JP2017041200A - Autonomous mobile device, autonomous mobile system and circumstance map evaluation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous mobile device capable of efficiently travelling and easily satisfy user's request.SOLUTION: The autonomous mobile device (10) has a first evaluation section (40) evaluates whether a difference between a travel area preset by a user (2) on a circumstance map (M) and an area included in a travel route (R) which is created by own device avoiding unavailable area is a predetermined value or more and causes to display the evaluation result on a display unit.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an autonomous mobile device, an autonomous mobile system, and an environmental map evaluation method.

  Conventionally, an autonomous mobile device that moves autonomously according to the surrounding environment is known. In autonomous mobile devices, SLAM (Simultaneous Localization and Mapping) is particularly attracting attention as a technique for performing self-location estimation in real time and creation of an environment map representing the position of surrounding obstacles while moving.

  In Patent Document 1, the distance between the own device and surrounding obstacles is measured by a laser range finder (LRF), and the position of the own device and the position of surrounding obstacles obtained as a result of using SLAM are determined. An autonomous mobile device for cleaning that autonomously travels based on a local map is disclosed.

  The cleaning autonomous mobile device forcibly stops traveling if the travel start position set by the user is not appropriate in the global map configured from the local map generated based on the LRF measurement data. In addition, the autonomous mobile device for cleaning cannot identify its own position in the global map when the state where the obstacle is present in the travel route of the own device is not more than a predetermined distance for a predetermined distance or a predetermined time. Judgment is made and driving is forcibly stopped.

  According to Patent Document 1, it is said that the autonomous moving device for cleaning can avoid being unable to travel because the self-position cannot be specified by forcibly stopping the traveling in this way.

JP 2014-219722 A (released on November 20, 2014)

  However, according to the cleaning autonomous mobile device of Patent Document 1, if there is a region in the global map where the self-position cannot be specified, the cleaning autonomous mobile device forcibly stops traveling, resulting in poor work efficiency. Further, it may not be appropriate for the user's intention that the cleaning autonomous mobile device forcibly stop traveling.

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to obtain an autonomous traveling device that has high traveling efficiency and can easily satisfy a user's request.

  In order to solve the above-described problem, an autonomous mobile device according to an aspect of the present invention measures a shape of a surrounding obstacle, generates a sensor for measuring the measured data, and the surrounding data based on the measurement data. The environment map creation unit that creates the environment map reflecting the shape of the obstacle, and the travel area that should be traveled set by the user in the environment map, avoid the travel impossible area where the device is estimated to be travelless And evaluating whether or not the difference between the travel route creation unit that creates the travel route of the own device so as to fill the travel region, the travel region, and the region included in the travel route is greater than or equal to a predetermined value. And a first evaluation unit for displaying the evaluation result on the display unit.

  In order to solve the above problems, an environmental map evaluation method according to an aspect of the present invention includes a sensor that measures the shape of a surrounding obstacle and generates the measured measurement data, and the surroundings based on the measurement data. An environment map evaluation method in an autonomous mobile device comprising an environment map creation unit that creates an environment map that reflects the shape of the obstacle, and among the travel areas to be traveled set by the user in the environment map, A travel route creating step for creating a travel route of the own device so as to fill the travel region while avoiding a travel impossibility region where the own device is estimated to be untravelable; the travel region; and a region included in the travel route And an evaluation step for evaluating whether or not the difference is equal to or greater than a predetermined value.

  According to one aspect of the present invention, there is an effect that traveling efficiency is high and a user's request is easily satisfied.

It is a functional block diagram of the autonomous mobile system which concerns on Embodiment 1 of this invention. It is a figure showing the mode of operation | movement of the autonomous mobile system which concerns on Embodiment 1 of this invention. It is a figure showing the map which reflected the user's work intention and the driving | running route in the ideal environment map. It is a figure showing the environment map M which displayed that a difference arises between the work intention which the user input, and the travel route which the travel route preparation part produced. It is a figure showing the flow of evaluation of the environmental map by the autonomous mobile device which concerns on Embodiment 1 of this invention. It is a figure showing a simple environmental map. The isolated point evaluation part of a 1st evaluation part is a figure showing a mode that the driving | running | working area | region exists in any of an up-down and left-right direction in the environmental map M11, and has extracted the obstruction grid which belongs to obstruction area | region B11. is there. It is a figure showing a mode that the isolated point evaluation part of the 1st evaluation part labels the obstacle grid which belongs to obstacle area B11 in environmental map M11. It is a figure showing a mode that the isolated point evaluation part of the 1st evaluation part completed labeling to the obstacle grid which belongs to obstacle area B11 in environmental map M11. The isolated point evaluation part of a 1st evaluation part is a figure showing a mode that the driving | running | working area | region exists in any of an up-down and left-right direction, and has extracted the obstacle grid which belongs to obstacle area | region B12 in an environmental map. . It is a figure showing a mode that the isolated point evaluation part of the 1st evaluation part completed labeling to the obstacle grid which belongs to obstacle area B12 in environmental map M11. The isolated point evaluation part of a 1st evaluation part is a figure showing a mode that the driving | running | working area | region exists in any of the up-down and left-right directions in the environmental map M11, and is extracting the obstruction grid which belongs to obstruction area | region B13. is there. It is a figure showing a mode that the isolated point evaluation part of the 1st evaluation part completed labeling to the obstacle grid which belongs to the obstacle area | region 13 in the environmental map M11. It is a figure showing a mode that the creation of the expansion area | region EX is started in the environment map M21. It is a figure showing a mode that creation of extended field EX was completed in environmental map M21. In environmental map M21, it is a figure showing a mode that a part of expansion area EX started to return to a driving | running | working grid. It is a figure showing a mode that the work impossible area was specified in the environment map M21. It is a figure showing a mode that the unscanned area | region C31 is specified in the environment map M31. It is a figure showing a mode that the label is attached | subjected to the unscanned area | region C31 in the environment map M31. It is a functional block diagram of the autonomous mobile system which concerns on Embodiment 2 of this invention. It is a figure showing the environment map which the autonomous mobile system which concerns on Embodiment 2 of this invention corrected. It is a figure showing a mode that the autonomous mobile apparatus which concerns on Embodiment 2 of this invention is displaying the environmental map which removed the remaining extended area EX. It is a figure showing a mode that the autonomous mobile apparatus which concerns on Embodiment 2 of this invention is displaying the environmental map which removed the self-position estimation difficult area | region. It is a figure showing the flow of evaluation of the environmental map by the autonomous mobile device which concerns on Embodiment 2 of this invention. It is a functional block diagram of the autonomous mobile system which concerns on Embodiment 3 of this invention. It is a figure showing a mode that the autonomous mobile apparatus is moved by the user for preparation of an environmental map. It is a figure showing the mode of the environmental map which the environmental map control part of the autonomous mobile device which concerns on Embodiment 3 of this invention is producing. It is a figure showing the flow of evaluation of the environmental map in preparation with the autonomous mobile apparatus which concerns on Embodiment 3 of this invention. It is a functional block diagram of the autonomous mobile system which concerns on Embodiment 4 of this invention. It is a figure showing a mode that the obstruction different from the obstacle and wall which were registered into the environmental map exists during the operation | work of the autonomous mobile apparatus which concerns on Embodiment 4 of this invention. It is a figure showing the environment map which the autonomous mobile apparatus which concerns on Embodiment 4 of this invention has created. It is a figure showing the flow of evaluation of the environmental map by the autonomous mobile apparatus of Embodiment 4 of this invention.

Embodiment 1
Hereinafter, embodiments of the present invention will be described in detail.

(Autonomous mobile system)
FIG. 2 is a diagram illustrating how the autonomous mobile system 1 operates. As shown in FIG. 2, the autonomous mobile system 1 includes a tablet terminal (terminal) 20 and an autonomous mobile device 10.

  The tablet terminal 20 is a portable terminal that can communicate with the autonomous mobile device 10 wirelessly. The tablet terminal 20 mainly includes an input display unit 22 (see FIG. 1), a communication unit 21 (see FIG. 1), an audio output unit (not shown), and the like. The tablet terminal 20 accepts input for the user (worker) 2 to move the autonomous mobile device 10 and displays various information such as an environment map created by the autonomous mobile device 10 and the state of the autonomous mobile device 10. Or output various information and guidance as voice.

  The autonomous mobile device 10 is a device that has a function of performing a cleaning operation and that can autonomously travel on a flat floor surface by left and right independent drive wheels 14. In the present embodiment, the autonomous mobile device 10 is an autonomous mobile device that cleans the floor.

  The autonomous mobile device 10 mainly includes a distance sensor (sensor) 12, a drive wheel 14, an encoder 15, a housing, and a control unit 30 (see FIG. 1). The distance sensor 12, the encoder 15, and the control unit 30 are covered with a casing. The distance sensor 12 and the control unit 30 function as a map creation device that creates an environment map, which will be described later. Although not shown, the autonomous mobile device 10 further includes a work unit for performing a cleaning work. The work unit includes a suction unit that sucks dust falling on the floor, a wet cleaning unit including a mop, a cleaning liquid tank, and a waste liquid tank. In addition, the function which a work unit has is not limited to cleaning, For example, the lawn mowing function which mows a lawn by having a rotating cutting blade may be sufficient.

  The autonomous mobile device 10 can communicate with the tablet terminal 20. The autonomous mobile device 10 can be operated by the tablet terminal 20. In addition, the autonomous mobile device 10 can display the state of the autonomous mobile device 10 and other various information to the tablet terminal 20, thereby causing the tablet terminal 20 to display or output the information as sound.

  The distance sensor 12 is an LRF (Laser Range Finder) as an example. The distance sensor 12 is disposed on the front surface of the housing, which is the front surface of the autonomous mobile device 10 in the traveling direction. The distance sensor 12 may also be disposed on the rear surface of the housing that is opposite to the front surface of the main body. The distance sensor 12 outputs the laser light L radially and scans in a horizontal plane, so that the autonomous mobile device 10 and an object such as an obstacle (an obstacle) 3 or an obstacle 4 around the autonomous mobile device 10 are detected. The distance is measured and output as distance data. With this distance data, it is possible to grasp the shape of the wall 3 and the obstacle 4 around the autonomous mobile device 10.

  The distance sensor 12 has a laser beam output unit (not shown) and a laser beam receiving unit (not shown) on a scanning mechanism that rotates on a predetermined rotation axis. The distance sensor 12 detects the distance of the obstacle that reflected the laser beam L in the measurement direction at a certain point in time based on the angle irradiated with the laser beam L and the time required from the irradiation to the reflection. Obstacle detection (sensing) is performed based on the so-called TOF (time of flight) principle. The rotation axis of the distance sensor 12 is installed in the autonomous mobile device 10 so as to be in a substantially vertical direction. The distance sensor 12 repeatedly measures the distance in each direction in a substantially horizontal plane by repeatedly transmitting the measurement light and receiving the reflected light while rotating the rotating shaft.

  As an example, the scan range LS of the distance sensor 12 is about 100 degrees on the left and right when the forward direction of the autonomous mobile device 10 is 0 degrees. The distance sensor 12 measures the distance every one degree. A set of distance data measured by the distance sensor 12 is composed of a total of 201 measurement data of −100 degrees to 0 degrees to +100 degrees. The distance sensor 12 outputs a set of distance data to the control unit 30 (see FIG. 1) every measurement cycle. The measurement cycle of the distance sensor 12 may be set arbitrarily, but is assumed to be 50 ms as an example. The measurement cycle of the distance sensor 12 and the number of measurement data acquired per scan (measurement angle) can be arbitrarily set.

