the autonomous mobile device 100 detects obstacles that exist on the main route R1 as it moves along the main route R1.

Figure 2 shows an example of a state in which an obstacle OB is present on the main route R1. When the autonomous mobile device 100 detects an obstacle OB while moving on the main route R1, it can move to a limit position M1 that is a predetermined distance r1 (limit distance) set from the obstacle OB. The autonomous mobile device 100 may temporarily stop at the limit position M1 on the main route R1 that is the predetermined distance r1 away from the obstacle OB.

In this case, obstacle OB is surrounded by a line connecting positions a predetermined distance r1 away from obstacle OB. Even if the autonomous mobile device 100 is on main route R1, it cannot enter the line surrounding obstacle OB and approach obstacle OB by more than the predetermined distance r1, i.e., it cannot move beyond limit position M1. For the autonomous mobile device 100 to reach main endpoint G0 from limit position M1, it must move around obstacle OB and in the direction of main endpoint G0. Therefore, the autonomous mobile device 100 sets a detour route (sub-route) that detours around obstacle OB and returns to main route R1, as explained below, and travels along the set detour route.

3 shows an example of a method for setting a detour route R2 in this embodiment. This figure shows the positional relationship between the autonomous mobile device 100 and the obstacle OB in FIG. 2. In FIG. 3, the autonomous mobile device 100 is located at a limit position M1 on the main route R1, a distance r1 in front of the obstacle OB, as in FIG. 2.
In the figure, the direction along the main path R1 is the X-axis direction, and the direction perpendicular to (intersecting with) the main path R1 is the Y-axis direction. That is, in the X-axis direction along the main path R1 at limit position M1, the downstream side of the main path R1 corresponding to +X is the front, and the upstream side of the main path R1 corresponding to -X is the rear. With the user facing the upstream side of the main path and with their back to the downstream side, the right side is the right (+Y) and the left side is the left (-Y). The following explanation will be given using the obstacle OB shown in Figure 3 as an example of an object that has a square shape when viewed from above and has widths w1 in the X-axis and Y-axis directions.

In response to detecting an obstacle OB, the autonomous mobile device 100 measures the width of the obstacle OB when viewed from the limit position M1 while facing the upstream side of the main path and with its back to the downstream side, i.e., the width finding dimension w1 of the obstacle OB.
When setting the detour route R2, the autonomous mobile device 100 first determines the direction of travel to avoid the obstacle OB, i.e., the detour direction. In the figure, the autonomous mobile device 100 follows the main route R1, and when it reaches a limit position M1 that is a predetermined distance r1 from the obstacle OB, it is set in advance to change direction to one side (the right) of the obstacle OB in order to pass on one side (the right side) of the obstacle OB.

When the right side of the obstacle OB is preset as the detour direction as described above, the autonomous mobile device 100 sets the detour route R2 as follows: The detour route R2 is divided into an avoidance route R2-1 (an example of a primary sub-route) and a return route R2-2 (an example of a secondary sub-route).
The autonomous mobile device 100 first sets an avoidance route R2-1 as the detour route R2, travels along the set avoidance route R2-1, then sets a return route R2-2, and travels along the set return route R2-2. Note that the autonomous mobile device 100 may set the avoidance route R2-1 and the return route R2-2 when it is located at the limit position M1, but the following description will be given taking as an example a case where the return route R2-2 is set after travelling along the avoidance route R2-1.

The autonomous mobile device 100 calculates and sets a route from the starting point to the end point in response to the designation of the starting point and the end point. When the autonomous mobile device 100 is located at a limit position M1 that is a distance r1 away from an obstacle OB on the main route R1, the autonomous mobile device 100 sets an avoidance route R2-1 using the limit position M1 where the autonomous mobile device 100 is currently located as a primary secondary starting point S1.
At this time, the autonomous mobile device 100 sets the coordinates of the primary sub-start point S1 as (Xs1, Ys1) and the primary sub-end point G1 (Xg1, Yg1). For example, the coordinates (Xg1, Yg1) of the primary sub-end point G1 are calculated using the following formulas 1 and 2, respectively, because the detour direction is to the right (+Y).
Xg1=Xs1+(r1+(w1/2))...(Formula 1)
Yg1=Ys1+(r1+(w1/2))...(Formula 2)
In this way, the primary secondary end point G1 (Xg1, Yg1) is set at a position a distance w1/2 forward from the rear end of the obstacle OB in the X-axis direction along the main route R1, and a distance r1 (limit distance) to the detour direction (right) of the obstacle OB in the Y-axis direction that intersects (orthogonal to) the main route R1.
The autonomous mobile device 100 calculates (sets) an avoidance route R2-1 for reaching the primary sub-end point G1 from the primary sub-start point S1 set as described above. The avoidance route R2-1 is a route that moves straight to the right by a distance of w1/2 while maintaining a distance of r1 from the obstacle OB, then changes direction by moving on an arc with a radius of r1, and then moves straight forward by a distance of w1/2 while facing forward (in the +X direction) and maintaining a distance of r1 from the obstacle OB. In this way, the avoidance route R2-1 is a route that combines arcs and straight lines, and moves in a detour direction while maintaining a distance of r1 from the obstacle OB, and then moves forward (in the +X direction). The avoidance route R2-1 calculated in this way is a route that deviates from the main route R1 and moves forward along the traveling direction of the main route R1 while avoiding the obstacle OB.

