JP2021071765A - Route data collecting device - Google Patents

Abstract

To provide a route data collecting device which efficiently collects route data by collecting minimum route data necessary for an autonomous mobile device to autonomously move.SOLUTION: A route data collecting device of the present invention collects route data for an autonomous mobile device to autonomously move. The route data collecting device comprises: a route data obtaining unit which obtains the route data; an input unit to which a checkpoint and a direction displayed by the checkpoint are input; a calculation unit including a route generation unit which generates a route based on the route data, the checkpoint, and the direction displayed by the checkpoint; and an output unit which outputs the route.SELECTED DRAWING: Figure 1

Description

The present invention relates to a route data collecting device.

When an autonomous moving device such as a robot or an automatic transfer device moves autonomously, it is necessary to estimate its own position. When the autonomous mobile device estimates its own position, the self-position is estimated from a dedicated map of the autonomous mobile device (hereinafter referred to as a position estimation map) based on the data acquired from the sensor during the autonomous movement of the autonomous mobile device. presume.

Therefore, in order to autonomously move the autonomous moving device in a specific driving environment, it is necessary to create a map for estimating the position of the driving environment in advance. In order to create a map for estimating the position of the driving environment, it is necessary to collect in advance data on the driving environment (hereinafter referred to as route data) for the autonomous moving device to move autonomously.

Conventionally, route data has been collected while transporting the autonomous mobile device to the driving environment and manually moving the autonomous mobile device. However, since autonomous mobile devices are equipped with a large number of motors and computers, many of them are heavy and expensive. If such an autonomous mobile device is transported to a traveling environment each time route data is collected, the labor of transportation increases and the possibility that the autonomous mobile device breaks down increases.

Therefore, in order to collect route data, a light and inexpensive route data collecting device has been proposed.

As a background technique in this technical field, there is Japanese Patent Application Laid-Open No. 2016-218024 (Patent Document 1). The map generator (path data collecting device) described in Patent Document 1 is a measurement sensor that irradiates the surroundings with a laser and acquires measurement data including the angle at which the laser is irradiated and the distance to the point where the laser hits. , A map generation unit that generates a map from the measurement data acquired by moving the measurement sensor, and the map generation unit is at least one of the speed, acceleration, angular velocity, and angular acceleration at which the measurement sensor moves. Based on this, the measurement data is interpolated or the speed at which the measurement sensor moves is controlled (see summary).

Japanese Unexamined Patent Publication No. 2016-218024

Patent Document 1 describes a map generation device (route data collection device) having a map generation unit that generates a map from measurement data.

However, Patent Document 1 does not describe collecting route data by distinguishing a region that requires accurate self-position estimation from a region that does not require accurate self-position estimation.

That is, the route data collecting device described in Patent Document 1 may collect data on the traveling environment in an area where the autonomous moving device does not move autonomously and route data in an area where accurate self-position estimation is unnecessary. Therefore, there is a possibility that route data will be collected excessively.

If the data of the driving environment in the area where the autonomous moving device does not move autonomously or the route data of the area where accurate self-position estimation is unnecessary is collected, the data collection work is wasted and the map data for position estimation is collected. The capacity will increase.

Therefore, the present invention provides a route data collecting device that efficiently collects route data. That is, the present invention provides a route data collecting device that collects the minimum route data necessary for the autonomous moving device to move autonomously.

In order to solve the above problems, the route data collection device of the present invention collects the route data for the autonomous movement device to move autonomously, and has a route data acquisition unit for acquiring the route data, and a checkpoint and a check. An input unit in which the display direction of the point is input, a calculation unit having a route generation unit that generates a route based on the route data, the checkpoint, and the display direction of the checkpoint, and an output unit that outputs the route. And, characterized by having.

According to the present invention, it is possible to provide a route data collecting device that efficiently collects route data. That is, according to the present invention, it is possible to provide a route data collecting device that collects the minimum route data necessary for the autonomous moving device to move autonomously.

Issues, configurations, and effects other than those described above will be clarified by the explanation of the examples below.