  When the distance sensor 12 cannot measure the distance in a certain direction, the distance sensor 12 sets the distance data in that direction as a predetermined invalid value set in advance. The case where the distance cannot be measured by the distance sensor 12 means that the intensity of the reflected light of the laser light L is too small because the distance to the wall in that direction is too far or the reflectance is low. May not be able to detect the reflected light, or may be a case where the laser light receiving unit cannot identify the reflected light of the laser light L because the ambient light around the autonomous mobile device 10 is too strong.

  The invalid value is set to a value that is significantly larger than the rated distance defined as the distance sensor 12. As an example, when the rated distance of the distance sensor 12 is set to 10 m, the invalid value is set to 99 m. In this case, when the distance data measured by the distance sensor 12 is 99 m, it can be determined that the wall existing in the azimuth is present at a position far enough that the distance sensor 12 cannot measure the distance.

  One drive wheel 14 is arranged on each of the left and right sides of the main body. The two drive wheels 14 are independent left and right wheels that are rotated by a motor 13 (see FIG. 1) connected thereto. The encoder 15 is a sensor that outputs the rotation angle of each of the two drive wheels 14. The encoder 15 is connected to each of the two drive wheels 14.

  The autonomous mobile device 10 has a function of creating an environmental map before starting work such as cleaning by autonomous traveling. The environment map reflects the surrounding terrain measured by the distance sensor 12, and is a map presented to the user 2 in order to allow the user 2 to input work intentions including information such as the area to be worked on and the work order. is there. A specific example of this environmental map will be described later.

  The autonomous mobile device 10 creates a map as a function of creating an environmental map by the autonomous mobile device 10 traveling autonomously and creating an environmental map, and being moved from the user 2 via the tablet terminal 20. It has the function to do. In particular, when the autonomous mobile device 10 creates an environment map desired by the user 2, it is preferable that the user 2 actually creates the environment map by moving the autonomous mobile device 10 using the tablet terminal 20 as in the latter case. . This is because information on the terrain of the region desired by the user 2 is more easily reflected in the environment map than when the autonomous mobile device 10 travels autonomously and creates an environment map.

  In the present embodiment, the function of causing the autonomous mobile device 10 to create an environmental map when the user 2 moves the autonomous mobile device 10 via the tablet terminal 20 is referred to as a map creation mode.

  In the map creation mode, the user 2 operates the movement button displayed on the input display unit 22 of the tablet terminal 20 to move the autonomous mobile device 10 within the range of the place where the map is to be created. The autonomous mobile device 10 indicates distance information indicating the distance between the autonomous mobile device 10 that is the output of the distance sensor 12, the wall 3 and the obstacle 4, and the rotational speeds of the drive wheels 14 that are output from the encoder 15. An environment map is created based on the rotation speed information, and the input display unit 22 of the tablet terminal 20 displays the environment map created by the autonomous mobile device 10.

(Functional block diagram of autonomous mobile system 1)
FIG. 1 is a functional block diagram of an autonomous mobile system 1 according to Embodiment 1 of the present invention. The tablet terminal 20 includes a communication unit 21, an input display unit 22, and a voice output unit (not shown).

  The communication unit 21 performs wireless communication with the communication unit 11 of the autonomous mobile device 10 described later. The input display unit 22 is a touch panel, for example. The input display unit 22 receives an instruction input from the user 2 and displays various information such as an environment map created by the autonomous mobile device 10. In addition, the input display part 22 does not necessarily need to be comprised integrally as the input part which receives the input from the user 2, and the display part which displays various information, and may be comprised as a respectively separate member. Good.

  In addition to the distance sensor 12, the drive wheel 14, and the encoder 15, the autonomous mobile device 10 further includes a communication unit 11, a motor 13, and a control unit 30.

  The communication unit 11 wirelessly communicates with the communication unit 21 of the tablet terminal 20. The motor 13 is connected to the drive wheel 14 and rotates the drive wheel 14. The control unit 30 includes a travel control unit 31, an environment map control unit (environment map creation unit) 32, a travel route creation unit 33, a storage unit 34, and a first evaluation unit 40. The environmental map control unit 32 includes a self-position estimation unit (not shown). The self-position estimation unit estimates the self-position using SLAM using the distance data obtained from the distance sensor 12.

  The first evaluation unit 40 includes an isolated point evaluation unit 41, a work impossible region evaluation unit (narrow road evaluation unit) 42, and a self-position estimation difficult region evaluation unit (self-position estimation evaluation unit) 43. . The storage unit 34 stores information indicating the environment map M. In addition, the storage unit 34 stores the work area D, the work start position S, and the work end position E input by the user 2 through the input display unit 22, and the travel route R created by the travel route creation unit 33, respectively. Is stored as The work area D, the work start position S, and the work end position E are the work intentions of the user 2.

  The travel control unit 31 controls the driving of the autonomous mobile device 10 by controlling the motor 13 according to an instruction from the user 2.

  Based on the distance data acquired from the distance sensor 12, the environmental map control unit 32 assigns the obstacle map to the grid G (see FIGS. 3 and 4) that constitutes the environmental map M, thereby obtaining the environmental map M. create. The environmental map control unit 32 includes, as obstacle information, information indicating that there is no obstacle, information indicating that there is an obstacle, and information indicating that the presence or absence of an obstacle is unknown because distance data has not been acquired. Any one is assigned to each grid G. In addition, when it is known that a fixed obstacle such as a wall exists in the movement area of the autonomous mobile device 10, there is an obstacle on the grid G at a position corresponding to the known obstacle in advance. Information indicating that it exists may be assigned.

(Ideal environmental map and work intention)
FIG. 3 is a diagram showing a map in which a user's work intention and a travel route are reflected on an ideal environment map. First, with reference to FIG. 3, an ideal environment map M0 in which noise of the distance sensor 12 or the like is not on the environment map created by the environment map control unit 32 will be described.

  The environment map M0 is a map in which information such as the shape of an obstacle in a room where the autonomous mobile device 10 performs work is represented. The environment map M0 is created by the environment map control unit 32, stored in the storage unit 34, and displayed on the input display unit 22 of the tablet terminal 20 via the communication units 11 and 21. In FIG. 3, the environment map M0 represents a map reflecting distance data obtained by scanning the room shown in FIG. 2 by the distance sensor 12 as an image.

  The environment map M0 has the entire shape of the room in which the autonomous mobile device 10 is working as an outer frame, and inside (horizontal direction in FIG. 3) and vertical direction (vertical direction in FIG. 3) at regular intervals (for example, 5 cm). This is a grid map obtained by virtually depicting grid lines connecting lattice points arranged in (direction).

  The environment map M0 is configured by arranging grids G, which are individual elements separated by grid lines extending in the horizontal direction and the vertical direction, in a matrix. It should be noted that the horizontal and vertical intervals of the grid G can be changed as appropriate according to conditions such as the curvature of the autonomous mobile device 10 and the accuracy of recognizing the absolute position. The interval of the grid G can also be used as a threshold value when it is determined that the autonomous mobile device 10 has slipped.

  Obstacle information is assigned to each grid G. The environmental map control unit 32 has not acquired information indicating that there is no obstacle, information indicating that there is an obstacle, and distance data as obstacle information based on the distance data measured by the distance sensor 12. Any information indicating that the presence or absence of an obstacle is unknown is assigned to each grid G.

  Of each grid G, a grid assigned with information indicating that there is no obstacle is referred to as a travelable grid G1, and a grid assigned with information indicating that there is an obstacle is referred to as an obstacle grid G2. A grid to which information indicating that the presence or absence of an obstacle is unknown because it is acquired is referred to as an unscanned grid G3.

  The environmental map M0 includes a travelable area A configured by the travelable grid G1, a narrow road area (untravelable area) F configured by the travelable grid G1, and an obstacle configured by the obstacle grid G2. An object area (non-running area) B and an unscanned area C constituted by an unscanned grid G3 are included. The narrow path area F may be configured by an unscanned grid G3.

  The obstacle region B is a position corresponding to an obstacle region (non-running region, first obstacle region) B1 including the obstacle grid G2 at a position corresponding to the position of the wall 3 and the position of the outer wall of the obstacle 4. And an obstacle area (non-running area, second obstacle area) B2 including the obstacle grid G2. The obstacle region B1 has a shape corresponding to the shape of the wall 3. The obstacle region B2 has a shape corresponding to the shape of the outer wall of the obstacle 4.

  The unscanned area C is an area outside the area surrounded by the wall 3 and is not operated by the autonomous mobile device 10. That is, the unscanned area C is an area where the distance sensor 12 has not acquired distance data. The narrow road area F is an area surrounded by the wall 3, but is an area between the obstacle 4 and the wall 3 and is narrower than the width of the autonomous mobile device 10.

  The travelable area A is an area where the autonomous mobile device 10 can travel in the environment map M0. Specifically, the travelable area A includes an area surrounded by an obstacle area B2 corresponding to the obstacle 4 among areas surrounded by the obstacle area B1 corresponding to the wall 3 in the environment map M0. This is an area excluding the narrow road area F narrower than the width of the autonomous mobile device 10 between the obstacle area B1 and the obstacle area B2.

  In this way, the tablet terminal 20 displays the environment map M0 created by the environment map control unit 32 on the input display unit 22. Then, the tablet terminal 20 causes the input display unit 22 to input the work intention that is information indicating the work area, the work start position, and the work end position that the autonomous mobile device 10 works to the user 2.

  In the environment map M0 of FIG. 3, in the travelable area A surrounded by the obstacle area B1, the user performs a first work area (travel area) D1 and a second work area (travel) as areas to be worked in order. Three work areas, ie, an area D2 and a third work area (traveling area) D3, are set. The first work area D1 is the left half of the travelable area A surrounded by the obstacle area B1. The second work area D2 is an area in front of the obstacle area B2 in the right half of the travelable area A surrounded by the obstacle area B1 (lower side of the drawing in FIG. 3). The third work area D3 is an area behind the obstacle area B2 in the right half of the travelable area A surrounded by the obstacle area B1 (upper side in the drawing in FIG. 3).

  Next, the user 2 sets a work start position and a work end position for each work area via the input display unit 22. In the environment map M0 of FIG. 3, the work start position S1 and the work end position E1 of the first work area D1 are respectively set in front of the first work area D1 (lower side of the drawing in FIG. 3). The work start position S2 and the work end position E2 of the second work area D2 are respectively set in front of the second work area D2 (lower side of the drawing in FIG. 3). The work start position S3 of the third work area D3 is set in front of the third work area D3 (lower side of the drawing in FIG. 3), and the work is performed on the back side (upper side of the drawing in FIG. 3) of the third work area D3. An end position E3 is set.

  In this way, the user 2 inputs the work intention from the input display unit 22 and stores it in the storage unit 34 via the communication units 21 and 11. When the work intention is stored in the storage unit 34, the travel route creation unit 33 determines each work area based on the work intention, the environment map M0, and the current self-position estimated by a self-position estimation unit (not shown). , A travel route R (travel routes R1 to R3) is generated.

  The travel route creation unit 33 first creates a travel route from the own position to the work start position S1 of the first work area D1 to be worked on first, and then the travelable area A included in the first work area D1. A travel route R1 from the work start position S1 to the work end position E1 is created so that all the autonomous mobile devices 10 pass through the (travelable grid G1).

  Next, the travel route creation unit 33 creates a travel route from the work end position E1 to the work start position S2 of the second work area D2 to be secondly worked, and then included in the second work area D2. A travel route R2 from the work start position S2 to the work end position E2 is created so that the autonomous mobile device 10 passes through the travelable area A (travelable grid G1).

