JPWO2019069921A1 - Mobile - Google Patents

Abstract

The moving body can autonomously travel while estimating its own position by sensing the surrounding space using a sensor and collating the acquired sensor data with a map prepared in advance. The moving body is based on the reading result of the motor, the driving device that controls the motor to move the moving body, the reading device that optically or magnetically reads the position of the mapping derivative placed on the floor, and the reading device. Therefore, a signal processing circuit that controls the drive device to run the floor along the map-making derivative, a sensor that senses the surrounding space while running along the map-making derivative, and acquires sensor data. It is equipped with a storage device that stores sensor data. The map created from the sensor data is used as a map prepared in advance for autonomous driving.

Description

The present disclosure relates to mobiles capable of creating maps.

Autonomous mobile robots that autonomously move in space along a predetermined path have been developed. The autonomous mobile robot senses the surrounding space using an external sensor such as a laser range finder, matches the sensing result with a map prepared in advance, and estimates (identifies) its current position and posture. .. The autonomous mobile robot can move along the path while controlling its current position and posture.

Japanese Patent Application Laid-Open No. 2009-031884 and Japanese Patent Application Laid-Open No. 05-046239 disclose a technique for causing a moving body to create a map.

Japanese Unexamined Patent Publication No. 2009-031884 Japanese Unexamined Patent Publication No. 05-046239

Since the work of collecting data for creating a map is complicated but requires high accuracy, it has been necessary to reduce the burden of the data collection work.

The present disclosure provides a technique for further simplifying the data collection work for mapping.

The moving body according to the exemplary embodiment of the present disclosure autonomously travels while estimating its own position by sensing the surrounding space using a sensor and collating the acquired sensor data with a map prepared in advance. Optically or magnetically read the positions of the motor, the drive device that controls the motor to move the moving body, and the mapping derivative placed on the floor. A reading device, a signal processing circuit that controls the driving device to run the floor along the mapping derivative according to the reading result of the reading device, and surroundings while running along the mapping derivative. The map created from the sensor data is provided with a sensor for sensing the space of the above and acquiring the sensor data and a storage device for storing the sensor data, and the map prepared in advance for performing the autonomous traveling. Used as.

In the moving body according to the exemplary embodiment of the present invention, a reading device optically or magnetically reads the position of the mapping derivative placed on the floor, and a signal processing circuit is used for mapping according to the reading result. The drive device is controlled to run the floor along the derivative. The positioning device acquires the sensor data and creates a map while changing the position depending on the traveling. At least if a map-making derivative is placed on the floor when creating a map, the moving body can autonomously travel and create a map, which can greatly simplify the work of the system administrator when creating a map.

FIG. 1A is a diagram illustrating that an AGV uses a magnetic sensor to detect a magnetic tape provided on the floor along a path for mapping. FIG. 1B is a diagram illustrating that the AGV uses an image sensor to detect threads provided on the floor along a path for mapping. FIG. 1C is a diagram illustrating that an AGV uses a range finder (laser range finder) to detect a reflector provided on the floor along a path for creating a map. FIG. 2 is a diagram showing an outline of a control system for controlling the traveling of each AGV according to the present disclosure. FIG. 3 is a diagram showing an example of the moving space S in which the AGV exists. FIG. 4A is a diagram showing an AGV and a tow truck before being connected. FIG. 4B is a diagram showing a connected AGV and a tow truck. FIG. 5 is an external view of an exemplary AGV according to the present embodiment. FIG. 6A is a diagram showing a first hardware configuration example of the AGV. FIG. 6B is a diagram showing a second hardware configuration example of the AGV. FIG. 7A is a diagram showing an AGV that generates a map while moving. FIG. 7B is a diagram showing an AGV that generates a map while moving. FIG. 7C is a diagram showing an AGV that generates a map while moving. FIG. 7D is a diagram showing an AGV that generates a map while moving. FIG. 7E is a diagram showing an AGV that generates a map while moving. FIG. 7F is a diagram schematically showing a part of the completed map. FIG. 8 is a diagram showing an example in which a map of one floor is configured by a plurality of partial maps. FIG. 9 is a diagram showing a hardware configuration example of the operation management device. FIG. 10 is a diagram schematically showing an example of the movement route of the AGV determined by the operation management device. FIG. 11 is a diagram showing an image pickup device separated from each other and an AGV. FIG. 12 is a diagram showing how the AGV is induced along the thread. FIG. 13 is a diagram showing an example of an image acquired by the imaging device. FIG. 14 is a flowchart showing a processing procedure of the microcomputer in the map creation data collection mode.