It is explanatory drawing explaining the block structure of the route data collection apparatus 1 described in Example 1. FIG. It is explanatory drawing explaining the hardware configuration of the route data collection apparatus 1 described in Example 1. FIG. It is explanatory drawing explaining the apparatus configuration of the route data collection apparatus 1 described in Example 1. FIG. It is explanatory drawing explaining the display example of the input / output part 103 described in Example 1. FIG. It is a flowchart explaining the route data collection method described in Example 1. FIG. It is explanatory drawing explaining the case of reading the display map 10334 in S101 (display of an input form). It is explanatory drawing explaining the case of reading the display map 10334 in S101 (display of the outer shape of the traveling environment). It is explanatory drawing explaining the case which specifies the display position of the checkpoint mark 10331 in S102. It is explanatory drawing explaining the block structure of the path generation part 1021 described in Example 1. FIG. It is explanatory drawing explaining the route data table 10215 described in Example 1. FIG. It is explanatory drawing explaining the display item table 10216 described in Example 1. FIG. It is explanatory drawing explaining the coordinate system of the display map 10334 described in Example 1. FIG. It is explanatory drawing explaining the coordinate system of the path data described in Example 1. FIG. It is explanatory drawing explaining the case which collects the surrounding route data evenly in S105. It is explanatory drawing explaining the case which ends the storage of the route data at a checkpoint in S105. It is explanatory drawing explaining the case which specifies the display position of the next checkpoint mark in S102. It is explanatory drawing explaining the apparatus configuration of the route data collection apparatus 2 described in Example 2. FIG. It is explanatory drawing explaining the block structure of the path generation part 1021 described in Example 2. FIG. It is a flowchart explaining the route data collection method described in Example 2. FIG. It is explanatory drawing explaining the route display in the state in which the route data is not collected in S108. It is explanatory drawing explaining the case which specifies the display position of the checkpoint mark of the object which collects the route data in S110. It is explanatory drawing explaining the apparatus configuration of the route data collection apparatus 3 described in Example 3. FIG.

Hereinafter, examples of the present invention will be described with reference to the drawings. In addition, substantially the same or similar configurations are designated by the same reference numerals, and when the explanations are duplicated, the explanations may be omitted.

First, the block configuration of the route data collection device 1 described in the first embodiment will be described.

FIG. 1 is an explanatory diagram illustrating a block configuration of the route data collection device 1 described in the first embodiment.

The route data collection device 1 inputs a checkpoint and a route data acquisition unit 101 that acquires sensor data (route data) while the route data collection device 1 moves in a traveling environment in which the autonomous movement device autonomously moves. Checkpoint input unit 1031 to be set), display orientation input unit 1032 to input (set) the display direction of the checkpoint, sensor data (route data) acquired from the route data acquisition unit 101, and checkpoint. A route (consisting of a checkpoint and a link described later) to be displayed on the route display unit 1033 based on the checkpoint input from the input unit 1031 and the display direction of the checkpoint input from the display orientation input unit 1032. The route generation unit 1021 that generates the graph structure), the route display unit 1033 that displays the route, and the warning output unit 1034 that outputs a warning when the amount of sensor data (route data) is less than a predetermined amount. Has.

The driving environment is an environment in which an autonomous mobile device is introduced. The driving environment is a route for which the user collects route data.

The warning output unit 1034 outputs a warning when the amount of sensor data (route data) acquired while the route data collection device 1 is moving is insufficient.

Here, the amount of sensor data (route data) is the number of environmental data described later. In other words, the number of environmental data and the position vector p _i and the feature amount vector f _i with one set. For example, the warning output unit 1034 outputs a warning when this number is 5 or less.

Here, the checkpoint is a point where the autonomous mobile device stops or turns, and a point where an accurate self-position estimation is required (accurate self-position estimation) as compared with a route that simply goes straight. Is the required area). In other words, at the checkpoint, it is necessary to collect sufficient route data that can accurately estimate the self-position.

On the other hand, at points other than checkpoints (areas where accurate self-position estimation is not required), it is not necessary to collect as much route data as checkpoints.

Therefore, in the first embodiment, when collecting the route data, the user efficiently collects the route data by clearly indicating to the user a checkpoint which is a point where accurate self-position estimation is required. be able to.

Next, the hardware configuration of the route data collection device 1 described in the first embodiment will be described.

FIG. 2 is an explanatory diagram illustrating a hardware configuration of the route data collection device 1 described in the first embodiment.

The route data acquisition unit 101 includes an environment data acquisition unit 1011 and a position data acquisition unit 1012.

The environmental data acquisition unit 1011 is, for example, a distance sensor such as a laser scanner or an image sensor such as a camera, and acquires environmental data such as the terrain (distance or image) of the traveling environment of the autonomous mobile device.

The position data acquisition unit 1012 is, for example, an encoder (sensor), a gyro sensor, or the like, and calculates the approximate position of the route data collection device 1.

Further, the calculation unit 102 is, for example, a PC (personal computer) or the like, and has a route generation unit 1021.

Further, the input / output unit 103 is a touch panel display, a combination of a display and a mouse, and has a checkpoint input unit 1031, a display orientation input unit 1032, a route display unit 1033, and a warning output unit 1034.

