CN115479597A - Map creation device and method robot system, program, and storage medium - Google Patents

Abstract

The invention provides a map creation device and method, a robot system, a program, and a storage medium. A sensor data acquisition unit (131) of a travel map creation device (100) acquires the positional relationship and movement trajectory of a position sensor (120) with respect to surrounding objects. Site map acquisition unit (132) obtain a site map. A self-position estimation unit (133) estimates the self position of the position sensor (120) on the field map. Travel area setting unit (134) setting of self-walking a travel area of the robot (200). A travel map creation unit (135) creates a travel map including a travel area. A travel area setting unit (134) calculates a first direction in the first area, then calculates a second direction in the second area, and sets a travel area on the basis of whether or not the angle of the second direction with respect to the first direction is equal to or greater than a predetermined value.

Description

Map creation device and method robot system, program, and storage medium

Technical Field

The present disclosure relates to a travel map creation device, a self-propelled robot system, a travel map creation method, and a travel map creation program.

Background

For example, patent document 1 discloses the following method: a repetitive shape on a travel route of an autonomous travel device is recognized as a landmark for dividing a travel area, and an area surrounded by a pair of landmarks and a wall surface is set as the travel area.

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Patent literature

Patent application document 1: japanese patent laid-open publication No. 2018-18146

Disclosure of Invention

However, in the technique described in patent literature 1, it is necessary for the user to set a landmark on the travel path of the autonomous traveling apparatus in advance and to divide the travel area, and this requires time and effort.

Accordingly, the present disclosure provides a travel map creation device and the like capable of easily setting a travel area on a travel map of a self-propelled 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 of a self-propelled robot that travels autonomously within a predetermined site. A travel map creation device according to one aspect of the present disclosure includes a sensor data acquisition unit, a site map acquisition unit, a self-position estimation unit, a travel area setting unit, and a travel map creation unit. The sensor data acquisition unit acquires a positional relationship and a movement trajectory of a position sensor from the position sensor that moves on a predetermined site and detects an object around the position sensor and measures a positional relationship of the detected object with respect to the position sensor. A site map acquisition unit acquires a site map indicating a predetermined site. The self-position estimating unit estimates a self-position, which is a position of the position sensor on the field map, based on the positional relationship acquired by the sensor data acquiring unit. The travel area setting unit sets a travel area of the self-propelled robot on the site map based on the positional relationship, the self position, and the site map. The travel map creation unit creates a travel map including the travel area set by the travel area setting unit. The travel area setting unit specifies a first area including a predetermined start point based on the positional relationship, the self position, and the site map, and calculates a first direction that is an arrangement direction of an object for determining an outline of the predetermined site in the specified first area. The travel region setting unit calculates a second direction that is an arrangement direction of an object for determining an outline of a predetermined field in a second region including a movement locus of the position sensor within a fixed time after calculating the first direction. (i) The travel region setting unit sets the second direction to a new first direction when the angle of the second direction with respect to the first direction is equal to or greater than a predetermined value, and calculates a new second direction in a new second region including the movement locus of the position sensor within a fixed time after the new first direction is set. Further, (ii) when the angle of the second direction with respect to the first direction is not equal to or greater than the predetermined value, the travel region setting unit updates the first region to a new first region that includes the second region by extending the first region in the first direction. The travel region setting unit sets the first direction to a new first direction in the updated first region, and calculates a new second direction in a new second region including a movement locus of the position sensor for a fixed time after the new first direction is set. Then, the travel region setting unit repeats the above (i) and (ii).

Further, a self-propelled robot system according to an aspect of the present disclosure includes: a self-propelled robot that autonomously travels in a predetermined field; and a travel map creation device that creates a travel map of the self-propelled robot. The travel map creation device includes a sensor data acquisition unit, a site map acquisition unit, a self-position estimation unit, a travel area setting unit, and a travel map creation unit. The sensor data acquisition unit acquires a positional relationship and a movement trajectory of a position sensor from the position sensor that moves on a predetermined site and detects an object around the position sensor and measures a positional relationship of the detected object with respect to the position sensor. A site map acquisition unit acquires a site map indicating a predetermined site. The self-position estimating unit estimates a self-position, which is a position of the position sensor on the field map, based on the positional relationship acquired by the sensor data acquiring unit. The travel area setting unit sets a travel area of the self-propelled robot on the site map based on the positional relationship, the self position, and the site map. The travel map creation unit creates a travel map including the travel area set by the travel area setting unit. The travel area setting unit specifies a first area including a predetermined start point based on the positional relationship, the self position, and the site map, and calculates a first direction that is an arrangement direction of an object for determining an outline of the predetermined site in the specified first area. The travel region setting unit calculates a second direction that is an arrangement direction of an object for determining an outline of a predetermined field in a second region including a movement locus of the position sensor within a fixed time after calculating the first direction. (i) The travel region setting unit sets the second direction to a new first direction when the angle of the second direction with respect to the first direction is equal to or greater than a predetermined value, and calculates a new second direction in a new second region including the movement locus of the position sensor within a fixed time after the new first direction is set. In addition, (ii) when the angle of the second direction with respect to the first direction is not equal to or greater than the predetermined value, the travel region setting unit updates the first region to a new first region that extends the first region in the first direction and includes the second region. The travel region setting unit sets the first direction to a new first direction in the updated first region, and calculates a new second direction in a new second region including a movement locus of the position sensor for a fixed time after the new first direction is set. Then, the travel region setting unit repeats the above (i) and (ii).

A driving map creation method according to an aspect of the present disclosure is a driving map creation method for creating a driving map of a self-propelled robot that autonomously drives in a predetermined field. A method for creating a map for driving according to an aspect of the present disclosure includes a sensor data acquisition step, a site map acquisition step, a self-position estimation step, a driving area setting step, and a map for driving creation step. The sensor data acquisition step is the following steps: a positional relationship and a movement locus of a position sensor are acquired from the position sensor which moves on a predetermined site, detects an object around the position sensor, and measures a positional relationship of the detected object with respect to the position sensor. The site map acquiring step comprises the following steps: a site map representing a predetermined site is acquired. The self-position estimating step is as follows: the position of the position sensor on the field map, that is, the self position is estimated based on the positional relationship acquired in the sensor data acquisition step. The travel area setting step is a step of: the travel area of the self-propelled robot on the site map is set based on the positional relationship, the self position, and the site map. The map production step for driving is as follows: a map for traveling including the traveling region set in the traveling region setting step is created. In the travel area setting step, a first area including a predetermined start point is specified based on the positional relationship, the self position, and the site map, and a first direction that is an arrangement direction of an object for determining an outer shape of the predetermined site in the specified first area is calculated. In the travel area setting step, after the first direction is calculated, a second direction which is an arrangement direction of an object for determining an outline of a predetermined field in a second area including a movement locus of the position sensor for a fixed time is calculated. In the travel region setting step, (i) when the angle of the second direction with respect to the first direction is equal to or greater than a predetermined value, the second direction is set to a new first direction, and after the new first direction is set, a new second direction in a new second region including the movement locus of the position sensor within a fixed time is calculated. In the travel region setting step, (ii) when the angle of the second direction with respect to the first direction is not equal to or greater than the predetermined value, the first region is updated to a new first region that includes the second region by extending the first region in the first direction. In the travel region setting step, the first direction is set to a new first direction in the updated first region, and after the new first direction is set, a new second direction in a new second region including a movement locus of the position sensor within a fixed time is calculated. Then, in the travel region setting step, the above (i) and the above (ii) are repeated.