  Then, the travel route creation unit 33 creates a travel route from the work end position E2 to the work start position S3 of the third work area D3 to be worked on thirdly, and then is included in the third work area D3. A travel route R3 from the work start position S3 to the work end position E3 is created so that all the autonomous mobile devices 10 pass through the travelable area A (travelable grid G1).

  Then, the travel route creation unit 33 stores information indicating the generated travel route R (travel routes R1 to R3) in the storage unit 34. The travel route R (travel routes R1 to R3) stored in the storage unit 34 includes the environment map M0 also stored in the storage unit 34, the work area G, the work start position S, and the work end position, which are work intentions. Along with E, the data is output to the tablet terminal 20 via the communication units 11 and 21. When the tablet terminal 20 acquires information on the travel route R (travel routes R1 to R3), the work area G, the work start position S, and the work end position E, the tablet terminal 20 performs the travel route R (travel routes R1 to R3), the work. The area G, the work start position S, and the work end position E are displayed on the input display unit 22.

  In the ideal environment map M0, the number of grids G included in the first work area D1, which is the work intention input by the user 2, and the travel route creation unit 33 are created so as to fill the first work area D1. The number of grids G included in the area indicated by the travel route R1 is equal. Similarly, the number of grids G included in the second work area D2 is equal to the number of grids G included in the area indicated by the travel route R2, and the number of grids G included in the third work area D3 and the travel route are the same. The number of grids G included in the region indicated by R3 is equal.

(Environmental map including sensor noise and work intention)
However, for various reasons, the environment map may include a travel impossible region that is a region where the autonomous mobile device 10 is estimated to be unable to travel. In this case, the travel route creation unit 33 cannot always generate a travel route according to the work intention input by the user 2. Next, with reference to FIG. 4, an environment map M including various non-travelable areas caused by noise of the distance sensor 12 and the work intention will be described.

  FIG. 4 is a diagram showing an environment map M displaying that a difference occurs between the work intention input by the user 2 and the travel route created by the travel route creation unit 33. As cases where the travel route creation unit 33 cannot generate a travel route as intended by the user 2, the following cases (1) to (3) can be mainly given. Hereinafter, it demonstrates in order.

(1) When an isolated point (non-running area, isolated area) exists in the work area on the environment map set by the user 2 There is an obstacle that does not actually exist due to noise of the distance sensor 12, etc. In some cases, the obstacle grid G2 is assigned.

  The environment map M shown in FIG. 4 has an obstacle area B3 as the obstacle area B. The obstacle area B3 is composed of a single obstacle grid G2, and is arranged in the first work area D1. In this way, when the obstacle region B3 is erroneously created in the region that would normally be the travelable region A due to the noise of the distance sensor 12, the area of the obstacle region B3 is relatively small, In many cases, it exists as an isolated point consisting of the obstacle grid G2 or a relatively small number of obstacle grids G2. Note that FIG. 4 shows a case where only one obstacle area B3 exists, but there may be a plurality of obstacle areas B3 in the travelable area A.

  When the travel route creation unit 33 creates the travel route R1 without correcting the obstacle region B3 existing in the environment map M, the autonomous mobile device 10 creates the travel route R1 so as to bypass the obstacle region B3. . For this reason, work by the autonomous mobile device 10 is not performed in the obstacle region B3. As described above, when the obstacle area B3 exists in the first work area D1, the number of grids G included in the first work area D1 that the user 2 desires to perform the work, and the travel route creation unit Between the number of grids G included in the travel route created by 33 (that is, the number of grids G excluding the obstacle grid G2 constituting the obstacle region B3 among the grids G included in the first work region D1). Will be different. As the number of obstacle regions B3 increases or the area increases, the number of grids G included in the first work region D1 and the number of grids G included in the travel route created by the travel route creation unit 33 The difference becomes larger.

(2) When there is a region where the autonomous mobile device 10 cannot perform a work (non-running region) in the work area on the environment map set by the user 2, the user 2 sets the autonomous mobile device 10 as a work intention. In some cases, the work area includes a grid G corresponding to a narrow area that cannot pass through or an area surrounded by the obstacle grid G2.

  In the environment map M shown in FIG. 4, the second work area D2 exists between the obstacle area B2 corresponding to the obstacle 4 (FIG. 2) and the obstacle area B1 corresponding to the wall 3. The narrow road area | region F which is a area | region which has a width | variety narrower than the width | variety of the autonomous mobile device 10, and the autonomous mobile device 10 cannot pass through is contained. In the second work area D2, the work start position S2 is on the near side of the second work area D2 (the lower side in the drawing in FIG. 4), while the work end position E2 is in the narrow road area F. Has been placed. This is because the user 2 does not recognize that the narrow road area F is a narrow road area through which the autonomous mobile device 10 cannot pass.

  If the travel route creation unit 33 creates the travel route R21 in the second work region D2 without correcting the point where the narrow work region F is included in the second work region D2, the travel route creation unit 33 Creates a route from the work start position S2 to immediately before reaching the narrow road area F as a travel route R21. However, since the autonomous mobile device 10 cannot pass through the narrow road area F, the travel route creation unit 33 does not create a travel route.

  In addition, in the environment map M shown in FIG. 4, an area where the autonomous mobile device 10 cannot enter is included in the second work area D2 by being surrounded by the obstacle area B2.

  The travel route creating unit 33 travels in the second work area D2 without correcting the point that the second work area D2 includes the area surrounded by the obstacle area B2 and the obstacle area B2. When the route R22 is created, the travel route creation unit 33 tries to include the region surrounded by the obstacle region B2 in the travel route R22, but the region surrounded by the obstacle region B2 Since this is an area that cannot be entered, the travel route of the area surrounded by the obstacle area B2 is not created.

  As described above, when there is a narrow road area F that is a narrow road area or an area in which the autonomous mobile device 10 cannot enter in the second work area D2, the second work area that the user 2 desires to perform the work. There is a difference between the number of grids G included in D2 and the number of grids G included in the travel route R21 created by the travel route creation unit 33 and the travel route R21. When the area of the area in which the autonomous mobile device 10 cannot enter is large (the larger the number of grids G included), the number of grids G included in the second work area D2, which is the work intention of the user 2, and the travel route The difference between the travel route R21 created by the creation unit 33 and the number of grids G included in the travel route R21 increases.

(3) When a region where it is difficult to estimate its own position (non-running region, measurement data shortage region) exists in the work region on the environment map set by the user 2 An unscanned grid in the work region set by the user 2 Since there are too many G3s, it may be predicted that it will be difficult for the autonomous mobile device 10 to estimate using the distance sensor 12 when traveling in the area for the autonomous mobile device 10 to work. .

  The environment map M shown in FIG. 4 has unscanned areas C0 and C1 and a self-position estimation difficult area (non-running area) C2 as unscanned areas C composed of unscanned grids G3. The unscanned area C0 is an area outside the obstacle area B. The unscanned area C1 is a partial area surrounding the outside of the third work area D3. The unscanned area C1 is an area that originally becomes a part of the obstacle area B1, but cannot be obtained from the distance data, and is an area that includes a grid assigned as the unscanned grid G3 instead of the obstacle grid G2.

  As a result, among the grids G included in the third work area D3, most of the grids G included in the inner area of the unscanned area C1 are also self-position estimation difficult areas (areas assigned as the unscanned grid G3) ( Non-travelable area) C2. In the self-position estimation difficult area C2 included in the third work area D3, since the presence of an outside obstacle is unknown on the environment map M, the autonomous mobile device 10 corresponds to the self-position estimation difficult area C2. When entering the area, it is estimated that the self-position estimation performed by the self-position estimation unit cannot be performed based on the distance data from the distance sensor 12, and the work cannot be continued.

  In the third work area D3, the work start position S3 is disposed on the travelable grid G1 on the front side (lower side in FIG. 4) of the third work area D3, while the work end position. E3 is arranged in the self-position estimation difficult region C2.

  The travel route creation unit 33 creates the travel route R3 in the third work area D3 without correcting that the environment map M includes the self-position estimation difficult region C2 in the third work region D3. Then, since the travel route creation unit 33 can predict that the self-position estimation becomes difficult when entering the self-position estimation difficult area C2 in the third work area D3, the self-position estimation difficult area C2 from the work start position S3. A route up to immediately before is created as a travel route R3. And the travel route preparation part 33 does not create the travel route in the self-position estimation difficult area C2.

  Thus, when the third work area D3 includes the self-position estimation difficulty area C2, the number of grids G included in the third work area D3 that the user 2 desires to perform the work, and the travel route The number of grids G included in the travel route R3 created by the creation unit 33 (that is, the grid G excluding the unscanned grid G3 included in the self-position estimation difficult region C2 among the grids G included in the third work region D3). Difference in number). The larger the area of the region composed of the unscanned grid G3 (that is, the number of unscanned grids G3 included in the region composed of the unscanned grid G3), the more the number of grids G included in the third work region D3, The difference from the number of grids G included in the travel route R3 created by the travel route creation unit 33 increases.

(Environmental map evaluation flowchart)
FIG. 5 is a diagram illustrating the flow of evaluation of the environmental map by the autonomous mobile device 10.

  Whether or not the travel route created by the travel route creation unit 33 is appropriately created after the environmental map control unit 32 creates the environmental map M in the autonomous mobile device 10 and the user 2 inputs the work intention. 1 evaluation unit 40 evaluates. The first evaluation unit 40 extracts the travel impossible area according to the above (1) to (3) based on the environmental map M and the work intention, and uses the extracted travel impossible area as a deletion candidate through the tablet terminal 20. Present to user 2.

  When the first evaluation unit 40 acquires information indicating that the travel route R has been created from the travel route creation unit 33, the first evaluation unit 40 stores the environmental map M, work intention (work area D, work start position S, and work end from the storage unit 34. Information on the position E) and the travel route R is acquired. Next, the isolated point evaluation unit 41 determines whether or not there are isolated points in a plurality of work areas (for example, the first work area D1) set in the environment map M (step S11).

  If the isolated point evaluation unit 41 determines in step S11 that there is an isolated point in the work area (YES in step S11), the determination result is stored in the storage unit 34. When the determination result is stored in the storage unit 34, the communication unit 11 outputs information indicating that an isolated point exists in the work area to the tablet terminal 20 via the communication unit 21. Then, the tablet terminal 20 displays information indicating that there is an isolated point in the work area (for example, the first work area D1) on the environment map M displayed on the input display unit 22, The user 2 is guided (step S12).

  Next, the work impossible area evaluation unit 42 includes a work impossible area in the environment map M in the work area (for example, the first work area D1) in which the isolated point evaluation unit 41 determines whether or not there is an isolated point. It is determined whether or not there is (step S13).

  In step S13, when the work impossible area evaluation unit 42 determines that there is a work impossible area in the work area (for example, the second work area D2) (YES in step S13), the work area is not in the work area. Information indicating that there is a possible area is stored in the storage unit 34 as a determination result. When the determination result is stored in the storage unit 34, the communication unit 11 outputs information indicating that there is a work impossible area in the work area to the tablet terminal 20 via the communication unit 21. Then, the tablet terminal 20 displays information indicating that there is a work impossible area in the work area (for example, the second work area D2) on the environment map M displayed on the input display unit 22. Then, the user 2 is guided (step S14).

  Next, in the environment map M, the self-position estimation difficult area evaluation unit 43 is difficult to perform self-position estimation in a work area (for example, the third work area D3) in which the isolated point evaluation unit 41 determines the presence or absence of an isolated point. It is determined whether or not there is an area (step S15).