The input / output unit 103 includes an input unit 103 having a checkpoint input unit 1031 and a display direction input unit 1032, and an output unit 103 having a route display unit 1033 and a warning output unit 1034.

As described above, the route data collecting device 1 collects the route data for the autonomous moving device to move autonomously, and the route data acquisition unit 101 for acquiring the sensor data (route data), the checkpoint and the check. A graph composed of a route (a checkpoint and a link described later) based on the input unit 103 in which the display direction of the point is input, the sensor data (route data), the checkpoint, and the display direction of the checkpoint. It has a calculation unit 102 having a route generation unit 1021 for generating (structure), and an output unit 103 for outputting (displaying) the route.

The output unit 103 has a warning output unit 1034 that outputs a warning when the amount of acquired sensor data (path data) is less than a predetermined amount. In addition, the route generation unit 1021 sets a link to be described later that connects the checkpoint and the checkpoint. In addition, the output unit 103 outputs a display map 10334, which will be described later, for grasping the traveling environment for the user to collect route data.

Thereby, according to the first embodiment, it is possible to provide a route data collecting device that efficiently collects route data. That is, according to the first embodiment, it is possible to provide a route data collecting device that collects the minimum route data necessary for the autonomous moving device to move autonomously.

Note that collecting the minimum route data here means collecting necessary route data without collecting unnecessary route data.

Next, the device configuration of the route data collection device 1 described in the first embodiment will be described.

3A and 3B are explanatory views for explaining the device configuration of the route data collection device 1 described in the first embodiment, FIG. 3A is a side view, and FIG. 3B is a front view.

The route data collecting device 1 has a handle 104 and wheels 105 for the user to manually move the route data collecting device 1.

Further, the calculation unit 102 has a PC.

Further, the environment data acquisition unit 1011 has an RGB-D camera. The RGB-D camera is a camera device equipped with a depth sensor, and is a camera capable of acquiring a depth image (Dept) in addition to a color image (RGB).

Further, the position data acquisition unit 1012 includes a gyro sensor 10121 and an encoder 10122. The attitude (angular velocity ω) of the route data collection device 1 is acquired from the data output from the gyro sensor 10121, and the forward speed (v) of the route data collection device 1 is acquired from the data output from the encoder 10122.

From the attitude (angular velocity ω) and the forward velocity (v), the position of the route data collecting device 1 is calculated by the equations (1) and (2).

The positions (coordinates) are indicated by x and y, θ ₀ is the initial angle, and x ₀ and y ₀ are the initial coordinates. t is _{the time elapsed until the movement from x 0} , y ₀ to x, y, and can be obtained from, for example, the system time of the PC.

Further, the input / output unit 103 has a touch panel display.

Next, a display example of the input / output unit 103 described in the first embodiment will be described.

FIG. 4 is an explanatory diagram illustrating a display example of the input / output unit 103 described in the first embodiment.

The input / output unit 103 is a GUI (graphic user interface). As a result, the user can perform various operations (input / output).

The input / output unit 103 changes the connection relationship (hereinafter referred to as a link) between the additional button 10310 for adding a checkpoint to the display unit and the input checkpoint or checkpoint and the next checkpoint. The change button 1035, the delete button 1036 for deleting the entered checkpoints and links, and the end button 1037 for ending the collection of route data are displayed.

The input / output unit 103 has a route display unit 1033, and displays the divided windows (window 10330, window 1038, window 1040 in the first embodiment) on the display unit.

The window 10330 includes a checkpoint mark 10331, a link 10333, a checkpoint direction mark 10332, a display map 10334, a checkpoint mark position 10335 to be edited, a button 10337 for displaying at a predetermined magnification, and the like. Button 10338, which is displayed so that the mark position 10335 is centered, is displayed.

Here, the display map 10334 displays an area for collecting route data in an easy-to-understand manner for the user, and the display map 10334 uses, for example, a floor map or a handwritten map.

As described above, in the first embodiment, the user is displayed with the area for collecting the route data, that is, the display map 10334. Therefore, the user can grasp the route (driving environment) for collecting the route data, can grasp the position of the checkpoint, and can efficiently collect the route data.

When a predetermined touch operation is performed on the window 10330, the display can be enlarged, reduced, and moved.

Further, the window 1038 displays the collection status of the route data at the mark position 10335 of the checkpoint to be edited. In FIG. 4, the mark position 10335 of the checkpoint to be edited is the checkpoint mark 103312 for which the route data described later has been collected.

