JP5213655B2 - Autonomous mobile robot - Google Patents

Description

  The present invention relates to an autonomous mobile robot that moves autonomously while sensing the surrounding environment and identifying its own position.

  For example, Patent Document 1 below discloses an autonomous mobile robot system that enables movement to a destination while avoiding a dangerous place. The autonomous mobile robot system determines that the obtained self-position is wrong when a sign installed at a predetermined position is detected by the sign detection means, and temporarily stops the movement of the robot body. Dangerous parts can be avoided.

JP 2005-242409 A

  By the way, if the installed sensor breaks down or the sensor cannot correctly acquire real-world information due to the influence of disturbance, the autonomous mobile robot cannot correctly identify its own position, There is a case where it collides or moves to a place different from the designated place. If the measurement result from the sensor is different from the actual environment, if it can be notified to the surrounding people, the person who has received the notification can take measures such as urgently stopping the autonomous mobile robot. However, conventionally, the autonomous mobile robot has not been informed of such a situation to surrounding people, and abnormal movement of the autonomous mobile robot could not be prevented.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to prevent an abnormal movement of an autonomous mobile robot due to a sensor failure or the like.

  In order to solve the above problems, the autonomous mobile robot of the present invention notifies surrounding humans of a comparison result between information measured by a sensor and information indicating the arrangement of a real environment object set in advance.

For example, the present invention is an autonomous mobile robot,
A map information storage unit for storing map information indicating the arrangement of objects;
A sensor for acquiring information on a real environment around the autonomous mobile robot;
A calculation unit for calculating the position and orientation of the autonomous mobile robot in the map information;
A moving unit for moving the autonomous mobile robot according to a movement parameter determined based on the position and orientation information of the autonomous mobile robot calculated by the calculating unit;
A comparison unit that compares the map information with information on the real environment acquired by the sensor;
A notification unit for notifying the comparison result in the comparison unit ,
The sensor has a plurality of distance sensors for measuring a distance between the autonomous mobile robot and an object around the autonomous mobile robot,
The map information is two-dimensional map information indicating a shape of a real environment at a height at which the distance sensor is attached,
The calculation unit compares the distance information indicating the distances acquired by a plurality of the distance sensors and the two-dimensional map information, and calculates the position and direction having the highest degree of coincidence as the position and direction of the autonomous mobile robot. And
The comparison unit includes:
After the position of the autonomous mobile robot is calculated by the calculation unit, the distance sensor measures each direction in which each distance sensor measures a distance from the autonomous mobile robot to an object around the autonomous mobile robot. A difference between the measured distance and the distance on the map in the direction from the calculated position of the autonomous mobile robot to the position of the object in the two-dimensional map information, and the distance sensor from the autonomous mobile robot when the difference in a plurality of directions the distance measured to the object near the autonomous mobile robot is present direction equal to or greater than a predetermined value, characterized Rukoto is notified to the notification unit in that direction as a comparison result An autonomous mobile robot is provided.

  According to the autonomous mobile robot of the present invention, abnormal movement of the autonomous mobile robot due to a sensor failure or the like can be prevented in advance.

  Embodiments of the present invention will be described below.

  FIG. 1 is a perspective view showing an example of an overview of an autonomous mobile robot 10 according to an embodiment of the present invention. The autonomous mobile robot 10 includes a sensor unit 11, a calculation device 12, and a movement device 13. The sensor unit 11 and the calculation device 12 are provided on the moving device 13.

  The sensor unit 11 includes a plurality of distance sensors 14 and a plurality of light emitting elements 15. Each distance sensor 14 is, for example, a laser distance sensor, measures the distance to an object around the autonomous mobile robot 10 in a predetermined direction, and provides the measured sensing data to the calculation device 12. Each light emitting element 15 is, for example, an LED (Light Emitting Diode), and is provided one by one corresponding to one or a plurality of distance sensors 14.

