JPH11259659A - Environment map producing method by mobile robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily produce an environment map of a mobile robot by using image signals recorded on an information recording medium, producing images of the top plane, bottom plane, left side plane and right side plane of a moving path and producing the environment map by using the images of the top plane, bottom plane, left side plane and right side plane of the moving path. SOLUTION: A produced image is an image of a top plane (ceiling), a bottom plane (floor), a left side plane (wall and window) and a right side plane (wall and door) of a moving path of a mobile robot and fluorescent lamps 10A to 10D, doors 11A to 11C and windows 12A and 12B which become effective marks at the time of producing an environment map of the mobile robot are entirely recorded. Also, it is possible to easily calculate the positional relation and distance between objects that becomes marks from the image by using a moving speed of an image picking up means and the record intervals of image signals. Then, the image of a moving path is effectively used as an environment map of the mobile robot which records the positions and sizes of marks existing on the moving path, a relative relation between marks, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to conveying, guiding, cleaning,
The present invention relates to a method for creating an environmental map of a mobile robot used for security or the like.

[0002]

2. Description of the Related Art In order to automatically move a mobile robot of this type, it is common to create an environment map in which information on a travel route is recorded, and mount the environment map on the mobile robot to move the mobile robot. . The mobile robot equipped with the environmental map determines the moving direction and the moving distance using the environmental map, the information obtained from the number of rotations of the wheels and various sensors, and the information recorded in the environmental map. By comparing the positions of the mobile robots on the moving path. Environmental maps used for such purposes include:
The location, size, color, pattern, and space between characteristic landmarks (fluorescent lights, doors, windows, etc. when indoors, outdoor lights, trees, white lines on the street, etc.) In general, the relative relationship of the information is recorded. Conventionally, as a method of creating such an environmental map, the position, size, color, pattern, relative relationship between the marks, and the like of characteristic landmarks present on the moving route are manually measured, and based on the measurement result, A method of creating an environmental map by manual input has been used.

[0003]

However, in the conventional method for creating an environment map for a mobile robot, a method for measuring the position, size, color, pattern, relative relationship between the marks, and the like of characteristic marks existing on the moving path is used. It requires enormous effort and time, and further, enormous effort and time is required when manually creating an environmental map based on the measurement results. In addition, as a side effect of requiring a great deal of labor and time, there have also been problems such as a decrease in reliability of a measurement result and occurrence of an input error. Further, when the environment or the route in which the mobile robot moves is changed, there is a big problem that the environment map must be recreated from the beginning.

[0004] The present invention has been made in view of the above problems, and an object of the present invention is to provide a method for easily creating an environment map of a mobile robot. Another object of the present invention is to provide a method for easily identifying the position of a mobile robot on a moving route using a created environment map.

[0005]

In order to achieve the above object, the present invention provides an image pickup lens, image pickup means having a plurality of element arrays for converting an optical image thereof into image signals, and recording the image signals. Using an information recording medium, moving the imaging lens and the imaging means only once in the movement direction of the mobile robot with the imaging optical axis of the imaging means oriented in the movement direction of the mobile robot; and While moving the imaging means, an image signal output from two element rows arranged in the horizontal direction of the imaging means and an image output from two element rows arranged in the vertical direction of the imaging means A step of continuously recording signals on the information recording medium, and a step of creating images of the upper surface, the lower surface, the left side, and the right side of the movement path using the image signals recorded on the information recording medium; Upper surface of the moving path of the lower surface, left side surface,
And a step of creating an environmental map using the image on the right side.

Further, the present invention provides an environment map created by the above method, an image pickup lens, image pickup means having a plurality of element arrays for converting an optical image thereof into image signals, and information for recording the image signals. Mounting the recording medium on the mobile robot, and moving the mobile robot in a state where the imaging optical axis of the imaging unit is oriented in the moving direction of the mobile robot. Continuously recording the image signal output from the element array and the image signal output from the two element arrays arranged in the vertical direction of the imaging unit on the information recording medium; and Creating images of the top, bottom, left, and right sides of the movement path using the recorded image signals, and comparing the images of the top, bottom, left, and right sides of the movement path with the environment map By doing It is an gist that a step of identifying the position of the mobile robot on the movement route Te.

Further, the present invention has a gist of reproducing an image obtained when the moving route is viewed from an arbitrary position on the moving route, using the environment map created by the above method. is there.

Further, the present invention provides an image pickup lens, image pickup means having a plurality of element arrays for converting an optical image of the image pickup lens into an image signal, an information recording medium for recording the image signal, and the above-mentioned method. Mounting the environment map on the mobile robot, reproducing the image obtained when viewing the moving path from an arbitrary position on the moving path by the above-described method, and obtaining the reproduced image and the image obtained by the imaging means. Identifying the position of the mobile robot on the movement route by comparing the image with the image to be obtained.