The window 1038 has an orientation mark 10336 of the current route data collection device 1 based on the direction mark 10332 of the checkpoint, and an edit button 1039 for designating the start and end (including saving and initialization) of recording the route data. And the label name and are displayed. In addition, window 1038 displays the range 10339 in which the autonomous mobile device can acquire data from the sensor during autonomous movement.

Further, the window 1040 displays the forward speed, the angular velocity, and the amount of the route data of the route data collecting device 1 during the collection of the route data. Then, window 1040 displays a warning.

As a result, the user determines whether or not the movement of the route data collection device 1 is appropriate by referring to the window 1040 during the collection of the route data, and whether or not the necessary route data is collected. Can be confirmed.

Then, a warning (for example, "NG") is output in the window 1040.

Next, the route data collection method described in Example 1 will be described.

FIG. 5 is a flowchart illustrating the route data collection method described in the first embodiment.

The route data collection method described in Example 1 is carried out by the following step (S).

In S101, the display map 10334 is read. In the first embodiment, the display map 10334 is displayed to the user. Therefore, the user can grasp the route for collecting the route data and can grasp the position of the checkpoint.

In S102, the display position of the checkpoint mark 10331 is specified. That is, the checkpoint mark 10331 is displayed at a position on the display map 10334.

In S103, the route data collection device 1 is moved to the checkpoint. That is, in S103, in order to collect the route data, the route data collecting device 1 is moved to the position where the checkpoint mark 10331 displayed on the display map 10334 is displayed (the actual checkpoint position).

In S104, the collection of route data is started.

In S105, route data around the checkpoint is collected.

In S106, it is determined whether or not there is the next checkpoint. If there is none (No), the process ends. If there is (Yes), the process proceeds to S107.

In S107, the route data of the link 10333 to the next checkpoint is collected. Then, the process returns to S102.

Next, the route data collection method described in Example 1 will be specifically described.

FIG. 6 is an explanatory diagram illustrating a case where the display map 10334 is read (display of the input form) in S101.

As shown in FIG. 6, the input form is displayed in the window 10330. An input form (new) is displayed to urge the user to read the display map 10334. The display map 10334 is read from, for example, a folder in which the floor map is saved. It may be stored in advance in the display map 10217 (see FIG. 9) of the storage unit 10214, which will be described later.

Further, if there is a display map 10334 saved together with the route data in the past, the display map 10334 saved together with the route data in the past can be read. Therefore, the input form (update) is also displayed. Here, in the display map 10334 saved together with the route data in the past, for example, the route data and the display map 10334 are linked to the display map 10217 and the route data table 10215 (see FIG. 9) of the storage unit 10214 described later. Attached and remembered.

FIG. 7 is an explanatory diagram illustrating a case where the display map 10334 is read in S101 (display of the outer shape of the traveling environment).

As shown in FIG. 7, for example, when the input form (new) is selected, the outline of the traveling environment (display map 10334) for collecting the route data is displayed in the window 10330.

In this way, by reading and displaying the display map 10334 before collecting the route data, the user can grasp the route for collecting the route data in advance and accurately estimate the self-position. It is possible to grasp the required points (checkpoint positions) in advance.

FIG. 8 is an explanatory diagram illustrating a case where the display position of the checkpoint mark 10331 is specified in S102.

As shown in FIG. 8, the display position of the checkpoint mark 10331 is designated on the display map 10334 displayed in the window 10330. That is, the checkpoint mark 10331 is displayed.

When the add button 10310 is pressed, the button 10311 for selecting the "checkpoint" or the button 10312 for selecting the "link" is displayed in the window 10330.

For example, by pressing the button 10311 and selecting "checkpoint", the checkpoint mark 10331 can be specified on the display map 10334. Then, by touch-operating the display map 10334, the checkpoint mark 10331 is displayed at the touch-operated position.

Further, the window 1038 displays a display orientation input area 10320 that enlarges and displays the vicinity of the position where the checkpoint mark 10331 is displayed. Then, the direction of the checkpoint direction mark 10332 can be set by touching the display direction input area 10320.

The checkpoint direction mark 10332 sets the actual direction of the route data collection device 1 in a direction that is easy for the user to imagine.

Further, the window 1038 displays the range in which the environmental data acquisition unit 1011 is acquiring the environmental data (sensing range), that is, the range 10339 in which the autonomous mobile device can acquire data from the sensor during autonomous movement. .. For example, range 10339 is represented by a fan-shaped center angle. Since the range 10339 depends on the self-position estimation characteristic of the autonomous mobile device, a range that matches the self-position estimation characteristic of the autonomous mobile device is preferably set in advance.

The window 1038 also displays the label input / output area 1041. Set a label name for the checkpoint so that the user can easily recognize the position of the checkpoint. The label name of the checkpoint can be freely set as long as it differs from the label names of other checkpoints.