The calculation device 12 stores a two-dimensional map in the xy plane at the height where the distance sensor 14 is arranged, and based on the sensing data up to the object in each direction provided from the plurality of distance sensors 14. The position and orientation in the two-dimensional map where the sensing data is measured are calculated as the position and orientation of the autonomous mobile robot 10. Then, the calculation device 12 controls the moving device 13 so as to move along a route in the preset two-dimensional map.

  In addition, the calculation device 12 determines that the distance sensor 14 measures sensing data that differs from the distance to the object on the two-dimensional map by a predetermined value or more in the calculated position and orientation of the autonomous mobile robot 10 on the two-dimensional map. The light emitting element 15 associated with the distance sensor 14 that has measured the sensing data is caused to emit light.

  FIG. 2 is a block diagram illustrating an example of a functional configuration of the autonomous mobile robot 10. The calculation device 12 includes a map information storage unit 120, a position / orientation calculation unit 121, a movement control unit 122, and a light emission control unit 123.

  The map information storage unit 120 stores in advance map information that is a two-dimensional map at a height at which the distance sensor 14 is disposed. For example, as shown in FIG. 3, the map information storage unit 120 stores map information as a digital image in which a place where an object is not present is a pixel 21 indicating white and a place where an object is present is a pixel 22 indicating black. . Further, the map information storage unit 120 stores in advance information indicating the movement route of the autonomous mobile robot 10 as, for example, straight line or curve data on the map information.

  Each distance sensor 14 is arranged in a predetermined direction with respect to the autonomous mobile robot 10 and is in that direction within the measurable range of each distance sensor 14 (for example, within 8 m), for example, as shown in FIG. The distance to the object 23 is measured, and the measured distance data is provided to the position / orientation calculation unit 121. The position / orientation calculation unit 121 holds data indicating the relative orientation of each distance sensor 14 with respect to the autonomous mobile robot 10, and the distance data provided from each distance sensor 14 includes the distance sensor 14. Sensing data is generated by associating data indicating the direction.

A sensing data group 24 which is a plurality of sensing data is illustrated in FIG. 5, for example. The i-th sensing data 25 includes a distance d _i from the distance sensor 14 to an object (0 <d _i <8 m in the present embodiment), and a direction with respect to the traveling direction of the autonomous mobile robot 10 (x-axis direction in FIG. 5). Is associated with an angle φ _i indicating −90 ° <φ _i <+ 90 ° in the present embodiment.

  In the present embodiment, it is assumed that a total of 181 distance sensors 14 are provided every 1 ° from −90 ° to + 90 °. As another form, the sensor unit 11 is provided with one distance sensor 14, and the distance sensor 14 measures the distance to the object in a total of 181 directions every 1 ° from −90 ° to + 90 °. You may make it do.

  For example, when the sensing data group 24 of FIG. 6A is generated based on the distance data from the distance sensor 14, the position / orientation calculation unit 121 displays the sensing data group on the map information in the map information storage unit 120. While changing the position and orientation of the whole 24, the position and orientation of the sensing data group 24 whose sensing data most closely matches the pixel indicating the object on the map information are searched.

  When the position and orientation of the sensing data group 24 whose sensing data most closely matches the pixel indicating the object on the map information is in the state of FIG. 6B, for example, the position / orientation calculation unit 121 The center 27 of the sensing data is specified as the position of the autonomous mobile robot 10, and the central axis 28 of the sensing data at that time is specified as the orientation of the autonomous mobile robot 10.

  Then, the position and orientation calculation unit 121 sends the generated sensing data group to the light emission control unit 123 together with data indicating the position and orientation of the autonomous mobile robot 10 specified in the map information. In addition, the position / orientation calculation unit 121 calculates the movement amount and movement direction of the autonomous mobile robot 10 with reference to the movement route in the map information storage unit 120, and performs movement control on information indicating the calculated movement amount and movement direction. Send to section 122.

