WO2023089886A1

WO2023089886A1 - Traveling map creating device, autonomous robot, method for creating traveling map, and program

Info

Publication number: WO2023089886A1
Application number: PCT/JP2022/031014
Authority: WO
Inventors: 祐太三浦; 裕之本山
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2021-11-18
Filing date: 2022-08-17
Publication date: 2023-05-25
Also published as: JP2023074521A

Abstract

A traveling map creating device (100) comprises: a position sensor (102) that detects an object around the device and acquires the positional relationship between the object and the device around the device; a floor map creating unit (121) that creates a floor map indicating a predetermined floor on the basis of the positional relationship acquired by the position sensor (102); a self-position estimating unit (122) that estimates the position of the device on the floor map on the basis of the positional relationship acquired by the position sensor (102) and the floor map created by the floor map creating unit (121); a traveling area setting unit (123) that sets a first rectangular region, which is determined by the moving path of the position of the device, as a traveling area for the travel of an autonomous robot (300) on the basis of the floor map and the position of the device; and a traveling map creating unit (125) that creates a traveling map including the traveling area set by the traveling area setting unit (123).

Description

Traveling mapping device, autonomous traveling robot, traveling mapping method, and program

The present disclosure relates to a travel map creation device, an autonomous travel robot, a travel map creation method, and a program.

For example, Patent Document 1 discloses a method of recognizing a repeating shape on a travel route of an autonomous mobile device as a landmark that delimits a travel area, and setting an area surrounded by a pair of landmarks and a wall as the travel area. disclosed.

JP 2018-18146 A

However, the technology described in Patent Document 1 requires the user to set landmarks on the travel route of the autonomous mobile device in advance to partition the travel area, which is time-consuming.

Therefore, the present disclosure provides a travel map creation device, a travel map creation method, and a program that can easily set a travel area on a travel map for an autonomous travel robot.

A travel map creation device according to an aspect of the present disclosure is a travel map creation device that creates a travel map for an autonomous mobile robot that autonomously travels within a predetermined floor, and includes objects around itself a position sensor for acquiring the positional relationship of the object with respect to itself; a floor map creation unit for creating a floor map showing the predetermined floor based on the positional relationship acquired by the position sensor; a self-position estimation unit for estimating a self-position on the floor map based on the positional relationship acquired by the sensor and the floor map created by the floor map creation unit; a running area setting unit for setting a first rectangular region defined by the locus of movement of the self-position as a running area in which the autonomous mobile robot runs; and the running area set by the running area setting unit. a driving map creating unit for creating a driving map.

Further, an autonomous traveling robot according to another aspect of the present disclosure is an autonomous traveling robot that autonomously travels within a predetermined floor, comprising: a main body; a driving unit that acquires the driving map created by the driving map creation device; and a driving map acquisition unit that detects objects around the main body and acquires the positional relationship of the objects with respect to the main body. a position sensor for estimating a position of the main body on the map for driving based on the map for driving and the positional relationship; A travel plan creation unit that creates a travel plan for the predetermined floor based on the self-position, and a travel control unit that controls the travel unit based on the travel plan.

Further, a travel map creation method according to another aspect of the present disclosure is a travel map creation method for creating a travel map for an autonomous mobile robot that autonomously travels within a predetermined floor. and a floor map creating step of creating a floor map indicating the predetermined floor based on the positional relationship acquired in the acquiring step. a self-location estimation step of estimating a self-location on the floor map based on the positional relationship acquired in the acquisition step and the floor map created in the floor map creation step; a travel area setting step of setting a first rectangular area defined by the movement trajectory of the self-position as a travel area in which the autonomous mobile robot travels, based on the self-position; and a driving map creating step of creating a driving map including the driving area.

Note that the present disclosure may be implemented as a program for causing a computer to execute the map creation method for driving. The present disclosure may also be implemented as a non-temporary recording medium such as a computer-readable CD-ROM (Compact Disc-Read Only Memory) recording the above program. Also, the present disclosure may be realized as information, data, or signals indicating the program. These programs, information, data and signals may then be distributed over a communication network such as the Internet.

According to the travel map creation device, the travel map creation method, and the program of the present disclosure, it is possible to easily set the travel area on the travel map of the autonomous mobile robot.

FIG. 1 is a block diagram showing an example of the functional configuration of an autonomous mobile robot system according to an embodiment of the present disclosure. FIG. 2 is a perspective view of the driving map creation device according to the embodiment as seen obliquely from above. FIG. 3 is a perspective view showing the external appearance of the autonomous mobile robot according to the embodiment as viewed from the side. FIG. 4 is a perspective view showing the appearance of the autonomous mobile robot according to the embodiment as viewed from the front. FIG. 5 is a bottom view showing the appearance of the autonomous mobile robot according to the embodiment as seen from the bottom direction. FIG. 6 is a flow chart showing a first example of the operation of the autonomous mobile robot system according to the embodiment. FIG. 7 is a diagram schematically showing an example of processing for setting a travel area. FIG. 8 is a diagram showing an example of a reception screen of an information terminal. FIG. 9 is a diagram schematically showing an example of the operation of the travel mapping device and the autonomous travel robot. FIG. 10 is a diagram showing another example of the reception screen of the information terminal. FIG. 11 is a flow chart showing a second example of the operation of the autonomous mobile robot system according to the embodiment.

In the following, embodiments of the driving map creation device and the like according to the present disclosure will be described in detail using the drawings. It should be noted that each of the embodiments described below is a preferred specific example of the present disclosure. Therefore, the numerical values, shapes, materials, components, arrangement and connection of components, steps, order of steps, and the like shown in the following embodiments are examples and are not intended to limit the present disclosure. Further, among the constituent elements in the following embodiments, constituent elements not described in independent claims will be described as optional constituent elements.

The accompanying drawings and the following description are provided to allow those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

In addition, each figure is a schematic diagram and is not necessarily strictly illustrated. Moreover, in each figure, the same code|symbol is attached|subjected to the substantially same structure as another figure, and the overlapping description may be abbreviate|omitted or simplified.

Also, in the following embodiments, expressions using "substantially" such as substantially triangular are used. For example, substantially triangular means not only completely triangular, but also substantially triangular, ie, including, for example, triangles with rounded corners. The same applies to expressions using other "abbreviations".

Further, in the following embodiments, when an autonomous mobile robot traveling on the floor surface of a predetermined floor is viewed from the vertically upward side, it is described as a top view, and when viewed from the vertically downward side, it is described as a bottom view. There is

(Embodiment)
[Autonomous mobile robot system]
[1. composition]
First, an outline of an autonomous mobile robot system according to the present embodiment will be described. FIG. 1 is a block diagram showing an example of a functional configuration of an autonomous mobile robot system according to an embodiment.

The autonomous mobile robot system 400 creates a map for travel in which a plurality of travel areas in which the autonomous mobile robot 300 travels is set, and based on a travel plan generated based on the created map for travel. This is a system in which an autonomous mobile robot 300 runs on a predetermined floor.

A predetermined floor is, for example, a floor surrounded by walls in a building. The building may be, for example, a facility such as a hotel, commercial facility, office building, hospital, nursing facility, museum, or library, or may be an apartment complex such as an apartment building.

As shown in FIG. 1, the autonomous mobile robot system 400 includes, for example, a mobile mapping device 100, an information terminal 200, and an autonomous mobile robot 300. Each configuration will be described below.

[1-1. Driving map creation device]
First, the travel mapping device 100 will be described with reference to FIGS. 1 and 2. FIG. FIG. 2 is a perspective view of the driving map creating apparatus 100 according to the present embodiment as seen obliquely from above.