If the user does not set the label name for the checkpoint, for example, the system time of the PC when the display position of the checkpoint is specified is set as the default label name.

Here, the block configuration of the route generation unit 1021 described in the first embodiment will be described.

FIG. 9 is an explanatory diagram illustrating the block configuration of the route generation unit 1021 described in the first embodiment.

The route generation unit 1021 has a route data handler 10211 that mediates route data with other components (route data acquisition unit 101, route data evaluation unit 10212, display item handler 10213, route data table 10215), and the amount of route data. The route data evaluation unit 10212 that evaluates whether or not the amount is equal to or more than a predetermined amount, and other components (route data evaluation unit 10212, route data handler 10211, display item table 10216, display) display contents to the input / output unit 103. It has a display item handler 10213 that mediates with the map 10217), and a storage unit 10214 that stores route data, display items, and a display map 10334.

In addition, the storage unit 10214 has a route data table 10215 for storing route data, a display item table 10216, and a display map 10217 for storing a display map 10334.

The display position of the checkpoint mark 10331 specified in S102, the direction of the checkpoint direction mark 10332 set in S102, and the label name of the checkpoint are stored in the display item table 10216 via the display item handler 10213. ..

The display items are, for example, the display position of the checkpoint mark 10331, the direction of the checkpoint direction mark 10332, and the label name of the checkpoint.

Further, here, the route data table 10215 described in the first embodiment will be described.

FIG. 10 is an explanatory diagram illustrating the route data table 10215 described in the first embodiment.

Route data table 10215 stores a unique ID, the position data comprising a position vector _{x Rk} and attitude vector _{q Rk,} and environmental data consisting of the position vector _{p i} and the feature amount vector _{f i,} the checkpoint ..

Incidentally, the environment data is stored and the position vector p _i and the feature quantity vector f _i as one set.

Further, here, the display item table 10216 described in the first embodiment will be described.

FIG. 11 is an explanatory diagram illustrating the display item table 10216 described in the first embodiment.

The display item table 10216 has a checkpoint table 102161 and a link table 102162.

The checkpoint table 102161 has an ID unique to the checkpoint, a display position of the checkpoint mark 10331, a direction (display direction) of the checkpoint direction mark 10332, a checkpoint label name, and a route data ID. Remember.

In S102, the checkpoint table 102161 has an ID unique to the checkpoint, a display position of the checkpoint mark 10331, a direction (display direction) of the checkpoint direction mark 10332, and a checkpoint label name. Remember.

The link table 102162 stores an ID unique to the checkpoint, a start point checkpoint ID, an end point checkpoint ID, and a route data ID.

Further, here, the coordinate system of the display map 10334 described in the first embodiment will be described.

FIG. 12 is an explanatory diagram illustrating the coordinate system of the display map 10334 described in the first embodiment.

The display position of the checkpoint mark 10331 is as the origin (reference) a predetermined point in the display map 10334, as a vector coordinate _{X Ij,} are stored. For example, in the first embodiment, the point in the upper left corner of the display map 10334 is stored as the origin.

The direction (display direction) of the checkpoint direction mark 10332 is stored _{as an angle θ Ij} with the direction extending from a predetermined point on the display map 10334 in a predetermined direction as the origin axis (reference axis). For example, in the first embodiment, the direction extending from the upper left corner of the display map 10334 in the X direction is stored as the origin axis.

Further, in S104, the collection of route data is started. That is, the edit button 1039 selects "Start". The route data of the position data and the environment data transmitted from the route data acquisition unit 101 is stored in the route data table 10215 via the route data handler 10211.

Further, in S105, route data around the checkpoint is collected.

As shown in the route data table 10215, the route data is stored as a set of an ID unique to the checkpoint, position data, and environmental data.

Next, the coordinate system of the route data described in the first embodiment will be described.

FIG. 13 is an explanatory diagram illustrating a coordinate system of the route data described in the first embodiment.

_{The position data is composed of a position vector x Rk} and a posture vector q _Rk with the position where the route data collection device 1 is activated as a reference (O) (see FIG. 10).

Environmental data, for example, constituted by an environmental data acquisition unit 1011, when using the RGB-D camera, the position vector _{p i} and the feature amount vector _{f i} of the feature point 10112 in the camera image acquired in RGB-D camera Will be done. The camera image is an image virtually projected on the cut surface 10111 that can be sensed.

The feature point 10112 is a plurality of predetermined points extracted in the camera image.

Then, for each predetermined point, K vertical (odd number) and K horizontal (odd number) meshes (pixels) are assumed (see FIG. 13B).