  The movement control unit 122 generates a control signal for controlling the moving device 13 based on the information indicating the moving amount and moving direction received from the position / orientation calculating unit 121, and supplies the generated control signal to the moving device 13. The autonomous mobile robot 10 is moved.

  When the light emission control unit 123 receives a sensing data group from the position and orientation calculation unit 121 together with data indicating the position and orientation of the autonomous mobile robot 10, the light emission control unit 123 refers to the map information in the map information storage unit 120 and performs the current autonomous movement. For the directions indicated by the respective sensing data in the position and orientation of the robot 10, a difference between the distance indicated by the sensing data and the distance from the position of the autonomous mobile robot 10 to the object on the map information is a predetermined value (for example, 1 m ) It is determined whether or not the above sensing data exists.

  When there is sensing data in which the difference between the distance indicated by the sensing data and the distance from the position of the autonomous mobile robot 10 to the object on the map information is equal to or greater than a predetermined value, the light emission control unit 123 Before 122 supplies a control signal for movement to the moving device 13, the light emitting element 15 associated with the distance sensor 14 that has provided the sensing data is caused to emit light with a predetermined color and light emission intensity.

  When the light emitting element 15 is caused to emit light, the light emission control unit 123 blinks the light emitting element 15, changes the blinking time interval, changes the color or light emission intensity, flashes, color, and light emission intensity. You may combine the time change of.

  Here, for example, when the autonomous mobile robot 10 is located in the real environment as shown in FIG. 7 and the distance sensor 14 can correctly measure the distance to the object in the real environment, FIG. The sensing data group 29 shown is obtained, and the autonomous mobile robot 10 can move appropriately in accordance with the actual environment.

  However, as shown in FIG. 9, data indicating the distance to an object that does not exist in the actual environment is measured by the distance sensor 14 due to the failure of the distance sensor 14 or the influence of disturbance, and is created based on the extraordinary distance data In some cases, a sensing data group 30 including the sensed sensing data 31 is obtained. The autonomous mobile robot 10 recognizes that an object exists at a position corresponding to the sensing data 31, and if the object exists in the vicinity of the movement path, the autonomous mobile robot 10 deviates from the movement path and makes contact with the object. There are cases where measures such as avoiding or stopping the movement are taken.

  However, since there is actually no object at the position corresponding to the sensing data 31, the autonomous mobile robot 10 moves unnecessarily, and enters an uninstructed area beyond the movement path, Arrival at the point may be delayed.

  Also, as shown in FIG. 10, sensing data to be generated when distance data that should originally be measured for an object existing in the actual environment is not measured due to the failure of the distance sensor 14 or the influence of disturbance, etc. When the sensing data group 32 in which 33 does not exist is generated, the autonomous mobile robot 10 may collide with the object by moving assuming that the object does not exist at the position of the sensing data 33.

  On the other hand, when the sensing data different from the preset map information is measured, the autonomous mobile robot 10 of the present embodiment has the preset map information and the direction in which the sensing data is measured. After notifying the surrounding human beings that the different sensing data has been measured by causing the light emitting element 15 to emit light, etc., it moves according to the measured sensing data.

  As a result, the humans around the autonomous mobile robot 10 who have seen the light emission of the light emitting element 15 stop the movement of the autonomous mobile robot 10, and the autonomous mobile robot 10 enters the area not designated or the autonomous mobile robot. A collision between the object 10 and the object can be prevented. Further, if necessary, the distance information by the distance sensor 14 is obtained by comparing the map information in the autonomous mobile robot 10 and the position and orientation of the autonomous mobile robot 10 calculated by the position and orientation calculation unit 121 with the actual environment. By verifying whether or not the data measurement is correct, it is possible to determine whether or not the distance sensor 14 has failed.

