JP2023061692A - Map creation vehicle - Google Patents

Abstract

To provide a technology capable of easily creating accurate map data for a mobile robot even without having an actual machine of the mobile robot.SOLUTION: A map creation vehicle includes a vehicle body to be run by being hand-pushed or hand-guided by a person, a sensor for map creation for measuring a peripheral environment, and a processing unit for creating map data of the peripheral environment by using data measured by the sensor for map creation while making the vehicle body run. The sensor for map creation is arranged in the vehicle body with such an arrangement to be able to acquire the same measurement field as the sensor mounted on the robot.SELECTED DRAWING: Figure 1

Description

The present invention relates to a technique for creating map data used by autonomously traveling robots.

In recent years, the introduction of autonomous robots has been increasing in manufacturing and logistics sites. This type of robot is called an AMR (Autonomous Mobile Robot) or simply a mobile robot, and automatically selects an appropriate route and travels autonomously by estimating its own position on a map using a sensor that measures the surrounding environment. Is possible. It is expected that productivity and safety can be improved and manpower saving can be achieved by replacing the work that has been done by humans with mobile robots.

When introducing a new mobile robot, first of all, it is essential to create map data of the environment in which the mobile robot runs. Normally, a trainee pushes the mobile robot by hand and walks around to cover all possible locations in the environment, and the mobile robot learns the surrounding environment by itself (i.e., the measurement of the surrounding environment by sensors and the measurement results). It is common to create an environmental map based on

WO2015/151770

The method of learning an unknown environment using an actual mobile robot is advantageous in that map data can be created under the same conditions as in actual operation, but it has the following problems.

Since one mobile robot is required, the user cannot start creating map data until he actually obtains the actual robot. This may lead to time loss during startup when mobile robots are introduced. Recently, tools that can verify the behavior and operation of mobile robots by computer simulation have appeared, but map data cannot be prepared in the absence of actual robots, making it impossible to conduct simulations that match the actual environment. Also, if the layout of a part of the operating environment is changed, one mobile robot in operation must be assigned to create map data in order to update the map, which leads to a decrease in the operating rate. .

In the field of indoor mapping, a cart equipped with a 3D laser scanner and camera is used to perform 3D measurement of the surrounding environment and create 3D information point cloud data (also called a 3D map). is performed (see Patent Document 1). However, the 3D map data created by this type of system cannot be used as it is for mobile robot map data. Even if 3D map data can be converted into map data for mobile robots, there is no guarantee that sufficient accuracy will be obtained.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and its object is to make it possible to easily create high-precision map data for a mobile robot without using the actual mobile robot. It is to provide technology.

The present disclosure is a map creation vehicle that creates map data for an autonomously traveling robot by estimating its own position on a map using a sensor that measures the surrounding environment, and is manually pushed or guided by a person. A vehicle body to be driven, a map creation sensor for measuring the surrounding environment, and a processing unit for creating map data of the surrounding environment using data measured by the map creation sensor while the vehicle body is running. and wherein the map creation sensor is installed on the vehicle body in such a manner that a measurement field of view equivalent to that of the sensor mounted on the robot can be obtained. including.

The sensor of the robot was a laser scanner scanning a horizontal plane at a predetermined height from the floor, and the mapping sensor was mounted to scan a horizontal plane at the same height as the sensor of the robot. It may be a laser scanner.

The robot has a pair of differential drive wheels and an encoder provided on each differential drive wheel, and uses the output of the encoder to estimate its own position. a differential wheel and a cartographic encoder provided on each differential wheel, wherein the processing unit uses the output of the cartographic encoder to generate the map data; The diameter of the wheels may be equal to the diameter of the differential drive wheels of the robot.

The wheel-to-wheel distance of the pair of differential wheels may be equal to the wheel-to-wheel distance of the pair of differential drive wheels of the robot.

The angular resolution of the cartographic encoder may be equal to the angular resolution of the encoder of the robot.

The positional relationship of the zero point of the cartographic encoder may be equal to the positional relationship of the zero point of the encoder of the robot.

The robot has an inertial measurement device and uses the output of the inertial measurement device to estimate its own position, the vehicle body has an inertial measurement device for map creation, and the processing unit includes the The output of the cartographic inertial measurement device is used to generate the map data, and the cartographic inertial measurement device has a relative positional relationship between the cartographic inertial measurement device and the pair of differential wheels. , the inertial measurement device and the pair of differential drive wheels may be installed on the vehicle body in an arrangement that is the same as the relative positional relationship between the inertial measurement device and the pair of differential drive wheels in the robot.

and a power storage device that stores power generated by the power generation device, wherein at least one of the map creation sensor and the processing unit is connected to the power storage device. power may be supplied from

An illuminance sensor that measures illuminance of a surrounding environment may be provided, and the processing unit may determine a position where the illuminance deviates from an appropriate condition based on the output of the illuminance sensor.

The processing unit may embed information of positions where the illuminance is out of proper conditions into the map data.

The mapping sensor is a sensor that captures reflected light reflected by an object and measures the distance to the object. The processing unit calculates the reflectance based on the intensity of the reflected light received by the mapping sensor. may detect objects that are out of the proper conditions.