<Terminology>
Before describing embodiments of the present disclosure, definitions of terms used herein will be described.

An "automated guided vehicle" (AGV) means an automated guided vehicle that manually or automatically loads luggage into the body, automatically travels to a designated location, and manually or automatically unloads. "Automated guided vehicles" include unmanned tow trucks and unmanned forklifts.

The term "unmanned" means that no person is required to steer the vehicle, and does not exclude automatic guided vehicles carrying "people (eg, those who load and unload luggage)".

An "unmanned towing vehicle" is an untracked vehicle that automatically travels to a designated place by towing a trolley that manually or automatically loads and unloads luggage.

An "unmanned forklift" is an unmanned aerial vehicle equipped with a mast that raises and lowers a fork for transferring luggage, automatically transfers the luggage to the fork, etc., and automatically travels to a designated place to perform automatic cargo handling work.

A "trackless vehicle" is a vehicle that includes wheels and an electric motor or engine that rotates the wheels.

A "moving body" is a device that carries a person or luggage to move, and includes a driving device such as a wheel, a two-legged or multi-legged walking device, or a propeller that generates a driving force (traction) for movement. The term "mobile" in the present disclosure includes mobile robots, service robots, and drones as well as automatic guided vehicles in the narrow sense.

"Automated driving" includes traveling based on a command of a computer operation management system to which an automatic guided vehicle is connected by communication, and autonomous driving by a control device provided in the automated guided vehicle. Autonomous traveling includes not only traveling of an automated guided vehicle toward a destination along a predetermined route, but also traveling of following a tracking target. Further, the automatic guided vehicle may temporarily perform manual traveling based on the instruction of the operator. "Automatic driving" generally includes both "guided" driving and "guideless" driving, but in the present disclosure it means "guideless" driving.

The "guide type" is a method in which derivatives are installed continuously or intermittently and an automatic guided vehicle is guided by using the derivatives.

The "guideless type" is a method of guiding without installing a derivative. The automatic guided vehicle according to the embodiment of the present disclosure includes a self-position estimation device and can travel in a guideless manner.

The "self-position estimation device" is a device that estimates the self-position on the environmental map based on the sensor data acquired by an external sensor such as a laser range finder.

The "outside world sensor" is a sensor that senses the external state of a moving body. External world sensors include, for example, a laser range finder (also called a range finder), a camera (or image sensor), a lidar (Light Detection and Ranging), a millimeter wave radar, and a magnetic sensor.

The "inner world sensor" is a sensor that senses the internal state of a moving body. Internal world sensors include, for example, rotary encoders (hereinafter, may be simply referred to as “encoders”), acceleration sensors, and angular acceleration sensors (eg, gyro sensors).

"SLAM" is an abbreviation for Simultaneous Localization and Mapping, which means that self-position estimation and environmental mapping are performed at the same time.

<Exemplary Embodiment>
Hereinafter, an example of the moving body according to the present disclosure will be described with reference to the accompanying drawings. In addition, more detailed explanation than necessary may be omitted. For example, detailed explanations of already well-known matters and duplicate explanations for substantially the same configuration may be omitted. This is to avoid unnecessary redundancy of the following description and to facilitate the understanding of those skilled in the art. The inventors provide accompanying drawings and the following description for those skilled in the art to fully understand the present disclosure. These are not intended to limit the subject matter described in the claims.

In order for a moving object such as an automatic guided vehicle (hereinafter referred to as "AGV") to estimate its current position and attitude using an external sensor (for example, a laser range finder), a map of the moving space is displayed. It is necessary to create it in advance.