Position vector p _i is the position of one of the predetermined points the center of the mesh (pixels).

Feature vector f _i is a vector which is determined in relation to shading between one any two meshes of a predetermined point (pixel). For example, the shading of a certain mesh (pixel) A and another mesh (pixel) B is compared, and if A is dark, it is defined as 1, and if B is dark, it is defined as 0, and vectors (“0” and “1” are defined. ”(See FIG. 13 (c)). The maximum number of vectors (combination of "0" and "1") is ((K-1) + (K-2) + ... + 1).

Then, with respect to one predetermined point, to create a set of the position vector p _i and the feature amount vector f _i. Furthermore, for each predetermined point, it creates an environment data to one set and a position vector p _i and the feature amount vector f _i (see FIG. 10). The number of this set is at least 6 or more.

After starting the collection of the route data, the route data is continuously recorded at a fixed time interval, at a fixed position and at a fixed angle, regardless of the checkpoint.

Further, in order to associate the route data with the checkpoint, the route data ID being recorded is added to the checkpoint specified in S102 in the checkpoint table 102161.

In addition, the checkpoint is the point where the autonomous mobile device stops or turns, and the point where the autonomous mobile device stops and changes direction. Therefore, even if the autonomous mobile device arrives from various directions, the self-position is estimated. There is a need to.

Therefore, as shown by the arrow 1050 in FIG. 13, the route data collecting device 1 is rotated in the yaw direction to collect the surrounding route data evenly.

Next, in S105, a case where the surrounding route data is collected evenly will be described.

FIG. 14 is an explanatory diagram illustrating a case where the surrounding route data is uniformly collected in S105.

When the surrounding route data is collected evenly, as shown in FIG. 14, the range 10339 is updated to become a circle in which the autonomous mobile device can acquire data from the sensor during autonomous movement in all directions. Then, when "End" is selected with the edit button 1039, the storage of the route data at this checkpoint ends.

In this way, the checkpoint displays the range in which the autonomous mobile device can estimate its own position, that is, the range 10339 (omnidirectional) in which the autonomous mobile device can acquire data from the sensor during autonomous movement.

Next, a case where the storage of the route data at the checkpoint is terminated in S105 will be described.

FIG. 15 is an explanatory diagram illustrating a case where the storage of the route data at the checkpoint is terminated in S105.

When the storage of the route data at the checkpoint is finished, for example, the route data as shown in FIG. 14 is not collected in order to make it easier for the user to determine whether the route data of this checkpoint has been collected or not. The checkpoint mark 103311 is changed to the checkpoint mark 103312 for which the route data has been collected as shown in FIG. 15, and the display of the checkpoint mark 10331 is changed according to the collection status of the route data.

In S106, the user determines whether or not there is the next checkpoint. If there is no next checkpoint (No), the process ends. If there is a next checkpoint (Yes), the process proceeds to S107.

In S107, the route data of the link 10333 to the next checkpoint is collected.

During this time, for example, as shown in FIG. 15, window 1038 indicates that the current route data collection device 1 is moving in the direction of the orientation mark 10336 from the immediately preceding checkpoint.

Next, a case where the display position of the next checkpoint mark is specified in S102 will be described.

FIG. 16 is an explanatory diagram illustrating a case where the display position of the next checkpoint mark is specified in S102.

Returning to S102 again and specifying the display position of the next checkpoint mark, as shown in FIG. 16, the checkpoint mark 103310 specified immediately before and the checkpoint mark 103311 for which the currently specified route data has not been collected are displayed. Link 10333 is formed so as to connect.

At the same time, in the link table 102162, the ID of the immediately preceding checkpoint is displayed as the start point checkpoint ID, the ID of the current checkpoint is displayed as the end point checkpoint ID, and the route data ID of the route data collected while moving both is displayed. Add (see FIG. 11).

Further, at the link 10333, the checkpoint direction mark 10332 and the range 10339 where the autonomous mobile device can acquire data from the sensor during autonomous movement are displayed, and it is displayed whether or not the autonomous mobile device can estimate its own position. To do.

S102 to S107 are repeated until the autonomous moving device records the checkpoints necessary for autonomously moving in the traveling environment. As a result, it is possible to create route data having a graph structure in which checkpoints are connected by links.

This graph structure is stored in the route data table 10215, the display item table 10216, and the display map 10217. The route data can be reused when the autonomous mobile device uses the route data or when the user updates the route data.

When reusing the route data, the route data table 10215, the display item table 10216, and the display map 10217 are used by using, for example, an electronic storage medium such as a flash memory, an optical disk, or an HDD (hard disk drive). It can also be transferred to other autonomous mobile devices via a network and used.