  In step S15, when the self-position estimation difficult area evaluation unit 43 determines that there is a self-position estimation difficult area in the work area (for example, the third work area D3) (YES in step S15), the work area. Is stored in the storage unit 34 as a determination result. And if the said determination result is stored in the memory | storage part 34, the communication part 11 will output the information to the effect that there exists an area | region where self-position estimation is difficult in the said work area to the tablet terminal 20 via the communication part 21. FIG. Then, the tablet terminal 20 displays information on the environment map M displayed on the input display unit 22 that there is an area where it is difficult to estimate its own position in the work area (for example, the third work area D3). Thus, the user 2 is guided (step S16).

  Next, the first evaluation unit 40 performs steps S <b> 11 to S <b> 16 for all the work areas set in the environment map M (for example, the first work area D <b> 1 to the third work area D <b> 3). It is determined whether or not processing has been performed (step S17).

  In step S17, when the first evaluation unit 40 determines that the processing in steps S11 to S16 is performed on all work areas (YES in step S17), the first evaluation unit 40 determines that the environment map is an environment map. End the evaluation of M.

  On the other hand, if the first evaluation unit 40 determines that the processing in steps S11 to S16 has not been performed on all work areas in step S17 (NO in step S17), the remaining work areas are not processed. Steps S11 to S16 are performed. Thereby, the 1st evaluation part 40 performs the process of step S11-step S16 with respect to all the work areas.

  In step S11, if the isolated point evaluation unit 41 determines that there is no isolated point in the work area (NO in step S11), the process of step S12 is skipped and the process of step S13 is performed.

  In step S13, when the work impossible area evaluation unit 42 determines that there is no work impossible area in the work area (for example, the first work area D1) (NO in step S13), the process skips step S14. The process of S15 is performed.

  In step S15, if the self-position estimation difficult area evaluation unit 43 determines that there is no self-position estimation difficult area in the work area (for example, the first work area D1) (NO in step S15), step S16 is performed. Step S17 is performed.

(Processing of the first evaluation unit 40)
Next, a method in which the isolated point evaluation unit 41 determines whether or not there is an isolated point in the work area set in the environment map M will be described with reference to FIGS.

  FIG. 6 is a diagram showing a simple environment map M. As described above, each grid G constituting the environment map M can be classified into a travelable grid G1, an obstacle grid G2, and an unscanned grid G3. In the environmental map M, an area composed of one or more travelable grids G1 is a travelable area A, and an area composed of one or more obstacle grids G2 is an obstacle area B. An area composed of a plurality of unscanned grids G3 is an unscanned area C.

  The first evaluation unit 40 uses the three pieces of information of the travelable grid G1, the obstacle grid G2, and the unscanned grid G3 to determine the presence or absence of isolated points in the environment map M and The presence / absence determination and the region where self-position estimation is difficult (insufficient distance data constituting the environmental map) are determined. Hereinafter, it demonstrates in order.

<Isolated point determination>
In FIG. 7, the isolated point evaluation unit 41 of the first evaluation unit 40 extracts an obstacle grid G <b> 2 belonging to the obstacle region B <b> 11, in which there is a travelable region in any one of the vertical and horizontal directions in the environment map M <b> 11. FIG. FIG. 8 is a diagram illustrating a state in which the isolated point evaluation unit 41 of the first evaluation unit 40 labels the obstacle grid G2 belonging to the obstacle region B11 in the environment map M11. FIG. 9 is a diagram illustrating a state in which the isolated point evaluation unit 41 of the first evaluation unit 40 has completed labeling on the obstacle grid G2 belonging to the obstacle region B11 in the environment map M11.

  In FIG. 10, the isolated point evaluation unit 41 of the first evaluation unit 40 extracts an obstacle grid G <b> 2 belonging to the obstacle region B <b> 12, in which there is a travelable region in any one of the vertical and horizontal directions in the environment map M <b> 11. FIG. FIG. 11 is a diagram illustrating a state in which the isolated point evaluation unit 41 of the first evaluation unit 40 has completed the labeling of the obstacle grid G2 belonging to the obstacle region B12 in the environment map M11.

  In FIG. 12, the isolated point evaluation unit 41 of the first evaluation unit 40 extracts an obstacle grid G2 belonging to the obstacle region B13, in which there is a travelable region in any one of the vertical and horizontal directions in the environment map M11. FIG. FIG. 13 is a diagram illustrating a state in which the isolated point evaluation unit 41 of the first evaluation unit 40 has completed labeling on the obstacle grid G2 belonging to the obstacle region B12 in the environment map M11.

  As shown in FIG. 7, the environment map M11 includes an obstacle region B11 having a large area that is not an isolated point, obstacle regions B12 and B13 that are isolated points, and a travelable region A11.

  Obstacle areas B11 to B13 are arranged apart from each other. The obstacle region B1 is an obstacle region arranged corresponding to a wall or the like, and is configured by successively arranging more obstacle grids G2 than isolated points. The obstacle area B12 is an isolated point, and is configured by three obstacle grids G2 arranged in succession. The obstacle region B13 is an isolated point, and is configured by two obstacle grids G2 arranged in succession. In the environmental map M11, the area other than the obstacle areas B11 to B13 is a travelable area A11 in which the travelable grid G1 is continuously formed.

  The isolated point evaluation unit 41 extracts isolated points by recursively labeling each of the obstacle regions B11 to B13 sequentially in the environment map M11.

  When the first evaluation unit 40 acquires the environment map M11 from the storage unit 34, first, in step S101, the isolated point evaluation unit 41 is in any one of the vertical and horizontal directions (vertical direction and horizontal direction) in the environmental map M11. The obstacle grid G2 where the travelable area A11 exists is extracted.

  Then, the isolated point evaluation unit 41 attaches the label “1”, which is identification information, with the extracted obstacle grid G2 as “grid for starting connection extraction”. For example, in the environmental map M11, the isolated point evaluation unit 41 sequentially selects “whether it is an obstacle grid in which a travelable area exists in either the upper, lower, left, or right direction from the upper left to the lower right in FIG. Is determined. Thereby, the isolated point evaluation unit 41 extracts the obstacle grid G2 belonging to any one of the obstacle regions B11 to B13. In FIG. 7, the isolated point evaluation unit 41 extracts an obstacle grid G2 that belongs to the obstacle region B11 and is adjacent to the travelable grid G1.

  Next, as shown in FIG. 8, in step S102, the isolated point evaluation unit 41 applies the same label “1” to the obstacle grid G2 in the vertical and horizontal directions of the obstacle grid G2 extracted in step S101. wear.

  In step S103, the isolated point evaluation unit 41 similarly applies to the obstacle grid G2 labeled in step S102 in the vertical and horizontal directions of the obstacle grid G2 labeled with the label “1”. The same label “1” is attached to the grid G2. The isolated point evaluation unit 41 repeats Steps S102 and S103 until there is no obstacle grid G2 that is assigned to the obstacle region B11 on the top, bottom, left, and right and has no label.

  As shown in FIG. 9, in step S104, the isolated point evaluation unit 41 completes the application of the same label to all the obstacle grids G2 belonging to the obstacle region B11. Next, in step S105, the isolated point evaluation unit Reference numeral 41 denotes an “obstacle grid in which a travelable area exists in any of the upper, lower, left, and right directions” from the next grid adjacent to the obstacle grid G2 (obstacle grid G2 belonging to the obstacle area B11) extracted in step S101. It is judged sequentially whether or not. Thereby, the isolated point evaluation unit 41 extracts the obstacle grid G2 where the travelable area A11 exists in any of the up, down, left, and right directions. However, when the extracted obstacle grid G2 has already been labeled, the isolated point evaluation unit 41 proceeds to the next grid without extracting the obstacle grid G2. When the obstacle grid G2 that is not labeled is extracted, the isolated point evaluation unit 41 sets the extracted obstacle grid G2 as a “grid for starting connection extraction” and sets a new label “2” as identification information. wear. In FIG. 10, the isolated point evaluation unit 41 extracts an obstacle grid G2 that belongs to the obstacle region B12 and is adjacent to the travelable grid G1.

  Next, as shown in FIG. 11, in step S105, the isolated point evaluation unit 41 applies the same label “2” to the obstacle grid G2 in the vertical and horizontal directions of the obstacle grid G2 extracted in step S104. wear.

  In step S106, the isolated point evaluation unit 41 similarly applies to the obstacle grid G2 labeled in step S105 in the vertical and horizontal directions of the obstacle grid G2 labeled with the label “2”. The same label “2” is attached to the grid G2.

  The isolated point evaluation unit 41 repeats steps S105 and S106 until there is no obstacle grid G2 that is assigned to the obstacle region B12 in the up, down, left, and right directions and that is not labeled.

  In step S107, the isolated point evaluation unit 41 assigns the same label to all the obstacle grids G2 belonging to the obstacle region B12. When the label assignment is completed, next, as step S108, the isolated point evaluation unit 41 starts from the next grid adjacent to the obstacle grid G2 extracted in step S104 (obstacle grid G2 belonging to the obstacle region B12). Again, “whether or not it is an obstacle grid in which there is a travelable region on either the top, bottom, left or right” is sequentially determined. Thereby, the isolated point evaluation unit 41 extracts the obstacle grid G2 where the travelable area A11 exists in any of the up, down, left, and right directions. However, when the extracted obstacle grid G2 has already been labeled, the isolated point evaluation unit 41 proceeds to the next grid without extracting the obstacle grid G2. When the obstacle grid G2 without a label is found, the isolated point evaluation unit 41 sets the extracted obstacle grid G2 as a “grid for starting connection extraction”, and sets a new label “3” as identification information. wear. In FIG. 12, the isolated point evaluation unit 41 extracts an obstacle grid G2 that belongs to the obstacle region B13 and is adjacent to the travelable grid G1.

  Next, as shown in FIG. 13, in step S109, the isolated point evaluation unit 41 applies the same label “3” to the obstacle grid G2 in the vertical and horizontal directions of the obstacle grid G2 extracted in step S108. wear. The isolated point evaluation unit 41 repeats step S109 until there is no obstacle grid G2 that is assigned to the obstacle region B13 in the up, down, left, and right directions and has no label.

  In step S110, the isolated point evaluation unit 41 assigns the same label to all obstacle grids G2 belonging to the obstacle region B13. When the label assignment is completed, next, as Step S111, the isolated point evaluation unit 41 starts from the next grid adjacent to the obstacle grid G2 (obstacle grid G2 belonging to the obstacle region B13) extracted in Step S108. Again, “whether or not it is an obstacle grid in which there is a travelable region on either the top, bottom, left or right” is sequentially determined. Thereby, the isolated point evaluation unit 41 extracts the obstacle grid G2 where the travelable area A11 exists in any of the up, down, left, and right directions. However, when the extracted obstacle grid G2 has already been labeled, the isolated point evaluation unit 41 proceeds to the next grid without extracting the obstacle grid G2.

  In step S112, the isolated point evaluation unit 41 has an obstacle grid G2 that is not labeled and has a travelable area A11 in any of the up, down, left, and right directions in the grid constituting the environmental map M11. If it is determined not to, labeling is terminated.

  In this way, the isolated point evaluation unit 41 labels each grid constituting the environment map M11.

  And as a step S113, the isolated point evaluation part 41 will count the number of labels for every obstacle area | region B11-B13, if the labeling process is complete | finished about all the obstacle grids G2 which comprise the environment map M11. And the isolated point evaluation part 41 determines with the area | region where the number of labels fell below the predetermined number among obstacle area | regions B11-B13 as an isolated point.

