JP2023008172A - Robot device, robot system, control method for robot device, and computer program - Google Patents

Abstract

An object of the present invention is to appropriately update a cost map used to generate a route along which a robot device moves. [Solution] A cost map used to generate a path along which a robot device moves, which includes cost values, presence or absence of movement of obstacles, and generation time for each section into which a two-dimensional space in which the robot device moves is divided. A cost map information storage unit that stores cost map information constituting the cost map shown in the figure, and the presence or absence of movement of obstacles in the cost map information stored in the cost map information storage unit and the elapsed time from the generation time to the current time. and a cost map control unit that updates the cost map information based on at least one of the cost map information. [Selection diagram] Figure 1

Description

The present invention relates to a robot device, a robot system, a control method for a robot device, and a computer program.

Conventionally, for example, Non-Patent Document 1 is known as a technique for controlling a robot device that runs autonomously. Non-Patent Document 1 discloses open source software “ROS (Robot Operating System)” for realizing autonomous running of a robot device. The basic functions of ROS include a self-position estimation function that estimates the current position of the robot device using a LiDAR (Light Detection and Ranging) device installed in the robot device, and a current An autonomous travel control function is provided that generates a route from a position to a destination and autonomously travels a robot device along the route.

Also, in Non-Patent Document 1, the robot device uses information called a cost map when generating a route from the current position to the destination. A cost map is a map in which a two-dimensional space in which a robot moves is divided into grids and a cost value is shown for each section divided by the grid. A cost map is generated by combining multiple layers of information. For example, a pre-made static layer (StaticLayer), a dynamically generated layer (ObstacleLayer) based on the measurement results of the LiDAR device, and the cost around obstacles based on the information in those layers. There is a layer that inflates the value (InflationLayer). In general, a path planner provided in a robot device generates a route such that the total sum of cost values of all sections passed from the current position to the destination is minimized. Therefore, a route is generated by preferentially selecting a section with a small cost value over a section with a large cost value.

Further, in Non-Patent Document 1, when the robot device fails to generate a route from the current position to the destination, it executes a preset recovery behavior (Recovery Behavior). An example of recovery operation is shown below.
(Step 1) The robot device clears the cost values of the partitions located at a certain distance or more from itself (Conservative Reset).
(Step 2) The robot rotates 360 degrees and updates the cost map (Clearing Rotation).
(Step 3) The robot device clears the cost value of the section located at a certain distance or more from itself (Aggressive Reset). By setting the distance here to a value smaller than that in step 1, the range for clearing the cost value becomes wider than in step 1.
(Step 4) The robot rotates 360 degrees and updates the cost map (Clearing Rotation).
(Step 5) The robot device interrupts path generation and notifies the user (Aborted).

“ROS (Robot Operating System)”, Internet <URL: http://wiki.ros.org/>

However, with the technology described in Non-Patent Document 1, in an environment where there are many blind spots from the robot device due to reasons such as the presence of many obstacles, dynamic detection is performed based on the measurement results of the LiDAR device. There was a possibility that the cost map was not updated properly, such as the cost value of blind spots in the generated layer (ObstacleLayer) was not updated. As a result, there are cases where the optimum route cannot be generated or route generation fails. Also, during the recovery operation, if the cost value at a certain distance from the robot device is unconditionally cleared, the cost value related to static obstacles is also cleared, so it is possible that the optimal path cannot be generated. had a nature.

SUMMARY OF THE INVENTION The present invention has been made in consideration of such circumstances, and an object of the present invention is to appropriately update a cost map used to generate a route along which a robot device moves.