In order to create a map in advance, for example, a person manually pushes a hand truck equipped with a laser range finder to move it, and while moving, the laser range finder is used to scan the surrounding space and data (hereinafter referred to as "map creation"). Data for use. ”) Was acquired. By pushing the hand truck to every corner of the space where the moving body moves, the necessary map creation data was obtained, and by doing so, a map of the space where the moving body moved was created.

The above-mentioned work had to be performed by a person holding down the push cart until the scanning of the space in which the moving body moves was completed. The size of the space is, for example, 50 m × 50 m per map. The human workload required to create the map was relatively heavy.

The present inventor has focused on the ability of a moving body to move autonomously, and considered that it is sufficient to scan the surrounding space while moving the moving body to acquire map creation data. By utilizing a mobile body, the work load on humans can be significantly reduced. This method differs from the above-mentioned SLAM technique in that it is only necessary to obtain data for creating a map and it is not necessary to create a map. The obtained mapping data is transmitted by wire or wirelessly, or is moved to an external device via a recording medium. The external device creates a map from the acquired map creation data. However, the moving body may create a map from the map creation data.

The present inventor examined a technique for guiding a moving body in order to efficiently collect data for map creation in a shorter time, and came up with a method described below.

1A to 1C show examples of methods for guiding the moving bodies 1a to 1c. The figure shows an AGV as an example of a moving body. In this embodiment, the moving body moves along the mapping derivative. The mapping derivative need only be placed on the floor at least at the time of collecting the mapping data, and can be removed after the collection.

The mobile bodies 1a to 1c according to the present embodiment further have a laser range finder in addition to the various external world sensors described below. Before acquiring the map, the moving bodies 1a to 1c move while being guided by the guidance method described below, and periodically scan the space using the laser range finder. As a result, the sensor data of the laser range finder, that is, the map creation data, which is necessary for creating the map, can be obtained. When the map generated from the acquired map creation data is acquired, the moving objects 1a to 1c can travel while estimating their own position and posture by using the map and the scan data of the laser range finder.

FIG. 1A shows how the moving body 1a having the magnetic sensor 25a is guided along the magnetic tape 30 installed on the floor when collecting the map creation data. In this example, the magnetic tape 30 is a mapping derivative. The moving body 1a travels along the magnetic tape 30 by utilizing the output of the magnetic sensor 25a that detects the magnetic flux of the magnetic tape 30.

FIG. 1B shows how the moving body 1b having the image pickup device 25b is guided along the thread 31 crawl on the floor when collecting the map creation data. In this example, the thread 31 is a map-making derivative. The moving body 1b recognizes the image of the thread included in the still image or the moving image acquired by the image pickup apparatus 25b, and controls the traveling direction and / or the posture so that the image of the thread falls within a predetermined range in the image. .. As a result, the moving body 1b runs along the thread 31.

The thread may be colored to more reliably distinguish the image of the thread from other images in the image. For example, the thread can be colored by impregnating it with a fluorescent paint. The color of the fluorescent paint can be appropriately selected in consideration of the color of the floor. Instead of letting the thread crawl on the floor, you may draw a line on the floor. The line may be painted with paint, tape such as vinyl, or line powder containing calcium carbonate or the like as a main component. When removing lines after collecting mapping data, the latter two are preferable. The line on the floor is also a "mapping derivative". The color of the line is, for example, white, but a color other than white can be appropriately selected depending on the color of the floor and the like.

FIG. 1C shows how a moving body 1c having a laser radar device 25c detects the positions of reflectors 35a to 35c installed on the floor and travels between the reflectors 35a to 35c when collecting map creation data. ing. In this example, the reflectors 35a to 35c are mapping derivatives. A plurality of reflectors including the reflectors 35a to 35c may be arranged on both sides of the path 32 on which the moving body 1c is to be traveled. The moving body 1c recognizes the position of each reflector from the reflected light acquired by the laser radar device 25c, and controls the traveling direction and / or the posture so as to travel between them. As a result, the moving body 1c travels along the route 32.