The present disclosure can also be realized as a program for causing a computer to execute the above-described travel map creation method. The present disclosure may be realized as a non-transitory recording medium such as a computer-readable CD-ROM on which the program is recorded. The present disclosure may also be implemented as information, data, or signals representing the program. The program, information, data, and signals may be distributed via a communication network such as the internet.

According to the traveling map creation device and the like of the present disclosure, the traveling area can be easily set on the traveling map of the self-propelled robot.

Drawings

Fig. 1 is a diagram for explaining an outline of a self-propelled robot system according to an embodiment.

Fig. 2 is a block diagram showing an example of the configuration of the self-propelled robot system according to the embodiment.

Fig. 3 is a perspective view showing an external appearance of the traveling map making device according to the embodiment when viewed from an obliquely upper side.

Fig. 4 is a front view showing an external appearance of the traveling map making device according to the embodiment when viewed from the front side.

Fig. 5 is a perspective view showing an external appearance of the self-propelled robot according to the embodiment when viewed from a side direction.

Fig. 6 is a perspective view showing an external appearance of the self-propelled robot according to the embodiment when viewed from the front.

Fig. 7 is a bottom view showing an external appearance of the self-propelled robot according to the embodiment when viewed from the rear.

Fig. 8 is a flowchart illustrating a first example of the operation of the self-propelled robot system according to the embodiment.

Fig. 9 is a flowchart showing a detailed flow of step S04 in the first example.

Fig. 10 is a diagram schematically illustrating the flow of fig. 9.

Fig. 11 is a diagram illustrating an application example of the travel area setting process illustrated in the first example of the operation.

Fig. 12 is a flowchart illustrating a second example of the operation of the self-propelled robot system according to the embodiment.

Fig. 13 is a diagram showing an application example of the travel region setting process shown in the second example of the operation.

Fig. 14 is a flowchart showing an operation example in the case where the self-propelled robot system is a self-propelled robot having a function of mapping for traveling.

Detailed Description

Embodiments of a travel map making device and the like according to the present disclosure will be described in detail below with reference to the drawings. The embodiments described below are all preferred specific examples for illustrating the present disclosure. Accordingly, the numerical values, shapes, materials, structural elements, arrangement and connection of the structural elements, steps, order of the steps, and the like shown in the following embodiments are examples, and are not intended to limit the present disclosure. Further, among the components of the following embodiments, components not recited in the independent claims will be described as arbitrary components.

In addition, the drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter recited in the claims.

The drawings are schematic and not necessarily strictly illustrated. In the drawings, substantially the same components are denoted by the same reference numerals, and redundant description may be omitted or simplified.

In the following embodiments, the expression "substantially" is used such as a substantially triangular shape. For example, the substantially triangular shape means not only a complete triangular shape but also a triangular shape including a substantially triangular shape such as a rounded corner, and the like. The same applies to other expressions using "substantially".

In the following embodiments, a case where the self-propelled robot traveling on the floor surface of the predetermined site is viewed from the vertically upper side may be referred to as a plan view, and a case where the self-propelled robot traveling on the floor surface of the predetermined site is viewed from the vertically lower side may be referred to as an overhead view.

(embodiment mode)

[ self-propelled robot System ]

[1. Summary ]

First, an outline of the self-propelled robot system 300 according to the embodiment will be described. Fig. 1 is a diagram for explaining an outline of a self-propelled robot system 300 according to an embodiment.

In the self-propelled robot system 300, a plurality of travel areas in which the self-propelled robot 200 travels are set on a travel map of the self-propelled robot 200 that travels autonomously in a predetermined place. Then, the self-propelled robot 200 travels on a predetermined field based on a travel map in which a plurality of travel areas are set.

The predetermined site is, for example, a site surrounded by a wall or the like in a building. The building may be, for example, a hotel, a commercial facility, an office building, a hospital, a nursing facility, an art gallery, a library, or the like, or may be a collective housing such as an apartment.

As shown in fig. 1, the self-propelled robot system 300 according to the embodiment includes, for example, a traveling map creation device 100 and a self-propelled robot 200.

In the example of fig. 1, the travel map making device 100 is mounted on a cart 190, and the user pushes the cart 190 to cause the travel map making device 100 to travel in the field, but the present invention is not limited to this. For example, the main body 101 (see fig. 3) of the traveling mapping device 100 may include a traveling unit including wheels, a motor for rotating the wheels, and the like, and the traveling mapping device 100 may travel in the field in response to an operation of a remote controller or the like. For example, the main body 101 of the traveling map making device 100 may further include a handle, and in this case, the user may operate the handle to cause the traveling map making device 100 to travel.

The travel map making apparatus 100 is mounted with a position sensor 120 such as a LIDAR (Light Detection and Ranging) sensor, for example, and acquires the positional relationship of a surrounding object with respect to itself while traveling on a predetermined site. The traveling map creation device 100 acquires a site map indicating a predetermined site, and estimates a self-position on the site map based on a positional relationship of a surrounding object with respect to the self-position. The traveling map creating device 100 specifies the first area 1 including the predetermined start point SP1, and calculates the first direction D1 which is the arrangement direction of the objects (for example, walls and pillars) in the specified first area 1 for determining the outer shape of the predetermined field. Further, the traveling map making device 100 calculates the second direction D2 at fixed time intervals after calculating the first direction D1. The second direction D2 is an arrangement direction of objects (for example, walls and pillars) for determining the outer shape of a predetermined field in the second area 2 including the movement trajectory of the position sensor 120 (or the traveling map preparation apparatus 100 on which the position sensor 120 is mounted) within the fixed time period. When the angle θ of the second direction D2 with respect to the first direction D1 is equal to or greater than a predetermined value, the traveling map making device 100 sets the first area 1 as the first traveling area. On the other hand, when the angle θ is not equal to or greater than the predetermined value, the traveling map making device 100 updates the first area 1 to a new first area 1' that includes the second area 2 by extending the first area 1 in the first direction D1.

For example, when it is difficult to define the arrangement direction of the wall and the pillars in one direction, such as a portion where the arrangement direction of the wall and the pillars is interrupted, the user may arrange two or more markers 5 on the floor surface or the wall surface of the portion to determine the outer shape of the predetermined field on which the self-propelled robot 200 travels.

The self-propelled robot 200 creates a travel plan based on, for example, a travel map including a travel area created by the travel map creating device 100, and autonomously travels in a predetermined field according to the created travel plan.

In this manner, in the self-propelled robot system 300, the self-propelled robot 200 can create a travel plan based on the travel map including the travel area created by the travel map creating device 100. Therefore, the self-propelled robot system 300 can appropriately control the travel of the self-propelled robot 200.

[2. Structure ]

Next, the configuration of the self-propelled robot system 300 according to the embodiment will be described. Fig. 2 is a block diagram showing an example of the configuration of the self-propelled robot system 300 according to the embodiment.

The self-propelled robot system 300 according to the embodiment includes, for example, the traveling map creating device 100 and the self-propelled robot 200. Next, each structure is explained.

[2-1. Map creation device for traveling ]

First, the traveling map creating device 100 will be described with reference to fig. 1 to 4. Fig. 3 is a perspective view showing an external appearance of the traveling map making device 100 according to the embodiment when viewed from an obliquely upper side. Fig. 4 is a front view showing an external appearance of the traveling map making device 100 according to the embodiment when viewed from the front.

The traveling map creation device 100 is a device that creates a traveling map of the self-propelled robot 200 that autonomously travels on a predetermined site. For example, the travel map creation device 100 creates the travel map while traveling on a predetermined site in accordance with the operation of the user. The specific operation will be described later.