(1) One aspect of the present invention is a cost map used to generate a path along which the robot device moves, in a robot device that runs autonomously, wherein a two-dimensional space along which the robot device moves is divided. a cost map information storage unit for storing cost map information constituting a cost map showing a cost value for each section, presence or absence of movement of an obstacle, and generation time; and cost map information stored in the cost map information storage unit. and a cost map control unit that updates the cost map information based on at least one of presence/absence of movement of an obstacle in the robot and the elapsed time from generation time to current time.
(2) In one aspect of the present invention, the cost map control unit determines, as a target for updating the cost map information, a section in which an obstacle has moved and the elapsed time exceeds a predetermined time. It is a robotic device.
(3) In one aspect of the present invention, the cost map information has information on the moving speed of obstacles for each section, and the cost map control unit controls that the moving speed of obstacles in the cost map information is a predetermined speed. The robot apparatus according to any one of the above (1) and (2), wherein a section in which the elapsed time exceeds a predetermined time period is determined as a target for updating the cost map information.
(4) An aspect of the present invention is the robot apparatus according to any one of (1) to (3) above, wherein the cost map control unit reduces a cost value for a section targeted for update of cost map information. .
(5) In one aspect of the present invention, the cost map information has information on the moving speed of obstacles for each section, and the cost map control unit controls the moving speed of obstacles in the cost map information and the progress The robot apparatus according to (4) above, wherein the amount of reduction in the cost value is changed based on at least one of time and time.
(6) An aspect of the present invention is the above (1) to (5), wherein the cost map control unit clears the cost value and presence/absence of movement of obstacles for the target section for updating the cost map information. Any robotic device.
(7) According to one aspect of the present invention, the cost map control unit updates the cost map information during a recovery operation in the event that generation of a route along which the robot device moves has failed. It is a robotic device.
(8) In one aspect of the present invention, the cost map information includes information on the moving speed of obstacles for each section, and the cost map control unit is configured such that the distance from the robot device is a predetermined distance or more, and The robot apparatus according to (7) above, wherein the section in which the moving speed of the obstacle in the cost map information exceeds a predetermined speed is determined as an update target of the cost map information.

(9) In one aspect of the present invention, in a robot system for controlling the movement of a robot device, a cost map used to generate a route along which the robot device moves, the two-dimensional space along which the robot device moves is: a cost map information storage unit for storing cost map information constituting a cost map showing a cost value, presence or absence of movement of an obstacle, and creation time for each partition divided; and a cost map information storage unit for storing cost map information A robot system comprising: a cost map control unit that updates cost map information based on at least one of presence/absence of movement of an obstacle in the cost map information and elapsed time from generation time to current time.

(10) One aspect of the present invention is a control method for a robot device that runs autonomously, wherein the robot device is a cost map used to generate a route along which the robot device moves, and A cost map information storing step of storing cost map information constituting a cost map showing the cost value, the presence or absence of movement of the obstacle, and the generation time for each section into which the two-dimensional space in which the obstacle moves is divided, in the cost map information storage unit. Then, the robot device stores the cost map based on at least one of the presence or absence of movement of the obstacle in the cost map information stored in the cost map information storage unit and the elapsed time from the creation time to the current time. and a cost map control step of updating the information.

(11) One aspect of the present invention is a cost map used by a computer of a robot device that autonomously travels to generate a route along which the robot device moves, wherein the two-dimensional space along which the robot device moves is divided. a cost map information storage step of storing, in a cost map information storage unit, cost map information constituting a cost map showing a cost value, the presence or absence of movement of an obstacle, and a generation time for each divided section; a cost map control step of updating the cost map information based on at least one of the presence or absence of movement of the obstacle in the cost map information stored in the cost map information and the elapsed time from the generation time to the current time. is a computer program for

ADVANTAGE OF THE INVENTION According to this invention, the effect that the cost map used for the generation|occurence|production of the path|route which a robot apparatus moves can be updated appropriately is acquired.