<Determining whether or not there is a work impossible area>
FIG. 14 is a diagram illustrating a state in which the creation of the extended area EX is started in the environment map M21. FIG. 15 is a diagram illustrating a state where the creation of the extended area EX is completed in the environment map M21. FIG. 16 is a diagram illustrating a state in which part of the extended area EX has started to be returned to the travelable grid G1 in the environment map M21. FIG. 17 is a diagram illustrating a state where the work impossible area is specified in the environment map M21.

  As shown in FIG. 14, the obstacle map B21 / B22 having a large area that is not an isolated point and a travelable area A21 are arranged in the environment map M21. The area between the obstacle area B21 and the obstacle area B22 is a narrow area where the autonomous mobile device 10 cannot pass though it is the travelable area A21.

  The unworkable area evaluation unit 42 identifies a boundary between the travelable area A21 and the obstacle area B21 in the environment map M21, expands the obstacle area B21, and extracts the unworkable area.

  First, as step S121, the unworkable area evaluation unit 42 in the environmental map M21, the boundary grid GA1 (at the boundary between the obstacle areas B21 and B22 among the travelable grids G1 included in the travelable area A21 ( That is, by specifying the travelable grid G1) adjacent to the obstacle grid G2, the attention area N1 including the specified boundary grid GA1 is specified.

  Next, as step S122, the work impossible area evaluation unit 42 identifies the boundary grid GA1 positioned at the end of the attention area N1. Then, the work impossible area evaluation unit 42 virtually draws a circle CE1 having a preset diameter with the identified boundary grid GA1 as the center. The diameter of the circle CE <b> 1 is a length corresponding to the width of the housing of the autonomous mobile device 10. That is, in the environment map M21, the width of the circle CE1 represents the minimum width that the autonomous mobile device 10 can travel.

  In step S123, the work impossible area evaluation unit 42 sets the travelable grid G1 included in the virtually drawn circle CE1 as the extended grid GE, and sets the extended area EX including the extended grid GE. .

  As illustrated in FIG. 15, the work impossible area evaluation unit 42 draws a circle CE1 in order with respect to the boundary grid GA1 included in the attention area N1, and sets the travelable grid G1 included in the circle CE1 as the extended grid GE. Then, an extension area EX composed of the extension grid GE is set. The unworkable area evaluation unit 42 sets an extended area EX composed of the extended grid GE up to the boundary grid GA1 located at the end of the boundary grid GA1 included in the attention area N1. In FIG. 15, the grid G between the obstacle region B21 and the obstacle region B22 is composed of only the boundary grid GA1 and the extended grid GE.

  Next, in step S124, when the setting of the extension area EX is completed, the boundary grid GA1 between the extension area EX and the obstacle area B21 is incorporated into the obstacle area B21 as the obstacle grid G2, as shown in FIG. Then, the obstacle area B21a in which the area of the obstacle area B21 is expanded is set. Similarly, the boundary grid GA1 between the extended area EX and the obstacle area B22 is incorporated into the obstacle area B22 as the obstacle grid G2, and an obstacle area B22a in which the area of the obstacle area B22 is expanded is set. To do.

  Then, in the environment map M21, the work impossible area evaluation unit 42, in the travelable grid G1 included in the travelable area A21, the boundary grid GA2 located at the boundary with the expansion area EX (that is, adjacent to the expansion area EX). By specifying the travelable grid G1), the attention area N2 including the specified boundary grid GA2 is specified.

  Next, as step S125, the work impossible area evaluation unit 42 identifies the boundary grid GA2 located at the end of the attention area N2. Then, the work impossible area evaluation unit 42 virtually draws the circle CE2 around the specified boundary grid GA2. The diameter of the circle CE2 is the same as that of the circle CE1.

  In step S126, the work impossible area evaluation unit 42 returns the extended grid GE included in the virtually drawn circle CE2 to the travelable grid G1.

  As illustrated in FIG. 17, the work impossible area evaluation unit 42 draws a circle CE2 with the travelable grid G1 included in the attention area N2 in order as the attention grid GA2, and travels along the extended grid GE included in the circle CE2. Return to possible grid G1. The work impossible area evaluation unit 42 changes the extended grid GE included in the circle CE2 to the travelable grid G1 until the travelable grid G1 located at the end of the travelable grid G1 included in the attention area N2 is reached. Go back. The travelable grid G1 returned from the extended grid GE is incorporated into the travelable area A21 again.

  In FIG. 17, since the circle CE2 has not entered between the obstacle area B21a and the obstacle area B22a, a part of the extended area EX is present between the obstacle area B21a and the obstacle area B22a. Remaining. The work impossible area evaluation unit 42 determines that the remaining extended area EX is a work impossible area that is a narrow road area F having a width that the autonomous mobile device 10 cannot pass through.

<Determining the presence or absence of a region where it is difficult to estimate its position (insufficient distance data)>
FIG. 18 is a diagram illustrating a state where the self-position estimation difficult region evaluation unit 43 of the first evaluation unit 40 specifies the unscanned region C31 in the environment map M31.

  As shown in FIG. 18, the environment map M31 is partly provided with an unscanned area C31 made up of an unscanned grid G3, and an obstacle area made up of an obstacle grid G2 on the peripheral edge excluding the unscanned area C31. B31 is arranged, and a travelable area A31 including a travelable grid G1 is disposed in an area surrounded by the obstacle area B31 and the unscanned area C31. In FIG. 18, the unscanned area C31 is composed of 4 × 5 (horizontal × vertical) unscanned grid G3. The unscanned area C31 is an area that has an area large enough that when the autonomous mobile device 10 enters a region corresponding to the region, the autonomous mobile device 10 is estimated to be difficult to estimate its own position by the distance sensor 12. It is.

  The self-position estimation difficult region evaluation unit 43 specifies a boundary between the travelable region A31 and the unscanned region C31 in the environmental map M31, and recursively labels the unscanned region C31, thereby unscanned region C31 is extracted.

  First, as step S131, the self-position estimation difficult region evaluation unit 43 extracts an unscanned grid G3 in which the travelable grid G1 exists in any one of the vertical and horizontal directions (vertical direction and horizontal direction) in the environment map M31. Add a label. In FIG. 18, the self-position estimation difficult region evaluation unit 43 attaches a label “1” to the unscanned grid G3 that forms the unscanned region C31.

  Next, in step S132, as shown by the arrow in FIG. 18, the self-position estimation difficult region evaluation unit 43 is identical to the unscanned grid G3 in the vertical and horizontal directions of the unscanned grid G3 specified in step S131. Label it.

  And as shown in FIG. 19, as step S133, the self-position estimation difficult area | region evaluation part 43 attaches a label about all the unscanned grids G3 which comprise the unscanned area | region C31.

  Next, as step S134, when the self-position estimation difficult region evaluation unit 43 finishes the process of labeling all the unscanned grids G3 constituting the unscanned region C31, the unscanned region is then displayed on the environment map M31. When an unscanned area different from C31 is arranged, the self-position estimation difficult area evaluating unit 43 attaches a label (for example, “2”) different from the unscanned area C31 to the unscanned area. Accordingly, the self-position estimation difficult region evaluation unit 43 sequentially labels each unscanned region that is a self-position estimation difficult region as identification information.

  In step S135, the self-position estimation difficult region evaluation unit 43 counts the number of labels for each unscanned region when labeling to each unscanned region in the environment map M31 is completed.

  When the number of labels of the unscanned grid G3 is equal to or larger than the predetermined number, the self-position estimation difficult region evaluation unit 43 determines that the unscanned region (unscanned region C31 in the example of FIG. 19) is self-position estimated. It is determined that the area is difficult. In the case where other unscanned areas are also arranged, if the number of labels is similarly equal to or greater than the predetermined number, the self-position estimation difficult area evaluation unit 43 determines that the unscanned area It is determined that the region is difficult to estimate.

(Main advantages of autonomous mobile system 1)
As described above, the autonomous mobile device 10 measures the shape of the surrounding obstacle 4 and the wall 3, generates the measured data, the distance sensor 12 based on the measurement data, and the surrounding obstacle 4 and Of the first work area D1 to the third work area D3 to be traveled set by the user 2 in the environment map M, the environment map control unit 32 that creates the environment map M reflecting the shape of the wall 3, The travel route for creating the travel routes R1 to R3 of the autonomous mobile device 10 so as to fill the first work region D1 to the third work region D3 while avoiding the travel impossible region where the autonomous mobile device 10 is estimated to be travel impossible. Evaluate whether or not the difference between the creation unit 33, the first work area D1 to the third work area D3, and the areas included in the travel routes R1 to R3 is equal to or greater than a predetermined value, and inputs the evaluation result Display on the display unit 22 And an evaluation unit 40.

  According to the above configuration, the first evaluation unit 40 includes the first work area D1 to the third work area D3 to be traveled set by the user 2 in the environment map M created by the environment map control unit 32, and In the travel routes R1 to R3 created by the travel route creation unit 33 so as to fill the first work region D1 to the third work region D3 while avoiding the travel impossible region where the autonomous mobile device 10 is estimated to be unable to travel. It is evaluated whether or not the difference from the included area is a predetermined value or more. Then, the first evaluation unit 40 transmits the evaluation result to the tablet terminal 20 through the communication units 11 and 21. Thus, the first evaluation unit 40 causes the input display unit 22 to display the evaluation result.

  Thereby, even if a difference occurs between the first work area D1 to the third work area D3 set by the user 2 and the areas included in the travel routes R1 to R3 created by the travel route creation unit 33, The difference can be presented to the user 2 by being displayed on the input display unit 22 as an evaluation result. Therefore, the user 2 can determine whether or not it is necessary to reset the first work area D1 to the third work area D3. As a result, the travel route creation unit 33 can create travel routes R1 to R3 according to the intention of the user 2 again. Thereby, the autonomous mobile device 10 has good running efficiency for work and easily satisfies the request from the user 2.

  If the number or area of the non-travelable areas is equal to or greater than a predetermined value as the predetermined value, the first evaluation unit 40 causes the input display unit 22 to display the evaluation result. Thereby, the user 2 determines whether or not it is necessary to reset the first work area D1 to the third work area D3 so that the number or area of the untravelable areas is less than the predetermined value. Judgment can be made. For this reason, since the travel route creation unit 33 can create travel routes R1 to R3 according to the intention of the user 2 again, the travel efficiency for the work is high and the request from the user 2 is satisfied. Easy to do.

  In addition, the isolated point evaluation unit 41 of the first evaluation unit 40 has an obstacle region B3 when the obstacle region B3, which is an isolated point in which the area of the obstacle region B is smaller than a predetermined area, is present on the travel routes R1 to R3. Is set as the non-running region.

  According to the above configuration, the first evaluation unit 40 includes the first work area D1 to the third work area of the isolated points included in the first work area D1 to the third work area D3 of the environment map M, respectively. An evaluation result based on the total area or number for each D3 is displayed on the input display unit 22. For this reason, the user 2 can easily grasp the existence of an isolated point created in the environment map M due to the noise of the distance sensor 12 or the like. As a result, the travel route creation unit 33 can again create the travel routes R1 to R3 according to the intention of the user 2, so that the travel efficiency is good and the request from the user 2 is easily satisfied.

  Moreover, the work impossible area | region evaluation part 42 of the 1st evaluation part 40 is the said narrow road area | region F, when the narrow road area | region F which is the width | variety which the autonomous mobile apparatus 10 cannot pass through exists in driving | running route R1-R3. A work impossible area evaluation unit 42 for setting the travel impossible area is provided.