In addition, since a label name is set for the checkpoint in the route data, the user manages the movement destination of the autonomous mobile device when the autonomous mobile device moves by designating the label name as the target point. Cheap.

Further, when it is necessary to update the route data due to a change in the driving environment such as a change in the layout or the installed object, for example, for changing the route data such as the change button 1035 (see FIG. 4). Set up the interface.

Further, when the change in the traveling environment is a minor one that does not affect the estimation of the self-position, the route data may be updated while the autonomous moving device estimates the self-position while moving.

Further, when connecting a link from one checkpoint to a plurality of checkpoints, an interface such as button 10312 (see FIG. 8) to which a link can be manually added is set.

On the link, the autonomous mobile device basically goes straight. Therefore, it is not always necessary to collect route data on the link. It may be sufficient to collect route data at checkpoints, which can significantly reduce the work of collecting route data.

As described above, according to the first embodiment, when collecting route data, the user specifies a checkpoint, which is a point where accurate self-position estimation is required, and clearly indicates it to the user. As a result, the user can efficiently collect the route data.

That is, according to the first embodiment, it is possible to provide a route data collecting device that collects the minimum route data necessary for the autonomous moving device to move autonomously.

When considering a service by an autonomous mobile device, it is convenient to be able to study the place to move and the order of visits of the autonomous mobile device offline without visiting the actual driving environment.

The route data collecting device described in the second embodiment can individually generate the route to be displayed on the input / output unit 103 and collect the route data, and determines the location to be moved and the order of visits of the autonomous mobile device. Can be considered offline.

In Example 2, substantially the same or similar configurations as those in Example 1 are designated by the same reference numerals, and if the explanations are duplicated, the description may be omitted.

First, the device configuration of the route data collection device 2 described in the second embodiment will be described.

FIG. 17 is an explanatory diagram illustrating an apparatus configuration of the route data collecting apparatus 2 described in the second embodiment.

The route data collecting device 2 includes a movable unit 21 that collects route data while moving, and a display item editing unit 22 that edits display items by the input / output unit 103. The movable unit 21 has a calculation unit 2102, and the display item editing unit 22 has a calculation unit 2202.

The movable unit 21 and the display item editing unit 22 can be connected via the connection terminal 206. While the movable unit 21 and the display item editing unit 22 are connected, the operation is the same as that of the route data collecting device 1 described in the first embodiment.

In the second embodiment, a tablet PC is used as the display item editing unit 22.

Next, the block configuration of the route generation unit 1021 described in the second embodiment will be described.

FIG. 18 is an explanatory diagram illustrating the block configuration of the route generation unit 1021 described in the second embodiment.

In the route data collection device 2, the route generation unit 1021 is divided into a movable unit 21 and a display item editing unit 22.

The movable unit 21 has a route data acquisition unit 101, a route data handler 10211, a route data evaluation unit 10212, and a storage unit 20214 that stores the route data table 10215.

The display item editing unit 22 has an input / output unit 103, a display item handler 10213, and a storage unit 21214 that stores the display item table 10216 and the display map 10217.

Next, the route data collection method described in Example 2 will be described.

FIG. 19 is a flowchart illustrating the route data collection method described in the second embodiment.

The route data collection method described in Example 2 is carried out by the following step (S).

In S101, the display map 10334 is read.

In S102, for example, the display positions of a plurality of checkpoint marks 103131, such as the checkpoint mark 10313A and the checkpoint mark 10313B shown in FIG. 20, are designated.

In S102, when a plurality of checkpoint marks 10313 are specified, route data is not collected, and "end" is selected with the edit button 1039, only the display position of the checkpoint mark 1031313 is stored in the checkpoint table 102161.

In S108, since the display positions of the plurality of checkpoint marks 103313 are specified, the link 103331 connecting the plurality of checkpoint marks 103313 (for example, the link 103331 connecting the checkpoint mark 103313A and the checkpoint mark 103313B) is provided. Can be set.

In S109, the user determines whether or not to end the route editing. If it does not end (No), the process returns to S102, and if it ends (Yes), the process proceeds to S110.

Repeat S102 to S109 to set the checkpoint mark 103313 and the link 103331.

Next, in S108, the route display in the state where the route data has not been collected will be described.

FIG. 20 is an explanatory diagram for explaining the route display in the state where the route data has not been collected in S108.

As shown in FIG. 20, the route between the plurality of checkpoint marks 103313 and the link 103331 connecting the plurality of checkpoint marks 103313 can be displayed even when the route data has not been collected.