Further, the present invention uses an image pickup lens, image pickup means having a plurality of element arrays for converting an optical image thereof into image signals, and an information recording medium for recording the image signals.
Moving the imaging lens and the imaging means only once in the movement direction of the mobile robot with the imaging optical axis of the imaging means oriented in the movement direction of the mobile robot, and moving the imaging lens and the imaging means Continuously recording, on the information recording medium, image signals output from at least one element row arranged in the horizontal direction or the vertical direction of the imaging means; and an image signal recorded on the information recording medium. And a step of creating an environmental map using the above.

Further, the present invention provides an environment map created by the above-described method, an image pickup lens, an image pickup means having a plurality of element arrays for converting the optical image into an image signal, and information for recording the image signal. Mounting the recording medium on the mobile robot, and moving the mobile robot in a state where the imaging optical axis of the imaging unit is oriented in the moving direction of the mobile robot, while the imaging unit is arranged in the horizontal direction or the vertical direction of the imaging unit. A step of continuously recording an image signal output from at least one element array on the information recording medium, and comparing the image signal recorded on the information recording medium with the environmental map, thereby providing The point is to identify the position of the mobile robot.

[0011]

According to the present invention, there is provided an imaging lens, and imaging means having a plurality of element arrays for converting an optical image of the imaging lens into an image signal;
Using an information recording medium for recording the image signal, moving the imaging lens and the imaging unit only once in the moving direction of the mobile robot with the imaging optical axis of the imaging unit oriented in the moving direction of the mobile robot. Thus, an environment map of the mobile robot can be easily created. Further, an imaging lens, an imaging unit having a plurality of element arrays for converting the optical image into an image signal, an information recording medium for recording the image signal, and an environment map created by the above method are transmitted to the mobile robot. By mounting, the position of the mobile robot on the moving route can be identified. Further, by using the environment map created by the above-described method, an image obtained when the moving route is viewed from an arbitrary position on the moving route can be reproduced, and the position of the mobile robot on the moving route can be identified. .

[0012]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a vehicle body 2 and four drive wheels 3A, 3B,
1 shows a state in which an imaging lens 5, an imaging means 6 such as a CCD, and an information recording medium 7 such as an image memory are mounted on a mobile robot 1 including 3C and 3D and a movement control unit 4 for controlling driving wheels. It is a principle block diagram (side view). FIG. 2 is a conceptual diagram showing a state where the mobile robot 1 travels in a corridor in a building. FIG. 2 shows the fluorescent lamps 10A, 10B, 10 that are generally considered to be present in the corridor.
C, 10D, doors 11A, 11B, 11C, windows 12A,
12B is also shown.

In FIG. 2, when the mobile robot 1 moves along the corridor in the direction of arrow V, if the optical axis of the image pickup means 6 is directed in the moving direction of the mobile robot 1, an image as shown in FIG. 3 is obtained. . From this image, a horizontal row of elements connecting WX (hereinafter referred to as horizontal row WX) and a horizontal row of elements connecting YZ (hereinafter horizontal element row) Column YZ) and W-
Element rows arranged in the vertical direction connecting Y (hereinafter referred to as vertical element rows WY) and element rows arranged in the vertical direction connecting XZ (hereinafter referred to as vertical element rows XZ) ) Is selected, and the image signals output from the four element arrays are continuously recorded on the information recording medium 7 while the mobile robot 1 advances straight. Then, the horizontal element row WX and the horizontal element row Y-
Z) By arranging the image signals obtained from the vertical element rows WY and XZ in the recording order for each element row, an image as shown in FIG. 4 can be obtained. In FIG. 4,
t is a time axis indicating the recording order of the image signals.

As can be easily understood from FIG. 4, the images created by the above-described method are the upper surface (ceiling), the lower surface (floor), the left side surface (wall and window), and the right side surface of the moving path of the mobile robot 1. (Walls and doors) are images of the fluorescent light 10 which are effective markers when creating an environmental map of the mobile robot 1.
A, 10B, 10C, 10D, doors 11A, 11B,
11C and windows 12A and 12B are all recorded. In addition, by using the moving speed of the imaging unit 6 (equal to the moving speed of the mobile robot 1 in the case of the present embodiment) and the recording interval of the image signal, the positional relationship between objects serving as landmarks from this image can be obtained. The distance can be easily obtained. Therefore, the images of the upper surface, the lower surface, the left side surface, and the right side surface of the moving route, which are created by the method of the present invention, indicate the position, size, color, pattern, relative relationship between the marks, etc., existing on the moving route. The recorded environment map of the mobile robot 1 can be effectively used. By mounting this environment map on the mobile robot 1, the mobile robot 1 determines the position of the target room, the number of doors and fluorescent lamps that pass to reach the room, the positional relationship, and the like. The direction and the moving distance can be determined.