  Note that the light emission control unit 123 measures the distance data of the object not included in the map information when the distance data measured by the distance sensor 14 is shorter than the distance to the object present in the map information by a predetermined distance or more. If the distance data measured by the distance sensor 14 is longer than the distance to the object present in the map information by a predetermined distance or more, for example, the map information When the distance data of the object existing in is not measured, it is preferable to cause the corresponding light emitting element 15 to emit light in red, for example. As a result, it is possible to make the surrounding humans recognize that the autonomous mobile robot 10 may collide with the object without recognizing the presence of the object.

  FIG. 11 is a flowchart showing an example of the operation of the autonomous mobile robot 10.

  First, the position / orientation calculation unit 121 acquires distance data measured by each distance sensor 14 (S100). The position / orientation calculation unit 121 generates sensing data by associating the distance data acquired from each distance sensor 14 with data indicating the direction of the distance sensor 14.

  Next, the position / orientation calculation unit 121 changes the position and orientation of the entire generated sensing data group on the map information in the map information storage unit 120, and the sensing data has the largest number of pixels indicating objects on the map information. The position and orientation of the matching sensing data group are searched, the center of the sensing data group whose sensing data most matches the pixel indicating the object on the map information is identified as the position of the autonomous mobile robot 10, and the sensing data at that time The center axis of the group is specified as the direction of the autonomous mobile robot 10 (S101).

  Then, the position / orientation calculation unit 121 sends the generated sensing data group to the light emission control unit 123 together with the data indicating the position and orientation of the specified autonomous mobile robot 10. Then, the position / orientation calculation unit 121 refers to the movement path in the map information storage unit 120 based on the identified position and orientation of the autonomous mobile robot 10, calculates the movement amount and movement direction of the autonomous mobile robot 10, and calculates Information indicating the amount and direction of movement is sent to the movement control unit 122.

  Next, the light emission control unit 123 refers to the map information in the map information storage unit 120, and for the directions indicated by the respective sensing data in the current position and orientation of the autonomous mobile robot 10, the distance indicated by the sensing data, the map It is determined whether there is sensing data in which the difference between the position of the autonomous mobile robot 10 on the information and the distance from the object is a predetermined value or more (S102).

  When there is no sensing data in which the difference between the distance indicated by the sensing data and the distance from the position of the autonomous mobile robot 10 to the object on the map information is a predetermined value or more (S102: No), the position and orientation calculation unit 121 The process shown in step S100 is executed again.

  When there is sensing data in which the difference between the distance indicated by the sensing data and the distance from the position of the autonomous mobile robot 10 to the object on the map information is a predetermined value or more (S102: Yes), the light emission control unit 123 The distance sensor 14 that provided the sensing data is specified (S103), and the light emission pattern is determined (S104).

  For example, if the distance data measured by the distance sensor 14 is shorter than a predetermined distance than the distance to the object existing in the map information, the light emission control unit 123 determines the light emission pattern to be illuminated in green, and the map When the distance data measured by the distance sensor 14 is longer than the distance to the object existing in the information by a predetermined distance or more, the light emission pattern is determined to be lit in red.

  Next, the light emission control unit 123 causes the light emitting element 15 associated with the distance sensor 14 identified in step S103 to emit light with the light emission pattern determined in step S104 (S105). Then, the movement control unit 122 generates a control signal for controlling the moving device 13 based on the information indicating the moving amount and moving direction received from the position / orientation calculating unit 121, and supplies the generated control signal to the moving device 13. Thus, the autonomous mobile robot 10 is moved along the movement path (S106), and the position / orientation calculation unit 121 executes the process shown in step S100 again.

  FIG. 12 is a diagram illustrating an example of a hardware configuration of the computer 40 that implements the functions of the computing device 12. The computer 40 includes a central processing unit (CPU) 41, a random access memory (RAM) 42, a read only memory (ROM) 43, a hard disk drive (HDD) 44, an input interface (I / F) 45, an output interface (I / F). F) 46 and a media interface (I / F) 47.