1 is a block diagram showing a configuration example of a robot device according to a first embodiment; FIG. It is a figure which shows the structural example of the cost map information which concerns on one Embodiment. 4 is a flow chart showing an example of a procedure of a control method for a robot device according to an embodiment; FIG. 7 is a block diagram showing a configuration example of a robot apparatus according to a second embodiment; FIG. 11 is a block diagram showing a configuration example of a robot system according to a third embodiment; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First embodiment]
FIG. 1 is a block diagram showing a configuration example of a robot apparatus according to the first embodiment. In FIG. 1 , the robot device 1 includes a camera section 11 , a LiDAR section 12 , a traveling section 13 , a control section 20 and a storage section 30 . The control unit 20 has a self-position estimation function (self-position estimation unit 21), an autonomous travel control function (autonomous travel control unit 22), and a cost map control function (cost map control unit 23). The storage unit 30 stores map information 31 and cost map information 32 .

The camera unit 11 captures an image of the surroundings of the robot device 1 . The LiDAR unit 12 uses the LiDAR technology to measure the distance (point group information) to objects existing around the robot device 1 and the like. The traveling unit 13 includes a traveling mechanism that causes the robot device 1 to travel, a drive device that drives the traveling mechanism, and the like, and causes the robot device 1 to travel according to commands from the autonomous travel control unit 22 .

The control unit 20 controls the robot device 1 . Each function of the control unit 20 is realized by the control unit 20 having computer hardware such as a CPU (Central Processing Unit) and memory, and the CPU executing a computer program stored in the memory. . The controller 20 may be configured using a general-purpose computer device, or may be configured as a dedicated hardware device. The storage unit 30 stores various information.

The self-position estimation unit 21 estimates the current position of the robot apparatus 1 by matching the point cloud information measured by the LiDAR unit 12 with the map information 31 using SLAM (Simultaneous Localization and Mapping) technology. The map information 31 is map information including a range in which the robot device 1 is scheduled to travel.

When the user or application designates the destination of the robot device 1, the autonomous travel control unit 22 generates a route from the current position to the destination using the cost map information 32 by path planning technology. The cost map information 32 is information forming a cost map.

As an example of the autonomous driving control method according to the present embodiment, the autonomous driving control unit 22 minimizes the sum of the cost values of all sections passed from the current position to the destination based on the cost map information 32. Generate a route so that The autonomous travel control unit 22 issues a command to the travel unit 13 to make the robot device travel along the route.

The ROS disclosed in Non-Patent Document 1, for example, may be applied to the self-position estimation unit 21 and the autonomous driving control unit 22 .

The cost map control unit 23 generates and updates cost map information 32 . The cost map information 32 is a cost map used to generate a route along which the robot device 1 moves, and includes a cost value for each partition into which the two-dimensional space along which the robot device 1 moves is divided, and the presence or absence of movement of obstacles. and generation time.

FIG. 2 is a diagram showing a configuration example of cost map information according to the present embodiment. As illustrated in FIG. 2, the cost map information 32 stores partition information (X-axis partition, Y-axis partition), cost values, movement speeds, and generation times in association with each other. The range of the partition in the two-dimensional space is specified by the X-axis partition and the Y-axis partition, which are partition information. The smaller the cost value of a section, the more likely that section will be selected as a route. The moving speed associated with the partition is information indicating whether or not an obstacle existing in the partition is moving, and is the moving speed of the obstacle. If the moving speed of the obstacle is 0, it can be determined that the obstacle does not move. If the moving speed of the obstacle is not 0, it can be determined that the obstacle is moving. The time of creation associated with a parcel is the time when the entry for that parcel was created for the cost map information 32 .

In the example of FIG. 2, information such as cost values is held in a tabular format for convenience, but information such as cost values may be held as a two-dimensional occupancy grid map as implemented by ROS. In the two-dimensional occupation grid map, each pixel is associated with information such as a cost value and held. For example, in a two-dimensional occupancy grid map, the cost value at each pixel is represented by 256 levels of grayscale values from 0 to 255.

In FIG. 2, for example, the entry number “A” is for the section of the X-axis section “0.00 m to 0.05 m” and the Y-axis section “0.00 m to 0.05 m”, Since no obstacles existed in the section, the cost value "0", the movement speed "0.0 km/h", and the generation time "08:00:00" are set.