The travel map creation device 100 is a device that creates a travel map for the autonomous travel robot 300 that autonomously travels on a predetermined floor. For example, the driving map creation device 100 creates a driving map while driving on a predetermined floor according to the user's operation. Specific operations will be described later.

As shown in FIG. 2, the travel mapping device 100 is placed on a trolley 190, for example, and travels on a predetermined floor according to the user's operation. Here, the user pushes the carriage 190 to cause the travel mapping device 100 to travel. For example, a stand 192 for placing an information terminal 200 (see FIG. 1) on a handle 191 may be attached to the carriage 190, and a presentation unit (not shown in FIGS. 1 and 2) of the travel map creation device 100 may be attached. may be installed. The presentation unit may be a so-called display panel.

It should be noted that the function of the traveling map creation device 100 may be installed in the autonomous traveling robot 300 and the autonomous traveling robot 300 may be caused to travel to create a traveling map.

Further, as shown in FIG. 1, the driving map creation device 100 includes, for example, a communication unit 110, a position sensor 102, a control unit 120, and a storage unit . Each configuration will be described below.

[Position sensor]
The position sensor 102 detects objects around itself and acquires the positional relationship of the object with respect to itself. For example, the position sensor 102 is arranged in the center of the upper surface of the main body 101, and includes the distance and direction between the driving mapping device 100 and objects, such as walls, existing around the driving mapping device 100. Get the positional relationship. The position sensor 102 may be, for example, a LIDAR (Light Detection and Ranging) that emits light and detects the positional relationship based on the light that is reflected back by an obstacle, or a laser range finder. The position sensor 102 may perform two-dimensional measurement or three-dimensional measurement of a predetermined area around the driving mapping device 100 by having one or two optical scanning axes.

In addition to the position sensor 102, the travel mapping device 100 may include other types of sensors. For example, the driving mapping device 100 may further include a camera, an obstacle sensor, a floor sensor, an encoder, an acceleration sensor, an angular velocity sensor, a contact sensor, an ultrasonic sensor, a distance measuring sensor, and the like.

[Communication]
The communication unit 110 is a communication circuit for the traveling map creation device 100 to communicate with the information terminal 200 and the autonomous traveling robot 300 via the network 10 . For example, the communication unit 110 may transmit a map for running to the autonomous running robot 300 . The communication unit 110 may include a communication circuit (communication module) for communicating via a wide area communication network and a communication circuit (communication module) for communicating via a local communication network. The communication unit 110 is, for example, a wireless communication circuit that performs wireless communication. A communication standard for communication performed by the communication unit 110 is not particularly limited.

[Control part]
The control unit 120 acquires sensor data, such as the positional relationship between the main body 101 and objects around the main body 101, obtained by sensing the environment around the main body 101 of the driving map creating device 100 using the position sensor 102, Perform various calculations. The controller 120 is specifically implemented by a processor, microcomputer, or dedicated circuit. Also, the controller 120 may be realized by a combination of two or more of a processor, a microcomputer, or a dedicated circuit. For example, control unit 120 includes self-position estimation unit 122 , floor map creation unit 121 , travel area setting unit 123 , boundary designator 124 , and travel map creation unit 125 .

The control unit 120 acquires the positional relationship between the main body 101 and objects around the main body 101 acquired by the position sensor 102, and the movement trajectory of the main body 101 (that is, the driving map creation device 100). If the map creating device for driving 100 is equipped with another type of sensor in addition to the position sensor 102, the control unit 120 may further acquire sensor data acquired by the other type of sensor.

The floor map creation unit 121 creates a floor map showing a predetermined floor based on the relative positional relationship between the object acquired by the position sensor 102 and the position sensor 102 . The floor map creation unit 121 may create a floor map indicating a predetermined floor by map creation technology such as SLAM (Simultaneous Localization and Mapping), for example. , may be obtained via the network 10 . Further, the floor map may be stored in the storage unit 130 in advance, and in this case, the floor map creating unit 121 may read the floor map from the storage unit 130 and acquire it.

The self-position estimation unit 122 uses the positional relationship acquired by the position sensor 102 and the floor map to estimate the self-position, which is the position of the driving map creation device 100 on the floor map. For example, the self-position estimation unit 122 estimates the self-position using SLAM technology.

Based on the floor map and the self-position, the travel area setting unit 123 sets the first rectangular area defined by the movement locus of the self-position as the travel area in which the autonomous mobile robot 300 travels. For example, the travel area setting unit 123 may set the movement direction of the self-position to one of clockwise and counterclockwise directions (first direction) in the movement trajectory of the self-position. The first rectangular region is established by determining the points to be the vertices of the first rectangular region.

Further, for example, the travel area setting unit 123 determines that there are two second points that rotate at a second predetermined angle in the other of the clockwise and counterclockwise directions (second direction) in the movement trajectory of the self-position. In this case, the travel area including the first rectangular area and the second rectangular area is set by determining the two second points as the vertices of the second rectangular area. Also, for example, the travel area setting unit 123 rotates at a first predetermined angle in one of the clockwise and counterclockwise directions (first direction) between the two second points in the movement trajectory of the self-position. If there are two points to match, set the second rectangular area by determining the two points as the vertices of the second rectangular area in addition to the two second points.

Also, for example, the travel area setting unit 123 does not include the third rectangular area, which is an area whose short side is shorter than a predetermined value, in the travel area.

Further, for example, when the travel area setting unit 123 acquires an instruction output by the boundary instruction unit 124 to correct the setting of the boundary between the travel area and the non-travel area where the autonomous mobile robot 300 does not travel, , modify the travel area by modifying the boundary based on the instructions.

The boundary instruction unit 124 outputs to the running area setting unit 123 an instruction for setting the boundary between the running area and the non-running area where the autonomous running robot 300 does not run. For example, the boundary instruction unit 124 outputs an instruction to correct the boundary to the travel area setting unit 123 .

The driving map creation unit 125 creates a driving map including the driving area set by the driving area setting unit 123 . Further, for example, the driving map creation unit 125 creates a driving map including the driving area corrected by the driving area setting unit 123 . Note that the travel map creation unit 125 may further create a travel map that includes a no-entry area into which the autonomous robot 300 is prohibited from entering. For example, the travel map creation unit 125 outputs the created travel map to the information terminal 200 and the autonomous mobile robot 300 via the communication unit 110 .

[Memory part]
The storage unit 130 stores the floor map created by the floor map creation unit 121, the positional relationship acquired by the position sensor 102, the driving map created by the driving map creation unit 125, and the like. is. The storage unit 130 also stores computer programs and the like executed by the control unit 120 to perform the arithmetic processing described above. The storage unit 130 is implemented by, for example, an HDD (Hard Disk Drive), flash memory, or the like.

[Reception Department]
The accepting unit 140 accepts a user's input operation. The reception unit 140 may be implemented by, for example, a touch panel, a display panel, hardware buttons, or a microphone. The touch panel may be, for example, a capacitive touch panel or a resistive touch panel. The display panel has a function of displaying images and a function of accepting manual input from the user, and accepts input operations to ten-key images displayed on a display panel such as a liquid crystal panel or an organic EL (Electro Luminescence) panel. A microphone accepts a user's voice input.

Here, an example in which the reception unit 140 is a component of the traveling map creation device 100 is shown, but the reception unit 140 may be incorporated in the autonomous traveling robot 300, or may be a remote controller (non-remote controller). ), or may be incorporated in the information terminal 200 .