The processing unit may embed, in the map data, information on the existing position of an object whose reflectance is out of the appropriate condition.

The processing unit may embed information of locations where the robot has difficulty traveling in the map data.

The processing unit may embed information about unevenness of the floor in the map data.

The processing unit may embed the information of the slope of the floor into the map data.

A magnetic tape used for positioning the robot may be laid on the floor surface, and the processing unit may embed information on the position where the magnetic tape is laid in the map data.

The processing unit may embed the information of the position of the stopping goal of the robot in the map data.

The processing unit may embed information of the location of the charging dock of the robot into the map data.

The present invention may be viewed as a cartographic vehicle comprising at least some of the means described above, or as a system comprising a cartographic vehicle and a robot. The present invention can also be regarded as a map creation method and a map creation vehicle control method including at least part of the above processing, or as a program for realizing such a method and a recording medium recording the program. It should be noted that each of the means and processes described above can be combined with each other as much as possible to constitute the present invention.

According to the present invention, it is possible to easily create high-precision map data for a mobile robot without the actual mobile robot.

FIG. 1 is a diagram showing a map creation method as an application example of the present invention. 2A is a front view of the mobile robot and FIG. 2B is a side view of the mobile robot. FIG. 3 is a block diagram showing the configuration of the mobile robot. 4A is a front view of the mapping vehicle of the first embodiment, and FIG. 4B is a side view of the mapping vehicle of the first embodiment. FIG. 5 is a block diagram showing the configuration of the cartography vehicle of the first embodiment. FIG. 6 is a diagram showing the flow of operations performed by the operator when creating map data and the flow of operations of the map creating vehicle. FIG. 7 is a diagram showing an example of map data generated by the cartography vehicle of the first embodiment. FIG. 8 is a block diagram showing the configuration of the mapping vehicle of the second embodiment. FIG. 9 is a block diagram showing the configuration of the mapping vehicle of the third embodiment. FIG. 10 is a diagram showing an example of map data generated by the cartography vehicle of the third embodiment. FIG. 11 is a block diagram showing the configuration of the cartography vehicle of the fourth embodiment. FIG. 12 is a diagram showing an example of map data generated by the cartography vehicle of the fourth embodiment. FIG. 13 is a block diagram showing the configuration of the cartography vehicle of the fifth embodiment. FIG. 14 is a diagram showing an example of map data generated by the cartography vehicle of the fifth embodiment. FIG. 15 is a block diagram showing the configuration of the cartography vehicle of the sixth embodiment. FIG. 16 is a diagram showing an example of map data generated by the cartography vehicle of the seventh embodiment. FIG. 17 is a diagram showing the configuration of the cartography vehicle of the eighth embodiment.

<Application example>
Referring to FIG. 1, a map creation method as one application example of the present invention will be described.

The mobile robot 2 is a robot that can travel autonomously using a technique called SLAM (Simultaneous Localization and Mapping). In SLAM, the position (self-position) of the mobile robot 2 on the map is estimated from "map data" held in advance by the mobile robot 2 and "surrounding environment information" measured in real time by a sensor, Processing is performed to determine the optimum route from the position to the destination (goal). Therefore, as a preparation before starting operation of the mobile robot 2, it is necessary to create map data for use in self-position estimation and provide the mobile robot 2 with the map data. Conventionally, the general method was to use the actual mobile robot 2 to create map data, but as a practical problem, it is difficult to prepare the actual mobile robot 2 for map data creation. It is often difficult. The mapping vehicle 1 is a device for solving such problems.

The cartographic vehicle 1 is a dedicated vehicle for generating map data used by the mobile robot 2 . That is, the map creation vehicle 1 is a device capable of creating map data equivalent to that created by the mobile robot 2 without using the actual mobile robot 2 . The map creation vehicle 1 may have a simpler configuration than the mobile robot 2 because it is sufficient if it has the functions and equipment necessary for creating map data. Therefore, it can be provided at a low cost to users who need to create map data.

As shown in FIG. 1, the cartographic vehicle 1 may have a simple configuration in which various devices such as a cartographic sensor 11 and a processing unit 12 are mounted on a vehicle body 10 having a frame structure. The cartographic vehicle 1 itself does not need to have a driving force, and a person may hold the steering wheel of the vehicle body 10 and push or guide the cartographic vehicle 1 to run.

The mapping sensor 11 is a sensor for measuring the surrounding environment. The map creation sensor 11 corresponds to the SLAM (self-localization and map creation) sensor mounted on the mobile robot 2. Typically, the sensor mounted on the mobile robot 2 and The same is mounted on the mapping vehicle 1 as well. However, it is not essential that the models are exactly the same, and sensors that have at least substantially the same measurement capability may be used. For example, a sensor mounted on an industrial mobile robot is a so-called safety device that has a special configuration and performance to meet the required safety standards (ISO13849-1, IEC61508, etc.). Non-safety devices may be used for the sensors installed in the .

The sensor for measuring the surrounding environment can be of any measurement principle, even a two-dimensional sensor, as long as it measures the distance to an object in the surrounding environment with high precision and high resolution. A three-dimensional sensor may also be used. For example, a ToF system LiDAR (Light Detection And Ranging), an FMCW system LiDAR, a ToF camera, or the like can be used.