According to the example of FIGS. 1A to 1C, the moving body is a device (magnetic sensor 25a) that magnetically reads the position of the mapping derivative placed on the floor, or a device (imaging device 25b or) that optically reads the position. It is equipped with a laser radar device 25c). The moving body runs on the floor along the mapping derivative according to the reading result. The moving body uses a laser range finder to acquire map creation data while changing its position depending on the running. The acquired map creation data is stored in the storage device.

Hereinafter, a more specific example when the moving body is an automatic guided vehicle will be described. The map creation data collection process using the derivative reader is executed when the processes (item (4)) of FIGS. 7A to 7E described later are performed. The details of the operation of the AGV 10 when collecting the map creation data will be described in the item (7) with reference to FIGS. 11 to 14.

The following description can be similarly applied to mobile objects other than AGVs, such as mobile robots, drones, or manned vehicles, as long as there is no contradiction.

(1) Basic configuration of the system FIG. 2 shows a basic configuration example of the exemplary mobile management system 100 according to the present disclosure. The mobile body management system 100 includes at least one AGV 10 and an operation management device 50 that manages the operation of the AGV 10. FIG. 2 also shows a terminal device 20 operated by the user 1.

The AGV10 is an automatic guided vehicle capable of "guideless" traveling that does not require a derivative such as a magnetic tape for traveling. The AGV 10 can perform self-position estimation and transmit the estimation result to the terminal device 20 and the operation management device 50. The AGV 10 can automatically travel in the moving space S according to a command from the operation management device 50. The AGV10 can also operate in a "tracking mode" that follows a person or other moving object to move.

The operation management device 50 is a computer system that tracks the position of each AGV10 and manages the traveling of each AGV10. The operation management device 50 may be a desktop PC, a notebook PC, and / or a server computer. The operation management device 50 communicates with each AGV 10 via the plurality of access points 2. For example, the operation management device 50 transmits data of the coordinates of the position where each AGV10 should go next to each AGV10. Each AGV 10 periodically transmits data indicating its position and orientation to the operation management device 50, for example, every 100 milliseconds. When the AGV 10 reaches the instructed position, the operation management device 50 further transmits the coordinate data of the position to be next. The AGV 10 can also travel in the moving space S in response to the operation of the user 1 input to the terminal device 20. An example of the terminal device 20 is a tablet computer. Typically, the traveling of the AGV 10 using the terminal device 20 is performed at the time of creating the map, and the traveling of the AGV 10 using the operation management device 50 is performed after the map is created.

FIG. 3 shows an example of the moving space S in which three AGVs 10a, 10b and 10c exist. It is assumed that both AGVs are traveling in the depth direction in the figure. The AGVs 10a and 10b are transporting the load placed on the top plate. The AGV10c follows the front AGV10b and travels. For convenience of explanation, reference numerals 10a, 10b and 10c have been added in FIG. 3, but hereinafter, they will be referred to as “AGV10”.

In addition to the method of transporting the luggage placed on the top plate, the AGV10 can also transport the luggage by using a towing trolley connected to itself. FIG. 4A shows the AGV 10 and the tow truck 5 before being connected. Casters are provided on each foot of the tow truck 5. The AGV 10 is mechanically connected to the towing carriage 5. FIG. 4B shows the connected AGV 10 and the tow truck 5. When the AGV 10 travels, the towing carriage 5 is towed by the AGV 10. By towing the towing trolley 5, the AGV 10 can carry the load mounted on the towing trolley 5.

The connection method between the AGV 10 and the towing carriage 5 is arbitrary. An example will be described here. A plate 6 is fixed to the top plate of the AGV 10. The tow truck 5 is provided with a guide 7 having a slit. The AGV 10 approaches the towing carriage 5 and inserts the plate 6 into the slit of the guide 7. When the insertion is completed, the AGV 10 penetrates the plate 6 and the guide 7 with an electromagnetic lock type pin (not shown) to lock the electromagnetic lock. As a result, the AGV 10 and the towing carriage 5 are physically connected.