The autonomous mobile device 100 travels along the avoidance route R2-1 set as described above. The autonomous mobile device 100 reaches the primary sub-end point G1 of the avoidance route R2-1. In this case, the autonomous mobile device 100 may temporarily stop at the primary sub-end point G1.
The autonomous mobile device 100 sets a return route R2-2 from the primary sub-end point G1 to return (return) to the main route R1, further bypassing the obstacle OB. In setting the return route R2-2, the autonomous mobile device 100 sets the primary sub-end point G1 as a secondary sub-start point S2, which is the starting point of the return route R2-2. The autonomous mobile device 100 also sets a secondary sub-end point G2, which is the end point of the return route R2-2, on the main route R1.
The coordinates (Xg2, Yg2) of the secondary sub-end point G2 are calculated using the following equations 3 and 4, respectively.
Xg2=Xg1+(r1+(w1/2))...(Formula 3)
Yg2=Ys1=(Yg1-(r1+(w1/2))...(Formula 4)
In this way, the secondary sub-end point G2 (Xg2, Yg2) is set at a position on the main route R1 that is a distance w1/2 forward from the front end of the obstacle OB in the X-axis direction along the main route R1, and that is the same as the primary sub-start point S1 in the Y-axis direction that intersects (is perpendicular to) the main route R1.

The autonomous mobile device 100 calculates a return route R2-2 for reaching the secondary secondary end point G2 from the secondary secondary starting point S2 set as described above. The return route R2-2 is a route that moves forward (in the +X direction) by a distance of w1/2 while maintaining a distance of r1 from the obstacle OB, then changes direction by moving on an arc of radius r1, and moves forward by a distance of w1/2 to the left (in the -Y direction) while maintaining a distance of r1 from the obstacle OB. In this way, the return route R2-2 is a route that combines arcs and straight lines, and moves forward (in the +X direction) while maintaining a distance of r1 from the obstacle OB, and then heads toward the main route R1. The return route R2-2 calculated in this way is a route that moves forward along the traveling direction of the main route R1, avoiding the obstacle OB, and returning to the main route R1.
The autonomous mobile device 100 moves along the calculated avoidance route R2-1. The autonomous mobile device 100 may stop temporarily when it reaches the secondary sub-end point G2.
The autonomous mobile device 100 moves to the secondary sub-end point G2 of the avoidance route R2-1, detours around the obstacle OB, returns to the main route R1, and moves to the main end point G0 along the main route R1.

An autonomous mobile device is known that can reset its own route to the main endpoint G0 and resume movement even when an obstacle is located on the main route R1 (with a route resetting function). However, such an algorithm for avoiding obstacles on the main route R1 and reaching the original destination, the main endpoint G0, places a heavy processing load on the autonomous mobile device 100, requiring the autonomous mobile device 100 to have advanced processing capabilities. Therefore, an algorithm that can be executed by an autonomous mobile device 100 that does not have advanced processing capabilities is known, in which the autonomous mobile device 100 stops on the main route R1 when it detects an obstacle OB on the main route R1, and resumes movement when it detects that the obstacle OB has moved and is no longer on the main route R1. However, this creates a problem in that the autonomous mobile device 100 remains stopped unless the obstacle OB moves.
Therefore, in this embodiment, an algorithm is used to return from a point on the main route R1 to a point on the main route R1 while avoiding an obstacle OB present on the main route R1. This algorithm can be executed by the autonomous mobile device 100, which does not have advanced processing capabilities, and provides the autonomous mobile device 100 with a simple route resetting function. That is, in this embodiment, the autonomous mobile device 100's function of calculating a route in response to a specified start point and end point and traveling along the calculated route is utilized, and a detour route R2 is set by setting a new set of start point and end point (primary sub-start point S1 and primary sub-end point G1, secondary sub-start point S2 and secondary sub-end point G2) as described in FIG. 3. This allows the autonomous mobile device 100 of this embodiment to easily set the detour route R2.

Next, an example of the functional configuration of the autonomous mobile device 100 according to this embodiment will be described below with reference to Fig. 4. The functions of the autonomous mobile device 100 in the figure are realized by a central processing unit (CPU) included in the autonomous mobile device 100 executing a program. The autonomous mobile device 100 in the figure includes a communication unit 101, a range sensor 102, a movement mechanism unit 103, a control unit 104, and a storage unit 105.
The communication unit 101 communicates with a terminal, a server, etc. via a network. When a main starting point and a main ending point are specified by the terminal, the server, etc., the communication unit 101 receives the main starting point and the main ending point transmitted from the terminal or the server.
The range sensor 102 is a sensor that measures the distance and direction to surrounding objects by performing two-dimensional scanning using laser light or the like as described above.
The movement mechanism 103 is a drive mechanism for moving the autonomous mobile device 100. The movement mechanism 103 includes, for example, wheels, a motor for driving the wheels, a direction change mechanism for changing the direction of movement, and the like.