  The CPU 41 operates based on a program stored in the ROM 43 or the HDD 44 and controls each part. The ROM 43 stores a boot program executed by the CPU 41 when the computer 40 is started up, a program depending on the hardware of the computer 40, and the like. The HDD 44 stores a program executed by the CPU 41.

  The CPU 41 controls the distance sensor 14 via the input interface 45 and acquires data from the distance sensor 14 via the input interface 45. Further, the CPU 41 controls the moving device 13 and the light emitting element 15 via the output interface 46, and outputs the generated data to the moving device 13 or the light emitting element 15 via the output interface 46.

  The media interface 47 reads a program or data stored in the recording medium 48 and provides it to the CPU 41 via the RAM 42. The CPU 41 loads the program from the recording medium 48 onto the RAM 42 via the media interface 47 and executes the loaded program. The recording medium 48 is, for example, an optical recording medium such as a DVD (Digital Versatile Disk) or PD (Phase change rewritable disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory. Etc.

  The CPU 41 of the computer 40 implements the functions of the map information storage unit 120, the position / orientation calculation unit 121, the movement control unit 122, and the light emission control unit 123 by executing a program loaded on the RAM 42. The ROM 43 or the HDD 44 stores data in the map information storage unit 120. The computer 40 reads these programs from the recording medium 48 and executes them. However, as another example, the computer 40 may be provided with a communication function to acquire these programs via the communication medium.

  The embodiment of the present invention has been described above.

  As is apparent from the above description, according to the autonomous mobile robot 10 of the present embodiment, abnormal movement of the autonomous mobile robot 10 due to a failure of the distance sensor 14 or the like can be prevented in advance.

  In addition, this invention is not limited to above-described embodiment, Many deformation | transformation are possible within the range of the summary.

  For example, the light emitting element 15 associated with each distance sensor 14 may be a light emitting unit 150 in which a plurality of light emitting elements 151 are arranged in a line as shown in FIG. The light emission control unit 123 performs sensing when there is sensing data in which the difference between the distance indicated by the sensing data and the distance from the position of the autonomous mobile robot 10 to the object on the map information is equal to or greater than a predetermined value. In the light emitting unit 150 associated with the distance sensor 14 that provided the data, the number of light emitting elements 151 corresponding to the distance indicated by the sensing data is caused to emit light with a predetermined color and light emission intensity.

  In the example shown in FIG. 13, the measurable distance of 8 m is divided into five stages every 1.6 m, and the distance indicated by the corresponding sensing data is in the range of 3.2 m or more and less than 4.8 m. . As a result, surrounding people who have seen it can quickly recognize the approximate distance measured by the distance sensor 14 corresponding to the light emitting unit 150 emitting light.

  Further, as shown in FIG. 14, the light emission control unit 123 displays the distance indicated by the sensing data and the distance to the object on the map information in different colors so that the light emitting element 151 in the light emitting unit 150 is displayed. May be controlled. For example, the distance indicated by the sensing data may be displayed in red, and the distance to the object on the map information may be displayed in green.

  In this case, for example, in the state of FIG. 14A, the light emitting element 151-2 and the light emitting element 151-3 emit light in red, and the light emitting element 151-4 and the light emitting element 151-5 are mixed yellow and red. Will emit light. For example, in the state of FIG. 14B, the light emitting element 151-2 and the light emitting element 151-3 emit light in green, and the light emitting element 151-4 and the light emitting element 151-5 are mixed in red and green and yellow. It will emit light.

  Thereby, the surrounding human recognizes the distance to the object by the distance sensor 14 and what value is stored as the distance to the object in the map information. It can be recognized quickly from the display.

  Further, the light emitting units 150 of FIG. 13 or FIG. 14 may be arranged radially as shown in FIG. 15, for example, and arranged on the upper surface of the sensor unit 11 as shown in FIG. This makes it easy for humans around the autonomous mobile robot 10 to associate the direction in which the distance indicated by the light-emitting unit 150 is measured with the direction in the real environment, and more quickly change the direction displayed by the light-emitting unit 150. Can be recognized.