See FIG. 2 again. Each AGV 10 and the terminal device 20 can be connected to each other on a one-to-one basis, for example, to perform communication conforming to the Bluetooth (registered trademark) standard. Each AGV 10 and the terminal device 20 can also perform Wi-Fi (registered trademark) compliant communication using one or a plurality of access points 2. The plurality of access points 2 are connected to each other via, for example, a switching hub 3. Two access points 2a and 2b are shown in FIG. The AGV10 is wirelessly connected to the access point 2a. The terminal device 20 is wirelessly connected to the access point 2b. The data transmitted by the AGV 10 is received by the access point 2a, transferred to the access point 2b via the switching hub 3, and transmitted from the access point 2b to the terminal device 20. Further, the data transmitted by the terminal device 20 is received by the access point 2b, transferred to the access point 2a via the switching hub 3, and transmitted from the access point 2a to the AGV10. As a result, bidirectional communication between the AGV 10 and the terminal device 20 is realized. The plurality of access points 2 are also connected to the operation management device 50 via the switching hub 3. As a result, bidirectional communication is also realized between the operation management device 50 and each AGV 10.

(2) Creation of environmental map A map in the moving space S is created so that the AGV10 can travel while estimating its own position. The AGV10 is equipped with a position estimation device and a laser range finder, and can create a map by using the output of the laser range finder.

The AGV10 shifts to the data acquisition mode by the operation of the user. In the data acquisition mode, the AGV 10 starts acquiring sensor data using the laser range finder. The laser range finder periodically emits a laser beam of, for example, infrared or visible light to the surroundings to scan the surrounding space S. The laser beam is reflected, for example, on the surface of a structure such as a wall or a pillar, or an object placed on the floor. The laser range finder receives the reflected light of the laser beam, calculates the distance to each reflection point, and outputs the measurement result data showing the position of each reflection point. The position of each reflection point reflects the arrival direction and distance of the reflected light. The measurement result data obtained by one scan is sometimes called "measurement data" or "sensor data".

The position estimation device stores the sensor data in the storage device. When the acquisition of the sensor data in the moving space S is completed, the sensor data stored in the storage device is transmitted to the external device. The external device is, for example, a computer having a signal processing processor and having a mapping program installed.

The signal processor of the external device superimposes the sensor data obtained for each scan. A map of the space S can be created by repeatedly performing the superposition process by the signal processing processor. The external device transmits the created map data to the AGV10. The AGV10 stores the created map data in an internal storage device. The external device may be the operation management device 50 or another device.

The map may be created by the AGV 10 instead of the external device. A circuit such as an AGV10 microcontroller unit (microcomputer) may perform the processing performed by the signal processing processor of the external device described above. When creating a map in AGV10, it is not necessary to transmit the accumulated sensor data to an external device. The data capacity of the sensor data is generally considered to be large. Since it is not necessary to transmit the sensor data to the external device, it is possible to avoid occupying the communication line.

The movement in the moving space S for acquiring the sensor data can be realized by the AGV 10 traveling according to the operation of the user. For example, the AGV 10 wirelessly receives a travel command from the user via the terminal device 20 instructing the user to move in each of the front, rear, left, and right directions. The AGV10 travels back and forth and left and right in the moving space S according to a traveling command to create a map. When the AGV 10 is connected to a control device such as a joystick by wire, the map may be created by traveling in the moving space S in front, back, left and right according to a control signal from the control device. Sensor data may be acquired by a person pushing a measuring trolley equipped with a laser range finder.

Although a plurality of AGVs 10 are shown in FIGS. 2 and 3, the number of AGVs may be one. When a plurality of AGVs 10 exist, the user 1 can use the terminal device 20 to select one AGV10 from the plurality of registered AGVs and have the user 1 create a map of the moving space S.

After the map is created, each AGV10 can automatically travel while estimating its own position using the map. The process of estimating the self-position will be described later.