As shown in fig. 1 and 3, the travel map making device 100 is mounted on, for example, a cart 190, and travels on a predetermined site in accordance with a user operation. Here, the user travels the travel map making apparatus 100 by pushing the cart 190. A holder 192 for mounting a terminal device (not shown), for example, may be attached to the handle 191 of the carriage 190, or the presentation unit 160 of the traveling map making device 100 may be provided on the carriage 190. The presentation section 160 may be a so-called display panel.

As shown in fig. 2, the traveling map making device 100 includes, for example, a communication unit 110, a position sensor 120, a control unit 130, a storage unit 140, a reception unit 150, and a presentation unit 160. Next, each structure is explained.

[ communication section ]

The communication unit 110 is a self-propelled device used in the travel map making apparatus 100 Wireless communication between persons 200 a communication module (also referred to as a communication circuit). The communication performed by the communication unit 110 is wireless communication, but may be wired communication. For communication station communication of use the standard is also not particularly limited.

[ position sensor ]

Position sensor 120 detection the objects around the body of the user are, and measuring the position relation of the object relative to the object. For example, the position sensor 120 is disposed at the center of the upper surface of the main body 101, and measures the positional relationship including the distance and direction between the traveling mapping device 100 and objects including walls and the like existing around the traveling mapping device 100. The position sensor 120 may also be, for example, a LIDAR or a laser range finder that radiates light and detects a positional relationship based on light reflected back by an obstacle. The position sensor 120 may have 1 or 2 optical scanning axes, and thus perform two-dimensional measurement or three-dimensional measurement of a predetermined area around the traveling map making device 100.

The travel map making apparatus 100 may include other types of sensors in addition to the position sensor 120. For example, the traveling map making device 100 may further include a camera 122 (see fig. 3 and 4), an obstacle sensor 124 (see fig. 4), a ground sensor, an encoder, an acceleration sensor, an angular velocity sensor, a contact sensor, an ultrasonic sensor, a distance measuring sensor, and the like. The obstacle sensor 124 includes a transmission unit 124a disposed at the center of the front of the main body 101 and reception units 124b disposed on both sides of the transmission unit 124 a. The reception unit 124b receives the ultrasonic waves transmitted from the transmission unit 124a and reflected by the obstacle, and the travel map making device 100 can detect the distance and position of the obstacle.

[ control section ]

The control unit 130 acquires sensor data such as the positional relationship between the main body 101 and objects around the main body 101, which is obtained by sensing the surrounding environment of the main body 101 of the traveling map making device 100 by the position sensor 120, and performs various calculations. Specifically, the control section 130 is realized by a processor, a microcomputer, or a dedicated circuit. The control unit 130 may be implemented by a combination of two or more of a processor, a microcomputer, and a dedicated circuit. For example, the control unit 130 includes a sensor data acquisition unit 131, a site map acquisition unit 132, a self-position estimation unit 133, a travel area setting unit 134, and a travel map creation unit 135.

The sensor data acquisition unit 131 acquires the positional relationship between the main body 101 and the objects around the main body 101 measured by the position sensor 120, and the movement locus of the main body 101 (that is, the traveling map making device 100). When the travel map making apparatus 100 includes other types of sensors in addition to the position sensor 120, the sensor data acquisition unit 131 may acquire sensor data acquired by the other types of sensors.

The site map acquisition unit 132 acquires a site map indicating a predetermined site. The site map acquisition unit 132 may generate a site map representing a predetermined site by using a Mapping technique such as SLAM (Simultaneous Localization and Mapping), or may acquire a site map input from an external device (not shown) via a network. In this case, the site map acquisition unit 132 may read the site map from the storage unit 140 to acquire the site map.

The self-position estimation unit 133 estimates the self-position, which is the position of the traveling mapping device 100 on the site map, using the site map and the relative positional relationship between the object acquired from the position sensor 120 and the position sensor 120. For example, the self-position estimating unit 133 estimates the self-position by using SLAM technology.

The travel area setting unit 134 sets the travel area of the self-propelled robot 200 on the site map based on the positional relationship acquired by the sensor data acquisition unit 131, the self position estimated by the self position estimation unit 133, and the site map indicating the predetermined site.

For example, the travel region setting unit 134 specifies the first region 1 including the predetermined start point SP1 based on the positional relationship, the self position, and the site map, and calculates a first direction which is an arrangement direction of objects (for example, walls and pillars) in the specified first region 1 for determining the outline of the predetermined site. The first direction is a reference direction of the travel area. Further, the travel region setting unit 134 calculates the second direction at fixed time intervals after calculating the first direction. The second direction is an arrangement direction of objects (for example, walls and pillars) for determining the outer shape of a predetermined field in the second area 2 including the movement locus of the position sensor 120 (more specifically, the main body 101 of the traveling mapping apparatus 100 on which the position sensor 120 is mounted) within the fixed time. The travel region setting unit 134 sets the travel region based on the magnitude of the angle of the second direction with respect to the first direction. The specific operation of the travel region setting unit 134 will be described later.

The travel map creation unit 135 creates a travel map including the travel area set by the travel area setting unit 134. The traveling map creation unit 135 may create a traveling map including an entry prohibition area where entry of the self-propelled robot 200 is prohibited.

The traveling map creation unit 135 outputs the created traveling map to the self-propelled robot 200 via the communication unit 110.

[ storage part ]

The storage unit 140 is a storage device that stores a site map indicating a predetermined site, sensor information acquired by the position sensor 120, and the like. The site map acquired by the site map acquisition unit 132 and the travel map created by the travel map creation unit 135 may be stored in the storage unit 140. The storage unit 140 also stores a computer program or the like executed by the control unit 130 to perform the above-described arithmetic processing. The storage unit 140 is realized by, for example, an HDD (Hard Disk Drive) or a flash memory.

[ receiving department ]

The reception unit 150 receives an input operation by a user. The receiving unit 150 may be realized by a touch panel, a display panel, a hardware button, a microphone, or the like. The touch panel may be a capacitive touch panel or a resistive touch panel, for example. The display panel has a function of displaying an image and a function of receiving a manual input from a user, and receives an input operation for a ten-key image or the like displayed on a display panel such as a liquid crystal panel or an organic EL (Electro Luminescence) panel. The microphone accepts a voice input from a user.

Here, the reception unit 150 is an example of a component of the travel map making device 100. For example, the receiving unit 150 may be incorporated in the self-propelled robot 200, a remote controller (not shown), or a terminal device (not shown).

[ presenting part ]

The presentation section 160 presents notification information to the user. The notification information may be a result of detection of an object, a map for driving, or the like. The presentation unit 160 may be implemented by, for example, a display panel and a speaker, or hardware buttons, lamps, or the like.

[2-2. Self-propelled robot ]

Next, the self-propelled robot 200 will be described. The self-propelled robot 200 is a robot that autonomously travels. For example, the self-propelled robot 200 acquires a map for travel created by the map creation device 100 for travel, and autonomously travels in a predetermined place corresponding to the map for travel. The self-propelled robot 200 is not particularly limited as long as it is a robot that autonomously travels, but may be, for example, a transfer robot or a cleaning machine that transfers goods or the like. Next, an example in which the self-propelled robot 200 is a cleaning machine will be described.

Fig. 5 is a perspective view showing an external appearance of the self-propelled robot 200 according to the embodiment when viewed from a side direction. Fig. 6 is a perspective view showing an external appearance of the self-propelled robot 200 according to the embodiment when viewed from the front. Fig. 7 is a bottom view showing an external appearance of the self-propelled robot 200 according to the embodiment when viewed from the rear surface direction.

As shown in fig. 5 to 7, the self-propelled robot 200 includes, for example, a main body 201, two side brushes 261, a main brush 262, two wheels 251, and a position sensor 220.