  Further, instead of the plurality of light emitting units 150, a plurality of light emitting elements 15 may be arranged in an arc shape on the upper surface of the sensor unit 11, as shown in FIG. By arranging a plurality of light emitting elements 15 in this way, it is possible for humans around the autonomous mobile robot 10 to associate the measurement direction of the distance sensor 14 associated with each light emitting element 15 with the direction in the real environment. And the measurement direction of the distance sensor 14 indicated by the light emission of the light emitting element 15 can be recognized more quickly.

  Each of the light emitting units 150 shown in FIG. 13 or FIG. 14 may be arranged on the side surface of the housing of the sensor unit 11 so that the longitudinal direction is the vertical direction, for example, as shown in FIG. Each of the light emitting units 150 shown in FIG. 13 or FIG. 14 may be arranged on the side surface of the casing of the moving device 13 so that the longitudinal direction is the vertical direction, for example, as shown in FIG.

  In the above-described embodiment, the autonomous mobile robot 10 emits light when the distance measured by the distance sensor 14 and the distance to the object included in the map information in the map information storage unit 120 are different from each other by a predetermined value or more. Although the direction is notified by the light emission of the element 15, as another form, the autonomous mobile robot 10 may notify the direction by voice. In this case, the autonomous mobile robot 10 determines the distance in the direction when the distance measured by the distance sensor 14 and the distance to the object included in the map information in the map information storage unit 120 are different from each other by a predetermined value or more. The distance measured by the sensor 14 may be further notified by voice.

  Thus, the surrounding human does not continue to observe the autonomous mobile robot 10, and the distance measured by the distance sensor 14 by voice and the distance to the object included in the map information in the map information storage unit 120 are predetermined. It is possible to recognize that the difference is more than the value, and it is possible to prevent abnormal movement of the autonomous mobile robot 10 more quickly.

  In the above-described embodiment, the autonomous mobile robot 10 includes the plurality of distance sensors 14, but as another form, the autonomous mobile robot 10 may include an image sensor such as a camera. In this case, the map information storage unit 120 stores image data to be captured at each position and orientation on the map for each combination of the position and orientation on the map. When the image data from is acquired, the map information storage unit 120 is referred to, and the position and orientation associated with the image data closest to the image data is set as the current position and orientation of the autonomous mobile robot 10. Identify.

  In the above-described embodiment, the autonomous mobile robot 10 emits light when the distance measured by the distance sensor 14 and the distance to the object included in the map information in the map information storage unit 120 are different from each other by a predetermined value or more. Although the direction is notified by the light emission of the element 15, as another form, the autonomous mobile robot 10 is provided with a wireless communication function and is included in the distance measured by the distance sensor 14 and the map information in the map information storage unit 120. When the distance to the object differs by a predetermined value or more, the autonomous mobile robot 10 determines the direction, the distance measured by the distance sensor 14 in the direction, and the direction included in the map information in the map information storage unit 120. The distance to the object may be notified to the wireless communication terminal of the manager of the autonomous mobile robot 10.