(3) The configuration diagram 5 of the AGV is an external view of an exemplary AGV 10 according to the present embodiment. The AGV 10 has two drive wheels 11a and 11b, four casters 11c, 11d, 11e and 11f, a frame 12, a transfer table 13, a traveling control device 14, and a laser range finder 15. The two drive wheels 11a and 11b are provided on the right side and the left side of the AGV 10, respectively. The four casters 11c, 11d, 11e and 11f are arranged at the four corners of the AGV10. The AGV10 also has a plurality of motors connected to the two drive wheels 11a and 11b, but the plurality of motors are not shown in FIG. Further, FIG. 5 shows one drive wheel 11a and two casters 11c and 11e located on the right side of the AGV 10, and a caster 11f located on the left rear portion, but the left drive wheel 11b and the left front portion are shown. Caster 11d is not specified because it is hidden behind the frame 12. The four casters 11c, 11d, 11e and 11f can freely rotate. In the following description, the drive wheels 11a and the drive wheels 11b will also be referred to as wheels 11a and wheels 11b, respectively.

The travel control device 14 is a device that controls the operation of the AGV 10, and mainly includes an integrated circuit including a microcomputer (described later), electronic components, and a substrate on which they are mounted. The travel control device 14 performs data transmission / reception and preprocessing calculation with the terminal device 20 described above.

The laser range finder 15 is an optical device that measures the distance to a reflection point by emitting, for example, an infrared or visible light laser beam 15a and detecting the reflected light of the laser beam 15a. In the present embodiment, the laser range finder 15 of the AGV 10 is a pulsed laser beam, for example, in a space within a range of 135 degrees to the left and right (270 degrees in total) with reference to the front surface of the AGV 10 while changing the direction every 0.25 degrees. It emits 15a and detects the reflected light of each laser beam 15a. As a result, it is possible to obtain data on the distance to the reflection point in the direction determined by the angle of 1081 steps in total every 0.25 degrees. In the present embodiment, the scanning of the surrounding space performed by the laser range finder 15 is substantially parallel to the floor surface and is planar (two-dimensional). However, the laser range finder 15 may scan in the height direction.

Based on the position and orientation (orientation) of the AGV10 and the scan result of the laser range finder 15, the AGV10 can create a map of the space S. The map may reflect the placement of walls, pillars and other structures around the AGV, and objects placed on the floor. The map data is stored in a storage device provided in the AGV10.

Generally, the position and posture of the moving body is called a pose. The position and orientation of the moving body in the two-dimensional plane are represented by the position coordinates (x, y) in the XY Cartesian coordinate system and the angle θ with respect to the X axis. The position and posture of the AGV 10, that is, the pose (x, y, θ) may be simply referred to as “position” below.

The position of the reflection point as seen from the radiation position of the laser beam 15a can be represented using polar coordinates determined by the angle and distance. In this embodiment, the laser range finder 15 outputs sensor data expressed in polar coordinates. However, the laser range finder 15 may convert the position expressed in polar coordinates into orthogonal coordinates and output it.

Since the structure and operating principle of the laser range finder are known, further detailed description thereof will be omitted in this specification. Examples of objects that can be detected by the laser range finder 15 are people, luggage, shelves, and walls.

The laser range finder 15 is an example of an external sensor for sensing the surrounding space and acquiring sensor data. Other examples of such external sensors include image sensors and ultrasonic sensors.

The travel control device 14 can estimate its own current position by comparing the measurement result of the laser range finder 15 with the map data held by itself. The map data held may be map data created by another AGV10.

FIG. 6A shows a first hardware configuration example of the AGV10. FIG. 6A also shows a specific configuration of the travel control device 14.

The AGV 10 includes a travel control device 14, a laser range finder 15, two motors 16a and 16b, a drive device 17, wheels 11a and 11b, and two rotary encoders 18a and 18b.

The travel control device 14 includes a microcomputer 14a, a memory 14b, a storage device 14c, a communication circuit 14d, and a position estimation device 14e. The microcomputer 14a, the memory 14b, the storage device 14c, the communication circuit 14d, and the position estimation device 14e are connected by a communication bus 14f, and data can be exchanged with each other. The laser range finder 15 is also connected to the communication bus 14f via a communication interface (not shown), and transmits the measurement data as the measurement result to the microcomputer 14a, the position estimation device 14e and / or the memory 14b.