  According to the above configuration, the first evaluation unit 40 includes the first work area D1 to the third work area D1 of the narrow road area F included in each of the first work area D1 to the third work area D3 of the environment map M. An evaluation result based on the total area or number for each work area D3 is displayed on the input display unit 22. For this reason, it is easy for the user 2 to grasp the existence of a narrow road area where the autonomous mobile device 10 cannot pass through the environment map M. As a result, the travel route creation unit 33 can again create the travel routes R1 to R3 according to the intention of the user 2, so that the travel efficiency is good and the request from the user 2 is easily satisfied.

  In addition, the self-position estimation difficult region evaluation unit 43 of the first evaluation unit 40 is self-established on the environment map M based on the measurement data of the distance sensor 12 during the autonomous travel based on the environment map M on the travel routes R1 to R3. When there is a self-position estimation difficult region C2 in which the measurement data of the distance sensor 12 for reflecting the surrounding obstacle 4 and the shape of the wall 3 is insufficient so that the position cannot be estimated, self-position estimation The difficult area C2 is set as the non-travelable area.

  According to the above configuration, the first evaluation unit 40 includes the first work area D1 to the first work area D1 of the self-position estimation difficult area C2 included in each of the first work area D1 to the third work area D3 of the environment map M. Evaluation results based on the total area or number for each of the three work areas D3 are displayed on the input display unit 22. For this reason, the user 2 can easily grasp the presence of the self-position estimation difficult region (non-running region) C2 in the environment map M in which the autonomous mobile device 10 is difficult to estimate the self-position. As a result, the travel route creation unit 33 can again create the travel routes R1 to R3 according to the intention of the user 2, so that the travel efficiency is good and the request from the user 2 is easily satisfied.

  The environment map M is composed of a plurality of grids G which are elements arranged in a matrix, and the plurality of grids G indicate that an obstacle exists by the environment map control unit 32 based on the measurement data. The isolated point evaluation unit 41 includes one or a plurality of obstacle grids G2 to which information is assigned, and counts the number of obstacle grids G2 in the obstacle region B2 including only one or a plurality of obstacle grids G2. When the number of obstacle grids G2 is less than the predetermined number, it is determined that the obstacle region B2 is an isolated point. In this way, the isolated point evaluation unit 41 can accurately identify the isolated point.

  In addition to the obstacle grid G2, the plurality of grids G constituting the environment map M are further assigned information indicating that no obstacle exists by the environmental map control unit 32 based on the measurement data. A plurality of travelable grids G1 are included.

  Then, the work impossible area evaluation unit 42 includes an obstacle area B1 and an obstacle area B2 that are composed of only a plurality of obstacle grids G2, and are located between the obstacle area B1 and the obstacle area B2. When the width of the region sandwiched between the obstacle region B1 and the obstacle region B2 is shorter than the length corresponding to the width of the autonomous mobile device 10, the region sandwiched between the obstacle region B1 and the obstacle region B2 is It is determined that the area is a narrow road area F. Thus, the work impossible area evaluation unit 42 can accurately specify the narrow road area F through which the autonomous mobile device 10 cannot pass. Note that the area sandwiched between the obstacle area B1 and the obstacle area B2 that is the target of the narrow path determination is the obstacle grid G2 other than the obstacle grid G2 among the travelable grid G1, the obstacle grid G2, and the unscanned grid G3. Any one of the grids G1 and the unscanned grids G3 may be used.

  The self-position estimation difficult region evaluation unit 43 counts the number of unscanned grids G3 in the self-position estimation difficult region C2 made up of only a plurality of unscanned grids G3. Is determined, the self-position estimation difficult region C2 is determined to be a self-position estimation difficult region. Thus, the self-position estimation difficult area evaluation unit 43 can accurately specify the self-position estimation difficult area C2 in which the autonomous mobile device 10 is difficult to estimate the self position.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those described in the first embodiment are given the same reference numerals, and descriptions thereof are omitted.

  FIG. 20 is a functional block diagram of an autonomous mobile system 1A according to Embodiment 2 of the present invention. FIG. 21 is a diagram illustrating an environment map MA obtained by correcting the environment map M by the first evaluation unit 40A.

  FIG. 22 is a diagram illustrating a state in which the autonomous mobile device according to the second embodiment of the present invention displays an environment map from which the remaining extended area EX is removed. FIG. 23 is a diagram illustrating a state in which the autonomous mobile device according to the second embodiment of the present invention displays an environmental map from which the self-position estimation difficult region is removed.

  The autonomous mobile system 1A includes an autonomous mobile device 10A and a tablet terminal 20. The autonomous mobile device 10A includes a first evaluation unit 40A instead of the first evaluation unit 40 provided in the autonomous mobile device 10 (see FIG. 1). Other configurations of the autonomous mobile device 10 </ b> A are the same as those of the autonomous mobile device 10.

  The first evaluation unit 40A includes an isolated point evaluation unit 41A, a work impossible region evaluation unit (narrow path evaluation unit) 42A, and a self-position estimation difficult region evaluation unit (self-position estimation evaluation unit) 43A. The first evaluation unit 40A extracts a travel impossible area included in the environmental map M (see FIG. 4), and creates information indicating the environmental map MA from which the travel disabled area is removed.

  The isolated point evaluation unit 41A is included in the first work area D1 (see FIG. 4) of the environment map M as if the isolated obstacle points B12 and B13 (see FIGS. 7 and 8) are extracted. After extracting the isolated point (obstacle area B3), information indicating the work area DA (work area DA1 (see FIG. 21)) from which the extracted isolated point (obstacle area B3) is removed is created. Then, the first evaluation unit 40A stores information indicating the work area DA (work area DA1) in the storage unit 34. When information indicating the work area DA (work area DA1) is stored in the storage unit 34, the information indicating the work area DA (work area DA1) is output to the tablet terminal 20 via the communication units 11 and 21.

  The tablet terminal 20 replaces the display of the first work area D1 in the environment map M displayed on the input display unit 22 with the work area DA (work area DA1). The isolated point evaluation unit 41A similarly creates information indicating the work area from which the isolated points are removed even when the isolated points (obstacle area B3) included in the work areas D2 and D3 exist. Thus, the first evaluation unit 40A causes the input display unit 22 to display the work area from which the isolated points have been removed. Even if there are a plurality of isolated points, since different labels are attached to the respective isolated points, they can be removed for each region.

  The work impossible area evaluation unit 42A extracts the narrow road area F included in the second work area D2 (see FIG. 4) as described with reference to FIGS. Then, information for removing the extracted narrow road area F is created. Then, the work impossible area evaluation unit 42A stores information indicating the work area DA (work area DA2) obtained by removing the extracted narrow road area F from the second work area D2 in the storage unit 34. When information indicating the work area DA (work area DA2) is stored in the storage unit 34, the information indicating the work area DA (work area DA2) is output to the tablet terminal 20 via the communication units 11 and 21. The The tablet terminal 20 replaces the display of the second work area D2 in the environment map M displayed on the input display unit 22 with the work area DA (work area DA2).

  As shown in FIG. 23, the work impossible area evaluation unit 42A similarly applies the narrow road area F when the narrow road area F included in the first work area D1 and the third work area D3 exists. Is created, and information indicating the work area DA is stored in the storage unit 34. When information indicating the work area DA is stored in the storage unit 34, the information is output to the tablet terminal 20 via the communication units 11 and 21. The tablet terminal 20 replaces the display of the first work area D1 and the third work area D3 in the environment map M displayed on the input display unit 22 with the work area DA (work areas DA1 and D3). Thereby, the input display unit 22 displays the work area DA from which the narrow road area F is removed. Even if there are a plurality of narrow path areas F, since different labels are attached to the respective narrow path areas F, they can be removed for each area.

  The self-position estimation difficult area evaluation unit 43A extracts the unscanned area C31 as described with reference to FIGS. 18 to 19, and then removes the extracted unscanned area C31 as shown in FIG. Create information. The self-position estimation difficult region evaluation unit 43A creates information for removing the extracted unscanned region C32 even when an unscanned region C32 different from the unscanned region C31 is extracted. Then, the self-position estimation difficult area evaluation unit 43A creates information indicating the work area DA3 (see FIG. 21) from which the unscanned areas C31 and C32 (that is, the self-position estimation difficult area C2) are removed, and stores the information in the storage unit 34. To do. When the information indicating the work area DA3 is stored in the storage unit 34, the information indicating the work area DA3 is output to the tablet terminal 20 via the communication units 11 and 21. The tablet terminal 20 replaces the display of the third work area D3 in the environment map M displayed on the input display unit 22 with the work area DA3. The self-position estimation difficult area evaluation unit 43A similarly removes the self-position estimation difficult area C2 even when the self-position estimation difficult area C2 included in the first work area D1 and the second work area D2 exists. Information indicating the work area thus created is created and stored in the storage unit 34. As a result, the communication unit 11 causes the input display unit 22 to display the work area from which the work area from which the self-position estimation difficulty area has been removed is removed via the communication unit 21. As shown in FIG. 23, even if a plurality of self-position estimation difficult areas exist as unscanned areas C31 and C32, since different labels are attached to the respective areas, they can be removed for each area.

  FIG. 24 is a diagram illustrating a flow of evaluation of an environmental map by the autonomous mobile device 10A. In step S11 (see FIG. 5), when the isolated point evaluation unit 41A determines that there is an isolated point in the work area (YES in step S11), information indicating the work area DA from which the isolated point has been removed from the work area. And stored in the storage unit 34. Information indicating the work area DA stored in the storage unit 34 is output to the tablet terminal 20 via the communication units 11 and 21. Then, the tablet terminal 20 guides the user 2 by displaying the work area DA (for example, work area DA1) from which the isolated points are deleted on the environment map M displayed on the input display unit 22 ( Step S21).

  Next, in step S13, when the work impossible area evaluation unit 42A determines that there is a work impossible area in the work area (for example, the work area D2) (YES in step S13), a work in the work area is performed. Information indicating the work area DA, which is information of only the workable area excluding the impossible area, is stored in the storage unit 34. Information indicating the work area DA stored in the storage unit 34 is output to the tablet terminal 20 via the communication units 11 and 21. And the tablet terminal 20 displays only the workable area | region except the work impossible area | region in the said work area DA (for example, work area DA2) on the environment map M currently displayed on the input display part 22. FIG. The user 2 is guided (step S23).

  In step S15, when the self-position estimation difficult area evaluation unit 43A determines that there is a self-position estimation difficult area in the work area DA (for example, the work area DA3) (YES in step S15), Of these, a region where self-position estimation is possible except for a region where self-position estimation is difficult is extracted, and information indicating the work area DA that is information on the region where self-position estimation is possible is stored in the storage unit 34. Information indicating the work area DA stored in the storage unit 34 is output to the tablet terminal 20 via the communication units 11 and 21. And the tablet terminal 20 displays the area | region where self-position estimation is possible in the said work area DA (for example, 3rd work area D3) on the environment map M currently displayed on the input display part 22, The user 2 is guided (step S25).

  Next, the first evaluation unit 40A determines whether or not the processing in steps S11 to S25 has been performed on all the work areas (for example, work areas DA1 to DA3) set in the environment map MA. (Step S17).

  In step S17, when the first evaluation unit 40A determines that the processing in steps S11 to S25 is performed on all work areas (YES in step S17), the first evaluation unit 40A The MA evaluation is terminated.

  On the other hand, when the first evaluation unit 40A determines that the processing in steps S11 to S25 has not been performed on all work areas in step S17 (NO in step S17), the remaining work areas are not processed. Steps S11 to S25 are performed. Thereby, 40 A of 1st evaluation parts perform the process of step S11-step S25 with respect to all the work areas.

[Embodiment 3]
The following will describe another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those described in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted.