The main body 201 accommodates each of the components of the self-propelled robot 200. In the present embodiment, the main body 201 has a substantially circular shape in plan view. The shape of the main body 201 in plan view is not particularly limited. The shape of the main body 201 in plan view may be, for example, a substantially rectangular shape, a substantially triangular shape, or a substantially polygonal shape. The bottom surface of the main body 201 has a suction port 263.

The side brush 261 is a brush for cleaning the floor, and is provided on the lower surface of the main body 201. In the present embodiment, the self-propelled robot 200 includes two side brushes 261. The number of the side brushes 261 provided in the self-propelled robot 200 may be one, three or more, and is not particularly limited.

The main brush 262 is disposed in a suction port 263, which is an opening provided in the lower surface of the main body 201, and is a brush for collecting garbage on the ground into the suction port 263.

The two wheels 251 are wheels for traveling the self-propelled robot 200.

As shown in fig. 2, 5, and 6, the self-propelled robot 200 includes, for example, a main body 201, a position sensor 220, a traveling unit 250 disposed on the main body 201 and capable of traveling the main body 201, and a cleaning unit 260 for cleaning a floor surface. The self-propelled robot 200 may include an obstacle sensor (not shown), a ground sensor, a collision sensor, an encoder, an acceleration sensor, an angular velocity sensor, a distance measurement sensor, and the like, in addition to the position sensor 220. Details of the traveling unit 250 and the cleaning unit 260 will be described later.

[ position sensor ]

The position sensor 220 is a sensor that detects an object around the main body 201 of the self-propelled robot 200 and acquires the positional relationship of the object with respect to the main body 201. The position sensor 220 may also be, for example, a LIDAR or a laser range finder that radiates light and detects a positional relationship (e.g., a distance and direction from itself to an object) based on the light reflected back by an obstacle. In particular, the position sensor 220 may be a LIDAR.

Next, the functional configuration of the self-propelled robot 200 will be described with reference to fig. 2.

The self-propelled robot 200 includes a communication unit 210, a position sensor 220, a control unit 230, a storage unit 240, a traveling unit 250, and a cleaning unit 260.

[ communication section ]

The communication unit 210 is a wireless communication circuit for the self-propelled robot 200 to wirelessly communicate with the traveling map making device 100. For communication performed by the communication unit 210 the communication standard of (2) is not particularly limited. The communication performed by the communication unit 210 is wireless communication, but may be wired communication, for example, when the communication unit 110 of the travel map creation device 100 performs wired communication.

[ control section ]

Control unit 230 controls the vehicle based on the traveling map and sensor information obtained by sensing the surrounding environment of the self-propelled robot 200 by the position sensor 220 and an obstacle sensor (not shown), to perform various operations. In particular, the first and second (c) substrates, the control section 230 is realized by a processor, a microcomputer, or a dedicated circuit. In addition, the air conditioner is provided with a fan, the control unit 230 may be implemented by a combination of two or more of a processor, a microcomputer, and a dedicated circuit. For example, the control unit 230 includes a travel map acquisition unit 231, a self-position estimation unit 232, a travel plan creation unit 233, a travel control unit 234, and a cleaning control unit 235.

The travel map acquisition unit 231 acquires the travel map created by the travel map creation device 100. The travel map acquisition unit 231 may acquire the travel map by reading the travel map stored in the storage unit 240, or may acquire the travel map output by the travel map creation device 100 by communication.

The self-position estimating unit 232 estimates the self-position, which is the position of the main body 201 of the self-propelled robot 200 on the travel map. For example, the self position is estimated based on the travel map acquired by the travel map acquisition unit 231 and the positional relationship of the surrounding objects with respect to the main body 201 of the self-propelled robot 200 acquired by the position sensor 220.

The travel plan creating unit 233 creates a travel plan based on the travel map and the own position. For example, as shown in fig. 2 and 5 to 7, when the self-propelled robot 200 is a cleaning machine, the travel plan creation unit 233 may create a cleaning plan. The cleaning plan includes a cleaning procedure for cleaning the cleaning area, a travel route in each area, a cleaning method, and the like. The cleaning method is a combination of, for example, the traveling speed of the self-propelled robot 200, the suction intensity of the dust sucked on the floor surface, the rotation speed of the brush, and the like.

The travel control unit 234 causes the cleaning machine to travel along the cleaning route based on the self position estimated by the self position estimating unit 232. When it is detected by a sensor that an object or the like is present on the travel path, the travel control unit 234 may control the travel unit 250 so as to travel the self-propelled robot 200 while avoiding the object.

The cleaning controller 235 causes the cleaning unit 260 to perform cleaning corresponding to its own position based on the cleaning plan. For example, the cleaning control unit 235 changes the suction force, the presence or absence of rotation of the brush, and the like based on its own position.

[ storage part ]

The storage unit 240 is a storage device that stores a map for traveling, sensor information sensed by the position sensor 220 and an obstacle sensor (not shown), a computer program executed by the control unit 230, and the like. The storage unit 240 is implemented by, for example, a semiconductor memory.

[ traveling section ]

The traveling unit 250 is disposed in the main body 201 of the self-propelled robot 200 and can travel the main body 201. The traveling unit 250 includes, for example, a pair of traveling units running means (not shown). The traveling unit is arranged in a plan view when the robot 200 is self-propelled the widthwise centers are disposed one on each of the left and right sides. The number of travel units is not limited to two, and may be one or three or more.

For example, the traveling unit includes a wheel 251 (see fig. 5 to 7) that travels on the ground, a traveling motor (not shown) that applies torque to the wheel 251, a casing (not shown) that houses the traveling motor, and the like. Each wheel 251 of the pair of traveling units is housed in a recess (not shown) formed in the lower surface of the body 201, is attached to the main body 201 so as to be rotatable with respect to the main body 201. The self-propelled robot 200 may be of a two-wheel type having casters (not shown) as auxiliary wheels. In this case, the traveling unit 250 can freely travel by moving the self-propelled robot 200 forward, backward, left-turn, right-turn, and the like by independently controlling the rotation of the wheels 251 of each of the pair of traveling units. The traveling unit 250 causes the self-propelled robot 200 to travel by operating a traveling motor and the like based on an instruction from the traveling control unit 234.

[ cleaning part ]

The cleaning unit 260 is disposed in the main body 201 of the self-propelled robot 200, and performs at least one of cleaning operations of wiping, cleaning, and sucking dust on the floor surface around the main body 201. For example, the cleaning unit 260 sucks dust or other debris present on the floor surface through the suction port 263 (see fig. 7). The suction port 263 is provided at the bottom of the main body 201 so as to be able to suck dust and other debris present on the floor into the main body 201. Although not shown, the cleaning unit 260 includes a brush travel motor that rotates the side brush 261 and the main brush 262, a suction motor that sucks the garbage from the suction port 263, a power transmission unit that transmits electric power to these motors, a garbage storage unit that stores the sucked garbage, and the like. The cleaning unit 260 operates the brush travel motor, the suction motor, and the like based on the control signal output from the cleaning control unit 235. The side brushes 261 sweep the garbage on the ground around the main body 201, and guide the garbage to the suction port 263 and the main brush 262. As shown in fig. 5 to 7, the self-propelled robot 200 includes two side brushes 261. Each side brush 261 is disposed on a side portion in front of the bottom surface of the main body 201 (i.e., in the forward direction). The side brush 261 rotates in a direction in which the garbage can be collected from the front of the main body 201 toward the suction port 263. The number of the side brushes 261 is not limited to two, and may be one or three or more. The number of the side brushes 261 can also be arbitrarily selected by the user. In addition, the side brushes 261 may each have a detachable structure.

[3. Action ]

Next, the operation of the self-propelled robot system 300 according to the embodiment will be described with reference to the drawings.