In addition, entry number "B" indicates that the section of the X-axis section "range from 10.00m to 10.05m" and the section of the Y-axis section "range from 10.00m to 10.05m" Since the object "person" exists, the cost value "255", the moving speed "4.0 km/h", and the generation time "08:00:10" are set.

In addition, entry number "C" moves to the section of the X-axis section "range from 20.00m to 20.05m" and the section of the Y-axis section "range from 20.00m to 20.05m". A cost value of "255", a moving speed of "10.0 km/h", and a generation time of "8:00:20" are set because a fast-moving obstacle exists.

Next, with reference to FIG. 3, the procedure of the control method for the robot apparatus according to this embodiment will be described. FIG. 3 is a flow chart showing an example of the procedure of the control method for the robot apparatus according to this embodiment.

(Step S<b>1 ) The robot device 1 generates cost map information 32 .

An example of a method of generating cost map information will be described below.

(Example 1 of cost map information generation method)
In example 1 of the cost map information generation method, the cost map control unit 23 generates cost map information 32 based on the measurement result of the LiDAR unit 12 . The cost map control unit 23 detects the direction and distance of the obstacle from the robot device 1 based on the point cloud information of the measurement results of the LiDAR unit 12 . The cost map control unit 23 detects the position of the obstacle from the detection result of the direction and distance of the obstacle and the current position of the robot device 1 . A high cost value (eg, "255") is set for the segment containing the location where the obstacle was detected. On the other hand, a low cost value (eg, "0") is set for a section that does not include the location where the obstacle was detected.

The cost map control unit 23 recognizes the time change of the cost value in the cost map information 32 to determine whether the obstacle existing in the section is a static obstacle or a dynamic obstacle. to decide. Further, the cost map control unit 23 detects the block in which the center of the obstacle exists by referring to the cost values of the surrounding blocks, and detects the change in the block in which the center of the obstacle exists to detect the obstacle. The movement distance and the movement time required for the movement of the center of the object are calculated. Then, the cost map control unit 23 calculates the moving speed of the obstacle by dividing the moving distance by the moving time. The cost map control unit 23 sets the calculated moving speed for the section including the position where the obstacle is detected.

The cost map control unit 23 sets the time at which the cost value and the moving speed are registered in the cost map information 32 as the generation time for the section registered in the cost map information 32 .

(Example 2 of cost map information generation method)
In example 2 of the cost map information generation method, the cost map control unit 23 sets the moving speed of the obstacle based on the image captured by the camera unit 11 . The cost value is set based on the measurement result of the LiDAR unit 12 in the same manner as in example 1 of the cost map information generation method described above.

The cost map control unit 23 recognizes whether or not the image captured by the camera unit 11 includes an object (obstacle). For example, SSD (Single Shot MultiBox Detector) and Yolo (You only live once) can be applied as the object recognition technology. The cost map control unit 23 sets a predetermined moving speed according to the type of the recognized object for the section including the position where the object was detected. For example, the moving speed "4.0 km/h" when the obstacle is a person, the moving speed "10.0 km/h" when the obstacle is a bicycle, etc. are stored in the robot device 1 in advance.

The above is the description of the example of the method of generating the cost map information.

(Step S2) The robot device 1 determines whether to update the cost map information 32 or not. If the cost map information 32 is to be updated, proceed to step S3; otherwise, step S2 is maintained.

(Step S<b>3 ) The robot device 1 updates the cost map information 32 . After that, the process returns to step S2.

An example of how to update the cost map information is described below.

(Example 1 of how to update cost map information)
In example 1 of the cost map information update method, the cost map control unit 23 updates the cost map information 32 when an obstacle has moved or when the elapsed time from the generation time to the current time exceeds a predetermined time. The cost map control unit 23 recognizes the presence or absence of movement of the obstacle from the moving speed on the cost map information 32 . The cost map control unit 23 calculates the difference between the current time and the generation time on the cost map information 32 to obtain the elapsed time from the generation time to the current time (hereinafter simply referred to as the elapsed time).