Here, the mapping sensor 11 is installed on the vehicle body 10 in such an arrangement as to obtain a measurement field of view equivalent to that of the sensor mounted on the mobile robot 2 . Such a design allows the mapping sensor 11 to obtain information that is substantially equivalent to the information obtained when the mobile robot 2 looks at the surrounding environment. Therefore, by creating map data from the data measured by the map creation sensor 11, it is possible to create high-precision map data equivalent to that created using the actual mobile robot 2.

Hereinafter, after describing a specific configuration example of the mobile robot 2, some specific embodiments of the mapping vehicle 1 for the mobile robot 2 will be described by way of example.

<Configuration example of mobile robot>
2A is a front view of the mobile robot 2, and FIG. 2B is a side view of the mobile robot 2. FIG. 3 is a block diagram showing the configuration of the mobile robot 2. As shown in FIG.

The mobile robot 2 is a vehicle-type robot, and includes a pair of left and right differential drive wheels 200L and 200R, motors 201L and 201R for driving the differential drive wheels 200L and 200R, and a speed reducer 202L. , 202R; motor drivers 203L and 203R for controlling the motors 201L and 201R; a plurality of auxiliary wheels 204; A motor drive signal is output from each of the motor drivers 203L and 203R based on the motor control signal issued from the travel control unit 205. FIG. The mobile robot 2 runs as the motors 201L and 201R rotate the differential drive wheels 200L and 200R in response to the motor drive signals. At this time, by independently controlling the rotation speed (rotation amount) and rotation direction of the left and right differential drive wheels 200L and 200R, it is possible to move forward, backward, turn left, turn right, and turn around.

In addition, the mobile robot 2 includes a two-dimensional laser scanner 210, an inertial measurement unit (IMU) 211, and angle encoders 212L and 212R provided on the differential drive wheels 200L and 200R, respectively, as components related to SLAM. , and a SLAM unit 213 . The two-dimensional laser scanner 210 is a sensor for measuring the distance to an object existing in the surrounding environment, and scans a horizontal plane at a predetermined height h (for example, h = about 150 to 300 mm) from the floor. It is mounted on the mobile robot 2 in an arrangement. The scanning range (measurement range) is, for example, a range of approximately 270 degrees centered on the front. The two-dimensional laser scanner 210 outputs measurement results as two-dimensional point cloud data. The inertial measurement device 211 has, for example, a triaxial acceleration sensor and a triaxial gyro, and outputs three-dimensional acceleration and angular velocity as inertial measurement values. Angle encoders 212L and 212R measure rotation information (angle, amount of rotation, speed, etc.) of differential drive wheels 200L and 200R, respectively. The measurement results of the two-dimensional laser scanner 210, the inertial measurement device 211, and the angle encoders 212L and 212R are taken into the SLAM unit 213 and used for processing such as self-position estimation and map creation.

In addition, the mobile robot 2 includes a large-capacity battery 220, an operation UI unit 221, a wired communication device 222, a wireless communication device 223, an emergency stop input device 224, a peripheral obstacle detection device 225, and the like. A large-capacity battery 220 supplies power to each part of the mobile robot 2 . The operation UI unit 221 has an input unit for inputting operations by the user, a display unit for displaying information, and the like. The wired communication device 222 is, for example, a wired interface to which a teaching pendant, joystick, or the like is connected. A wireless communication device 223 is a wireless interface for performing wireless communication with an external computer or host system. The emergency stop input device 224 is a UI for making an emergency stop of the mobile robot 2, and uses, for example, an emergency stop switch or a bumper switch. The peripheral obstacle detection device 225 is a sensor for detecting obstacles existing in the traveling direction of the mobile robot 2 and avoiding collisions. For example, an ultrasonic sensor (sonar), a laser sensor, or the like is used.

<First embodiment>
4A is a front view of the cartographic vehicle 1 according to the first embodiment, and FIG. 4B is a side view of the cartographic vehicle 1 according to the first embodiment. FIG. 5 is a block diagram showing the configuration of the cartographic vehicle 1 according to the first embodiment.

The cartographic vehicle 1 is a vehicle constructed like a pushcart or a pull cart. The vehicle main body 10 is composed of a frame structure made of metal, resin, or the like. A pair of left and right differential wheels 100L and 100R and an auxiliary wheel 104 are provided in the lower portion of the vehicle body 10 as components related to running. Differential wheels 100L and 100R are a pair of independently rotatable wheels. The auxiliary wheels 104 are provided to prevent the vehicle body 10 from tilting and stabilize the posture of the vehicle body 10 . The number of auxiliary wheels 104 may be one or plural. The cartographic vehicle 1 is not provided with a drive, such as a motor. A user holds the steering wheel 101 of the vehicle body 10 and pushes or pulls the cartography vehicle 1 forward, backward, left turn, right turn, or turn around.

The cartographic vehicle 1 also includes cartographic sensors 110, cartographic inertial measurement units (IMU) 111, and cartographic encoders 112L provided on the differential wheels 100L and 100R, respectively. , 112 R and a processing unit 113 .