[ first example ]

First, a first example of the operation of the self-propelled robot system 300 according to the embodiment will be described. Fig. 8 is a flowchart illustrating a first example of the operation of the self-propelled robot system 300 according to the embodiment. Fig. 9 is a flowchart showing a detailed flow of step S04 in the first example. Next, description will be given with reference to fig. 2, 8, and 9.

Although not shown, the travel map creation device 100 starts traveling in accordance with an operation by the user. When the travel is started, the self-propelled robot system 300 performs the following operations, for example. The user may operate the handle to cause the traveling mapping device 100 to travel, or the user may operate a joystick, a remote controller, or the like to cause the traveling mapping device 100 to travel.

The sensor data acquisition unit 131 of the traveling map making device 100 acquires the positional relationship of the surrounding object with respect to itself, which is measured by the position sensor 120, and the movement locus of the position sensor 120 (step S01).

Next, the site map acquisition unit 132 of the traveling map creation device 100 acquires a site map of a predetermined site (step S02). More specifically, the site map acquisition unit 132 may read out the site map from the storage unit 140 to acquire the site map. The site map acquisition unit 132 may generate a site map by using a mapping technique such as SLAM based on the positional relationship acquired in step S01, or may acquire a site map input from an external device (not shown) via a network.

Next, the self-position estimating unit 133 of the traveling mapping device 100 estimates the self-position, which is the position on the site map acquired in step S02 by the position sensor 120 (in other words, the traveling mapping device 100 on which the position sensor 120 is mounted) (step S03). For example, the self-position estimating unit 133 estimates the self-position, which is the position of the traveling mapping device 100 on the site map, using the relative positional relationship between the object and the position sensor 120 acquired from the position sensor 120 and the site map.

The traveling map creation device 100 may repeat steps S01 to S03 while traveling. For example, the site map acquisition unit 132 and the self-position estimation unit 133 may create a site map while estimating the self-position by the SLAM technique, and may sequentially update the self-position and the site map.

In addition, the traveling map making device 100 may perform step S01 while traveling, and steps S02 and S03 are performed after the travel on the predetermined site is completed.

Next, the travel area setting unit 134 of the travel map making device 100 sets the travel area of the self-propelled robot 200 in the field map (step S04). The traveling map creation unit 135 creates a traveling map including the traveling region set by the traveling region setting unit 134 (step S05), and the traveling map creation device 100 ends the process.

Next, the processing of step S04 will be described in more detail with reference to fig. 9 and 10. Fig. 10 is a diagram schematically illustrating the flow of fig. 9.

In step S04, the travel region setting unit 134 specifies the first region 1 including the predetermined start point SP1 based on the positional relationship, the self position, and the site map (step S11). As shown in fig. 10 (a), the first area 1 is an area including a predetermined start point SP 1.

Next, the travel region setting unit 134 calculates a first direction D1 in which the objects (for example, walls and columns) for determining the outline of the predetermined field are arranged in the first region 1 determined in step S11 (step S12). After step S12, the travel region setting unit 134 determines the second region 2 (see fig. 10 a) including the movement trajectory of the position sensor 120 for a fixed time (step S13). The travel region setting unit 134 calculates a second direction D2 (step S14), which is the arrangement direction of the objects (for example, walls and pillars) for determining the outline of the predetermined field in the second region 2 determined in step S13.

Next, the travel region setting unit 134 determines whether or not the angle θ of the second direction D2 with respect to the first direction D1 is equal to or larger than a predetermined value (step S15). The predetermined value is set according to the width of the main body 201, and may be set at one time, for example. Specifically, for example, when the width of the main body 201 is 60cm, the deviation of the angle between the rectangular travel area and the actual wall is set at a time so as to avoid the cleaning by the main body 201 from being completed. When determining that the angle θ is equal to or larger than the predetermined value (yes in step S15), the travel region setting unit 134 sets the second region 2 as a new first region 1' (see fig. 10 (c)). The travel region setting unit 134 sets the second direction D2 (see fig. 10 a 2) to the new first direction D1' (see fig. 10 c) (step S16).

On the other hand, when determining that the angle θ is not equal to or larger than the predetermined value (no in step S15), the travel region setting unit 134 sets the first region 1 as a new first region 1' including the second region 2 by extending the first region 1 in the first direction D1 (see fig. 10 (b)). Further, the travel region setting unit 134 sets the first direction D1 (see fig. 10 (a 1)) to a new first direction D1' (see fig. 10 (b)) (step S17).

Next, the travel region setting unit 134 sets a new second region 2 '(see fig. 10 (d) and (e)) including the movement trajectory of the position sensor 120 for a fixed time, and calculates a second direction (new second direction) in the new first region 1' (step S18).

Next, when the travel region setting unit 134 determines that the self-position information is completed (yes in step S19), the process of setting the travel area is ended. On the other hand, if the travel area setting unit 134 determines that the self-position information is not completed (no in step S19), the process returns to step S15.

In step S18, for example, when a wall is detected along the first direction at a predetermined site, the travel region setting unit 134 may set a region up to the detected wall as one travel region.

Next, an application example of the travel area setting process shown as the first example of the operation will be described. Fig. 11 is a diagram illustrating an application example of the travel area setting process illustrated in the first example of the operation.

As shown in fig. 11, the traveling map making device 100 distinguishes two adjacent traveling regions (for example, a first traveling region RA1 and a second traveling region RA 2) by determining whether or not the magnitude of the angle (for example, θ 1) of the second direction with respect to the first direction is equal to or greater than a threshold value. According to the traveling map making device 100 and the traveling map making method executed by the traveling map making device 100 according to embodiment 1, even if the arrangement direction of the wall and the pillar for determining the outer shape of the predetermined field on which the self-propelled robot 200 travels is curved, a rectangular traveling area can be set along the arrangement direction of the wall and the pillar.

[ second example ]

Next, a second example of the operation of the self-propelled robot system 300 according to the embodiment will be described. In the first example, an example is shown in which the object for determining the outer shape of the predetermined site is a wall or a pillar. In the second example, an example will be described in which the marker 5 is included as an object for determining the outer shape of a predetermined field in addition to the wall and the pillar. Note that since the mark 5 is described above, the description thereof is omitted here.

Fig. 12 is a flowchart illustrating a second example of the operation of the self-propelled robot system 300 according to the embodiment. In the second example of the present invention, the, the processing of steps S12 to S15 in fig. 9 is different from the first example. Next, description will be given with reference to fig. 2, 9, 12, and 13. FIG. 13 shows a second example of the operation travel area setting process fig. of application examples of (1).

After step S12 shown in fig. 9, the travel area setting unit 134 specifies the second area 2 including the movement locus of the position sensor 120 for a fixed time (step S14). Next, the travel region setting unit 134 determines whether or not the marker 5 is detected in the region (step S21). When determining that the marker 5 is detected in the region (yes in step S21), the travel region setting unit 134 sets a virtual wall (so-called virtual wall) extending along the arrangement direction of the markers 5 (step S22). For example, as shown in fig. 13 (a), in a portion where a wall of an elevator hall or the like is curved with deformation, it is difficult to calculate the arrangement direction of the wall and the column, and therefore the mark 5 may be provided on the floor, the wall surface, or the surface of the column. In addition, for example, when it is difficult to detect an object by the position sensor 120 such as a glass surface, the glass surface or the ground in front of the glass surface is also provided with a mark 5.

Next, the travel region setting unit 134 calculates a second direction that is an arrangement direction of the wall, the pillar, and the virtual wall in the second region 2 (step S23). For example, two or more markers 5 may be arranged, and the arrangement direction of the virtual wall may be defined by the arrangement direction of the two or more markers 5. The travel region setting unit 134 calculates the arrangement direction of the virtual wall by calculating the arrangement direction of two or more markers 5.