  FIG. 25 is a functional block diagram of an autonomous mobile system 1B according to Embodiment 3 of the present invention. The autonomous mobile system 1B includes an autonomous mobile device 10B and a tablet terminal 20. The autonomous mobile device 10B includes a second evaluation unit 50 in addition to the configuration of the autonomous mobile device 10 (see FIG. 1).

  While the environmental map control unit 32 is creating the environmental map M, the second evaluation unit 50 evaluates information such as information that is considered inappropriate and information such as a narrow road area that cannot be traveled, and performs the evaluation. The user 2 is guided by displaying the result on the input display unit 22.

  The second evaluation unit 50 sequentially acquires a part of the environment map M that the environment map control unit 32 partially creates as the user 2 moves the autonomous mobile device 10B. The second evaluation unit 50 includes a self-position estimation difficult region evaluation unit 51 and a work impossible region evaluation unit 52.

  FIG. 26 is a diagram illustrating a state in which the autonomous mobile device 10 </ b> B is moved and operated by the user 2 to create an environment map. As shown in FIG. 26, if the scanning by the distance sensor 12 is insufficient, as shown in FIG. 27, the distance data is insufficient to accurately create the environment map. FIG. 27 is a diagram illustrating a state of the environment map MB created by the environment map control unit 32 of the autonomous mobile device 10B.

  As shown in FIG. 26, when the scanning direction of the distance sensor 12 and the extending direction of the wall 3 are not appropriate, the distance sensor 12 can measure the distance data corresponding to the wall 3 as shown in FIG. First, most of the area that is not closed by the obstacle area B1 corresponding to the wall 3 is composed of the unscanned grid G3. When the number of continuous unscanned grids G3 increases, a self-position estimation difficult region C2 is obtained.

  The self-position estimation difficult area evaluation unit 51 extracts the self-position estimation difficult area C2 created during the creation of the environment map MB, and scans the area without the obstacle area B1 in the vicinity of the self-position estimation difficulty area C2. Scan instruction information for prompting the user 2 is generated. Then, the second evaluation unit 50 outputs the scan instruction information to the tablet terminal 20 via the communication units 11 and 21. Thereby, the tablet terminal 20 displays information indicating that the user 2 is prompted to scan an area without the obstacle area B1 in the vicinity of the self-position estimation difficult area C2 in the environment map MB displayed on the input display unit 22. indicate. The method by which the self-position estimation difficult region evaluation unit 51 extracts the self-position estimation difficult region C2 is the same as the method described with reference to FIGS.

  In addition, when the narrow road area F is created during creation of the environment map MB, such as a gap between the obstacle 4 and the wall 3, the area cannot be entered by the autonomous mobile device 10B. The evaluation unit 52 extracts the generated narrow road area F and generates information indicating that the narrow road area F has been specified. The second evaluation unit 50 outputs information indicating that the narrow road area F has been extracted to the tablet terminal 20 via the communication units 11 and 21. Accordingly, the tablet terminal 20 guides the narrow road area F to the user 2 by displaying information indicating that the narrow road area F exists in the environment map MB displayed on the input display unit 22. Note that the method by which the work impossible area evaluation unit 52 extracts the narrow area F is the same as the method described with reference to FIGS.

  FIG. 28 is a diagram illustrating a flow of evaluation of the environment map MB being created by the autonomous mobile device 10B.

  The environmental map control unit 32 starts creating the environmental map MB, and sequentially updates the environmental map MB (step S31). The second evaluation unit 50 sequentially acquires the environmental map MB updated by the environmental map control unit 32, and the self-position estimation difficult region evaluation unit 51 includes information indicating the obstacle in the environmental map MB (obstacle region B1). It is determined whether or not is closed (step S32).

  In step S32, when the obstacle region B1 is not closed (NO in step S32), the self-position estimation difficult region evaluation unit 51 extracts the generated self-position estimation difficult region C2, and the second evaluation unit 50 Guides the user 2 via the tablet terminal 20 to scan the area where the obstacle area B1 is not closed (step S33).

  Next, the work impossible area evaluation unit 52 determines the presence or absence of the narrow road area F in the environmental map MB being created (step S34). When the work impossible area evaluation unit 52 extracts the narrow road area F from the environmental map MB that is being created (step S35), the second evaluation unit 50 uses the tablet terminal 20 to extract the extracted narrow road area F. The user 2 is notified (step S36).

  Next, when there is an instruction to finish creating the environmental map MB from the user 2 (YES in step S37), the creation of the environmental map MB is finished. If there is no instruction to end creation of the environmental map MB from the user 2 (NO in step S37), the process returns to step S31.

  If YES in step 33, step S33 is skipped and the process proceeds to step S34. If NO in step S35, step S36 is skipped and the process proceeds to step S37.

  According to the autonomous mobile device 10B, it is possible to prevent the loss of the environmental map and the inappropriate work intention input by the user, so that the work can be performed more efficiently.

[Embodiment 4]
The following will describe another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those described in the first to third embodiments are denoted by the same reference numerals and description thereof is omitted.

  FIG. 29 is a functional block diagram of an autonomous mobile system 1C according to Embodiment 4 of the present invention. The autonomous mobile system 1 </ b> C includes an autonomous mobile device 10 </ b> C and a tablet terminal 20. The autonomous mobile device 10C includes a third evaluation unit 60 in addition to the configuration of the autonomous mobile device 10 (see FIG. 1). The third evaluation unit 60 includes an obstacle evaluation unit 61 and a work impossible area evaluation unit 62.

  While the autonomous mobile device 10 </ b> C is working based on the registered environmental map M and the work intention input from the user 2, the third evaluation unit 60 informs the user 2 about differences from the registered content. invite.

  FIG. 30 is a diagram illustrating a state in which an obstacle 5 different from the obstacle 4 and the wall 3 registered in the environment map M exists during the operation of the autonomous mobile device 10C. The obstacle 5 is an obstacle newly placed after the environmental map M is created. FIG. 31 is a diagram illustrating a state of the environment map MC created by the environment map control unit 32 of the autonomous mobile device 10C.

  The obstacle evaluation unit 61 detects a new obstacle region BC that is not included in the registered environmental map M during the work. The third evaluation unit 60 outputs the obstacle area BC detected by the obstacle evaluation unit 61 to the environment map control unit 32. The environmental map control unit 32 creates an environmental map MC obtained by adding a new obstacle region BC to the environmental map M, and stores it in the storage unit 34 (updates the map information). When the new environmental map MC is stored in the storage unit 34, the environmental map MC is output to the tablet terminal 20 via the communication units 11 and 21. Thereby, the tablet terminal 20 displays the new environmental map MC including the new obstacle area BC instead of the environmental map M displayed on the input display unit 22.

  Then, the travel route creation unit 33 regenerates the travel route based on the new environmental map MC and stores it in the storage unit 34. The work impossible area evaluation unit 62 evaluates the new environment map MC and the travel route based on the new environment map MC stored in the storage unit 34. If the region FC that cannot be traveled is generated as a result of regenerating the travel route stored in the storage unit 34, the work impossible region evaluation unit 62 informs the tablet via the communication units 11 and 21. Output to the terminal 20. Thereby, the input display part 22 guides to the user 2 by displaying that the area | region FC which cannot be drive | worked generate | occur | produced.

  FIG. 32 is a diagram illustrating a flow of evaluation of the environment map MC by the autonomous mobile device 10C.

  During the work, the obstacle evaluation unit 61 determines whether there is new obstacle information that is not included in the registered environmental map M (step S41). In step S41, when the obstacle evaluation unit 61 determines that a new obstacle region BC exists (step S41), it updates the map information (step S42). Next, the work impossible area evaluation unit 62 performs narrow road determination (step S43). Then, the work impossible area evaluation unit 62 determines whether or not a work impossible area FC is generated due to the generation of the obstacle area BC (step S44). If YES in step S44, the user 2 is guided through the tablet terminal 20 (step S45). If NO in step S44, the process is completed. The process is also completed in the case of YES in step S41.

  According to the autonomous mobile device 10 </ b> C, the content can be corrected without changing the work environment without following the map re-creation procedure.

[Example of software implementation]
A control block (in particular, the first evaluation unit 40, the second evaluation unit 50, and the third evaluation unit 60) of the autonomous mobile device 10 is a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like. It may be realized by software, or may be realized by software using a CPU (Central Processing Unit).

  In the latter case, the autonomous mobile device 10 includes a CPU that executes instructions of a program that is software that realizes each function, and a ROM (Read Only Memory) in which the program and various data are recorded so as to be readable by a computer (or CPU). Alternatively, a storage device (these are referred to as “recording media”), a RAM (Random Access Memory) that expands the program, and the like are provided. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. As the recording medium, a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

[Summary]
The autonomous mobile device 10 according to the aspect 1 of the present invention measures the shape of the surrounding obstacle 4 (wall 3) and generates a sensor (distance sensor 12) that generates the measured measurement data, and the measurement data based on the measurement data. An environment map creation unit (environment map control unit 32) that creates an environment map M that reflects the shape of surrounding obstacles 4 (walls 3), and a travel area that should be traveled set by the user 2 in the environment map M Among the (first work area D1 to third work area D3), the travel area (first work area D1) is avoided by avoiding the travel impossible area where the own device (autonomous mobile device 10) is estimated to be unable to travel. The travel route creation unit 33 that creates travel routes R1 to R3 of the own device (autonomous mobile device 10) so as to fill the third work region D3), and the travel region (first work region D1 to third work region D3). Work area D3) and the travel route R It is provided with the 1st evaluation part 40 which evaluates whether the difference with the field included in -R3 is more than a predetermined value, and displays the evaluation result on a display part (input display part 22). Features.

  According to the above configuration, the first evaluation unit is configured such that, in the environmental map created by the environmental map creation unit, the travel region to be traveled set by the user and the travel route creation unit are run by the own device. It is evaluated whether or not the difference from the area included in the travel route created so as to fill the travel area is greater than or equal to a predetermined value while avoiding the travel impossibility area estimated to be impossible. Then, the first evaluation unit displays the evaluation result on the display unit.

  Thus, even if a difference occurs between the travel region set by the user and the region included in the travel route created by the travel route creation unit, the difference can be displayed on the display unit as an evaluation result. Can be presented. For this reason, the user can determine whether or not the travel area needs to be reset, and the travel route creation unit can recreate the travel route according to the user's intention. Thereby, running efficiency is good and it is easy to satisfy a user's demand.

  In autonomous mobile device 10 according to aspect 2 of the present invention, in aspect 1, it is preferable that the predetermined value is the number or area of the non-travelable areas. According to the above configuration, the first evaluation unit causes the display unit to display the evaluation result when the number or area of the non-travelable areas is equal to or greater than a predetermined value. As a result, the user can determine whether or not it is necessary to reset the travel area so that the number or area of the travel impossible area is less than the predetermined value. For this reason, since the said driving | running route preparation part can create the driving | running route according to a user's intention again, driving | running | working efficiency is good and it is easy to satisfy the request | requirement from a user.

  In the autonomous mobile device 10 according to the aspect 3 of the present invention, in the aspect 1 or 2, the first evaluation unit 40 has an area of an obstacle (obstacle region B) on the travel routes R1 to R3. When a small isolated area (obstacle area B3, isolated point) exists, it is preferable to include an isolated point evaluation unit 41 that sets the isolated area (obstacle area B3, isolated point) as the non-running area.

  According to the said structure, the evaluation result based on the isolated area | region contained in the said environmental map is displayed on the said display part. For this reason, it is easy for the user to grasp the existence of the isolated region created due to the noise of the sensor or the like in the environmental map. As a result, the travel route creation unit can again create a travel route according to the user's intention, so that the travel efficiency is good and the user's request is easily satisfied.