[1-2. Information terminal]
Next, the information terminal 200 will be described. The information terminal 200 is, for example, a portable information terminal such as a smart phone or a tablet terminal used by a user, but may be a stationary information terminal such as a personal computer. Also, the information terminal 200 may be a dedicated terminal for the autonomous mobile robot system 400 . Information terminal 200 includes communication unit 210 , control unit 220 , presentation unit 230 , reception unit 240 , and storage unit 250 . Each configuration will be described below.

[Communication]
The communication unit 210 is a communication circuit for the information terminal 200 to communicate with the travel mapping device 100 and the autonomous travel robot 300 via the network 10 . The communication unit 210 includes a communication circuit (in other words, a communication module) for communicating via the wide area communication network, and a communication circuit (in other words, a communication module) for communicating via the local communication network. may The communication unit 210 is, for example, a wireless communication circuit that performs wireless communication. A communication standard for communication performed by the communication unit 210 is not particularly limited.

[Control part]
The control unit 220 performs image display control on the reception unit 240, identification processing of an instruction input by the user (for example, voice recognition processing in the case of voice input), and the like. The control unit 220 may be realized by a microcomputer or by a processor, for example.

[Presentation part]
The presentation unit 230 presents to the user the presentation information output by the travel map creation device 100 and the travel map. The presentation unit 230 may be realized by, for example, a display panel, or may be realized by a display panel and a speaker. The display panel is, for example, a liquid crystal panel or an organic EL panel. A speaker outputs sound or voice.

[Reception Department]
Accepting unit 240 accepts a user's instruction. More specifically, the accepting unit 240 accepts an input operation for transmitting a user's instruction to the travel map creating device 100 . The reception unit 240 may be implemented by, for example, a touch panel, display panel, hardware buttons, or a microphone. The touch panel may be, for example, a capacitive touch panel or a resistive touch panel. The display panel has a function of displaying images and a function of accepting manual input from the user, and accepts input operations to ten-key images displayed on the display panel such as a liquid crystal panel or an organic EL panel. A microphone accepts a user's voice input.

[Memory part]
Storage unit 250 is a storage device that stores a dedicated application program and the like to be executed by control unit 220 . The storage unit 250 is implemented by, for example, a semiconductor memory.

[1-3. Autonomous running robot]
Next, the autonomous mobile robot 300 will be described. The autonomous running robot 300 is a robot that runs autonomously. For example, the autonomous mobile robot 300 acquires a map for travel created by the map creating apparatus 100 for travel, and autonomously travels on a predetermined floor corresponding to the map for travel. The autonomous running robot 300 is not particularly limited as long as it runs autonomously, but may be, for example, a transport robot that transports luggage, a monitoring robot that patrols, a disinfection robot that disinfects the floor, or a cleaning robot. may An example in which the autonomous mobile robot 300 is a cleaning robot will be described below.

FIG. 3 is a perspective view showing the appearance of the autonomous mobile robot 300 according to the embodiment as viewed from the side. FIG. 4 is a perspective view showing the appearance of the autonomous mobile robot 300 according to the embodiment as viewed from the front. FIG. 5 is a bottom view showing the appearance of the autonomous mobile robot 300 according to the embodiment as seen from the bottom direction.

As shown in FIGS. 1 and 3 to 5, the autonomous mobile robot 300 includes, for example, a main body 301 on which various components are mounted, a communication unit 310 (see FIG. 1), a position sensor 320, It includes an obstacle sensor 330 , a control section 340 (see FIG. 1), a storage section 350 (see FIG. 1), a running section 360 and a cleaning section 370 . The traveling part 360 has, for example, wheels 361 for moving the main body 301 . The cleaning unit 370 has, for example, a side brush 371 and a main brush 372 for cleaning dust existing on a predetermined floor. The control unit 340 performs various information processing related to the operation of the autonomous mobile robot 300 . Control unit 340 has a travel control unit 345 that controls travel unit 360 and a cleaning control unit 346 that controls cleaning unit 370 . The main body 301 is a housing that houses the traveling section 360, the cleaning section 370, the control section 340, and the like.

[Running part]
The traveling unit 360 causes the autonomous traveling robot 300 to travel based on instructions from the traveling control unit 345 . The traveling unit 360 has wheels 361 that travel on the floor, a traveling motor (not shown) that applies torque to the wheels 361, a housing (not shown) that accommodates the traveling motor, and the like. Also, the autonomous mobile robot 300 may be of an opposed two-wheel type equipped with casters (not shown) as auxiliary wheels. In this case, the traveling unit 360 independently controls the rotation of the wheels 361 of the pair of traveling units, so that the autonomous mobile robot 300 can freely travel forward, backward, left-handed, and right-handed. can.

[Cleaning Department]
Cleaning unit 370 sucks dust on the floor from suction port 373 (see FIG. 5) based on instructions from cleaning control unit 346 and stores the sucked dust inside main body 301 . The cleaning unit 370 includes a brush rotation motor (not shown) that rotates the side brush 371 and the main brush 372, a suction motor (not shown) that sucks dust from the suction port 373, and a power transmission unit (not shown) that transmits power to these motors. (not shown), and a container (not shown) for containing the sucked dust.

[Position sensor]
The position sensor 320 is a sensor that detects an object around the body 301 of the autonomous mobile robot 300 and acquires the positional relationship of the object with respect to the body 301 . The position sensor 320 is, for example, a LIDAR or a laser range finder that emits light and detects the positional relationship (for example, the distance and direction from the self to the object) based on the light that is reflected back by an obstacle. may

For example, the position sensor 320 is arranged in the center of the upper surface of the main body 301, and the positional relationship including the distance and direction between the autonomous mobile robot 300 and objects including walls existing around the autonomous mobile robot 300 is detected. to get The position sensor 320 may be, for example, a LIDAR or a laser range finder that emits light and detects the positional relationship based on the light that is reflected back by an obstacle. The position sensor 320 may perform two-dimensional measurement or three-dimensional measurement of a predetermined area around the autonomous mobile robot 300 by having one or two optical scanning axes.

[Obstacle sensor]
The obstacle sensor 330 is a sensor that detects obstacles such as surrounding walls and furniture that are present in front of the main body 301 (specifically, on the traveling direction side) and obstruct travel. In this embodiment, for example, an ultrasonic sensor is used as the obstacle sensor 330 . The obstacle sensor 330 has a transmitter 331 arranged in the center of the front side surface of the main body 301, and receivers 332 arranged on both sides of the transmitter 331. The two receiving units 332 receive the reflected ultrasonic waves, respectively, so that the distance to the obstacle, the position of the obstacle, and the like can be detected. An infrared sensor or the like may be used as the obstacle sensor 330 .

Note that the autonomous mobile robot 300 may be equipped with sensors other than the sensors described above. For example, floor surface sensors may be arranged at a plurality of locations on the bottom surface of the main body 301 and detect whether or not there is a floor surface as a floor. Further, an encoder may be provided in the traveling section 360 to detect the rotation angle of each of the pair of wheels 361 rotated by the traveling motor. Further, an acceleration sensor that detects acceleration when the autonomous mobile robot 300 runs and an angular velocity sensor that detects angular velocity when the autonomous mobile robot 300 turns may be provided. A dust amount sensor that measures the amount of dust deposited on the floor surface may also be provided. A contact sensor may be provided to detect collision with an obstacle by detecting displacement of a bumper (not shown).