Further, the travel control device 14 has an input interface 14h. A derivative reading device 25 is connected to the input interface 14h.

The derivative reading device 25 is a device that optically or magnetically reads the position of the mapping derivative. Examples of the derivative reading device 25 are the magnetic sensor 25a shown in FIG. 1A, the imaging device 25b shown in FIG. 1B, and the laser radar device 25c shown in FIG. 1B.

The case where the derivative reading device 25 is a magnetic sensor 25a will be described. The magnetic sensor 25a has a plurality of Hall elements. Each Hall element detects the magnetic flux of the magnetic tape 30 arranged on the floor. For example, when the magnetic sensor 25a has seven Hall elements, the seven Hall elements are arranged at a pitch of 10 mm. Of the seven Hall elements, the Hall element located directly above the magnetic tape 30 outputs a high-level voltage signal, and the Hall element located outside the position directly above the magnetic tape 30 outputs a low-level voltage signal. When the AGV 10 travels and shifts laterally with respect to the extending direction of the magnetic tape 30, the voltage signal of some Hall elements changes from high level to low level, and the voltage signal of some other Hall elements is low level. Changes from to high level. The magnetic sensor 25a can determine how much distance is deviated to the right or left from the change in the voltage signal of each Hall element. The magnetic sensor 25a outputs the data of the deviation direction and the deviation amount to the microcomputer 14a via the input interface 14h.

The case where the derivative reading device 25 is an imaging device 25b will be described. The image pickup apparatus 25b includes a lens (not shown), an image sensor, and an image processing circuit. The image sensor has a large number of image pickup elements arranged vertically and horizontally. The image sensor receives the light incident through the lens at each image sensor. A filter is provided in each image sensor, receives light in a specific wavelength range, and outputs a signal according to the intensity of the received light. Thereby, the intensity of the incident light can be obtained for each of the so-called red, green and blue. One image having a large number of pixels is configured according to the signals output from the plurality of image pickup elements. One pixel is represented by, for example, an output signal of two image pickup elements that detect green, an output signal of one image pickup element that detects red color, and an output signal of one image pickup element that detects blue color.

The image processing circuit recognizes the image of the thread 31 (FIG. 1B) from the image output from the image sensor. For example, when the color of the thread 31 is known, the image processing circuit can identify the image of the thread 31 by extracting pixels having that color in the image.

Further, the image processing circuit detects the amount of change in the position of the image of the thread 31 in the image. The amount of change in position is proportional to how far the AGV10 has moved to the right or left. By associating in advance that the X pixel of the image corresponds to the actual deviation of Y mm, the image processing circuit can output the data of the deviation direction and the deviation amount to the microcomputer 14a via the input interface 14h. it can.

It should be noted that the presence of a plurality of extracted pixels continuously in a predetermined number or more may be included in the determination condition of the thread 31. As a result, even if an object having the same color as the thread 31 exists, erroneous recognition can be avoided.

The case where the derivative reading device 25 is a laser radar device 25c will be described. The laser radar device 25c, like the laser range finder 15, emits an infrared or visible laser beam. The laser range finder 15c emits a laser beam over 360 degrees in 0.5 degree increments, for example. The laser radar device 25c detects the laser beam reflected by the reflector. When reflected by a reflector, the intensity of the reflected light is sufficiently strong, so that the laser radar device 25c can reliably detect the reflected light. The laser radar device 25c calculates and outputs which reflector and which reflector the current position is between.

The microcomputer 14a is a processor or a control circuit (computer) that performs an operation for controlling the entire AGV 10 including the travel control device 14. Typically, the microcomputer 14a is a semiconductor integrated circuit. The microcomputer 14a transmits a PWM (Pulse Width Modulation) signal, which is a control signal, to the drive device 17 to control the drive device 17 and adjust the voltage applied to the motor. As a result, each of the motors 16a and 16b rotates at a desired rotation speed.