  In the autonomous mobile device 10 according to the aspect 4 of the present invention, in the above-described aspects 1 to 3, the first evaluation unit 40 has a width that the own device (the autonomous mobile device 10) cannot pass through the travel routes R1 to R3. When the narrow road area F is present, it is preferable to include a narrow road evaluation section (work impossible area evaluation section 42) that sets the narrow road area F as the travel impossible area.

  According to the said structure, a 1st evaluation part displays the evaluation result based on the total area or number for every said driving | running | working area | region of the narrow road area | region included in the said driving | running | working area | region of an environmental map on the said display part. For this reason, it is easy for the user to grasp the existence of a narrow road area where the autonomous mobile device cannot pass through the environment map. As a result, the travel route creation unit can again create a travel route according to the user's intention, so that the travel efficiency is good and the user's request is easily satisfied.

  In autonomous mobile device 10 according to aspect 5 of the present invention, in the above aspects 1 to 4, the first evaluation unit 40 is configured to operate the sensor (in the autonomous traveling based on the environmental map M on the traveling routes R1 to R3). The measurement data of the sensor (distance sensor 12) for reflecting the shape of the surrounding obstacle to the extent that the self-position on the environmental map M cannot be estimated based on the measurement data of the distance sensor 12). When there is an insufficient measurement data shortage area (self-position estimation difficult area C2), the self-position estimation evaluation unit (self-position) sets the measurement data shortage area (self-position estimation difficult area C2) as the travel impossible area. It is preferable to include a difficult-to-estimate region evaluation unit 43).

  According to the above configuration, the first evaluation unit displays, on the display unit, an evaluation result based on the total area or number of the measurement data deficient regions included in each of the travel regions of the environmental map for each travel region. Let For this reason, it is easy for the user to grasp the presence of an area on the environment map where the autonomous mobile device is difficult to estimate its own position. As a result, the travel route creation unit can again create a travel route according to the user's intention, so that the travel efficiency is good and the request from the user 2 is easily satisfied.

  In the autonomous mobile device 10 according to aspect 6 of the present invention, in the above aspects 1 to 5, the first evaluation unit is configured such that the difference between the travel area and the area included in the travel route is a predetermined value or more. In addition, it is preferable to specify the travel impossible area that is a deletion candidate among the travel impossible areas so that the number or area of the travel impossible areas is less than the predetermined value. According to the said structure, since the said driving | running route preparation part can create the driving | running route according to a user's intention again, driving | running | working efficiency is good and it is easy to satisfy the request | requirement from a user.

  In the autonomous mobile device 10 according to the aspect 7 of the present invention, in the aspect 3, the environment map is configured by a plurality of grids that are elements arranged in a matrix, and the plurality of grids are the measurement data. 1 or a plurality of grids to which information indicating that an obstacle exists is assigned by the environment map creation unit (environment map control unit 32), and the isolated point evaluation unit indicates that the obstacle exists. It is preferable to count the number of grids in an area composed of only one or a plurality of grids to which the information is assigned, and to determine that the area is an isolated area when the number of grids is smaller than a predetermined number. In this way, the isolated point evaluation unit can accurately identify the isolated point.

  In the autonomous mobile device 10 according to the aspect 8 of the present invention, in the aspect 4, the environmental map is configured by a plurality of grids that are elements arranged in a matrix, and the plurality of grids are the measurement data. The environment map creation unit (environment map control unit 32) includes a plurality of grids to which information indicating that an obstacle exists is assigned, and the narrow path evaluation unit indicates that the obstacle exists. In the first and second obstacle areas that are separated from each other and the plurality of grids that are sandwiched between the first and second obstacle areas. When the width of the area composed of a plurality of grids sandwiched between the first and second obstacle areas is shorter than the length corresponding to the width of the own apparatus, the area is sandwiched between the first and second obstacle areas. Double It is preferable to determine the area consisting of a grid and a narrow path region. As described above, the narrow road evaluation unit can accurately specify a narrow road area through which the autonomous mobile device cannot pass.

  In the autonomous mobile device 10 according to the aspect 9 of the present invention, in the aspect 5, the environmental map is configured by a plurality of grids that are elements arranged in a matrix, and the plurality of grids are the measurement data. The self-position estimation evaluation unit includes the plurality of grids to which information indicating that the presence of an obstacle is unknown is assigned by the environmental map creation unit (environment map control unit 32) based on When the number of grids in a region consisting only of a plurality of grids to which information indicating that the information is unknown is counted and the number of grids is equal to or greater than a predetermined number, the region is the measurement data insufficient region. It is preferable to determine. As described above, the self-position estimation / evaluation unit can accurately specify a region in which the autonomous mobile device has difficulty in self-position estimation.

  The autonomous mobile system 1 according to the aspect 10 of the present invention preferably includes the autonomous mobile device according to the aspects 1 to 9 and a terminal that displays the environment map and allows the user to set the travel area. .

  In the environmental map evaluation method according to the aspect 11 of the present invention, the shape of the surrounding obstacle is reflected, the sensor that generates the measured measurement data, and the shape of the surrounding obstacle are reflected based on the measurement data. An environment map evaluation method in an autonomous mobile device comprising an environment map creation unit for creating an environment map, wherein the device is estimated to be unable to travel among travel regions to be traveled set by a user in the environment map. Whether the difference between the travel route creation step of creating the travel route of the own device so as to fill the travel region by avoiding the travel impossible region, and the difference between the travel region and the region included in the travel route is a predetermined value or more And an evaluation step for evaluating whether or not.

  For this reason, the user can determine whether or not the travel area needs to be reset, and in the travel route creation step, the travel route according to the user's intention can be created again. Thereby, running efficiency is good and it is easy to satisfy a user's demand.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

1, 1A, 1B, 1C Autonomous mobile system 1, 10, 10A, 10B, 10C Autonomous mobile device 2 User 3 Wall (obstacle)
4, 5 Obstacle 11, 21 Communication unit 12 Distance sensor (sensor)
13 Motor 14 Drive wheel 15 Encoder 20 Tablet terminal (terminal)
22 Input display section 30 Control section 31 Travel control section 32 Environmental map control section (environment map creation section)
33 Traveling route creation unit 34 Storage unit 40, 40A First evaluation unit 41, 41A Isolated point evaluation unit 42, 42A Work impossible area evaluation unit (narrow road evaluation unit)
43, 43A Self-position estimation difficult area evaluation section (self-position estimation evaluation section)
50 Second evaluation unit 51 Self-position estimation difficult region evaluation unit 52, 62 Unworkable region evaluation unit 60 Third evaluation unit 61 Obstacle evaluation unit A, A1, A11, A21, A31 Travelable region B, B1, B11, B12, B13 Obstacle area (non-running area)
B2, B21, B21, B21a, B22, B22a Obstacle area (non-running area)
B3, B31 Obstacle area (non-running area)
C, C1, C2, C32 / C33 Unscanned area C2 Self-position estimation difficult area (non-running area)
D1 First work area (travel area)
DA1 work area D2 second work area (travel area)
DA2 work area D3 third work area (traveling area)
DA3 Work area E1, E2, E3 Work end position G Grid G1 Travelable grid (grid)
G2 Obstacle Grid (Grid)
G3 Unscanned grid (grid)
GA1, GA2 Attention grid (grid)
M, M11, M21, M31 Environmental map N1, N2 Region of interest R1, R2, R21, R22, R3 Travel route S1, S2, S3 Work start position

Claims (11)

A sensor for measuring the shape of surrounding obstacles and generating the measured measurement data;
An environment map creation unit for creating an environment map reflecting the shape of the surrounding obstacles based on the measurement data;
A travel route for creating the travel route of the own device so as to fill the travel region by avoiding the travel impossible region where the own device is estimated to be untravelable among the travel regions set by the user in the environment map. The creation department;
A first evaluation unit is provided that evaluates whether or not a difference between the travel region and the region included in the travel route is equal to or greater than a predetermined value, and displays the evaluation result on a display unit. An autonomous mobile device.   The autonomous mobile device according to claim 1, wherein the predetermined value is the number or area of the non-travelable areas.   The first evaluation unit includes an isolated point evaluation unit that sets the isolated region as the non-travelable region when an isolated region having an obstacle area smaller than a predetermined area exists on the travel route. The autonomous mobile device according to claim 1 or 2.   The first evaluation unit includes a narrow road evaluation unit that sets the narrow road area as the non-running area when there is a narrow road area having a width in which the device cannot pass through the travel route. The autonomous mobile device according to any one of claims 1 to 3.   The first evaluation unit is configured to prevent the surrounding obstacles from being able to estimate the self-location on the environmental map based on the measurement data of the sensor during autonomous driving based on the environmental map. A self-position estimation evaluation unit that sets the measurement data shortage area as the non-travelable area when there is a measurement data shortage area where measurement data of the sensor for reflecting the shape of the object is insufficient. The autonomous mobile device according to any one of claims 1 to 4.   When the difference between the travel area and the area included in the travel route is equal to or greater than a predetermined value, the first evaluation unit is configured so that the number or area of the non-travel areas is less than the predetermined value. The autonomous mobile device according to any one of claims 1 to 5, wherein the non-running area that is a deletion candidate is specified from the non-running area. The environmental map is composed of a plurality of grids which are elements arranged in a matrix.
The plurality of grids include one or more grids to which information indicating that an obstacle exists is assigned by the environmental map creation unit based on the measurement data,
The isolated point evaluation unit counts the number of grids in an area composed of only one or a plurality of grids to which information indicating that the obstacle exists is present, and when the number of the grids is less than a predetermined number, The autonomous mobile device according to claim 3, wherein the area is determined to be an isolated area. The environmental map is composed of a plurality of grids which are elements arranged in a matrix.
The plurality of grids include a plurality of grids to which information indicating that an obstacle exists is assigned by the environmental map creation unit based on the measurement data,
The narrow-path evaluation unit is composed of only a plurality of grids to which information indicating that the obstacle exists is assigned, and the first and second obstacle areas that are separated from each other, and the first and second obstacles. When the width of the area consisting of the plurality of grids sandwiched between the first and second obstacle areas is shorter than the length corresponding to the width of the own device in the area consisting of the plurality of grids sandwiched between the areas, The autonomous mobile device according to claim 4, wherein an area composed of a plurality of grids sandwiched between the first and second obstacle areas is determined to be a narrow road area. The environmental map is composed of a plurality of grids which are elements arranged in a matrix.
The plurality of grids include a plurality of grids to which information indicating that the presence of an obstacle is unknown is assigned by the environmental map creation unit based on the measurement data,
The self-position estimation / evaluation unit counts the number of grids in a region including only a plurality of grids to which information indicating that the obstacle is unknown is assigned, and the number of grids is equal to or greater than a predetermined number. In this case, the autonomous mobile device according to claim 5, wherein the region is determined to be the measurement data shortage region. The autonomous mobile device according to any one of claims 1 to 9,
An autonomous mobile system comprising: a terminal that displays the environmental map and allows the user to set the travel area. A sensor for measuring the shape of surrounding obstacles and generating the measured measurement data;
An environmental map evaluation method in an autonomous mobile device that creates an environmental map reflecting the shape of the surrounding obstacles based on the measurement data,
A travel route for creating the travel route of the own device so as to fill the travel region by avoiding the travel impossible region where the own device is estimated to be untravelable among the travel regions set by the user in the environment map. Creation steps,
An environmental map evaluation method comprising: an evaluation step for evaluating whether or not a difference between the travel area and an area included in the travel route is a predetermined value or more.

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