[Communication]
The communication unit 310 is a communication circuit for the autonomous mobile robot 300 to communicate with the travel mapping device 100 and the information terminal 200 via the network 10 . The communication unit 310 includes a communication circuit (in other words, a communication module) for communicating via the wide area communication network, and a communication circuit (in other words, a communication module) for communicating via the local communication network. may The communication unit 310 is, for example, a wireless communication circuit that performs wireless communication. A communication standard for communication performed by the communication unit 310 is not particularly limited.

[Control part]
The control unit 340 performs various calculations based on the sensor information obtained by sensing the environment around the autonomous mobile robot 300 with the position sensor 320 and the obstacle sensor 330 and the map for traveling. The controller 340 is specifically implemented by a processor, microcomputer, or dedicated circuit. Also, the controller 340 may be implemented by a combination of two or more of a processor, microcomputer, or dedicated circuit. For example, the control unit 340 includes a travel map acquisition unit 341, a self-position estimation unit 342, an obstacle information acquisition unit 343, a travel plan creation unit 344, a travel control unit 345, and a cleaning control unit 346. .

The travel map acquisition unit 341 acquires the travel map created by the travel map creation device 100 . For example, the driving map acquisition unit 341 may acquire the driving map by reading the driving map stored in the storage unit 350, or may obtain the driving map output by the driving map generating device 100 by communication. may be obtained.

The self-position estimation unit 342, for example, based on the travel map acquired by the travel map acquisition unit 341 and the positional relationship of surrounding objects with respect to the main body 301 of the autonomous mobile robot 300 measured by the position sensor 320. Then, the self position, which is the position of the main body 301 of the autonomous mobile robot 300 on the map for traveling, is calculated.

The travel plan creation unit 344 creates a travel plan based on the map for travel and the self-position. For example, if the autonomous mobile robot 300 is a cleaning robot, the travel plan creation unit 344 may also create a cleaning plan. The cleaning plan includes a cleaning order for cleaning a plurality of cleaning areas within a predetermined floor, a travel route in each cleaning area, a cleaning mode, and the like. The cleaning mode is, for example, a combination of the travel speed of the autonomous mobile robot 300, the suction strength for sucking dust on the floor, and the rotational speed of the brush.

When the obstacle sensor 330 detects an obstacle while the autonomous mobile robot 300 is traveling according to the travel plan, the travel plan creation unit 344 detects the obstacle calculated by the obstacle information acquisition unit 343. The travel plan may be changed based on the location of the . At this time, the travel plan creation unit 344 may also change the cleaning plan.

Obstacle information acquisition unit 343 acquires information about obstacles detected by obstacle sensor 330 (for example, the distance to the obstacle, the position, etc.), and the acquired information and self-position estimation unit 342 Based on the calculated self position, the position of the obstacle on the floor map is calculated.

The travel control unit 345 controls the travel unit 360 so that the autonomous mobile robot 300 travels according to the travel plan. More specifically, the travel control unit 345 performs information processing for controlling the operation of the travel unit 360 based on the travel plan. For example, the travel control unit 345 derives control conditions for the travel unit 360 based on information such as a travel map and self-position in addition to the travel plan, and controls the operation of the travel unit 360 based on the control conditions. Generate a control signal to Travel control unit 345 outputs the generated control signal to travel unit 360 . Details such as the derivation of the control conditions for the traveling unit 360 are the same as those of the conventional autonomous traveling robot, and thus the explanation is omitted.

The cleaning control unit 346 controls the cleaning unit 370 so that the autonomous mobile robot 300 cleans according to the cleaning plan. More specifically, cleaning control unit 346 performs information processing for controlling the operation of cleaning unit 370 based on the cleaning plan. For example, the cleaning control unit 346 derives control conditions for the cleaning unit 370 based on information such as a map for travel and self-location in addition to the cleaning plan, and controls the operation of the cleaning unit 370 based on the control conditions. Generate a control signal to Cleaning control unit 346 outputs the generated control signal to cleaning unit 370 . Details such as the derivation of the control conditions for the cleaning unit 370 are the same as those of the conventional autonomously traveling cleaning robot, so description thereof will be omitted.

[Memory part]
The storage unit 350 is a storage device that stores a map for driving, sensor information sensed by the position sensor 320 and the obstacle sensor 330, computer programs executed by the control unit 340, and the like. The storage unit 350 is implemented by, for example, a semiconductor memory.

[2. motion]
Next, the operation of the autonomous mobile robot system 400 according to this embodiment will be described with reference to the drawings.

[First example]
First, a first example of the operation of autonomous mobile robot system 400 according to the present embodiment will be described. FIG. 6 is a flow chart showing a first example of the operation of the autonomous mobile robot system 400 according to this embodiment. Description will be made below with reference to FIGS. 1 and 6. FIG.

The driving map creation device 100 starts driving according to the user's operation. When running starts, the autonomous running robot system 400 performs, for example, the following operations. It should be noted that the traveling map creating apparatus 100 may be operated by the user operating a steering wheel, or may be operated by operating a joystick or a remote controller.

When the reception unit 240 of the information terminal 200 receives an instruction to start creating a driving map, the control unit 220 of the information terminal 200 outputs the instruction to the driving map generation device 100 via the communication unit 210 .

Next, when control unit 120 of driving map creation device 100 acquires a driving map creation start instruction output from information terminal 200 (step S01), driving map creation device 100 including position sensor 102 Acquisition of sensing data is started by each of the plurality of sensors (step S02). More specifically, control unit 120 of driving map creation device 100 outputs a sensing data acquisition start command to each of a plurality of sensors including position sensor 102 .

Next, when the position sensor 102 receives the sensing data acquisition start command, the position sensor 102 detects objects around itself, acquires the positional relationship of the surrounding objects with respect to itself (step S03), and controls the acquired positional relationship. Output to the unit 120 (not shown). The control unit 120 acquires the positional relationship of surrounding objects with respect to itself output from the position sensor 102 (not shown).

Next, the floor map creating unit 121 creates a floor map indicating a predetermined floor based on the positional relationship acquired by the position sensor 102 in step S03 (step S04).

Next, self-position estimating section 122 detects the position sensor on the floor map based on the positional relationship acquired by position sensor 102 in step S03 and the floor map created by floor map creating section 121 in step S04. 102 (in other words, the travel mapping device 100 equipped with the position sensor 102) is estimated (step S05). More specifically, the self-position estimating unit 122 uses the relative positional relationship between the object and the position sensor 102 acquired from the position sensor 102 and the floor map to create a map for driving on the floor map. Estimate self-position, which is 100 positions. Although not shown, the self-position estimation unit 122 adds a time stamp to the calculated self-position and stores it in the storage unit 130 .

It should be noted that the traveling map creation device 100 may repeat steps S03 to S05 while traveling. For example, the floor map creating unit 121 and the self-location estimating unit 122 may create a floor map while estimating the self-location using SLAM technology, and update the self-location and the floor map sequentially.

Next, the travel area setting unit 123 sets the travel area in which the autonomous mobile robot 300 travels on the floor map (step S06). More specifically, the travel area setting unit 123 sets the travel area of the autonomous mobile robot 300 to a first rectangular area defined by the movement trajectory of the self-location based on the floor map and the self-location. A specific travel area setting process will be described later.

Next, the driving map creation unit 125 creates a driving map including the driving area set by the driving area setting unit 123 in step S06 (step S07).

[Specific example of travel area setting process]
Hereinafter, the travel area setting process will be described more specifically with reference to FIG. FIG. 7 is a diagram schematically showing an example of processing for setting a travel area. FIG. 7A is a diagram showing an example of a locus of movement of the self-position of the position sensor 102. FIG. (b) of FIG. 7 is a diagram showing an example of a plurality of rectangular areas defined by the locus of movement of the self-position.