The mapping sensor 110 is a sensor for measuring the surrounding environment, and a two-dimensional laser scanner having the same measurement capability as the two-dimensional laser scanner 210 of the mobile robot 2 is used. Here, the mapping sensor 110 is installed on the vehicle body 10 in such an arrangement that a measurement field of view equivalent to that of the two-dimensional laser scanner 210 of the mobile robot 2 can be obtained. Specifically, as shown in FIGS. 2B and 4B, if the two-dimensional laser scanner 210 of the mobile robot 2 is mounted in such an arrangement as to scan a horizontal plane at a height h from the floor, the mapping vehicle 1 sensor 110 for map creation is also mounted so as to scan a horizontal plane having a height h from the floor. Such a design enables the cartographic vehicle 1 to obtain 2D point cloud data that is substantially equivalent to the 2D point cloud data that the mobile robot 2 obtains from the surrounding environment.

The cartographic inertial measurement device 111 is a device for measuring three-dimensional acceleration and angular velocity. This is also mounted with the same measurement capability as the inertial measurement device 211 of the mobile robot 2 . Here, the relative positional relationship between the cartographic inertial measurement device 111 and the differential wheels 100L and 100R is made equal to the relative positional relationship between the inertial measurement device 211 and the differential drive wheels 200L and 200R in the mobile robot 2. Designed. Such a design enables the mapping vehicle 1 to obtain inertial measurements substantially equivalent to the mobile robot 2 .

The map creation encoders 112L, 112R are devices for measuring rotation information (angle, amount of rotation, speed, etc.) of the differential wheels 100L, 100R. Here, as shown in FIGS. 2B and 4B, the differential wheels 100L, 100R of the mapping vehicle 1 are designed so that their wheel diameters D are equal to the diameters of the differential drive wheels 200L, 200R of the mobile robot 2. ing. Further, as shown in FIGS. 2A and 4A, the inter-wheel distance L between the differential wheels 100L and 100R is also designed to be equal to the inter-wheel distance between the differential drive wheels 200L and 200R of the mobile robot 2. FIG. Furthermore, encoder 1 for map creation
As 12L and 112R, encoders having the same angular resolution as the angle encoders 212L and 212R of the mobile robot 2 may be mounted, or the positional relationship of the zero points of the map creation encoders 112L and 112R may be the same as that of the angle encoder 212L of the mobile robot 2. , 212R. Such a design allows the cartographic vehicle 1 to obtain substantially equivalent wheel rotation information as the mobile robot 2 .

The processing unit 113 is a device that creates map data of the surrounding environment using data measured by the map creation sensor 110, the map creation inertial measurement device 111, the map creation encoders 112L and 112R, and the like. The processing unit 113 may be configured by a computer including, for example, a CPU (processor), RAM (random access memory), and a non-temporary storage device (non-volatile memory, storage, etc.). In that case, the map creation function is realized by loading a program stored in a non-temporary storage device into the RAM and executing it by the CPU. Alternatively, the processing unit 113 may be configured by a circuit such as FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit). Here, the map creation function of the processing unit 113 is preferably equivalent to the map creation function of the SLAM unit 213 of the mobile robot 2 (the map creation algorithm and logic are the same or compatible). Typically, the program modules of SLAM unit 213 may be implemented in processing unit 113 in their entirety. Such a design allows the cartographic vehicle 1 to generate map data substantially equivalent to the mobile robot 2 .

As other configurations, the map creation vehicle 1 includes a battery 120, an operation UI section 121, a map data output device 122, and the like. A battery 120 powers the parts of the mapping vehicle 1 . The cartography vehicle 1 does not have motors, controls, etc., so it consumes much less power than the mobile robot 2 . Therefore, the battery 120 may be smaller and have a smaller capacity than the large-capacity battery 220 of the mobile robot 2 . The operation UI unit 121 is a UI for inputting operations such as power ON/OFF and measurement start/end. The map data output device 122 is an interface for outputting the map data generated by the processing unit 113 to the outside. It may be an interface or a reader for a storage medium such as flash memory or SD memory card.

A procedure for creating map data will be described with reference to FIG. FIG. 6 shows the flow of operations performed by the operator and the flow of operations of the cartographic vehicle 1 .

When the operator turns on the map creation vehicle 1 using the operation UI unit 121 (step S60), the power of the map creation vehicle 1 is turned on (step S61). Subsequently, after the operator instructs the start of map measurement on the operation UI unit 121 (step S62), the handle 101 of the vehicle body 10 is pushed or pulled to move the map creation vehicle 1 (step S63). Then, the measurement data from the mapping sensor 110, the mapping inertial measuring device 111, and the mapping encoders 112L and 112R are sequentially taken into the processing unit 113 and stored in the storage device (step S64). After the necessary measurement range (that is, the range in which the mobile robot 2 is scheduled to travel) is covered, the operator instructs the end of measurement using the operation UI unit 121 (steps S65 and S66). Unit 113 generates map data based on the data accumulated in the storage device (step S67). FIG. 7 shows an example of map data generated by the cartographic vehicle 1. As shown in FIG. It is a two-dimensional map in which walls and obstacles are represented by point clouds. The generated map data is output to the outside via the map data output device 122 (step S68). The map data obtained in this manner is used in the mobile robot 2 and computer simulation (step S69).