As is apparent from the above-described embodiment, when the present invention is used, a single image pickup means (for example, one CCD camera) is moved only once in the movement path, thereby enabling the movement path to be moved. Images of the upper surface, the lower surface, the left side surface, and the right side surface can be created, and the environment map can be easily created using the images of the upper surface, the lower surface, the left side surface, and the right side surface of the moving route. Therefore, even when the moving path of the mobile robot changes, a new moving path is added, or the environment (such as a building) in which the mobile robot is used changes, the environment map can be easily created, added, and updated. can do. Further, the imaging lens does not need to be a special lens such as a fisheye lens. In the above embodiment,
Although the mobile robot 1 is used to move the imaging lens 5 and the imaging unit 6, the imaging lens and the imaging unit may be moved by using a camera base provided with wheels.

The mobile robot always has an imaging lens, C
In the case where an image recording means such as a CD or an information recording medium such as an image memory is mounted, the method of the present invention can be used to automatically move the upper surface, the lower surface, the left side surface, and the right side surface of the movement path even when the movement is performed automatically. Images can be recorded on the information recording medium. FIG.
Shows an example of the image, and shows an image recorded on the information recording medium 7 by the method of the present invention when the mobile robot 1 is automatically moving in a part of the corridor shown in FIG. ing. As can be easily understood from FIGS. 4 and 5, if the image shown in FIG. 4 is mounted on the mobile robot 1 as an environment map, the image shown in FIG. 5 is compared with the image shown in FIG. By calculating, the position of the mobile robot 1 can be identified. Of course, the images in FIGS. 4 and 5 may be compared after performing appropriate image processing such as edge extraction.

As can be easily imagined from FIG.
The image of FIG. 4 created by the method of the present invention can be considered as a developed view of a traveling route (corridor). Therefore, by processing the image of FIG. 4 to perform paperwork,
As shown in FIG. 6, a three-dimensional view of a moving route (corridor) can be created. By using this three-dimensional view, not only a planar environment map as shown in FIG. 4 but also a three-dimensional environment map including height direction information can be created.

Further, when an environment map as shown in FIG. 4 is obtained by the present invention, by using this environment map, an image obtained when the moving route is viewed from an arbitrary position on the moving route can be obtained. Can be reproduced. This will be described with reference to an environment map shown in FIG. 7 created for the corridor different from FIG. 2 by the method of the present invention. In FIG. 7, the mobile robot 1 moves along the time axis t. At the time t0, the image obtained by the imaging means 6 includes an image 30 on the left side surrounded by points a, b, g, and f, and an image 30 on the lower side surrounded by points b, c, h, and g. Image 31
And an image 32 on the right side surrounded by points c, d, i, and h,
The image 33 can be reproduced by expanding and contracting the image 33 on the upper surface surrounded by points d, e, j, and i and pasting them together as shown in FIG.

Further, the mobile robot always has an imaging lens,
When equipped with an image pickup means such as a CCD and an information recording medium such as an image memory, the image reproduced by the above-described method is compared with an image obtained by the image pickup means when the vehicle is automatically traveling. By doing so, the position of the mobile robot on the moving route can be identified. Also,
By using this image reproduction method, an image obtained when the moving path is viewed from an arbitrary position on the moving path can be reproduced without recording the image signals of all the element arrays of the imaging unit, so that less storage is required. There is also an effect that the movement route can be recorded with the capacity.

In the case where the moving route has an end such as a corridor, an image of the end of the moving route is separately taken, and the upper surface, the lower surface, and the left side of the moving route are taken as shown in an image 34 in FIG. What is necessary is just to record together with the image of the surface and the right side. FIG. 9 shows a corridor different from that of FIG.
It is an example of the environment map created by the method of the present invention.

Further, a method of reproducing an image obtained when the moving route is viewed from an arbitrary position on the moving route with reference to the image of FIG. 9 will be described. The mobile robot 1 moves along the time axis t. Is performed, at the point of time t1, the image obtained by the imaging means 6 includes an image 34 at the end, an image 35 on the left side, an image 36 on the lower side,
The image 37 on the right side and the image 38 on the upper surface are expanded and contracted to
It can be reproduced by pasting together like 0.