The control unit 104 executes various controls in the autonomous mobile device 100. The control unit 104 includes an obstacle detection unit 141, a detour control unit 142, and an autonomous mobile control unit 143.
The obstacle detection unit 141 detects obstacles present on the route based on the results of measurements of the distance and direction to surrounding objects by the range measurement sensor 102 .
The detour control unit 142 sets a detour route for detouring the obstacle detected by the obstacle detection unit 141. Specifically, the detour control unit 142 sets (calculates) a start point and an end point (a primary sub-start point and a primary sub-end point, a secondary sub-start point and a secondary sub-end point) corresponding to the detour route (avoidance route, return route) on the map indicated by the map information, and sets the detour route using the set start point and end point.
The autonomous movement control unit 143 controls the movement mechanism unit 103 so that the autonomous mobile device 100 moves autonomously along a set route. The autonomous movement control unit 143 estimates its own position on a map based on the map information stored in the map information storage unit 151, based on the surrounding shape detected by the range measurement sensor 102. The autonomous movement control unit 143 compares the estimated own position with the set route on the map, determines a movement direction so that the own position can progress along the route, and controls the movement mechanism unit 103 so that the autonomous mobile device 100 moves in the determined movement direction.

The memory unit 105 stores various information corresponding to the autonomous mobile device 100. The memory unit 105 includes a map information memory unit 151. The map information memory unit 151 stores map data (map information) that shows the three-dimensional shape of the interior of the building BL.

Next, the detouring procedure executed by the autonomous mobile device 100 according to this embodiment will be described with reference to the flowchart of FIG.
Step S100: While the autonomous mobile device 100 is moving along a main route R1 set with a main starting point S0 and a main ending point G0, which is specified by a route setting unit of a terminal, server, etc., the autonomous mobile device 100 measures the distance and direction to surrounding objects using the range sensor 102. When the obstacle detection unit 141 determines that an obstacle OB is located on the main route R1 based on the measurement results of the range sensor 102, the autonomous mobile control unit 143 stops the autonomous mobile device 100 at a limit position M1 on the main route R1, a distance r1 away from the obstacle OB.

Step S102: The detour control unit 142 sets the limit position M1 at which the vehicle is currently stopped as the primary secondary starting point S1.
Step S104: In this embodiment, the detour direction is set to one side (the right side) of the obstacle OB in advance so that the vehicle can pass on one side (the right side) of the obstacle OB. Therefore, the detour control unit 142 sets the primary secondary end point G1 at a position a distance w1/2 forward from the rear end of the obstacle OB in the X-axis direction along the main route R1, and a distance r1 (limit distance) to the detour direction (right side) of the obstacle OB in the Y-axis direction intersecting (perpendicular to) the main route R1.
Step S106: The detour control unit 142 calculates (sets) an avoidance route R2-1 corresponding to the primary sub-start point S1 and the primary sub-end point G1 set in steps S102 and S104.
Step S108: The autonomous movement control unit 143 controls the autonomous mobile device 100 to move on the avoidance route R2-1 set in step S106.

Step S110: When the autonomous mobile device 100 completes movement along the avoidance route R2-1 and arrives at the primary sub-end point G1, the detour control unit 142 proceeds to setting a return route R2-2. In setting the return route R2-2, the detour control unit 142 sets the primary sub-end point G1, where the autonomous mobile device 100 is located, as the secondary sub-start point S2.
Step S112: The detour control unit 142 sets the secondary secondary end point G2 to a position on the main route R1 that is a distance w1/2 forward from the front end of the obstacle OB in the X-axis direction along the main route R1 and that is the same as the primary secondary starting point S1 in the Y-axis direction that intersects (is perpendicular to) the main route R1.
Step S114: The detour control unit 142 sets a return route R2-2 corresponding to the secondary sub-start point S2 and the secondary sub-end point G2 set in steps S110 and S112.

Step S116: The autonomous movement control unit 143 controls the autonomous mobile device 100 to move along the return route R2-2 set in step S114.

Step S118: The autonomous mobile device 100 completes movement along the return route R2-2 and reaches the secondary sub-endpoint (G2) on the main route R1. In this way, the autonomous mobile device 100 returns to the main route R1 by completing the detour procedure, and moves to the main end point G0 by following the main route R1 in the same way as it did until it reached the limit position M1.

The above steps allow the autonomous mobile device 100 to return from a point on the main route R1 to a point on the main route R1 while avoiding obstacles OB present on the main route R1. This can be performed by an autonomous mobile device 100 that does not have advanced processing capabilities, and the autonomous mobile device 100 can be equipped with a simple route resetting function.

<Modification 1>
When setting the primary sub-end point G1 or the secondary sub-end point G2, a predetermined margin distance may be added to the distance r1 from the obstacle OB, as shown in Fig. 6. In Fig. 6, for example, when setting the primary sub-end point G1 on the detour route R2, a predetermined margin distance α is added to the distance r1 from the obstacle OB.
That is, the coordinates (Xg1, Yg1) of the primary sub-end point G1 are calculated using the following formulas 5 and 6, respectively, since the detour direction is to the right (+Y).
Xg1=Xs1+(r1+(w1/2))...(Formula 5)
Yg1=Ys1+(r1+(w1/2)+α) (Equation 6)
In this case, Equation 5 is the same as Equation 1. By providing the margin distance α for the Y coordinate of the primary sub-end point G1 in this way, it is possible to ensure a sufficient distance between the obstacle OB and the avoidance path R2-1.