On the other hand, if the travel region setting unit 134 determines that the marker 5 is not detected in the region (no in step S21), it calculates a second direction that is the arrangement direction of the walls and the pillars in the second region 2 (step S24).

After the processing of steps S23 and S24, the travel region setting unit 134 performs the processing of step S15 in fig. 9.

As described above, in the second example of the operation, even when it is difficult to calculate the arrangement direction of the objects (walls and pillars) for determining the outer shape of the predetermined field, the arrangement direction of the markers 5 can be calculated as the arrangement direction of the virtual wall. Thus, for example, as shown in fig. 13, even a wall surface where there is no space for walls and pillars, glass, or the like, which is difficult to detect by the position sensor 120, and a wall surface of a deformed shape, a rectangular travel area can be set along the arrangement direction of the walls, pillars, and virtual walls.

[4. Effects, etc. ]

As has been described above, in the above, the traveling map creation device 100 is a traveling map creation device that creates a traveling map of the self-propelled robot 200 that autonomously travels in a predetermined field. The travel map creation device 100 includes a sensor data acquisition unit 131, a site map acquisition unit 132, a self-position estimation unit 133, a travel area setting unit 134, and a travel map creation unit 135. The sensor data acquisition unit 131 acquires the positional relationship and the movement trajectory of the position sensor 120 from the position sensor 120. The position sensor 120 is a position sensor (more specifically, the position sensor 120 mounted on the traveling map making device 100) that moves on a predetermined site, and detects objects around itself and measures the positional relationship of the detected objects with respect to itself. The site map acquisition unit 132 acquires a site map indicating a predetermined site. The self-position estimating unit 133 estimates the self-position, which is the position of the position sensor 120 on the field map, based on the positional relationship acquired by the sensor data acquiring unit 131. The travel area setting unit 134 sets the travel area of the self-propelled robot 200 on the site map based on the positional relationship, the self position, and the site map. The travel map creation unit 135 creates a travel map including the travel area set by the travel area setting unit 134. The travel region setting unit 134 specifies the first region 1 including the predetermined start point SP1 based on the positional relationship, the self position, and the site map, and calculates the first direction D1 which is the arrangement direction of the objects for determining the outline of the predetermined site in the specified first region 1. After calculating the first direction D1, the travel region setting unit 134 calculates a second direction D2 which is an arrangement direction of an object for determining an outline of a predetermined field in the second region 2 including the movement locus of the position sensor 120 in a fixed time. (i) When the angle θ of the second direction D2 with respect to the first direction D1 is equal to or greater than the predetermined value, the travel region setting unit 134 sets the second direction D2 as a new first direction D1'. After setting the new first direction D1', the travel region setting portion 134 calculates a new second direction D2' in a new second region 2' including the movement locus of the position sensor 120 for a fixed time. In addition, (ii) when the angle θ of the second direction D2 with respect to the first direction D1 is not equal to or greater than the predetermined value, the travel region setting unit 134 updates the first region 1 to a new first region 1' in which the first region 1 is extended in the first direction so as to include the second region 2. The travel region setting unit 134 sets the first direction D1 to a new first direction D1' in the updated first region 1', and after setting the new first direction D1', calculates a new second direction D2' in a new second region 2' including the movement locus of the position sensor 120 for a fixed time. Then, the travel region setting unit 134 repeats the above (i) and the above (ii).

Thus, the traveling map creating device 100 can set the traveling region along the arrangement direction of the objects on the basis of the magnitude of the angle of the second direction, which is the arrangement direction of the objects for determining the outline of the predetermined field, with respect to the first direction, which is the initial value of the traveling region, for each fixed time. Therefore, according to the traveling map creating device 100, it is possible to easily set a traveling area on the traveling map of the self-propelled robot 200 without taking time and labor.

For example, in the travel map creation device 100, when the self position acquired from the self position estimation unit 133 is not updated, the travel region setting unit 134 may end the repetition of the above (i) and (ii).

Thus, when the movement of the position sensor 120 in the predetermined field is completed, the traveling map creating device 100 completes the setting of the traveling area, and therefore the setting process can be terminated without a special instruction from the user.

For example, the object for determining the outer shape of the predetermined site may be a wall or a pillar of the predetermined site.

Thus, the map making device 100 for traveling can set a traveling region along the arrangement direction of the walls and pillars of the predetermined site.

For example, the object for determining the outer shape of the predetermined site may be the mark 5 disposed on the floor surface, wall surface, or pillar surface of the predetermined site.

Thus, the map making device 100 for traveling can set a traveling zone along the arrangement direction of the markers 5 arranged on the predetermined site, in addition to the traveling zone along the arrangement direction of the walls and pillars of the predetermined site, and can set a desired traveling zone.

For example, the position sensor 120 may be disposed in the main body 101 of the traveling map making device 100.

Thus, the travel map creation device 100 can set the travel area based on the positional relationship of the object detected around the travel map creation device 100 and the movement locus of the travel map creation device, and therefore does not need to acquire information via communication. Therefore, the travel map creation device 100 is less susceptible to communication failure and the like, for example, and can perform processing more smoothly than the case of acquiring information using communication.

For example, in the travel map making device 100, when the positional relationship cannot be measured by the position sensor 120, the travel region setting unit 134 may calculate the first direction D1 and the second direction D2 based on the movement locus of the main body 101 of the travel map making device 100.

Thus, for example, even when the outline of a predetermined field is determined by a wall or a pillar made of a material that is difficult to detect by the position sensor 120 such as glass, the traveling map making device 100 can calculate the first direction D1 and the second direction D2.

In the travel map making apparatus 100, the self-propelled robot 200 may be a self-propelled cleaning machine having a cleaning function.

Thus, in the travel map creation device 100, since the travel area is set along the outer shape of the predetermined site, the self-propelled robot 200 having the cleaning machine creates the cleaning travel plan based on the travel map in which the travel area is set, and therefore, the cleaning travel can be appropriately performed.

The self-propelled robot system 300 includes a self-propelled robot 200 that autonomously travels in a predetermined field, and a travel map creation device 100 that creates a travel map of the self-propelled robot 200. The travel map creation device 100 includes a sensor data acquisition unit 131, a site map acquisition unit 132, a self-position estimation unit 133, a travel area setting unit 134, and a travel map creation unit 135. The sensor data acquisition unit 131 acquires the positional relationship and the movement trajectory of the position sensor 120 from the position sensor 120. The position sensor 120 is a position sensor that moves on a predetermined site, and detects an object around itself and measures a positional relationship of the detected object with respect to itself. The site map acquisition unit 132 acquires the representation a site map of the specified site. The self-position estimating unit 133 estimates the self-position, which is the position of the position sensor 120 on the field map, based on the positional relationship acquired by the sensor data acquiring unit 131. The travel area setting unit 134 sets the travel area of the self-propelled robot 200 on the site map based on the positional relationship, the self position, and the site map. The travel map creation unit 135 creates a travel map including the travel area set by the travel area setting unit 134. The travel region setting unit 134 specifies the first region 1 including the predetermined start point SP1 based on the positional relationship, the self position, and the site map, and calculates the first direction D1 which is the arrangement direction of the objects for determining the outline of the predetermined site in the specified first region 1. After calculating the first direction D1, the travel region setting unit 134 calculates a second direction D2 which is an arrangement direction of an object for determining an outline of a predetermined field in the second region 2 including the movement locus of the position sensor 120 in a fixed time. (i) When the angle θ of the second direction D2 with respect to the first direction D1 is equal to or greater than the predetermined value, the travel region setting unit 134 sets the second direction D2 as a new first direction D1'. After setting the new first direction D1', the travel region setting portion 134 calculates a new second direction D2' in a new second region 2' including the movement locus of the position sensor 120 for a fixed time. In addition, (ii) when the angle theta of the second direction D2 relative to the first direction D1 is not greater than a predetermined value, the travel region setting unit 134 updates the first region 1 to a new first region 1' including the second region 2 by extending the first region 1 in the first direction D1. The travel region setting unit 134 sets the first direction D1 to a new first direction D1' in the updated first region 1', and after setting the new first direction D1', calculates a new second direction D2' in a new second region 2' including the movement locus of the position sensor 120 for a fixed time. Then, the travel region setting unit 134 repeats the above (i) and the above (ii).