By using the map creation vehicle 1 of the present embodiment, high-precision map data equivalent to that created by the mobile robot 2 can be easily created. Therefore, it is possible to create map data even in situations where it is not possible to prepare the actual mobile robot 2, so it is useful, for example, when introducing a new mobile robot or when updating a part of the map of the operating environment. is.

Moreover, as is clear from the comparison between FIGS. 3 and 5, the cartography vehicle 1 may have a simple configuration, so it can be provided at a much lower cost than the mobile robot 2.

Note that the configuration of the above embodiment is merely an example. For example, a sensor other than the two-dimensional laser scanner may be used as the sensor for measuring the surrounding environment. Also, a plurality of sensors for measuring the surrounding environment may be mounted, or a plurality of types of sensors may be combined. Moreover, the measurement field of view of the sensor for measuring the surrounding environment may be set at a predetermined angle of elevation or depression instead of the horizontal plane parallel to the floor surface. Also, the field of view for measurement may be three-dimensional instead of two-dimensional. In either case, the sensor on the mobile robot 2 side and the sensor on the mapping vehicle 1 side should be installed so as to have the same measurement capability and the same measurement field of view.

In addition, in the above embodiment, the configuration of the mobile robot 2 side and the configuration of the map creation vehicle 1 side are the same for the inertial measurement device, the wheel diameter, the distance between the wheels, and the encoder, but this is not essential. For example, if the placement of the inertial measurement devices is different between the mobile robot 2 and the cartography vehicle 1, correction for canceling the difference in placement of the inertial measurement devices when the processing unit 113 uses the inertial measurement values. should be done. Differences in wheel diameter, inter-wheel distance, and angular resolution of the encoder may also be corrected by the processing unit 113 in the same manner.

The differential wheels may also be provided with assist motors so that the mapping vehicle 1 can be driven with less force.

<Second embodiment>
FIG. 8 is a block diagram showing the configuration of the cartographic vehicle 1 according to the second embodiment. The mapping vehicle 1 of the second embodiment is characterized in that it has a power generator that generates power by rotating the differential wheel.

Specifically, the differential wheels 100L and 100R of the mapping vehicle 1 are provided with power generators (dynamos) 130L and 130R, respectively. When the operator drives the map creation vehicle 1 to create a map, the electric power generated by the power generators 130L and 130R is accumulated in the battery (power storage device) 120 by the charging device 131 . With such a mechanism, at least part of the electric power required for the map creation sensor 110, the map creation inertial measurement device 111, the map creation encoders 112L and 112R, the processing unit 113, etc. can be covered by private power generation. Therefore, the power consumption of the battery 120 can be suppressed, and the frequency of charging the battery 120 can be reduced and the life of the battery 120 can be extended.

In this embodiment, both the differential wheels 100L and 100R are provided with power generators, but a configuration in which only one of the wheels is provided with a power generator is also possible.

<Third Embodiment>
FIG. 9 is a block diagram showing the configuration of the cartographic vehicle 1 according to the third embodiment. The mapping vehicle 1 of the third embodiment is characterized in that it has a function of detecting a position where the illuminance is outside the proper conditions and an object where the reflectance is outside the proper conditions, and embedding the information in the map data. is.

Specifically, the mapping vehicle 1 is equipped with an illuminance sensor 140 that measures the illuminance of the surrounding environment. When the measurement for map creation is started, the illuminance information output from the illuminance sensor 140 is sequentially taken into the processing unit 113 . At this time, by associating the illuminance information with measurement data captured at the same timing from other sensors, it is possible to associate the illuminance information with the coordinates on the map at the stage of map data creation processing. .

In addition, the map creation sensor 110 of this embodiment also outputs information on the received light intensity together with the two-dimensional point cloud values. The received light intensity is the intensity of reflected light that has been reflected by objects (walls, obstacles, etc.) existing in the surrounding environment and returned to the map creation sensor 110 .

In the process of creating map data, the processing unit 113 determines a position where the illuminance does not meet the appropriate conditions based on the illuminance information. For example, in places where external light is coming in through windows or where strong lighting is directly applied, external light and lighting can become disturbances, which can significantly reduce the accuracy of distance measurement by optical sensors such as laser scanners. . A decrease in ranging accuracy leads to a decrease in self-position estimation accuracy of the mobile robot 2. For example, there is a possibility that an error in the route or stop position will increase, or that operation will be hindered. Therefore, the processing unit 113 determines a position where the illuminance measured by the illuminance sensor 140 is greater than a predetermined threshold value as a "high illuminance area" and embeds the information of the high illuminance area into the map data.

In addition, in the process of creating map data, the processing unit 113 detects an object whose reflectance is out of the appropriate condition based on the information on the received light intensity of the reflected light. For example, if an object with a low reflectance exists in the surrounding environment, the received light intensity of the reflected light decreases, which may significantly reduce the accuracy of distance measurement by an optical sensor such as a laser scanner. As described above, a decrease in ranging accuracy leads to a decrease in self-position estimation accuracy of the mobile robot 2 . Therefore, the processing unit 113 determines an object whose reflectance estimated from the received light intensity is smaller than a predetermined threshold as a "low reflectance structure", and embeds the information of the low reflectance structure in the map data.