Based on the floor map and the self-position, the travel area setting unit 123 sets a plurality of rectangular areas defined by the movement trajectory of the self-position (broken lines in (a) of FIG. 7) as the travel area. In addition, as shown in (a) of FIG. 7, the locus of movement of the self-position does not have to be closed in one rectangular shape. For example, when the locus of movement of the self-position has an outer shape obtained by combining a plurality of rectangular shapes, the travel area setting unit 123 sets a travel area including a plurality of rectangular areas based on the locus of movement. More specifically, for example, the travel area setting unit 123 sets the movement direction of the self-position to one of clockwise and counterclockwise (first direction, example of (a) in FIG. 7) in the movement trajectory of the self-position. Then, the first rectangular region R1 is set by determining the three first points rotated by a predetermined angle (eg, 90°) as the vertices of the first rectangular region R1 (counterclockwise). A point P1 is the starting point of the locus of movement of the self-position. Assuming that the starting point P1 is the upper right vertex of the first rectangular region R1, the three first points are the upper left vertex, the lower left vertex, and the lower right vertex.

Next, the travel area setting unit 123 sets a predetermined angle (for example, , 90°), the first rectangular region R1 and the second rectangular region R2 are formed by determining the two second points to be the vertices of the second rectangular region R2. Set the driving area including A point P2 indicates the first second point in the movement trajectory of the self-position among the two second points. Furthermore, the travel area setting unit 123 sets the movement trajectory of the self-position between the two second points P2 and P2′ in one of the clockwise and counterclockwise directions (the first direction, in FIG. 7A). In the example, if there are two points rotated by a predetermined angle (eg, 90°) (counterclockwise), then in addition to the two second points P2, P2′, the two points are added to the second rectangular region R2 The second rectangular region R2 may be set by determining the vertices of .

Note that the travel area setting unit 123 rotates at a predetermined angle in the other of the clockwise and counterclockwise directions (second direction) at the second point P2 on the locus of movement of the self-position, and then, for example, the main body 101 moves to the second direction. A position moved outside one rectangular region R1 (that is, toward the second rectangular region R2) may be set as the vertex of the second rectangular region R2. Further, when the travel area setting unit 123 rotates at a predetermined angle in the other of the clockwise and counterclockwise directions (second direction) at the second point P2′, the main body 101 moves to the second point P2′, for example. The front position covered by the outer edge may be set as the vertex of the second rectangular region R2.

Next, the travel area setting unit 123 follows the two second points P2 and P2' in the movement trajectory of the self-position, in the other of the clockwise and counterclockwise directions (second direction, (a) in FIG. 7). In the example of , if there are two third points rotated by a predetermined angle (e.g., 90°) clockwise, then by determining the two third points to be the vertices of the third rectangular region R3 , a travel area A1 including a first rectangular region R1, a second rectangular region R2, and a third rectangular region R3 may be set. A point P3 indicates the first third point in the movement trajectory of the self-position among the two third points. Furthermore, the travel area setting unit 123 moves between the two third points P3 and P3′ in the movement trajectory of the self-position in one of the clockwise and counterclockwise directions (the first direction, shown in FIG. 7A). In the example, if there are two points rotated by a predetermined angle (e.g., 90°) counterclockwise, then in addition to the two third points P3, P3', the two points are added to the third rectangular region R3 , the third rectangular region R3 may be set by determining the vertices of .

Note that the travel area setting unit 123 rotates at a predetermined angle in the other of the clockwise and counterclockwise directions (second direction) at the third point P3 on the locus of movement of the self-position, and then, for example, the main body 101 moves to the third direction. A position moved to the outside of one rectangular region R1 (that is, to the side of the third rectangular region R3) may be set as the vertex of the third rectangular region R3. Further, when the travel area setting unit 123 rotates at a predetermined angle in the other of the clockwise and counterclockwise directions (second direction) at the third point P3′, for example, the main body 101 moves to the third point P3′. The front position covered by the outer end may be set as the vertex of the third rectangular region R3.

As described above, by setting the travel area A1 by the travel area setting unit 123, the travel area A1 in which the autonomous travel robot 300 travels and the non-travel areas N1, N2, and N3 in which the autonomous travel robot 300 does not travel. Boundaries L0, L1 and L2 are set respectively.

[Modification 1 of the first example]
In the first example of the operation, as shown in FIGS. 7A and 7B, the travel map creation device 100 moves to the travel area A1 based on the movement trajectory traveled in the predetermined area. An example of setting was explained. In modification 1 of the first example of the operation (hereinafter referred to as modification 1), when setting the driving area, the driving map creation device 100 acquires an instruction to set the boundary of the driving area. An example will be described.

FIG. 8 is a diagram showing an example of the reception screen of the information terminal 200. FIG. FIG. 9 is a diagram schematically showing an example of the operation of the traveling map creation device 100 and the autonomous traveling robot 300. As shown in FIG. FIG. 9(a) is a diagram showing a running example of the traveling map creation device 100, and FIG. 9(b) is a diagram showing a running example of the autonomous mobile robot 300. FIG.

For example, as shown in FIG. 8, the receiving unit 240 of the information terminal 200 is, for example, a touch panel, and includes an icon for instructing the traveling map creating device 100 to indicate the traveling direction, an icon for instructing to stop traveling, and a boundary. may be displayed to indicate whether or not to set the The information terminal 200 outputs the user's instruction received by the reception unit 240 (for example, an instruction not to set a boundary) to the driving map creation device 100 . The instruction may be given while the driving map creating device 100 is in operation (that is, while driving in a predetermined area) or after the operation (that is, after driving in a predetermined area).

In Modified Example 1, an example will be described in which the user's instruction is obtained while the driving map creation device 100 is in operation. As a premise, the travel area setting unit 123 sets a rectangular area (hereinafter referred to as a recessed area) whose short side length is shorter than a predetermined value (for example, the radius of the main body 301 of the autonomous mobile robot 300 when viewed from above) as the travel area. not included in Such a recessed area is located, for example, in a direction intersecting the movement direction of the self-position on the movement trajectory of the self-position, and is defined by the position sensor 102 as an object (for example, wall, partition, pillar, etc.) that defines the contour of the area. ) is the area for which the positional relationship was obtained. However, for example, when the driving map creation device 100 acquires an instruction not to set the boundary L1 ((b) in FIG. 7) from the information terminal 200, the boundary instruction unit 124 sends the driving area setting unit 123 to the driving area A1 and the recessed area. An instruction not to set a boundary L1 with an area (for example, non-running area N1) is output. More specifically, for example, the boundary instruction unit 124 outputs an instruction to include the concave area in the rectangular area defined by the movement locus even if the locus of movement of the self-position is not included in the concave area.

For example, when the border setting OFF icon shown in FIG. 8 is selected while the travel map creating device 100 is running or when the travel starts, the receiving unit 240 of the information terminal 200 receives an instruction not to set the border, and accepts The received instruction is output to the travel mapping device 100 . Boundary instruction unit 124 of travel map creation device 100 outputs the above instruction (instruction not to set a boundary between travel area A1 and recessed area) to travel area setting unit 123 based on the received instruction. When the travel area setting unit 123 acquires the above instruction, the travel map creation device 100 does not travel through the recessed area (or does not enter the recessed area) as shown in (a) of FIG. 9, for example. ), the recessed area (here, the non-running area N1) is included in the first rectangular area R1 (see (b) of FIG. 7) defined by the locus of movement of the self-position. Based on the map for travel including the travel area A1 set in this way, the autonomous mobile robot 300, for example, as shown in FIG. also run.