Thus, in the self-propelled robot system 300, the self-propelled robot 200 can create a travel plan based on the travel map including the travel area set along the outer shape of the predetermined field, and thus can appropriately travel in the predetermined area.

The method for creating a map for traveling is a method for creating a map for traveling of the self-propelled robot 200 that autonomously travels in a predetermined field. The method for producing a map for driving includes a sensor data acquisition step, a site map acquisition step, a self-position estimation step, a driving area setting step, and a driving map production step. The sensor data acquisition step is the following steps: the positional relationship and the movement locus of the position sensor 120 are acquired from the position sensor 120, the position sensor 120 being a position sensor that moves on a prescribed site, the position sensor 120 being for detecting an object around itself and measuring the positional relationship of the detected object with respect to itself. The site map acquisition step comprises the following steps: obtaining a representation specification a site map of the site. The self-position estimating step is as follows: the position of the position sensor 120 on the field map, that is, the self position is estimated based on the positional relationship acquired in the sensor data acquisition step. The travel area setting step is a step of: the travel area of the self-propelled robot 200 on the site map is set based on the positional relationship, the self position, and the site map. Map production procedure for driving the method comprises the following steps: a map for traveling including the traveling region set in the traveling region setting step is created. In the travel region setting step, the first region 1 including the predetermined start point SP1 is specified based on the positional relationship, the self position, and the site map, and the first direction D1, which is the arrangement direction of the objects for determining the outline of the predetermined site in the specified first region 1, is calculated. In the travel area setting step, after the first direction D1 is calculated, the second direction D2, which is the arrangement direction of the object for determining the outline of the predetermined field in the second area 2 including the movement trajectory of the position sensor 120 in the fixed time period, is calculated. In the travel region setting step, (i) when the angle θ of the second direction D2 with respect to the first direction D1 is equal to or greater than a predetermined value, the second direction D2 is set to the new first direction D1'. In the driving region setting step, after setting the new first direction D1', a new second direction D2' in a new second region 2' including the moving trajectory of the position sensor 120 for a fixed time is calculated. In the travel region setting step, (ii) when the angle θ of the second direction D2 with respect to the first direction D1 is not equal to or greater than the predetermined value, the first region 1 is updated to a new first region 1' including the second region 2 by extending the first region 1 in the first direction D1. In the travel region setting step, the first direction D1 is set to a new first direction D1' in the updated first region 1', and after the new first direction D1' is set, a new second direction D2' in a new second region 2' including the movement locus of the position sensor 120 for a fixed time is calculated. Then, in the travel region setting step, the above (i) and the above (ii) are repeated.

Thus, according to the method for creating a map for travel, the self-propelled robot 200 can create a travel plan based on a map for travel including a travel area set along the outer shape of a predetermined field, and can therefore appropriately travel in the predetermined area.

(other embodiments)

The embodiments have been described above, but the present disclosure is not limited to the embodiments. For example, the self-propelled robot system 300 includes the self-propelled robot 200 and the traveling map creation device 100, however, the self-propelled robot system may be a self-propelled robot having a function of mapping for traveling. Fig. 14 is a flowchart showing an operation example in the case where the self-propelled robot system is a self-propelled robot having a function of mapping for traveling.

As shown in fig. 14, when acquiring a command to start a cleaning plan for a predetermined site (step S31), the control unit of the self-propelled robot system reads out a site map of the predetermined site from the storage unit, for example, and acquires the site map (step S32). Next, when the control unit of the self-propelled robot system acquires the cleaning start position information in the predetermined site (step S33), the cleaning start position information is reflected on the site map (not shown). Next, when the control unit of the self-propelled robot system acquires entry prohibition information on an area where entry of the self-propelled robot is prohibited in a predetermined site (step S34), the entry prohibition information is reflected on the site map (not shown). Next, when the control unit of the self-propelled robot system acquires the self-position information calculated by the self-position estimating unit (step S35), the control unit starts setting of the travel area (step S36). The setting of the travel area is changed only in the contents and the body of the operation described in the above embodiment, and thus, the description thereof is omitted. In addition, when the travel area is set in the self-propelled robot system, the processing of step S37 to step S39 may be performed after all the travel areas in the predetermined site are set, or the processing of step S37 to step S39 may be performed in parallel while the travel areas are set.

Next, when the control unit of the self-propelled robot system acquires the cleaning start position information within the travel area (step S37), the travel plan creation unit creates a travel plan within the travel area (step S38). Next, the travel plan creating unit specifies the cleaning procedure of the travel area (step S39).

Next, when the self-propelled robot system determines that planning of all the travel areas is completed (yes in step S40), the creation of the cleaning plan is completed. On the other hand, if the self-propelled robot system determines that planning of all the travel areas has not been completed (no in step S40), the process returns to step S36.

As described above, in the case where the self-propelled robot system is a self-propelled robot (self-propelled cleaning machine) having a function of creating a map for traveling, the cleaning plan of the predetermined site and the setting of the travel area can be performed in parallel.

For example, in the embodiment, the traveling map making device 100 includes the position sensor 120, but the traveling map making device may not include the position sensor 120. For example, the traveling map creation device 100 may be an information processing device having a configuration other than the position sensor 120. In this case, the sensor provided with the position sensor 120 may be mounted on the carriage 190, and data acquired by the sensor may be output to the information processing device while the sensor is moved on a predetermined site.

For example, in the embodiment, the self-propelled robot system 300 is implemented by a plurality of devices, but may be implemented as a single device. In addition, in the case where the system is implemented by a plurality of devices, the components of the self-propelled robot system 300 may be arbitrarily distributed to a plurality of devices. For example, a server device that can communicate with the self-propelled robot system 300 may include a plurality of components included in the control units 130 and 230.

For example, the method of communication between devices in the above embodiments is not particularly limited. In the communication between the devices, a relay device not shown may be interposed therebetween.

In the above embodiment, the processing executed by a specific processing unit may be executed by another processing unit. Further, the order of the plurality of processes may be changed, or a plurality of processes may be executed in parallel.

In the above-described embodiment, each component may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading out and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory.

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

The general or specific aspects of the present disclosure can also be realized by a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM. In addition, the general or specific aspects of the present disclosure may be implemented by any combination of systems, apparatuses, methods, integrated circuits, computer programs, and recording media.

For example, the present disclosure may be implemented as a travel control method executed by a computer such as the self-propelled robot system 300, or may be implemented as a program for causing a computer to execute such a travel map making method. The present disclosure can also be realized as a program for causing a general-purpose computer to operate as the traveling map creating device 100 according to the above-described embodiment. The present disclosure can also be realized as a computer-readable non-transitory recording medium in which these programs are recorded.

In addition, the present disclosure also includes an embodiment obtained by applying various modifications that will occur to those skilled in the art to each embodiment, or an embodiment obtained by arbitrarily combining structural elements and functions in each embodiment within a scope that does not depart from the gist of the present disclosure.