For example, the cost map control unit 23 may determine a block whose elapsed time exceeds a predetermined time as a target for updating cost map information. For example, the cost map control unit 23 may determine, as a target for updating the cost map information, a section in which an obstacle has moved and the elapsed time has exceeded a predetermined time. In example 1 of the cost map information updating method, the cost map information 32 only needs to have information indicating whether or not an obstacle is moving, and does not have to have a moving speed.

The cost map control unit 23 reduces the cost value for the section targeted for updating the cost map information. For example, the cost map control unit 23 may reduce the cost value of the section targeted for update of the cost map information by a constant reduction width. For example, the cost map control unit 23 may clear the cost value and presence/absence of movement of the obstacle (set the cost value to "0" and no movement) for the section for which the cost map information is to be updated.

(Example 2 of how to update cost map information)
In example 2 of the cost map information update method, the cost map control unit 23 updates the cost map information 32 when the moving speed of the obstacle exceeds a predetermined speed and the elapsed time exceeds a predetermined time. The cost map control unit 23 recognizes the moving speed on the cost map information 32 . The cost map control unit 23 obtains the elapsed time from the difference between the current time and the generation time on the cost map information 32 . The cost map control unit 23 determines a block in which the moving speed of the obstacle exceeds the predetermined speed and the elapsed time exceeds the predetermined time as targets for updating the cost map information.

The cost map control unit 23 reduces the cost value for the section targeted for updating the cost map information. For example, the cost map control unit 23 may reduce the cost value of the section targeted for update of the cost map information by a constant reduction width. For example, the cost map control unit 23 may change the reduction range of the cost value based on at least one of the moving speed of the obstacle and the elapsed time. For example, the greater the movement speed, the greater the decrease in the cost value. For example, the greater the elapsed time, the greater the decrease in the cost value. For example, the cost map control unit 23 may clear the cost value and the movement speed (set the cost value to "0" and the movement speed to "0") for the section for which the cost map information is to be updated.

(Example 3 of how to update cost map information)
In example 3 of the cost map information update method, the cost map control unit 23 updates the cost map information 32 during a recovery operation when generation of the path along which the robot device 1 moves has failed. When the robot device 1 fails to generate a route from the current position to the destination, it performs a preset recovery operation. When executing this recovery operation, the cost map control unit 23 updates the cost map information 32 .

For example, when performing the first recovery operation, the cost map control unit 23 determines that the distance from the robot device 1 is at least a predetermined distance and the moving speed of the obstacle on the cost map information 32 exceeds the predetermined speed. Clear the cost value and movement speed of the zone (set cost value to '0' and movement speed to '0'). Then, during the second recovery operation, the same cost map information update processing as that for the first time is performed, but the prescribed distance and the prescribed speed are smaller than those for the first recovery operation. As a result, during the second recovery operation, the range cleared in the cost map can be expanded more than during the second recovery operation.

The above is the description of an example of the method of updating the cost map information.

According to the first embodiment, the cost map is updated in consideration of the presence or absence of movement of obstacles, the movement speed, the elapsed time, and the like. Even in an environment where there are many places where the . This provides an effect of contributing to the generation of the optimum route.

Also, during the recovery operation, by clearing the cost value and the moving speed of the section in which the distance from the robot device 1 is equal to or greater than the predetermined distance and the moving speed of the obstacle in the cost map information 32 exceeds the predetermined speed, Cost values associated with physical obstacles are not cleared. As a result, the cost map used to generate the path along which the robot device 1 moves can be appropriately updated during the recovery operation. As a result, the effect of contributing to the generation of the optimum path is obtained during the recovery operation.

[Second embodiment]
FIG. 4 is a block diagram showing a configuration example of a robot device according to the second embodiment. In FIG. 4, parts corresponding to those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted. While the robot device 1 according to the first embodiment shown in FIG. Therefore, the robot apparatus 1a sets the cost map information 32 based on the point group information measured by the LiDAR unit 12 by the above-described example 1 of the cost map information generation method.