1 is a perspective view showing an example of an overview of an autonomous mobile robot 10 according to an embodiment of the present invention. 2 is a block diagram illustrating an example of a functional configuration of an autonomous mobile robot 10. FIG. 2 is a conceptual diagram illustrating an example of a two-dimensional map 20. FIG. FIG. 3 is a conceptual diagram for explaining an operation outline of the autonomous mobile robot 10. It is a conceptual diagram which shows an example of the sensing data group 24 measured by the distance sensor 14. FIG. 3 is a conceptual diagram for explaining a process of specifying the position and direction of the autonomous mobile robot 10 in the two-dimensional map 20. FIG. 3 is a conceptual diagram for explaining a process of specifying the position and direction of the autonomous mobile robot 10. FIG. 3 is a conceptual diagram for explaining a process of specifying the position and direction of the autonomous mobile robot 10. FIG. 3 is a conceptual diagram for explaining a process of specifying the position and direction of the autonomous mobile robot 10. FIG. 3 is a conceptual diagram for explaining a process of specifying the position and direction of the autonomous mobile robot 10. FIG. 4 is a flowchart showing an example of the operation of the autonomous mobile robot 10. 2 is a diagram illustrating an example of a hardware configuration of a computer 40 that realizes the functions of the autonomous mobile robot 10. FIG. 3 is a conceptual diagram illustrating an example of a light emitting unit 150. FIG. 4 is a conceptual diagram illustrating an example of a light emitting method of the light emitting unit 150. FIG. 3 is a conceptual diagram illustrating an example of an arrangement of light emitting units 150. FIG. 3 is a perspective view illustrating an example of an arrangement of light emitting units 150. FIG. 12 is a perspective view showing another example of the arrangement of the light emitting elements 15. FIG. 12 is a perspective view showing another example of the arrangement of the light emitting units 150. FIG. It is a perspective view which shows the further another example of arrangement | positioning of the light emission unit 150. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Autonomous mobile robot, 11 ... Sensor unit, 12 ... Calculation apparatus, 120 ... Map information storage part, 121 ... Position and orientation calculation part, 122 ... Movement control part, 123 * ..Light emission control unit, 13 ... moving device, 14 ... distance sensor, 15 ... light emitting element, 150 ... light emitting unit, 151 ... light emitting element, 40 ... computer, 41 ... CPU, 42 ... RAM, 43 ... ROM, 44 ... HDD, 45 ... input interface, 46 ... output interface, 47 ... media interface, 48 ... recording medium

Claims (12)