Note that the above-described method of creating an environment map and a method of reproducing an image obtained when the moving route is viewed from an arbitrary position on the moving route using the created environment map are described in the environmental map of the mobile robot. It is not limited to the creation method, but is also applicable to entertainment devices that display images in the traveling direction of cars, trains, roller coasters, etc., image display devices for virtual space in the field of virtual reality, or simple surveying devices. Can be used.

In the above embodiment, the moving route of the mobile robot has been described by taking the corridor in the building as an example. However, it is apparent that the same procedure can be applied to a mobile robot moving outdoors. When an environmental map was created outdoors by the method of the present invention, objects such as sky, roads, trees and outside lights, houses and buildings were recorded as images of the top, bottom, left and right sides of the travel route. An environmental map can be obtained.

It is not always necessary to record an image signal on an information recording medium for an element row in which a characteristic mark cannot be recorded even when an image signal is recorded, such as a corridor in a building or an outdoor sky. If the mobile robot can move sufficiently only with the environmental map in which the position information of the fluorescent lamps is recorded, only the image signals for one element row are recorded in the information recording medium, and the environmental map is recorded. Creation and the position of the mobile robot on the movement route may be identified. Therefore, in the step of recording the image signal of the element array of the imaging means on the information recording medium, the image signal output from at least one element row arranged in the horizontal or vertical direction of the imaging means is
You may make it record continuously on the said information recording medium.

[0025]

According to the present invention, by moving the image pickup lens and the image pickup means only once in the moving direction of the mobile robot, the information of the upper, lower, right and left sides of the moving path is recorded. A robot environment map can be created. In addition, a single CCD camera or the like may be used as an imaging lens and imaging means necessary for creating an environmental map, and there is no need to use a plurality of cameras or a fisheye lens. Moreover, using the method for creating an environmental map according to the present invention does not require enormous effort and time to create an environmental map, and also reduces the reliability of measurement results due to manual intervention and the occurrence of input errors. Can be prevented. further,
Even when the environment or route in which the mobile robot moves is changed, an environment map can be easily created, added, and updated.

Also, an image pickup lens, an image pickup means having a plurality of element arrays for converting the optical image into an image signal, an information recording medium for recording the image signal, and an environment map created by the above method are provided. By mounting it on a mobile robot,
The position of the mobile robot on the moving path can be easily identified.

Further, according to the present invention, an image obtained when the moving path is viewed from an arbitrary position on the moving path is reproduced by using only the image signal of the specific element row recorded on the information recording medium. Then, the position of the mobile robot on the moving route can be easily identified. Also, since an image obtained when the moving path is viewed from an arbitrary position on the moving path can be reproduced without recording the image signals of all the element arrays of the imaging unit,
There is also an effect that the movement route can be recorded with a small storage capacity.

[Brief description of the drawings]

FIG. 1 is a principle block diagram showing a state in which an imaging lens, imaging means, and an information recording medium are mounted on a mobile robot.

FIG. 2 is a conceptual diagram showing a state in which the mobile robot of FIG. 1 moves in a corridor.

FIG. 3 is a view showing an example of an image of a corridor obtained by an imaging means of a mobile robot moving in the corridor of FIG. 2;

4 is an image (environment map) created by recording the image signals of the horizontal element rows WX, YZ and the vertical element rows WY, XZ of the image of FIG. 3 by the method of the present invention. .

FIG. 5 is an example of an image recorded by the method of the present invention when a mobile robot moving in the configuration of FIG. 1 automatically moves in the corridor shown in FIG. 2 automatically.

FIG. 6 is a three-dimensional view of the corridor of FIG. 2 obtained by processing the environment map of FIG. 4 as a development of a corridor and processing it like a paperwork.

FIG. 7 is an example of an environment map created for a corridor different from FIG. 2;

8 is an example of a moving route image reproduced using the environment map of FIG. 7;

FIG. 9 is an example of an environment map created for a corridor having an end.

FIG. 10 is an image example of a moving route reproduced using the environment map of FIG. 9;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Mobile robot 2 Mobile robot body 3A, 3B, 3C, 3D Mobile robot drive wheel 4 Mobile robot movement control unit 5 Imaging lens 6 Imaging means 7 Information recording medium 10A, 10B, 10C, 10D Fluorescent lamps 11A, 11B, 11C Door 12A, 12B Window 13A, 13B, 13C, 16A, 16B, 16C
Fluorescent lamps 14A, 14B, 14C, 18A, 18B, 18C, 1
8D door 15A, 15B, 15C, 17A, 17B, 17C
Window 30 Part of the image recorded on the left side of the corridor 31 Part of the image recorded on the lower side of the corridor 32 Part of the image recorded on the right side of the corridor 33 Part of the image recorded on the upper side of the corridor 34 Image captured at the end 35 Part of the image recorded on the left side of the corridor 36 Part of the image recorded on the lower side of the corridor 37 Part of the image recorded on the right side of the corridor 38 One of the images recorded on the upper side of the corridor Part V Robot movement direction t Time axis (image recording direction) t0, t1 Time