Furthermore, for the secondary sub-end point G2 set corresponding to the return route R2-2, a predetermined margin distance β may be added to the distance r1 from the obstacle OB, as shown in FIG.
In this case, the coordinates (Xg2, Yg2) of the secondary sub-end point G2 are calculated using the following equations 7 and 8, respectively.
Xg2=Xg1+(r1+(w1/2)+β)...(Formula 7)
Yg2 = Ys1 = (Yg1 - (r1 + (w1/2) + α)) (Equation 8)
By providing a margin distance β for the X coordinate of the secondary sub-end point G2 in this way, it is possible to ensure a sufficient distance between the obstacle OB and the return route R2-2.

Note that, although the margin distances α and β are set to predetermined fixed values, they are not limited to this. For example, the margin distances α and β may be set based on the distance r1, such as the distance obtained by multiplying the distance r1 from the limit position M1 to the obstacle OB by a predetermined coefficient. Alternatively, the margin distances α and β may be set based on the width dimension w1 of the obstacle OB. Furthermore, the margin distances α and β may be the same value, or may be different values.

<Modification 2>
Additionally, in the above embodiment, the autonomous mobile device 100 is set in advance to turn to one side (the right) of the obstacle OB in order to pass on one side (the right side) of the obstacle OB, but this is not limited to this. For example, the autonomous mobile device 100 may determine the detour direction based on the three-dimensional shape of the area around the obstacle OB obtained from map information, so that the easiest route among the possible detour routes R2 is set as the detour route R2. Furthermore, the autonomous mobile device 100 may determine the detour direction based on the shape of the obstacle OB, the position of the obstacle OB lying on the main route R1, etc.
An example of determining the detour direction depending on the shape of the obstacle OB, the position of the obstacle OB lying on the main route R1, etc. will be described with reference to Fig. 7. More specifically, in this example, the detour direction is determined depending on the position of the obstacle OB on the main route R1 relative to the width dimension of the obstacle OB.
In the figure, an example is shown in which the center of the width finding dimension W1 of the obstacle OB at limit position M1 on the main path R1, which is a distance r1 from the obstacle OB, is located to the left of the main path R that overlaps the obstacle OB. In other words, the width finding dimension W1 is divided by the main path R1 into a left width finding dimension w1l and a right width finding dimension w1r, and the relationship is w1l < w1r.
First, the autonomous mobile device 100 determines whether there is anything on either the left or right side that will prevent the establishment of the detour route R2, based on map information showing the three-dimensional shape around the obstacle OB. If there is anything on either the left or right side that will prevent the establishment of the detour route R2, the autonomous mobile device 100 determines the left or right direction as the detour direction. On the other hand, if there is nothing on either the left or right side that will prevent the establishment of the detour route R2, the autonomous mobile device 100 measures the width finding dimension w1 of the obstacle OB on the main route R1, and measures the left width finding dimension w1l and the right width finding dimension w1r, which are divided by the main route R1. The autonomous mobile device 100 then determines the left or right direction corresponding to the shorter of the left width finding dimension w1l or the right width finding dimension w1r as the detour direction. In the example shown in the figure, the left width finding dimension w1l is shorter than the right width finding dimension w1r, so the autonomous mobile device 100 determines the left side as the detour direction.

In this case, the autonomous mobile device 100 may set the primary sub-end point G1 corresponding to the avoidance route R2-1 using the distance r1 and the left width find dimension w1l corresponding to the detour direction. For example, the coordinates (Xg1, Yg1) of the primary sub-end point G1 are calculated using the following equations 9 and 10, since the detour direction is set to the left (-Y).
Xg1=Xs1+(r1+w1l)...(Formula 9)
Yg1=Ys1-(r1+w1l)...(Formula 10)

Evasion path R2-1 involves moving straight to the left (-Y direction) a distance of w1l while maintaining a distance of r1 from obstacle OB, then changing direction by moving on an arc of radius r1, and then moving straight forward a distance of w1l while facing forward (+X direction) and maintaining a distance of r1 from obstacle OB.

The secondary sub-end point G2 corresponding to the return route R2-2 may also be set using the distance r1 and the left width find dimension w1l corresponding to the detour direction. The coordinates (Xg2, Yg2) of the secondary sub-end point G2 are calculated using the following equations 11 and 12.
Xg2=Xg1+(r1+w1l)...(Formula 11)
Yg2=Ys1=(Yg1+(r1+w1l)...(Formula 12)

The return route R2-2 is a route that moves straight forward (in the +X direction) by a distance of w1l while maintaining a distance of r1 from the obstacle OB, then changes direction by moving on an arc of radius r1, and moves straight to the right (in the +Y direction) by a distance of w1l while maintaining a distance of r1 from the obstacle OB.
In this way, by determining the direction corresponding to the shorter of the left width finding dimension w1l and the right width finding dimension w1r as the detour direction, the detour route R2 can be shortened, and the autonomous mobile device 100 can efficiently detour around the obstacle OB.