FIG. 10 is an example of map data generated in this embodiment. Display of high-illuminance areas and low-reflectance structures is superimposed on map data consisting of two-dimensional point clouds. By providing such map data to the user, it is possible to take countermeasures against high-illuminance areas and low-reflectance structures included in the surrounding environment before starting operation of the mobile robot. For example, measures for high-light areas may include installing curtains or blinds on windows to block outside light, or changing or moving lighting fixtures. Countermeasures against structures with low reflectance include moving or removing structures, and installing highly reflective materials (reflective tape, white plates, etc.) on the surfaces of structures. can.

<Fourth Embodiment>
FIG. 11 is a block diagram showing the configuration of the cartographic vehicle 1 according to the fourth embodiment. The cartography vehicle 1 of the fourth embodiment is characterized by having a function of embedding information of locations where it is difficult for the mobile robot to travel in the map data.

The mapping vehicle 1 of this embodiment has a passage width data storage unit 150 that stores minimum travel passage width data that defines the lower limit of the passage width over which the mobile robot 2 can travel. In the process of creating map data, the processing unit 113 reads the minimum traveling passage width from the passage width data storage unit 150 and checks whether there is a portion narrower than the minimum traveling passage width in the surrounding environment. If there is a location narrower than the minimum travel passage width, the processing unit 113 sets the location as a "prohibited area" and embeds the information in the map data.

FIG. 12 is an example of map data generated in this embodiment. A no-entry area is superimposed on the map data consisting of the two-dimensional point cloud. By providing such map data to the user, it is possible to take measures such as widening the aisles before starting the operation of the mobile robot. Alternatively, such map data may be provided to the mobile robot 2, and the mobile robot 2 itself may perform control to avoid the no-entry area when selecting a route.

Since the width of the passage through which the mobile robot 2 can travel varies depending on the equipment mounted on the mobile robot 2, it is preferable that the set value of the minimum passage width data in the passage width data storage unit 150 can be changed by the user. .

In addition to the information on prohibited areas, information on areas where the movement speed is restricted may be embedded in the map data as the information on places where it is difficult for the mobile robot to travel. For example, the processing unit 113 checks whether there is a place where the turning angle of the passage is smaller than a predetermined threshold value (that is, a sharp turn that is difficult to turn at normal speed) in the map data creation process. If there is a sharp turn, the processing unit 113 sets the turn as an "operating speed limit area" and embeds the information in the map data.

By providing such map data to the user, it is possible to take countermeasures such as widening a corner before starting operation of the mobile robot. Alternatively, such map data may be given to the mobile robot 2, and the mobile robot 2 may be controlled to switch to low speed running in the operation speed restricted area.

<Fifth Embodiment>
FIG. 13 is a block diagram showing the configuration of the cartographic vehicle 1 according to the fifth embodiment. The cartography vehicle 1 of the fifth embodiment is characterized in that it has a function of embedding information of unevenness and inclination of the floor on which the mobile robot travels in the map data.

The mapping vehicle 1 of the present embodiment includes a permissible unevenness data storage unit 160 that stores permissible unevenness data that defines the permissible value of unevenness that the mobile robot 2 can travel, and an inclination amount that the mobile robot 2 can travel. and an allowable tilt amount storage unit 161 that stores an allowable tilt amount that defines the allowable value of . Unevenness refers to a state in which the floor surface (running surface) is not flat, such as unevenness, steps, and grooves. When a vehicle runs on an uneven surface, the acceleration measured by the inertial measurement device shows a steep peak, and changes in amplitude appear according to unevenness. Therefore, for example, the degree of unevenness can be evaluated by an index such as the magnitude or frequency of acceleration peaks. The permissible unevenness data may be defined by the maximum acceleration peak value, the maximum frequency value, or the like. On the other hand, the allowable tilt amount is defined by, for example, the maximum value of the gradient on which the mobile robot 2 can travel stably. When the allowable value changes depending on conditions such as the equipment of the mobile robot 2 and the load, the allowable unevenness data and the allowable tilt amount may be set for each condition. Also, it is preferable that the set values of the allowable unevenness data and the allowable tilt amount can be changed by the user.

In the process of creating map data, the processing unit 113 analyzes the time-series data of the inertial measurement values that are sequentially captured from the inertial measurement device for map creation 111, quantifies the degree of unevenness, and determines the unevenness at each position on the map. information in the map data. Furthermore, the processing unit 113 may read the allowable unevenness data from the allowable unevenness data storage unit 160 and check whether there is a location where the degree of unevenness exceeds the allowable value. If there is an uneven spot exceeding the permissible value, the processing unit 113 may set the spot as a "prohibited area" and embed the information in the map data.

The amount of inclination can also be measured using the acceleration sensor of the inertial measurement device 111 for map creation. However, it is preferable to measure the static acceleration while the cartographic vehicle 1 is stationary in order to eliminate the effects of dynamic acceleration. For example, when the operator stops the cartographic vehicle 1 at a position where the tilt amount is to be measured and inputs an instruction to start tilt amount evaluation from the operation UI unit 121, the value of the static acceleration is captured from the cartographic inertial measurement device 111. , the processing unit 113 calculates the tilt amount, the tilt amount can be measured with high accuracy. If it is possible to separate the dynamic acceleration component and the static acceleration component from the measurement values of the inertial measurement device 111 for mapping, it is necessary to stop the mapping vehicle 1 or input a start instruction by the operator. Instead, it is sufficient to calculate the amount of inclination from the data of the inertial measurement values that are successively captured while the vehicle is running.