Industrial applicability

The present disclosure can be widely applied to a robot that autonomously travels.

Description of the reference numerals

1: a first region; 1': a new first area; 2: a second region; 2': a new second region; 5: marking; 100: a map making device for driving; 101: a main body; 110: a communication unit; 120: a position sensor; 122: a camera; 124: an obstacle sensor; 124a: a transmission unit; 124b: a receiving section; 130: a control unit; 131: a sensor data acquisition unit; 132: a site map acquisition unit; 133: a self-position estimating unit; 134: a travel region setting unit; 135: a map making unit for driving; 140: a storage unit; 150: a reception unit; 160: a presentation section; 190: a trolley; 191: a handle; 192: a support; 200: a self-propelled robot; 201: a main body; 210: a communication unit; 220: a position sensor; 230: a control unit; 231: a map acquisition unit for driving; 232: a self-position estimating unit; 233: a travel plan making unit; 234: a travel control unit; 235: a cleaning control unit; 240: a storage unit; 250: a traveling section; 251: a wheel; 260: a cleaning part; 261: side brushing; 262: a main brush; 263: a suction port; 300: a self-propelled robot system; d1: a first direction; d1': a new first direction; d2: a second direction; d2': a new second direction; RA1: a first travel zone; RA2: a second driving area; SP1: a starting location; θ: and (4) an angle.

Claims (11)

1. A traveling map creation device for creating a traveling map of a self-propelled robot that autonomously travels within a predetermined field, the traveling map creation device comprising:

a sensor data acquisition unit that acquires the positional relationship and a movement trajectory of a position sensor that moves on the predetermined site and detects an object around the position sensor and measures a positional relationship of the detected object with respect to the position sensor;

a site map acquisition unit that acquires a site map indicating the predetermined site;

a self-position estimating unit that estimates a self-position, which is a position of the position sensor on the site map, based on the positional relationship acquired by the sensor data acquiring unit;

a travel area setting unit that sets a travel area of the self-propelled robot on the site map based on the positional relationship, the self position, and the site map; and

a travel map creation unit that creates the travel map including the travel area set by the travel area setting unit,

wherein the travel region setting unit performs:

determining a first region including a predetermined start point based on the positional relationship, the self position, and the site map, calculating a first direction which is an arrangement direction of an object for determining an outer shape of the predetermined site in the determined first region,

calculating a second direction which is an arrangement direction of an object for determining an outline of the predetermined field in a second area including a movement trajectory of the position sensor for a fixed time after the first direction is calculated,

(i) Setting the second direction to a new first direction when an angle of the second direction with respect to the first direction is a predetermined value or more, calculating a new second direction in a new second region including a movement locus of the position sensor for a fixed time after the new first direction is set,

(ii) Updating the first region to a new first region including the second region by extending the first region in the first direction when the angle of the second direction with respect to the first direction is not equal to or greater than the predetermined value, setting the first direction to a new first direction in the updated first region, and calculating a new second direction in a new second region including a movement locus of the position sensor for a fixed time after setting the new first direction,

repeating said (i) and said (ii).

2. The traveling mapping apparatus according to claim 1,

the travel region setting unit ends the repetition of the (i) and the (ii) when the self position acquired from the self position estimation unit is not updated.

3. The traveling mapping apparatus according to claim 1 or 2,

the objects for determining the shape of the prescribed site are walls and pillars of the prescribed site.

4. The traveling map creation device according to any one of claims 1 to 3,

the object for determining the shape of the predetermined site is a mark disposed on the floor, wall surface, or surface of a pillar of the predetermined site.

5. The traveling mapping device according to any one of claims 1 to 4,

the position sensor is disposed in a main body of the traveling map creation device.

6. The traveling mapping apparatus according to claim 5,

the travel region setting unit calculates the first direction and the second direction based on a movement locus of the main body when the positional relationship cannot be measured by the position sensor.

7. The traveling map creation device according to any one of claims 1 to 6,

the self-propelled robot is a self-propelled cleaning machine having a cleaning function.

8. A self-propelled robot system is provided with:

a self-propelled robot that autonomously travels in a predetermined field; and

a map creation device for traveling that creates a map for traveling of the self-propelled robot,

wherein the map creation device for traveling includes:

a sensor data acquisition unit that acquires the positional relationship and a movement trajectory of a position sensor that moves on the predetermined site and detects an object around the position sensor and measures a positional relationship of the detected object with respect to the position sensor;

a site map acquisition unit that acquires a site map indicating the predetermined site;

a self-position estimating unit that estimates a self-position, which is a position of the position sensor on the site map, based on the positional relationship acquired by the sensor data acquiring unit;

a travel area setting unit that sets a travel area of the self-propelled robot on the site map based on the positional relationship, the self position, and the site map; and

a travel map creation unit that creates the travel map including the travel area set by the travel area setting unit,

the travel region setting unit performs the following processing:

determining a first region including a predetermined start point based on the positional relationship, the self position, and the site map, calculating a first direction which is an arrangement direction of an object for determining an outer shape of the predetermined site in the determined first region,

calculating a second direction which is an arrangement direction of an object for determining an outline of the predetermined field in a second area including a movement trajectory of the position sensor for a fixed time after the first direction is calculated,

(i) Setting the second direction to a new first direction when an angle of the second direction with respect to the first direction is a predetermined value or more, calculating a new second direction in a new second region including a movement locus of the position sensor for a fixed time after the new first direction is set,

(ii) Updating the first region to a new first region including the second region by extending the first region in the first direction when the angle of the second direction with respect to the first direction is not equal to or greater than the predetermined value, setting the first direction to a new first direction in the updated first region, and calculating a new second direction in a new second region including a movement locus of the position sensor for a fixed time after setting the new first direction,

repeating said (i) and said (ii).

9. A method for creating a map for traveling by a self-propelled robot that autonomously travels within a predetermined field, the method comprising:

a sensor data acquisition step of acquiring the positional relationship and a movement trajectory of a position sensor from the position sensor which moves on the predetermined site and detects an object around the position sensor and measures a positional relationship of the detected object with respect to the position sensor;

a site map acquisition step of acquiring a site map indicating the prescribed site;

a self-position estimation step of estimating a self-position, which is a position of the position sensor on the site map, based on the position relationship acquired in the sensor data acquisition step;

a travel area setting step of setting a travel area of the self-propelled robot in the site map based on the positional relationship, the self position, and the site map; and

a travel map creation step of creating the travel map including the travel area set in the travel area setting step,

wherein the traveling region setting step performs the following processing:

determining a first region including a predetermined start point based on the positional relationship, the self position, and the site map, calculating a first direction which is an arrangement direction of an object for determining an outer shape of the predetermined site in the determined first region,

calculating a second direction which is an arrangement direction of an object for determining an outline of the predetermined field in a second area including a movement trajectory of the position sensor for a fixed time after the first direction is calculated,

(i) Setting the second direction to a new first direction when an angle of the second direction with respect to the first direction is a predetermined value or more, calculating a new second direction in a new second region including a movement locus of the position sensor for a fixed time after the new first direction is set,

(ii) Updating the first region to a new first region including the second region by extending the first region in the first direction when the angle of the second direction with respect to the first direction is not equal to or greater than the predetermined value, setting the first direction to a new first direction in the updated first region, and calculating a new second direction in a new second region including a movement locus of the position sensor for a fixed time after setting the new first direction,

repeating said (i) and said (ii).

10. A program for causing a computer to execute the travel map making method according to claim 9.

11. A computer-readable storage medium storing a program for causing a computer to execute the method for mapping a travel map according to claim 9.

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