As in the above embodiment, in Modification 2, the distance to the limit position M1 on the main route R1 that the autonomous mobile device 100 can approach from the obstacle OB is defined as r1, and the autonomous mobile device 100 moves while maintaining a distance of at least r1 from the obstacle OB. However, this is not limited to this. During movement on the detour route R2, the autonomous mobile device 100 may be allowed to approach the obstacle OB up to a distance r2 that is shorter than the distance r1 from the obstacle OB to the limit position M1 and does not cause contact between the obstacle OB and the autonomous mobile device 100. As a result, the determination of the detour direction as shown in FIG. 7 can also be applied to an obstacle OB positioned on the main route R1 in an orientation in which the longitudinal and lateral sides of the obstacle OB are not parallel to the Y-axis direction perpendicular to the main route R1, as shown in FIG. In FIG. 8, the width finding dimension W1 of the obstacle OB at the limit position M1 on the main path R1, which is a distance r1 away from the obstacle OB, is divided by the main path R1 to obtain a left width finding dimension w1l and a right width finding dimension w1r, which satisfy the relationship w1l<w1r.
In FIG. 8 , the autonomous mobile device 100 first determines whether there is anything on either the left or right side that would prevent the establishment of the detour route R2, based on map information showing the three-dimensional shape of the area around the obstacle OB, as in the embodiment shown in FIG. 7 . If there is anything on either the left or right side that would prevent the establishment of the detour route R2, the autonomous mobile device 100 determines the direction of the detour that does not prevent the establishment of the detour route R2. On the other hand, if there is nothing on either the left or right side that would prevent the establishment of the detour route R2, the autonomous mobile device 100 measures the width finding dimension w1 of the obstacle OB at a limit position M1 on the main route R1, a distance r1 away from the obstacle OB. The autonomous mobile device 100 then determines the left or right direction that corresponds to the shorter of the left width finding dimension w1l and the right width finding dimension w1r as the detour direction. In the example shown in the figure, the left finding width w1l is shorter than the right finding width w1r, so the autonomous mobile device 100 determines the left side as the detour direction.

As in the example shown in Figure 7, the autonomous mobile device 100 determines the primary sub-end point G1 of the avoidance route R2-1 and moves from the primary sub-start point S1 to the primary sub-end point G1. In this embodiment, the autonomous mobile device 100 is allowed to approach the obstacle OB up to a distance r2, which is shorter than the distance r1. Therefore, the avoidance route R2-1 is a route in which the autonomous mobile device 100 moves straight to the left (-Y direction) by a distance w1l while maintaining a distance of r2 or more from the obstacle OB, then changes direction by moving on an arc of radius r1, and, facing forward (+X direction), moves straight forward by a distance w1l while maintaining a distance of r2 or more from the obstacle OB.

7, a secondary sub-end point G2 of the return path R2-2 located on the main path R1 is determined, and the robot moves from the primary sub-end point G1, i.e., the secondary sub-start point S2, to the secondary sub-end point G2. The return path R2-2 moves straight forward (in the +X direction) by a distance w1l while maintaining a distance of r2 or more from the obstacle OB, then changes direction by moving on an arc of radius r1, and moves straight to the right (in the +Y direction) by a distance w1l while maintaining a distance of r2 or more from the obstacle OB.
In this way, the autonomous mobile device 100 determines the detour direction using the same algorithm as in Fig. 7, and sets a detour route R2 (avoidance route R2-1, return route R2-2) while setting a new start point and end point in the determined detour direction. As a result, as shown in Fig. 8, the autonomous mobile device 100 can travel around the obstacle OB, return to the main route R1, and reach the main end point G0.

<Modification 3>
9, the detour route R2 may be configured to include, in addition to the avoidance route R2-1 and the return route R2-2, a shift route R2-3 that connects the avoidance route R2-1 and the return route R2-2. By including the shift route R2-3 in the detour route R2, the autonomous mobile device 100 can detour around an obstacle OB that exists on the main route R1 even if the obstacle OB is long in the X direction along the main route R1. An example of setting the detour route R2 to accommodate such a case will be described with reference to the same figure.
Even in this case, the autonomous mobile device 100 first determines whether there is anything on either the left or right side that would prevent the establishment of the detour route R2, based on map information showing the three-dimensional shape around the obstacle OB. If there is anything on either the left or right side that would prevent the establishment of the detour route R2, the autonomous mobile device 100 determines the direction of the detour that does not prevent the establishment of the detour route R2. On the other hand, if there is nothing on either the left or right side that would prevent the establishment of the detour route R2, the autonomous mobile device 100 measures the width finding dimension w1 of the obstacle OB at a limit position M1 on the main route R1 that is a distance r1 from the obstacle OB, and thus the left width finding dimension w1l and the right width finding dimension w1r divided by the main route R1. The autonomous mobile device 100 then determines the left or right direction that corresponds to the shorter of the left width finding dimension w1l or the right width finding dimension w1r as the detour direction. In the example shown in the figure, the left finding width w1l is shorter than the right finding width w1r, so the autonomous mobile device 100 determines the left side as the detour direction.