In the second embodiment, as in the first embodiment, it is possible to appropriately update the cost map used to generate the path along which the robot apparatus 1a moves, thereby generating the optimum path. A contributing effect is obtained.

[Third Embodiment]
FIG. 5 is a block diagram showing a configuration example of a robot system according to the third embodiment. In FIG. 5, parts corresponding to those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted. In the third embodiment, a server device 3 is provided, and the functions of the robot device 1 shown in FIG. In the functional distribution example of FIG. 5, the robot device 1b has mainly hardware functions such as the camera unit 11, the LiDAR unit 12, and the traveling unit 13, while the server device 3 has the control unit 20 and the storage unit 30. Arrange mainly software functions such as

The robot device 1 b includes a camera section 11 , a LiDAR section 12 , a traveling section 13 and a communication section 40 . The server device 3 includes a control unit 20 (self-position estimation unit 21, autonomous driving control unit 22, cost map control unit 23), a storage unit 30 (map information 31, cost map information 32), and a communication unit 50. . The communication unit 40 of the robot device 1b and the communication unit 50 of the server device 3 communicate via the communication network NW. The communication network NW may consist of wired lines or wireless lines, or may consist of wired lines and wireless lines. For example, the communication unit 40 of the robot device 1b may be connected to the wireless line of the communication network NW, while the communication unit 50 of the server device 3 may be connected to the wired line of the communication network NW.

The server device 3 receives the captured image of the camera unit 11 and the point cloud information of the measurement result of the LiDAR unit 12 from the robot device 1b. The cost map control unit 23 of the server device 3 generates cost map information 32 based on the information received from the robot device 1b, as in the first embodiment described above. Also, the cost map control unit 23 of the server device 3 updates the cost map information 32 in the same manner as in the first embodiment described above. Based on the cost map information 32, the autonomous driving control unit 22 of the server device 3 generates a route so that the sum of the cost values of all sections passed from the current position to the destination is minimized. The autonomous travel control unit 22 of the server device 3 issues a command to the traveling unit 13 of the robot device 1b to cause the robot device to travel along the route.

Note that the method of distributing the functions to the robot device 1b and the server device 3 is not limited to the example of FIG. 5, and various modifications are conceivable. For example, the self-position estimation unit 21 may be arranged in the robot device 1b, and the estimation result of the current position of the robot device 1b by the self-position estimation unit 21 may be sent from the robot device 1b to the server device 3.

Each function of the server device 3 is realized by the server device 3 having computer hardware such as a CPU and memory, and the CPU executing a computer program stored in the memory. The server device 3 may be configured using a general-purpose computer device, or may be configured as a dedicated hardware device. For example, the server device 3 may be configured using a server computer connected to a communication network such as the Internet. Further, each function of the server device 3 may be realized by cloud computing. The server device 3 may be implemented by a single computer, or may be implemented by distributing the functions of the server device 3 to a plurality of computers.

Also in the third embodiment, as in the first embodiment, it is possible to appropriately update the cost map used to generate the route along which the robot apparatus 1b moves, thereby generating the optimum route. A contributing effect is obtained.

The robot apparatus according to each of the above-described embodiments may autonomously travel indoors or may autonomously travel outdoors. As the robot apparatus according to each of the embodiments described above, for example, there is a robot apparatus that runs inside an information processing facility such as a data center.

As a result, for example, it will be possible to improve the overall service quality of various services that use robotic devices. development, promotion of sustainable industrialization, and expansion of innovation."

Although the embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like are included within the scope of the present invention.