It should be noted that the recessed area is not limited to the above example. For example, the length of the short side of the recessed area may be equal to or less than the diameter of the main body 301 of the autonomous mobile robot 300 in top view, or may be appropriately set depending on the application of the autonomous mobile robot 300 .

[Modification 2 of the first example]
In the modified example 1 of the operation, an operation example in which an instruction for setting a boundary is acquired during operation of the travel map creation device 100 (that is, while traveling in a predetermined area) has been described. In Modified Example 2 of the first example of operation (hereinafter referred to as Modified Example 2), when an instruction to set a boundary is acquired after operation of travel map creation device 100 (that is, after travel in a predetermined area). will be described. In Modified Example 2, the instruction about the boundary is a so-called instruction to correct the set boundary. FIG. 10 is a diagram showing another example of the reception screen on the information terminal.

For example, when the travel map creation unit 125 creates a travel map, the control unit 120 of the travel map creation device 100 transmits the travel map to the information terminal 200 . When the map for driving is acquired, the control unit 220 of the information terminal 200 causes the presentation unit 230 to present the map for driving as shown in FIG. 10 .

At this time, for example, when the user taps the boundary setting OFF icon displayed on the reception unit 240 (for example, a touch panel) and then touches the boundary L1 on the driving map, the reception unit 240 sets the boundary L1. Accepts instructions to modify to delete. Although not shown, when the boundary L1 on the map for driving is touched, the display of the boundary L1 disappears and the area after correction including the non-running area N1 and the first rectangular area R1 is displayed. Next, when the user taps the OK icon, acceptance of the instruction is confirmed. Next, the control unit 220 of the information terminal 200 outputs the instruction accepted by the accepting unit 240 to the driving map creating device 100 .

Upon acquiring the instruction, the boundary instruction unit 124 of the driving map creation device 100 deletes the boundary L1 to the driving area setting unit 123, and sets the first rectangular area R1 to include the non-driving area N1 and the first rectangular area R1. Outputs instructions to modify the region. Upon receiving the instruction from the boundary instruction unit 124, the travel area setting unit 123 corrects the boundary L1 based on the instruction to change the first rectangular region R1 in the travel area A1 to the non-travel area N1. and the first rectangular region R1. Accordingly, the travel area setting unit 123 corrects the travel area A1.

The travel map creation unit 125 creates a travel map including the travel area A1 corrected by the travel area setting unit 123 (not shown).

In the example of FIG. 10, when the travel area setting unit 123 acquires the correction instruction to delete the boundary L1, the first rectangular region R1 is corrected to include the non-travel area N1 and the first rectangular region R1. , boundary modification is not limited to this example. For example, the driving area setting unit 123 may shift the position of the boundary L2 in the vertical direction on the map for driving based on the instruction to correct the boundary, or between adjacent rectangular areas in the driving area ( For example, the second rectangular region R2 may be changed to a non-running area by setting a boundary between the first rectangular region R1 and the second rectangular region R2.

[Second example]
Next, a second example of the operation of autonomous mobile robot system 400 according to the present embodiment will be described. In the first example, the process of creating a map for travel by the map creation device for travel 100 based on an instruction received by the information terminal 200 has been described. In the second example, a process will be described in which the autonomous mobile robot 300 cleans while traveling on a predetermined floor based on the map for travel created by the map creation device 100 for travel.

FIG. 11 is a flow chart showing a second example of the operation of the autonomous mobile robot system 400 according to the embodiment. In the following description, the travel area is replaced with the cleaning area.

First, when the reception unit 240 of the information terminal 200 receives an instruction to start cleaning, the control unit 220 of the information terminal 200 outputs the instruction to the autonomous mobile robot 300 (not shown).

Next, when the control unit 340 of the autonomous mobile robot 300 acquires a cleaning start instruction (step S11), the travel map acquisition unit 341 acquires a travel map (step S12). For example, the driving map acquisition unit 341 may request a driving map of a predetermined floor from the driving map generating device 100 and acquire the driving map via the network 10 , or may acquire the driving map stored in the storage unit 350 . You may read the map of

Next, the control unit 340 of the autonomous traveling robot 300 outputs a sensing start instruction to various sensors provided in the autonomous traveling robot 300, such as the position sensor 320 and the obstacle sensor 330, and acquires sensing data from these sensors. (step S13).

Next, the self-position estimation unit 342 determines the positional relationship between the driving map (driving map) acquired in step S12 and the objects around the main body 301 of the autonomous mobile robot 300 acquired by the position sensor 320. , the self-position of the main body 301 of the autonomous mobile robot 300 on the map for travel is estimated (step S14).

Next, based on the self-position estimated in step S14 and the map for travel, the travel plan creation unit 344 searches for a cleaning area close to the self-position among a plurality of cleaning areas included in the map for travel. (Step S15).

Next, the travel plan creation unit 344 determines the start position (more specifically, the position where cleaning is to start) within the cleaning area searched in step S15 (step S16).

Next, the travel plan creation unit 344 creates a travel plan within the cleaning area (step S17). At this time, the travel plan creation unit 344 may determine the travel speed, the manner of cleaning, etc. in addition to the travel route in the cleaning area. The cleaning aspect includes, for example, at least one of sweeping, wiping, and dust suction, and cleaning intensity such as brush rotation speed or suction intensity.

Next, the travel plan creation unit 344 determines the order of cleaning areas (step S18). For example, the travel plan creation unit 344 refers to history information such as the frequency of cleaning of the cleaning area or the priority of the cleaning area from a history information database (not shown) stored in the storage unit 350. may be used to determine the order of cleaning the cleaning area.

Next, the travel plan creation unit 344 determines whether or not the travel plan for all the cleaning areas included in the travel map has been completed (step S19). No), the process of step S16 is performed for other cleaning areas. Then, when the processing of steps S16 to S18 is completed for the other cleaning areas, the travel plan creating unit 344 determines whether or not the travel plans for all the cleaning areas have been completed (step S19). Then, when it is determined that the travel plans for all the cleaning areas have been completed (Yes in step S19), the travel plan creation unit 344 outputs the created travel plan and a control start instruction to the travel control unit 345 and the cleaning control unit 346. (not shown).

When the travel control unit 345 and the cleaning control unit 346 acquire the travel plan and the control start instruction from the travel plan creation unit 344, they control the travel unit 360 and the cleaning unit 370 according to the travel plan to perform cleaning (step S20).

The control unit 340 of the autonomous mobile robot 300 finishes cleaning after cleaning all areas according to the travel plan.

[3. effects, etc.]
As described above, the travel map creation device 100 is a travel map creation device that creates a travel map for the autonomous mobile robot 300 that autonomously travels within a predetermined floor. A position sensor 102 that detects an object and acquires the positional relationship of the object with respect to itself; a floor map creation unit 121 that creates a floor map indicating a predetermined floor based on the positional relationship acquired by the position sensor 102; a self-position estimation unit 122 for estimating the self-position on the floor map based on the positional relationship acquired by 102 and the floor map created by the floor map creation unit 121; A travel area setting unit 123 that sets a first rectangular region R1 defined by the movement locus of , as a travel area in which the autonomous mobile robot 300 travels, and a travel map that includes the travel area set by the travel area setting unit 123 and a travel map creation unit 125 that creates a map.