The autonomous mobile device 100 then sets an avoidance route R2-1 using the same procedure as in the above embodiment and travels along the set avoidance route R2-1. Here, the autonomous mobile device 100 according to this embodiment does not set the primary sub-end point G1 of the avoidance route R2-1 as the secondary sub-start point S2 of the return route R2-2, but instead sets the primary sub-end point G1 of the avoidance route R2-1 as the tertiary sub-start point S3 of the shift route R2-3. This shift route R2-3 has the function of moving the secondary sub-start point corresponding to the return route parallel to the main route R1, along the traveling direction of the main route R1. The tertiary sub-end point G3 of the shift route R2-3 is set to a position parallel to the main route R1 from the tertiary sub-start point S3, that is, a position moved (translated) a predetermined distance from the tertiary sub-start point S3. In other words, the autonomous mobile device 100 sets (calculates) a shift route R2-3, which is a travel route from the current position, the primary sub-end point G1, to the tertiary sub-end point G3 set as described above. The autonomous mobile device 100 travels along the shift route R2-3 set in this manner, and when it reaches the tertiary sub-end point G3, it sets the tertiary sub-end point G3 as a new secondary sub-start point S2.

The autonomous mobile device 100 sets a secondary sub-end point G2 located on the main route R1 corresponding to the secondary sub-start point S2. The coordinates of the secondary sub-end point G2 are calculated using the same calculations as in Equations 7 and 8. The autonomous mobile device 100 sets a new return route R2-2 from the secondary sub-start point S2 to the secondary sub-end point G2, travels to the secondary sub-end point G2, and returns to the main route R1 while bypassing the obstacle OB.

In the case of Modification 3, the detouring procedure shown in the flowchart of Figure 5, in which the autonomous mobile device 100 of the above embodiment detouring around the obstacle OB, will be described. In the detouring procedure according to this modification, the autonomous mobile device 100 executes steps S200 to S226 of the flowchart of Figure 10.

Step S200: While the autonomous mobile device 100 is moving along the main route R1, which is set by a route setting unit such as a terminal or server and has a main starting point S0 and a main ending point G0, the autonomous mobile device 100 uses the range sensor 102 to measure the distance and direction to surrounding objects. If the obstacle detection unit 141 determines that an obstacle OB is located on the main route R1 based on the measurement results of the range sensor 102, the autonomous mobile control unit 143 stops the autonomous mobile device 100 at a limit position M1 on the main route R1, a distance r1 away from the obstacle OB.

Step S202: The detour control unit 142 sets the limit position M1 at which the vehicle is currently stopped as the primary secondary starting point S1.
Step S204: In this modified example, the detour control unit 142 determines whether there is anything on either the left or right side that would prevent the establishment of the detour route R2, based on map information showing the three-dimensional shape of the area around the obstacle OB. If there is anything on either the left or right side that would prevent the establishment of the detour route R2, the detour control unit 142 determines the direction of the detour that does not prevent the establishment of the detour route R2. On the other hand, if there is nothing on either the left or right side that would prevent the establishment of the detour route R2, the obstacle detection unit 141 measures the width finding dimension w1 of the obstacle OB at a limit position M1 on the main route R1 that is a distance r1 from the obstacle OB, and further measures the left width finding dimension w1l and the right width finding dimension w1r divided by the main route R1. The detour control unit 142 then determines the left or right direction that corresponds to the shorter of the left width finding dimension w1l and the right width finding dimension w1r as the detour direction. The detour control unit 142 then sets a primary secondary end point G1 at a position a distance w1/2 forward from the rear end of the obstacle OB in the X-axis direction along the main route R1, and a distance r1 (limit distance) toward the detour direction of the obstacle OB in the Y-axis direction that intersects (is perpendicular to) the main route R1.
Step S206: The detour control unit 142 calculates (sets) an avoidance route R2-1 corresponding to the primary sub-start point S1 and the primary sub-end point G1 set in steps S114 and S116.
Step S208: The autonomous movement control unit 143 controls the autonomous mobile device 100 to move on the avoidance route R2-1 set in step S118.

Step S210: The detour control unit 142 sets the primary sub-end point G1 as the tertiary sub-end point G3 in advance to set a shift route R2-3 so as to more reliably avoid the obstacle OB.
Step S212: In this embodiment, the length (predetermined distance) of the shift path R2-3 is set to a preset length. Therefore, the detour control unit 142 sets (moves) a tertiary secondary end point G3 that is located a distance w1/2 forward from the front end of the obstacle OB in the X-axis direction along the main path R1 and at a position that is the same as the tertiary secondary start point S3 in the Y-axis direction that intersects (is perpendicular to) the main path R1.
Step S214: The detour control unit 142 sets a shift route R2-3 corresponding to the secondary sub-start point S2 set in step S210 and the tertiary sub-end point G3 set in step S212.
Step S216: The autonomous movement control unit 143 controls the autonomous moving device 100 to move on the shift route R2-3 set in step S214.

Step S218: When the autonomous mobile device 100 completes movement along the shift route R2-3 and reaches the tertiary sub-end point G3, the detour control unit 142 proceeds to setting the return route R2-2. In setting the return route R2-2, the detour control unit 142 sets the primary sub-end point G1 where the autonomous mobile device 100 is located as the secondary sub-start point S2.
Step S220: The detour control unit 142 sets the secondary secondary end point G2 to a position on the main route R1 that is a distance w1/2 forward from the front end of the obstacle OB in the X-axis direction along the main route R1 and that is the same as the primary secondary starting point S1 in the Y-axis direction that intersects (is perpendicular to) the main route R1.
Step S222: The detour control unit 142 sets a return route R2-2 corresponding to the secondary sub-start point S2 and the secondary sub-end point G2 set in steps S218 and S220.