The processing unit 113 embeds the information of the tilt amount of each position on the map into the map data. Furthermore, the processing unit 113 may read the allowable tilt amount from the allowable tilt amount storage unit 161 and check whether there is a portion where the tilt amount exceeds the allowable value. If there is an inclined point that exceeds the allowable value, the processing unit 113 may set that point as a "prohibited area" and embed the information in the map data.

FIG. 14 is an example of map data generated in this embodiment. By providing the user with map data embedded with information on unevenness and information on the amount of inclination, it is possible to take measures such as flattening the floor before starting operation of the mobile robot. Alternatively, such map data is given to the mobile robot 2, and the mobile robot 2 itself performs control to avoid entry prohibited areas when selecting a route, or changes speed and torque according to the degree of unevenness and the amount of inclination. You may perform control to carry out.

<Sixth embodiment>
FIG. 15 is a block diagram showing the configuration of the cartographic vehicle 1 according to the sixth embodiment. The cartography vehicle 1 of the sixth embodiment is characterized in that it has a function of embedding information of the position where the magnetic tape used for positioning the mobile robot is laid in the map data.

A magnetic tape may be laid on the floor surface (running surface) for positioning the mobile robot 2 . The mobile robot 2 detects the magnetic tape with a magnetic induction sensor and corrects its own position based on the magnetic tape, thereby achieving highly accurate positioning.

The mapping vehicle 1 of this embodiment has a magnetic induction sensor 170 for detecting the magnetic tape. When the magnetic tape is detected by the magnetic induction sensor 170 , the information is taken into the processing unit 113 . The processing unit 113 embeds the information of the position where the magnetic tape was detected in the map data. By providing such map data to the mobile robot 2, the mobile robot 2 can use the position information of the magnetic tape for self-position estimation and route selection processing.

<Seventh Embodiment>
The cartography vehicle 1 of the seventh embodiment is characterized in that it has a function of embedding information on the stop goal of the mobile robot and the position of the charging dock in the map data.

A stop goal is a place on the map where the mobile robot 2 stops. This applies to places where A charging dock is a device for charging the mobile robot 2 . The stop goal and the location information of the charging dock are necessary information for operating the mobile robot 2, but it is too troublesome to manually write this information in the map data. Therefore, the map creation vehicle 1 of the present embodiment provides a function that enables easy creation of map data including position information of stop goals and charging docks.

Specifically, the operation UI unit 121 is provided with a UI for teaching the position of the stop goal and a UI for teaching the position of the charging dock. For example, a stop goal button, charging dock button, etc. may be provided. When instructing the stop goal, the operator moves the cartographic vehicle 1 to stop at the position of the stop goal, and then presses the stop goal button of the operation UI unit 121 . Thereby, the processing unit 113 recognizes the position of the stopping goal and sets the stopping goal at the current position coordinates on the map. When teaching not only the position coordinates of the stop goal but also the approach direction (orientation of the mobile robot 2), for example, the mobile robot 2 stops at the position where the movement to enter the stop goal is started (for example, a position about 1 meter in front). A method of depressing the goal button once, then moving the cartography vehicle 1 to the stop goal position and depressing the stop goal button again may be employed. Teaching the charging dock can be done in the same way.

FIG. 16 is an example of map data generated in this embodiment. It contains information on the position of the stopping goal and the starting position of entering the stopping goal (the triangular protrusion indicates the front of the mobile robot), and information on the position of the charging dock and the starting position of entering the charging dock. .

<Eighth Embodiment>
FIG. 17 shows a mapping vehicle 1 according to an eighth embodiment. The mapping vehicle 1 of the eighth embodiment is characterized in that it has a function of projecting the footprint of the mobile robot 2 .

The mapping vehicle 1 has a projection device 180 . The projection device 180 projects a light image 181 showing the footprint of the mobile robot 2 onto the floor. By providing such a guide function, the worker can recognize the outer size of the mobile robot 2 . Therefore, when creating map data using the map creating vehicle 1, it is possible to visually confirm places where it is difficult for the mobile robot 2 to pass, and work efficiency can be improved. Also, as in the seventh embodiment, when the cartographic vehicle 1 is stopped at the stop goal or the charging dock, it is possible to perform positioning considering the size of the mobile robot 2 .

Note that the shape and size of the footprint may differ depending on the equipment and model of the mobile robot 2 . Therefore, it is preferable that the footprint shape and size setting values can be changed by the user, and the optical image 181 of any shape and size can be projected from the projection device 180 according to the setting values.

<Others>
The above-described embodiment is merely an example of the configuration of the present invention. The present invention is not limited to the specific forms described above, and various modifications are possible within the technical scope of the present invention. For example, the structure of the mobile robot or cart is not limited to those shown in the drawings, and may be of any shape and structure. In the above embodiment, the processing unit 113 is mounted on the vehicle body 10 , but some or all of the functions of the processing unit 113 may be performed by a separate device from the vehicle body 10 . For example, the process of measuring by the sensor 110 for map creation and accumulating the measured data in the storage device (steps S60 to S66 in FIG. 6) is executed by the processing unit on the side of the vehicle body 10, and the process of creating and outputting map data ( Steps S67 to S68 in FIG. 6) may be executed by a processing unit separate from the vehicle body 10. FIG. As a processing unit separate from the vehicle body 10, for example, computer resources such as a personal computer, a tablet terminal, and a cloud server can be used.