As a result, the traveling map creation device 100 can set the first rectangular region R1 defined by the movement trajectory of the self-position as the traveling area A1 of the autonomous traveling robot 300. The travel area A1 can be easily set on the map for use.

For example, in the travel map creation device 100, the travel area setting unit 123 sets the travel direction of the self-position to one of clockwise and counterclockwise (first direction, leftward in FIG. 7A) in the travel locus. Rotation) The first rectangular region R1 may be set by determining three first points rotated by a predetermined angle (for example, 90°) as the vertices of the first rectangular region R1.

As a result, the travel map creation device 100 determines the vertex of the first rectangular region R1 as the point where the travel map creation device 100 turns at a predetermined angle in a predetermined direction. , the first rectangular region R1 can be easily set.

For example, in the travel map creation device 100, the travel area setting unit 123 sets a predetermined angle ( For example, if there are two second points rotated by 90°, the first rectangular area R1 and the second rectangular area R2 are determined by determining the two second points to be the vertices of the second rectangular area R2. You may set driving|running|working area A1 containing and.

As a result, when there are two points where the vehicle turns at a predetermined angle in a direction opposite to the predetermined direction, the map creating apparatus for driving 100 divides these two points into a second rectangular area different from the first rectangular area R1. Since the vertex of R2 is determined, it is possible to easily set a plurality of rectangular areas included in the driving area A1 based on changes in movement (turning direction and angle) of the driving mapping device 100. FIG.

For example, in the travel map creation device 100, the travel area setting unit 123 creates clockwise and counterclockwise directions between the two second points P2 and P2′ (see FIG. 7A) on the movement trajectory. When there are two points rotated by a predetermined angle (for example, 90°) on one side (in the first direction, counterclockwise in FIG. 7A), two second points P2 and P2′ In addition, the second rectangular region R2 (see (b) of FIG. 7) may be set by determining two points as vertices of the second rectangular region R2.

As a result, the travel map creation device 100 generates the second rectangular region R1 facing the boundary between the second rectangular region R2 and the first rectangular region R1 based on the change in the motion (curving direction and angle) of the travel map creation device 100. Since the two vertices forming one side of the rectangular region R2 are determined, the second rectangular region R2 can be set more accurately.

For example, in the travel map creation device 100, the travel area setting unit 123 selects a third rectangular region in which the length of the short side is shorter than a predetermined value (for example, the radius of the main body 301 of the autonomous travel robot 300 when viewed from above). It does not have to be included in the running area.

As a result, the travel map creation device 100 does not include in the travel area A1 a rectangular area (so-called recessed area) whose short side length is shorter than a predetermined value, so that the autonomous mobile robot 300 moves within the predetermined area. can run efficiently.

For example, the driving map creation device 100 further includes a boundary instruction unit 124 that outputs an instruction for setting the boundary of the driving area A1 to the driving area setting unit 123. When an instruction to correct the boundary is output, the boundary is corrected based on the instruction to correct the driving area A1, and the driving map creation unit 125 includes the driving area corrected by the driving area setting unit 123. You may create a map for driving.

As a result, the driving map creation device 100 can, for example, correct the boundary according to the user's request, so that it is possible to set the area more in line with the user's request.

Further, the autonomous traveling robot 300 is an autonomous traveling robot that autonomously travels within a predetermined floor, and includes a main body 301, a traveling section 360 arranged in the main body 301 and enabling the main body 301 to travel, and a position for detecting an object around the main body 301 and obtaining the positional relationship of the object with respect to the main body 301. A sensor 320, a self-position estimating unit 342 for estimating the self-position, which is the position of the main body 301 on the map for driving, based on the map for driving and the positional relationship, and a map for driving and the self-position , a travel plan creation unit 344 that creates a travel plan for a predetermined floor, and a travel control unit 345 that controls the travel unit 360 based on the travel plan.

As a result, in the autonomous mobile robot system 400, the autonomous mobile robot 300 can create a travel plan based on the travel map in which the travel area is set. You can run in the area.

For example, the autonomous mobile robot 300 further includes a cleaning unit 370 that cleans the floor surface by executing at least one of sweeping, wiping, and sucking dust, and a cleaning unit that controls the cleaning unit 370. and a control unit 346, the travel plan creation unit 344 may further create a cleaning plan, and the cleaning control unit 346 may control the cleaning unit 370 based on the cleaning plan.

As a result, the autonomous mobile robot 300 can create a cleaning plan in addition to the travel plan based on the map for travel, so that it can clean while appropriately traveling in a predetermined area.

Further, the travel map creation method is a travel map creation method for creating a travel map for the autonomous travel robot 300 that autonomously travels within a predetermined floor. an acquisition step of detecting objects around the traveling map creating device for creating a travel map of the traveling robot 300 and acquiring the positional relationship of the object with respect to itself; A floor map creation step that creates a floor map showing a given floor, and a self-position (autonomous mobile robot) on the floor map based on the positional relationship acquired in the acquisition step and the floor map created in the floor map creation step. 300 or the position of the autonomous mobile robot 300 or the travel mapping device that creates a travel map for the autonomous mobile robot 300); A travel area setting step of setting a first rectangular region R1 defined by the locus of movement of the position as a travel area in which the autonomous mobile robot 300 travels; and a travel map including the travel area A1 set in the travel area setting step. and a driving map generation step of generating a

According to this travel map creation method, the first rectangular region R1 defined by the locus of movement of the self-position can be set as the travel area A1 of the autonomous mobile robot 300. The travel area A1 can be easily set on the map.

(Other embodiments)
Although the embodiments have been described above, the present disclosure is not limited to the above embodiments. For example, the autonomous mobile robot system 400 includes the mobile map creation device 100, the information terminal 200, and the autonomous mobile robot 300. Alternatively, the autonomous mobile robot 300 and an information terminal having a travel map creation function may be provided.

For example, an autonomous mobile robot equipped with a map creation function for travel can create a map for travel on a given floor and create a travel plan in parallel. In addition, since the autonomous mobile robot does not need to acquire a map for running via the network 10, it is less likely to be affected by communication failures, etc., and can be processed more smoothly than when information is acquired by communication. It is possible to do

For example, an information terminal equipped with a driving map creation function allows a user to carry a portable computer device such as a tablet terminal equipped with LiDar SLAM and move around a predetermined area to create a driving map. Correction of the map for running can be performed in parallel. Therefore, it is not necessary for the user to place the traveling map creating apparatus 100 on the trolley 190 and move the predetermined floor, thereby improving the convenience.

Further, for example, in the above-described embodiment, the travel map creation device 100 includes the position sensor 102 , but the travel map creation device 100 does not have to include the position sensor 102 . For example, the driving map creation device 100 may be an information processing device having a configuration other than the position sensor 102 . In this case, a sensor including the position sensor 102 may be placed on a carriage 190 and data acquired by the sensor may be output to the information processing device while moving on a predetermined floor.

For example, in the above-described embodiment, an example in which the travel map generated by the travel map creation device 100 is transmitted to the autonomous mobile robot 300 via the network 10 has been described. The mode of acquisition is not limited to this. For example, the travel map creation device 100 transmits a travel map to the information terminal 200 via the network 10, and the travel map acquired by the information terminal 200 is transmitted to the autonomous travel robot 300 via the network 10. You may The network 10 is a wide area communication network such as the Internet, but may be a local communication network such as Wi-Fi (registered trademark).

Also, for example, the autonomous mobile robot 300 can acquire a map for travel via a USB (Universal Serial Bus) memory in which the map for travel generated by the map creation device 100 is stored. good.