Step S224: The autonomous movement control unit 143 controls the autonomous moving device 100 to move along the return route R2-2 set in step S222.

Step S226: The autonomous mobile device 100 completes movement along the return route R2-2 and reaches the secondary sub-endpoint (G2) on the main route R1. In this way, the autonomous mobile device 100 returns to the main route R1 by completing the detour procedure, and moves to the main end point G0 by following the main route R1 in the same way as it did until it reached the limit position M1.

By following the above steps, it is possible to return from a point on the main route R1 to a point on the main route R1 again while avoiding an obstacle OB that exists on the main route R1, and this can be performed by an autonomous mobile device 100 that does not have advanced processing capabilities, and the autonomous mobile device 100 can be equipped with a simple route resetting function.
Here, in Modification Example 3, the length (predetermined distance) of the shift path R2-3 is a preset length. However, this is not limiting and the length may be set based on the distance r1, such as a distance obtained by multiplying the distance r1 from the limit position M1 to the obstacle OB by a predetermined coefficient. Alternatively, the length of the shift path R2-3 may be set based on the width dimension w1 of the obstacle OB. Additionally, the length (predetermined distance) of the shift path R2-3 may be set to a length that is not closer than the distance r1 from the obstacle OB to the limit position M1 or the distance r2 at which the autonomous mobile device 100 does not come into contact with the obstacle OB when moving along the return path R2-2 using the range sensor 102 and the obstacle detection unit 141. For example, the autonomous mobile device 100 may set the length (predetermined distance) of the shift path R2-3 to the distance from the tertiary sub-starting point S3 to the point at which the obstacle detection unit 141 detects, based on the measurement results of the range sensor 102, that there is no obstacle OB on the main path R1 located directly to the autonomous mobile device 100 (on the right (+Y) side or the left (-Y) side). In the above example, the angle (detection angle) at which it is detected that no obstacle OB is present on the main route R1 is directly to the side of the autonomous mobile device 100. However, the detection angle is not limited to this. It may also be an angle at which the angle formed with a line extending in the X-axis direction passing through the autonomous mobile device 100 is 60° or more (90° or less). In this case, the length (predetermined distance) of the shift route R2-3 is the distance traveled by the autonomous mobile device 100 from the tertiary secondary starting point S3 until it is detected that no obstacle OB is present at the point where the main route R1 intersects with a line at which the autonomous mobile device 100 forms an angle of 60° or more (90° or less) with the X-axis direction. In this case, instead of steps S212 to S216 in the above detour procedure, the autonomous mobile control unit 143 may be configured to move the autonomous mobile device 100 forward (in the +X direction) until the obstacle detection unit 141 detects an obstacle OB on the main route R1 in the detection direction based on the measurement results of the range measurement sensor 102. In this case, the obstacle detection unit 141 detects the obstacle OB, and the position where the autonomous mobile device 100 stops becomes the tertiary sub-end point G3.

As described above, even if the obstacle OB is long along the main route R1, the detour route R2 includes the shift route R2-3, allowing the autonomous mobile device 100 to detour around the obstacle OB on the main route R1 even if the obstacle OB is long in the X direction along the main route R1.

In the cases of Figures 7 to 9, the primary sub-endpoint G1, secondary sub-endpoint G2, tertiary sub-endpoint G3, etc. may also be set so that margin distances α, β, etc. are included between the autonomous mobile device 100 and the obstacle OB to better prevent contact between the autonomous mobile device 100 and the obstacle OB.

As described above, the embodiment and modifications 1 to 3 according to the present invention have been described. However, the present invention is not limited to this, and various modifications can be made to the embodiment and modifications 1 to 3 described above.
For example, if a new obstacle other than obstacle OB is detected on detour route R2 (avoidance route R2-1 or return route R2-2), the detour control unit 142 may treat the detour route R2 as a tentative main route in response to the new obstacle and set up a further detour route, thereby controlling the autonomous mobile device 100 to detour around the new obstacle and return to the detour route R2.

Furthermore, the map based on the map information stored in the map information storage unit 151 may, for example, represent a three-dimensional shape of the interior of a building FL having a multi-story structure. In this case, the main route R1 along which the autonomous mobile device 100 should travel may be set to pass through a plurality of different floors. When the main route R1 is set to pass through a plurality of different floors in this manner, a route setting unit of a terminal, a server, or the like may divide the main route R1 by floor, set a floor-corresponding main starting point and a floor-corresponding main ending point on the corresponding floor for each divided main route R1 (divided main route), and then set a detour route for each floor.
For example, when heading from the main starting point S0 on the second floor to the main destination G0 on the fifth floor, the elevator landing on the second floor is defined as S1, the elevator landing on the fifth floor as S2 (= G1), and the main destination G0 on the fifth floor as G2, and the main route is divided as S0 → S1 → S2 (G1) → G0 (G2).