[Procedure amendment]

[Submission date] April 8, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claim 5

[Correction method] Change

[Correction contents]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction contents]

Further, the present invention uses an image pickup lens, image pickup means having a plurality of element arrays for converting an optical image thereof into image signals, and an information recording medium for recording the image signals.
Moving the imaging lens and the imaging means only once in the movement direction of the mobile robot with the imaging optical axis of the imaging means oriented in the movement direction of the mobile robot, and moving the imaging lens and the imaging means a step of continuously recording an image signal on the information recording medium output from the element array in the horizontal direction or at least one row are arranged in a vertical direction of the image pickup means, said information recording medium
Using the image signal recorded in the
Create at least one of the left and right side images
And a step of creating an environmental map using the created image .

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI // G05D 1/02 G06F 15/62 335

Claims (6)

[Claims] 1. An image pickup apparatus comprising: an image pickup lens; an image pickup unit having a plurality of element arrays for converting an optical image of the image signal into an image signal; and an information recording medium for recording the image signal. Moving the imaging lens and the imaging means only once in the movement direction of the mobile robot in a state where the imaging lens and the imaging means are oriented in the movement direction of the robot; and arranging the imaging means in the horizontal direction while moving the imaging lens and the imaging means. Continuously recording, on the information recording medium, the image signal output from the two element arrays and the image signal output from the two element arrays vertically arranged in the imaging unit. Creating images of the upper, lower, left, and right sides of the moving path using the image signals recorded on the information recording medium;
Creating an environment map using an image on the right side of the mobile robot. 2. An image pickup lens, image pickup means having a plurality of element arrays for converting an optical image of the image pickup lens into an image signal, and an information recording medium for recording the image signal, wherein the information is produced by the method according to claim 1. Mounting the environmental map on the mobile robot; and moving the mobile robot with the imaging optical axis of the imaging unit in the moving direction of the mobile robot, while moving the mobile robot in two rows of the imaging unit in a horizontal direction. An image signal output from the element array and two image signals arranged in the vertical direction of the imaging means.
Continuously recording the image signals output from the element arrays of the array on the information recording medium, and using the image signals recorded on the information recording medium, the upper surface, the lower surface, the left side surface, and the right side surface of the movement path And a step of identifying the position of the mobile robot on the moving route by comparing the images of the upper surface, lower surface, left side surface, and right side surface of the moving route with the environmental map. A method for identifying a position of a mobile robot, characterized by: 3. A moving route, wherein an image obtained when the moving route is viewed from an arbitrary position on the moving route is reproduced using the environment map created by the method according to claim 1. Image reproduction method. 4. An image pickup lens, an image pickup means having a plurality of element arrays for converting an optical image thereof into an image signal, an information recording medium for recording the image signal, and an information recording medium produced by the method according to claim 1. Mounting the environment map on the mobile robot, reproducing an image obtained when the moving path is viewed from an arbitrary position on the moving path by the method according to claim 3, Identifying the position of the mobile robot on the movement path by comparing the image with the image obtained by the imaging means. 5. An image pickup lens, an image pickup means having a plurality of element arrays for converting an optical image of the image signal into an image signal, and an information recording medium for recording the image signal, wherein an image pickup optical axis of the image pickup means is moved. Moving the imaging lens and the imaging unit only once in the moving direction of the mobile robot in a state where the imaging lens and the imaging unit are oriented in the moving direction of the robot; and moving the imaging lens and the imaging unit in the horizontal or vertical direction while moving the imaging lens and the imaging unit. Continuously recording image signals output from at least one element array arranged in the direction on the information recording medium, and creating an environmental map using the image signals recorded on the information recording medium And a method for creating an environment map for a mobile robot. 6. An image pickup lens, image pickup means having a plurality of element arrays for converting an optical image of the image pickup lens into an image signal, and an information recording medium for recording the image signal.
Mounting the environment map created by the method according to the above method on the mobile robot, and moving the mobile robot while the imaging optical axis of the imaging means is oriented in the moving direction of the mobile robot, while horizontally moving the imaging means. Continuously recording an image signal output from at least one element row arranged in a direction or a vertical direction on the information recording medium; and a step of recording the image signal recorded on the information recording medium and the environment map. Performing a comparison to identify the position of the mobile robot on the movement path.