In addition, in order to make it easier for the user to determine that the route data has not been collected, the link 103331 preferably has a different line type, color, etc. from the link 10333 for which the route data has been collected. ..

Next, in S110, a case where the display position of the checkpoint mark of the target for collecting the route data is specified will be described.

FIG. 21 is an explanatory diagram illustrating a case where a display position of a checkpoint mark for collecting route data is specified from a checkpoint mark that has already been set in S110.

In S110, the display position of the checkpoint mark for which the route data is to be collected is specified from the checkpoint mark that has already been set.

As shown in FIG. 21, when the display position of the checkpoint mark for which the route data is collected is specified from the checkpoint mark 103313 that has already been set, the mark position 10335 of the checkpoint to be edited is set.

Note that S103 to S107 operate in the same manner as in the first embodiment.

Further, as shown in FIG. 21, the checkpoint or link from which the route data is collected changes its display to the checkpoint mark 103314 or link 103332. This is to make it easier for the user to determine that the route data has been collected.

As described above, according to the second embodiment, the generation of the route to be displayed on the input / output unit 103 and the collection of the route data can be individually performed, and the place to be moved and the order of visits of the autonomous mobile device can be obtained. Can be considered offline.

Further, also in the second embodiment, the user specifies a checkpoint, which is a point where accurate self-position estimation is required when collecting route data, and clearly indicates it to the user. Can efficiently collect route data.

Then, it is possible to provide a route data collecting device that collects the minimum route data necessary for the autonomous moving device to move autonomously.

Next, the device configuration of the route data collection device 3 described in the third embodiment will be described.

FIG. 22 is an explanatory diagram illustrating an apparatus configuration of the route data collecting apparatus 3 described in the third embodiment. 22A is a side view and FIG. 22B is a front view.

In the third embodiment, as the route data collecting device 3, a portable device such as a smartphone is used. As a result, the user can easily collect the route data.

The route data collection device 3 incorporates a camera 1011 as an environmental data acquisition unit, an attitude sensor as a position data acquisition unit 1012, and a computer as a calculation unit 102 in the housing 32.

Here, the attitude sensor has a GPS (Global Positioning System) or an acceleration sensor, and can acquire position data. Since the smartphone has a posture sensor capable of acquiring position data, route data can be collected by using the smartphone.

As described above, according to the third embodiment, since the portable smartphone is used as the route data collection device, the route data can be easily collected.

Further, also in the third embodiment, the user specifies a checkpoint, which is a point where accurate self-position estimation is required when collecting route data, and clearly indicates it to the user. Can efficiently collect route data.

Then, it is possible to provide a route data collecting device that collects the minimum route data necessary for the autonomous moving device to move autonomously.

The present invention is not limited to the above-described examples, and includes various modifications. For example, the above-described embodiment has been specifically described in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to those having all the described configurations.

It is also possible to replace a part of the configuration of one embodiment with a part of the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to delete a part of the configuration of each embodiment, add a part of the other configuration, and replace it with a part of the other configuration.

1, 2, 3 ... Route data collection device, 21 ... Movable part, 22 ... Display item editing unit, 32 ... Housing, 101 ... Route data acquisition unit, 102 ... Calculation unit, 103 ... Input / output unit, 104 ... Handle , 105 ... Wheels.

Claims (8)

A route data collection device that collects route data for autonomous movement of an autonomous movement device.
Based on the route data acquisition unit that acquires the route data, the input unit in which the checkpoint and the display direction of the checkpoint are input, and the route data, the checkpoint, and the display direction of the checkpoint. A route data collecting device having a calculation unit having a route generation unit for generating a route and an output unit for outputting the route. The route data collecting device according to claim 1.
The output unit is a route data collecting device including a warning output unit that outputs a warning when the amount of acquired route data is less than a predetermined amount. The route data collecting device according to claim 1.
The route generation unit is a route data collection device characterized in that a link connecting checkpoints is set. The route data collecting device according to claim 1.
The output unit is a route data collection device characterized in that a display map for grasping a route for which a user collects route data is output. The route data collecting device according to claim 4.
The route data collecting device is characterized in that the route generating unit has a storage unit for storing the display map. The route data collecting device according to claim 1.
The output unit is a route data collecting device characterized in that the display of a checkpoint mark for which route data has not been collected and a checkpoint mark for which route data has been collected is changed. The route data collecting device according to claim 1.
The checkpoint is a route data collecting device characterized in that the range in which the autonomous moving device can acquire data from a sensor during autonomous movement is displayed. The route data collecting device according to claim 3.
The link is a route data collecting device characterized by displaying a checkpoint direction mark and a range in which the autonomous moving device can acquire data from a sensor during autonomous movement.

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