In addition, a program for realizing the functions of the autonomous mobile device 100 described above may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be loaded into a computer system and executed to perform processing as the autonomous mobile device 100 described above. Here, "loading a program recorded on a recording medium into a computer system and executing it" includes installing the program into a computer system. "Computer system" here includes hardware such as an OS and peripheral devices. A "computer system" may also include multiple computer devices connected via a network including communication lines. Recording media also include internal or external recording media accessible from a distribution server for distributing the program.

100: Autonomous mobile device, 101: Communication unit, 102: Range sensor, 103: Mobile mechanism unit, 104: Control unit, 105: Memory unit, 141: Obstacle detection unit, 142: Detour control unit, 143: Autonomous mobile control unit, 151: Map information memory unit

Claims (7)

a map information storage unit that stores a map showing the three-dimensional shape of a moving space in which the autonomous moving device moves;
an obstacle detection unit that detects obstacles present ahead of the autonomous mobile device on a main route that is set by a route setting unit that sets a route for the autonomous mobile device to travel from the starting point to the end point based on the designation of a main starting point and a main end point on the route, based on the designation of a main starting point and a main end point on the route;
a detouring control unit that sets a predetermined position on the main route in front of an obstacle detected by the obstacle detection unit as a primary sub-starting point, and sets a position that is a first distance from the obstacle in a direction intersecting the main route and a second distance from the primary sub-starting point along the traveling direction of the main route as a primary sub-end point, and calculates a primary sub-route using the set primary sub-starting point and primary sub-end point ,
the obstacle detection unit measures a width dimension of the obstacle at the predetermined position,
The detouring control unit
determining an avoidance direction of the autonomous mobile device in a direction intersecting the main route based on the width dimension of the obstacle measured by the obstacle detection unit;
The second distance is set to include a distance based on the width dimension and a limit distance that the autonomous mobile device can approach the obstacle on the main route.
Routing device. The detouring control unit
setting the primary sub-end point as a secondary sub-start point, and setting a position on the main route that is further moved a third distance along the traveling direction of the main route from the position on the main route to which the secondary sub-start point corresponds as a secondary sub-end point;
The route setting device according to claim 1 , further comprising: a step of calculating a secondary sub-route based on the secondary sub-start point and the secondary sub-end point that have been set. The detouring control unit
2. The route setting device according to claim 1, wherein the first distance is set to include a predetermined margin distance . The detouring control unit
The route setting device according to claim 2 , wherein the third distance is set to include a predetermined margin distance. The detouring control unit
if it is detected that an obstacle exists on the set secondary sub-route, set a position moved a fourth distance from a secondary sub-start point of the secondary sub-route in a direction parallel to the traveling direction of the main route as a tertiary sub-end point, and calculate a tertiary sub-route based on the secondary sub-start point and the tertiary sub-end point;
3. The route setting device according to claim 1, wherein the tertiary sub-end point is reset as a secondary sub-start point, a position on the main route that is a fifth distance from the position on the main route corresponding to the reset secondary sub-start point along the direction of travel of the main route is reset as a secondary end point, and the secondary sub-route is recalculated using the reset secondary sub-start point and secondary end point. an obstacle detection step in which a route setting unit that sets a route for the autonomous mobile device to travel from a starting point to an end point based on a starting point and an end point specified on a map that is stored in a map information storage unit and shows the three-dimensional shape of a mobile space in which the autonomous mobile device travels detects an obstacle that exists ahead of the autonomous mobile device on a main route that has been set based on the specification of a main starting point and a main end point on the route;
a detour control step of setting a predetermined position on the main route just before the obstacle detected in the obstacle detection step as a primary sub-start point, setting a position that is a first distance from the obstacle in a direction intersecting the main route and that is a second distance from the primary sub-start point along the traveling direction of the main route as a primary sub-end point, and calculating a primary sub-route using the set primary sub-start point and primary sub-end point ,
In the obstacle detection step, a width dimension of the obstacle is measured at the predetermined position,
In the detouring control step,
determining an avoidance direction of the autonomous mobile device in a direction intersecting the main path based on the width dimension of the obstacle measured in the obstacle detection step;
The second distance is set to include a distance based on the width dimension and a limit distance that the autonomous mobile device can approach the obstacle on the main route.
Routing methods. Computer,
an obstacle detection unit that detects obstacles present ahead of the autonomous mobile device on a main route that is set by a route setting unit that sets a route for the autonomous mobile device to travel from a starting point to an end point based on a starting point and an end point specified on a map that is stored in a map information storage unit and shows the three-dimensional shape of a mobile space in which the autonomous mobile device travels, based on the designation of a main starting point and a main end point on the route;
a detour control unit that sets a predetermined position on the main route in front of an obstacle detected by the obstacle detection unit as a primary sub-start point, sets a position that is a first distance from the obstacle in a direction intersecting the main route and that is a second distance from the primary sub-start point along the traveling direction of the main route as a primary sub-end point, and calculates a primary sub-route using the set primary sub-start point and primary sub-end point ,
the obstacle detection unit measures a width dimension of the obstacle at the predetermined position,
The detouring control unit
determining an avoidance direction of the autonomous mobile device in a direction intersecting the main route based on the width dimension of the obstacle measured by the obstacle detection unit;
The second distance is set to include a distance based on the width dimension and a limit distance that the autonomous mobile device can approach the obstacle on the main route.
program.