For example, in the above-described embodiment, an example in which the traveling map creation device 100 and the autonomous mobile robot 300 are separate units has been described. It may be embodied as a device.

For example, although the autonomous mobile robot system 400 is implemented by a plurality of devices in the above embodiment, it may be implemented as a single device. Moreover, when the system is realized by a plurality of devices, the constituent elements of the autonomous mobile robot system 400 may be distributed among the plurality of devices in any way. Also, for example, a server device capable of communicating with the autonomous mobile robot system 400 is included in the control unit 120 of the mobile map creation device 100, the control unit 220 of the information terminal 200, and the control unit 340 of the autonomous mobile robot 300. It may comprise multiple components.

For example, the communication method between devices in the above embodiment is not particularly limited. Further, a relay device (not shown) may intervene in communication between devices.

Also, the processing executed by a specific processing unit in the above embodiment may be executed by another processing unit. In addition, the order of multiple processes may be changed, and multiple processes may be executed in parallel.

Also, in the above embodiments, each component may be realized by executing a software program suitable for each component. Each component may be implemented by a program execution unit such as a CPU (Central Processing Unit) or processor reading and executing a software program recorded in a recording medium such as a hard disk or semiconductor memory.

Also, each component may be realized by hardware. For example, each component may be a circuit (or integrated circuit). These circuits may form one circuit as a whole, or may be separate circuits. These circuits may be general-purpose circuits or dedicated circuits.

In addition, general or specific aspects of the present disclosure may be realized by a system, apparatus, method, integrated circuit, computer program, or computer-readable recording medium such as a CD-ROM (Compact Disc-Read Only Memory). good. Also, any combination of systems, devices, methods, integrated circuits, computer programs and recording media may be implemented.

For example, the present disclosure may be implemented as a travel control method executed by a computer such as the autonomous mobile robot system 400, or may be implemented as a program for causing a computer to execute such a map creation method for travel. good. Further, the present disclosure may be implemented as a program for causing a general-purpose computer to operate as driving map creation device 100 of the above embodiment. The present disclosure may be implemented as a computer-readable non-temporary recording medium on which these programs are recorded.

In addition, forms obtained by applying various modifications to each embodiment that a person skilled in the art can think of, or realized by arbitrarily combining the constituent elements and functions of each embodiment within the scope of the present disclosure. Also included in the present disclosure is the form of

The present disclosure can be widely used for robots that run autonomously.

10 Network 100 Driving Map Creation Device 101 Main Body 102 Position Sensor 110 Communication Unit 120 Control Unit 121 Floor Map Creating Unit 122 Self-Position Estimating Unit 123 Driving Area Setting Unit 124 Boundary Instruction Unit 125 Driving Map Creating Unit 130 Storage Unit 140 Receiving Unit 190 cart 191 handle 192 stand 200 information terminal 210 communication unit 220 control unit 230 presentation unit 240 reception unit 250 storage unit 300 autonomous mobile robot 301 main body 310 communication unit 320 position sensor 330 obstacle sensor 331 transmission unit 332 reception unit 340 control unit 341 travel map acquisition unit 342 self-position estimation unit 343 obstacle information acquisition unit 344 travel plan creation unit 345 travel control unit 346 cleaning control unit 350 storage unit 360 travel unit 361 wheel 370 cleaning unit 371 side brush 372 main brush 373 suction port 400 Autonomous Running Robot System A1 Running Area R1 First Rectangular Area R2 Second Rectangular Area R3 Third Rectangular Area N1, N2, N3 Non-running Area L0, L1, L2 Boundaries P1, P2, P2', P3, P3' Points

Claims

A travel map creation device for creating a travel map for an autonomous robot that autonomously travels within a predetermined floor,
a position sensor that detects objects around the self and acquires the positional relationship of the object with respect to the self;
a floor map creation unit that creates a floor map showing the predetermined floor based on the positional relationship acquired by the position sensor;
a self-position estimating unit for estimating a self-position on the floor map based on the positional relationship acquired by the position sensor and the floor map created by the floor map creating unit;
a travel area setting unit that sets a first rectangular area defined by the movement trajectory of the self-position as a travel area in which the autonomous mobile robot travels, based on the floor map and the self-position;
a driving map creation unit that creates a driving map including the driving area set by the driving area setting unit;
comprising
Driving cartography device.
The travel area setting unit sets three first points on the movement trajectory at which the direction of movement of the self-position rotates by a first predetermined angle in one of clockwise and counterclockwise directions as vertices of the first rectangular area. setting the first rectangular region by determining
The travel mapping device according to claim 1.
If there are two second points rotating at a second predetermined angle in the other of the clockwise and counterclockwise directions in the movement trajectory, the travel area setting unit sets the two second points. setting the running area including the first rectangular area and the second rectangular area by determining the vertex of the second rectangular area;
3. The travel mapping device according to claim 2.
When the travel area setting unit rotates at the first predetermined angle in one of the clockwise direction and the counterclockwise direction between the two second points in the movement locus , setting the second rectangular area by determining the two points as vertices of the second rectangular area in addition to the two second points;
4. The travel mapping device according to claim 3.
The travel area setting unit does not include in the travel area a third rectangular area whose short side length is shorter than a predetermined value.
A travel mapping device according to any one of claims 1 to 4.
Furthermore, a boundary instruction unit for outputting an instruction for setting a boundary of the driving area to the driving area setting unit,
When the boundary instruction unit outputs an instruction to correct the boundary, the traveling area setting unit corrects the traveling area by correcting the boundary based on the instruction,
The driving map creating unit creates the driving map including the driving area corrected by the driving area setting unit.
A driving map creation device according to any one of claims 1 to 5.
An autonomous traveling robot that autonomously travels within a predetermined floor,
the main body;
a running portion disposed on the main body and allowing the main body to travel;
a driving map obtaining unit for obtaining the driving map created by the driving map generating device according to any one of claims 1 to 6;
a position sensor that detects an object around the main body and acquires a positional relationship of the object with respect to the main body;
a self-position estimation unit that estimates a self-position, which is the position of the main body on the map for driving, based on the map for driving and the positional relationship;
a travel plan creation unit that creates a travel plan for the predetermined floor based on the travel map and the self-position;
a travel control unit that controls the travel unit based on the travel plan;
comprising
Autonomous robot.
Further comprising the driving mapping device according to any one of claims 1 to 6,
The autonomous mobile robot according to claim 7.
a cleaning unit that cleans the floor surface by performing at least one of sweeping, wiping, and sucking dust;
a cleaning control unit that controls the cleaning unit;
further comprising
The travel plan creation unit further creates a cleaning plan,
The cleaning control unit controls the cleaning unit based on the cleaning plan.
The autonomous mobile robot according to claim 7 or 8.
A travel map creation method for creating a travel map for an autonomous robot that autonomously travels within a predetermined floor, comprising:
an acquisition step of detecting an object around the self and acquiring the positional relationship of the object with respect to the self;
a floor map creation step of creating a floor map showing the predetermined floor based on the positional relationship acquired in the acquisition step;
a self-location estimation step of estimating a self-location on the floor map based on the positional relationship acquired in the acquisition step and the floor map created in the floor map creation step;
a travel area setting step of setting a first rectangular area defined by the movement trajectory of the self-position as a travel area in which the autonomous mobile robot travels, based on the floor map and the self-position;
a driving map creating step of creating a driving map including the driving area set in the driving area setting step;
including,
Driving mapping method.
for causing a computer to execute the driving mapping method according to claim 10,
program.