<Appendix>
1. A mapping vehicle (1) that creates map data for an autonomously traveling robot (2) by estimating its own position on a map using a sensor (210) that measures the surrounding environment,
A vehicle body (10) that is pushed or pulled by a person,
mapping sensors (110) for measuring the surrounding environment;
a processing unit (113) for creating map data of the surrounding environment using data measured by the map creation sensor (110) while the vehicle body (10) is running;
has
The map creation sensor (110) is installed on the vehicle body (10) in such a manner that a measurement field of view equivalent to that of the sensor (210) mounted on the robot (29) can be obtained. cartography vehicle (1).

1: Mapping vehicle 2: Mobile robot

Claims (18)

A map creation vehicle that creates map data for an autonomously traveling robot by estimating its own position on a map using a sensor that measures the surrounding environment,
A vehicle body that is manually pushed or pulled by a person,
mapping sensors for measuring the surrounding environment;
a processing unit that creates map data of the surrounding environment using the data measured by the map creation sensor while the vehicle body is running;
has
The map creation vehicle, wherein the map creation sensor is installed on the vehicle body in such a manner that a measurement field of view equivalent to that of the sensor mounted on the robot can be obtained. the sensor of the robot is a laser scanner that scans a horizontal plane at a predetermined height from the floor;
2. The mapping vehicle of claim 1, wherein said mapping sensor is a laser scanner mounted to scan a horizontal plane at the same height as said sensor of said robot. The robot has a pair of differential drive wheels and an encoder provided on each differential drive wheel, and uses the output of the encoder to estimate its own position,
The vehicle body has a pair of differential wheels and a mapping encoder provided on each differential wheel,
The processing unit uses the output of the map creation encoder to create the map data,
3. A mapping vehicle according to claim 1 or 2, wherein the diameter of the differential wheel is equal to the diameter of the differential drive wheel of the robot. 4. The mapping vehicle of claim 3, wherein the wheel-to-wheel distance of said pair of differential wheels is equal to the wheel-to-wheel distance of said pair of differential drive wheels of said robot. 5. A cartographic vehicle according to claim 3 or 4, wherein the angular resolution of the cartographic encoder is equal to the angular resolution of the encoder of the robot. The cartographic vehicle according to any one of claims 3 to 5, wherein the positional relationship of the zero points of the cartographic encoders is equal to the positional relationship of the zero points of the encoders of the robot. The robot has an inertial measurement device, and uses the output of the inertial measurement device to estimate its own position,
The vehicle body has an inertial measurement device for map creation,
The processing unit uses the output of the inertial measurement device for map creation to create the map data,
In the inertial measurement device for mapping, the relative positional relationship between the inertial measurement device for mapping and the pair of differential wheels corresponds to the relative positional relationship between the inertial measurement device and the pair of differential drive wheels in the robot. A mapping vehicle according to any one of claims 3 to 6, wherein the mapping vehicle is mounted on the vehicle body in an arrangement equal to . a power generator that generates power by rotating the differential wheel; and a power storage device that stores the power generated by the power generator,
The mapping vehicle according to any one of claims 3 to 7, wherein at least one of the mapping sensor and the processing unit is supplied with electric power from the power storage device. having an illuminance sensor that measures the illuminance of the surrounding environment,
The mapping vehicle according to any one of claims 1 to 8, wherein the processing unit determines a position where the illuminance deviates from an appropriate condition based on the output of the illuminance sensor. 10. The cartographic vehicle of claim 9, wherein the processing unit embeds information of locations where illuminance deviates from proper conditions into the map data. The mapping sensor is a sensor that captures reflected light reflected by an object and measures the distance to the object,
11. The processing unit according to any one of claims 1 to 10, wherein the processing unit detects an object whose reflectance deviates from an appropriate condition based on the intensity of the reflected light received by the mapping sensor. cartography vehicle. 12. The cartographic vehicle of claim 11, wherein the processing unit embeds in the map data location information of objects whose reflectance is out of proper conditions. The mapping vehicle according to any one of claims 1 to 12, characterized in that said processing unit embeds information of locations where said robot has difficulty traveling in said map data. The mapping vehicle according to any one of claims 1 to 13, wherein the processing unit embeds floor unevenness information in the map data. A cartographic vehicle according to any preceding claim, wherein the processing unit embeds floor slope information into the map data. A magnetic tape used for positioning the robot is laid on the floor,
The mapping vehicle according to any one of claims 1 to 15, characterized in that said processing unit embeds information of the position where said magnetic tape is laid in said map data. A cartographic vehicle according to any one of the preceding claims, wherein the processing unit embeds information of the position of the stopping goal of the robot into the map data. A mapping vehicle according to any one of the preceding claims, wherein the processing unit embeds information of the location of charging docks for the robot into the map data.

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