Alternatively, a computer program for realizing the functions of the devices described above may be recorded in a computer-readable recording medium, and the program recorded in the recording medium may be read and executed by the computer system. Note that the “computer system” referred to here may include hardware such as an OS and peripheral devices.
In addition, "computer-readable recording medium" includes writable nonvolatile memories such as flexible discs, magneto-optical discs, ROMs and flash memories, portable media such as DVDs (Digital Versatile Discs), and computer system built-in media. A storage device such as a hard disk that

Furthermore, "computer-readable recording medium" means a volatile memory (e.g., DRAM (Dynamic Random Access Memory)), which holds the program for a certain period of time, is also included.
Further, the above program may be transmitted from a computer system storing this program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in a transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the program may be for realizing part of the functions described above. Further, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

Reference Signs List 1, 1a, 1b... robot device, 3... server device, 11... camera unit, 12... LiDAR unit, 13... traveling unit, 20... control unit, 21... self-position estimation unit, 22... autonomous travel control unit, 23... Cost map control unit 30 Storage unit 31 Map information 32 Cost map information 40, 50 Communication unit NW Communication network

Claims (11)

In a robot device that runs autonomously,
A cost map used to generate a path along which the robot device moves, showing a cost value, presence or absence of obstacle movement, and generation time for each section into which a two-dimensional space along which the robot device moves is divided. a cost map information storage unit that stores cost map information that constitutes a cost map;
Cost map control for updating the cost map information based on at least one of the presence or absence of movement of obstacles in the cost map information stored in the cost map information storage unit and the elapsed time from the creation time to the current time. Department and
A robotic device comprising: The cost map control unit determines a section in which the obstacle has moved and the elapsed time exceeds a predetermined time as a target for updating the cost map information.
The robot device according to claim 1. The cost map information has information on the moving speed of obstacles for each section,
The cost map control unit determines a section in which the moving speed of the obstacle in the cost map information exceeds a predetermined speed and the elapsed time exceeds a predetermined time as a target for updating the cost map information.
The robot apparatus according to claim 1 or 2. The cost map control unit reduces the cost value for the target section for updating the cost map information,
The robot apparatus according to any one of claims 1 to 3. The cost map information has information on the moving speed of obstacles for each section,
The cost map control unit changes the reduction range of the cost value based on at least one of the moving speed of the obstacle in the cost map information and the elapsed time.
The robot device according to claim 4. The cost map control unit clears the cost value and the presence or absence of movement of obstacles for the target section for updating the cost map information.
The robot device according to any one of claims 1 to 5. The cost map control unit updates the cost map information during a recovery operation when generation of a route along which the robot device moves has failed.
The robot device according to claim 1. The cost map information has information on the moving speed of obstacles for each section,
The cost map control unit determines, as an update target of the cost map information, a section whose distance from the robot device is equal to or greater than a predetermined distance and where the moving speed of the obstacle in the cost map information exceeds a predetermined speed.
The robot device according to claim 7. In a robot system that controls the movement of a robot device,
A cost map used to generate a path along which the robot device moves, showing a cost value, presence or absence of obstacle movement, and generation time for each section into which a two-dimensional space along which the robot device moves is divided. a cost map information storage unit that stores cost map information that constitutes a cost map;
Cost map control for updating the cost map information based on at least one of the presence or absence of movement of obstacles in the cost map information stored in the cost map information storage unit and the elapsed time from the creation time to the current time. Department and
A robot system with A control method for a robot device that runs autonomously,
The robot device is a cost map used to generate a path along which the robot device moves, and a cost value and presence/absence of movement of obstacles are provided for each section into which the two-dimensional space in which the robot device moves is divided. a cost map information storage step of storing cost map information constituting a cost map showing generation time in a cost map information storage unit;
The robot device stores the cost map information based on at least one of the presence or absence of movement of the obstacle in the cost map information stored in the cost map information storage unit and the elapsed time from the generation time to the current time. an updating cost map control step;
A method of controlling a robotic device comprising: In the computer of the robot device that runs autonomously,
A cost map used to generate a path along which the robot device moves, showing a cost value, presence or absence of obstacle movement, and generation time for each section into which a two-dimensional space along which the robot device moves is divided. a cost map information storage step of storing cost map information constituting a cost map in a cost map information storage unit;
Cost map control for updating the cost map information based on at least one of the presence or absence of movement of obstacles in the cost map information stored in the cost map information storage unit and the elapsed time from the creation time to the current time. a step;
A computer program for executing

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