An autonomous mobile robot,
A map information storage unit for storing map information indicating the arrangement of objects;
A sensor for acquiring information on a real environment around the autonomous mobile robot;
A calculation unit for calculating the position and orientation of the autonomous mobile robot in the map information;
A moving unit for moving the autonomous mobile robot according to a movement parameter determined based on the position and orientation information of the autonomous mobile robot calculated by the calculating unit;
A comparison unit that compares the map information with information on the real environment acquired by the sensor;
A notification unit for notifying the comparison result in the comparison unit ,
The sensor has a plurality of distance sensors for measuring a distance between the autonomous mobile robot and an object around the autonomous mobile robot,
The map information is two-dimensional map information indicating a shape of a real environment at a height at which the distance sensor is attached,
The calculation unit compares the distance information indicating the distances acquired by a plurality of the distance sensors and the two-dimensional map information, and calculates the position and direction having the highest degree of coincidence as the position and direction of the autonomous mobile robot. And
The comparison unit includes:
After the position of the autonomous mobile robot is calculated by the calculation unit, the distance sensor measures each direction in which each distance sensor measures a distance from the autonomous mobile robot to an object around the autonomous mobile robot. A difference between the measured distance and the distance on the map in the direction from the calculated position of the autonomous mobile robot to the position of the object in the two-dimensional map information, and the distance sensor from the autonomous mobile robot when the difference in a plurality of directions the distance measured to the object near the autonomous mobile robot is present direction equal to or greater than a predetermined value, characterized Rukoto is notified to the notification unit in that direction as a comparison result An autonomous mobile robot. The autonomous mobile robot according to claim 1 ,
The notification unit includes a plurality of light emitting elements associated with respective directions measured by the respective distance sensors,
The comparison unit calculates a difference between the measured distance and the distance on the map for each direction in which each distance sensor measures a distance from the autonomous mobile robot to an object around the autonomous mobile robot, When there are directions in which the difference is equal to or greater than a predetermined value among a plurality of directions in which the plurality of distance sensors measure the distance from the autonomous mobile robot to an object around the autonomous mobile robot, the direction is associated with the direction An autonomous mobile robot characterized in that the notification unit is notified of the comparison result by causing a light emitting element to emit light. The autonomous mobile robot according to claim 2 ,
Each of the light emitting elements is mounted on the autonomous mobile robot and arranged in an arc shape on an upper surface of a housing that houses the distance sensor. The autonomous mobile robot according to claim 2 ,
Each of the light emitting elements is disposed on a side surface of a housing that is mounted on the autonomous mobile robot and accommodates the distance sensor, and is associated with each direction measured by the distance sensor. . The autonomous mobile robot according to claim 2 ,
A plurality of light emitting elements are associated with each direction in which each distance sensor measures a distance from the autonomous mobile robot to an object around the autonomous mobile robot,
The comparison unit includes:
For each direction in which each of the distance sensors measures the distance from the autonomous mobile robot to an object around the autonomous mobile robot, the difference between the measured distance and the distance on the map is calculated, and a plurality of the distance sensors If there is a direction in which the difference is a predetermined value or more among a plurality of directions in which the distance from the autonomous mobile robot to objects around the autonomous mobile robot is measured, a plurality of An autonomous mobile robot characterized in that the notification unit is notified of the comparison result by causing a light emitting element to emit light for a number corresponding to the measured distance. The autonomous mobile robot according to claim 5 ,
The plurality of light emitting elements associated with the respective directions measured by the respective distance sensors are arranged in a line in the respective directions on the upper surface of a housing that is mounted on the autonomous mobile robot and accommodates the distance sensor. An autonomous mobile robot characterized by this. The autonomous mobile robot according to claim 5 ,
The plurality of light emitting elements associated with the respective directions measured by the respective distance sensors are arranged in a line in the vertical direction on the side surface of the casing that is mounted on the autonomous mobile robot and accommodates the distance sensor. An autonomous mobile robot characterized by this. The autonomous mobile robot according to claim 5 ,
The autonomous mobile robot, wherein the plurality of light emitting elements associated with the respective directions measured by the respective distance sensors are arranged in a line in the vertical direction on the side surface of the casing of the moving unit. The autonomous mobile robot according to any one of claims 5 to 8 ,
The comparison unit includes:
For each direction in which each of the distance sensors measures the distance from the autonomous mobile robot to an object around the autonomous mobile robot, the difference between the measured distance and the distance on the map is calculated, and a plurality of the distance sensors If there is a direction in which the difference is a predetermined value or more among a plurality of directions in which the distance from the autonomous mobile robot to objects around the autonomous mobile robot is measured, a plurality of The light emitting element emits light with a first color for a number corresponding to the measured distance, and emits light with a second color for a number corresponding to the distance on the map to notify the notification unit of the comparison result. An autonomous mobile robot characterized by this. The autonomous mobile robot according to any one of claims 2 to 9 ,
The notifying unit further notifies the comparison result by blinking of the light emitting element, color, light emission intensity, a combination thereof, or a combination of these time changes. The autonomous mobile robot according to claim 1 ,
The comparison unit calculates a difference between the measured distance and the distance on the map for each direction in which each distance sensor measures a distance from the autonomous mobile robot to an object around the autonomous mobile robot, If there is a direction in which the difference is equal to or greater than a predetermined value among a plurality of directions in which the plurality of distance sensors measure the distance from the autonomous mobile robot to an object around the autonomous mobile robot, map information is displayed in that direction. An autonomous mobile robot characterized in that the notification unit is notified by voice that there is an object different from the above or that there is no object in the map information in that direction. The autonomous mobile robot according to claim 11 ,
The comparison unit calculates a difference between the measured distance and the distance on the map for each direction in which each distance sensor measures a distance from the autonomous mobile robot to an object around the autonomous mobile robot, When there are directions in which the difference is a predetermined value or more among a plurality of directions in which the plurality of distance sensors measure the distance from the autonomous mobile robot to an object around the autonomous mobile robot, the measured distance is An autonomous mobile robot characterized in that the notification unit is further notified of the distance to an object existing in that direction.

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