One or more control circuits (for example, a microcomputer) that control the drive of the left and right motors 16a and 16b may be provided independently of the microcomputer 14a. For example, the motor drive device 17 may include two microcomputers that control the drive of the motors 16a and 16b, respectively. The two microcomputers may perform coordinate calculation using the encoder information output from the encoders 18a and 18b, respectively, and estimate the moving distance of the AGV 10 from a given initial position. Further, the two microcomputers may control the motor drive circuits 17a and 17b by using the encoder information.

The microcomputer 14a uses the output result of the derivative reading device 25 to control the motor driving device 17 so that the AGV 10 moves along the derivative.

The memory 14b is a volatile storage device that stores a computer program executed by the microcomputer 14a. The memory 14b can also be used as a work memory when the microcomputer 14a and the position estimation device 14e perform calculations.

The storage device 14c is a non-volatile semiconductor memory device. However, the storage device 14c may be a magnetic recording medium typified by a hard disk or an optical recording medium typified by an optical disk. Further, the storage device 14c may include a head device for writing and / or reading data to any recording medium and a control device for the head device.

At the time of collecting the map creation data, the storage device 14c stores the collected map creation data. The mapping data can be a point cloud corresponding to a collection of reflection points of the laser beam.

When the map has already been created, the storage device 14c stores the map data M of the traveling space S and the data (traveling route data) R of one or a plurality of traveling routes. The map data M is created by the AGV 10 operating in the map creation mode and stored in the storage device 14c. The travel route data R is transmitted from the outside after the map data M is created. In the present embodiment, the map data M and the travel route data R are stored in the same storage device 14c, but may be stored in different storage devices.

An example of the travel route data R will be described.

When the terminal device 20 is a tablet computer, the AGV 10 receives the travel route data R indicating the travel route from the tablet computer. The traveling route data R at this time includes marker data indicating the positions of a plurality of markers. The "marker" indicates a passing position (via point) of the traveling AGV 10. The travel route data R includes at least the position information of the start marker indicating the travel start position and the end marker indicating the travel end position. The travel route data R may further include the position information of the markers of one or more intermediate waypoints. When the traveling route includes one or more intermediate waypoints, the route from the start marker to the end marker via the traveling waypoints in order is defined as the traveling route. The data of each marker may include, in addition to the coordinate data of the marker, data of the direction (angle) and the traveling speed of the AGV 10 until the movement to the next marker. When the AGV 10 temporarily stops at the position of each marker and performs self-position estimation and notification to the terminal device 20, the data of each marker is the acceleration time required for acceleration until the traveling speed is reached, and / or , The data of the deceleration time required for deceleration from the traveling speed to the stop at the position of the next marker may be included.

The operation management device 50 (for example, a PC and / or a server computer) may control the movement of the AGV 10 instead of the terminal device 20. In that case, the operation management device 50 may instruct the AGV 10 to move to the next marker each time the AGV 10 reaches the marker. For example, the AGV 10 receives from the operation management device 50 the coordinate data of the target position to be headed next, or the data of the distance to the target position and the angle to be traveled as the travel route data R indicating the travel route.

The AGV 10 can travel along the stored travel route while estimating its own position using the created map and the sensor data output by the laser range finder 15 acquired during travel.

The communication circuit 14d is, for example, a wireless communication circuit that performs wireless communication conforming to the Bluetooth (registered trademark) and / or Wi-Fi (registered trademark) standard. Both standards include wireless communication standards using frequencies in the 2.4 GHz band. For example, in the mode in which the AGV 10 is run to create a map, the communication circuit 14d performs wireless communication conforming to the Bluetooth (registered trademark) standard and communicates with the terminal device 20 on a one-to-one basis.

The position estimation device 14e performs a map creation process and a self-position estimation process during traveling. The position estimation device 14e creates a map of the moving space S based on the position and orientation of the AGV 10 and the scan result of the laser range finder. During traveling, the position estimation device 14e receives the sensor data from the laser range finder 15 and reads out the map data M stored in the storage device 14c. By matching the local map data (sensor data) created from the scan results of the laser range finder 15 with the map data M in a wider range, the self-position (x, y, θ) on the map data M can be determined. Identify. The position estimation device 14e generates "reliability" data indicating the degree to which the local map data matches the map data M. The self-position (x, y, θ) and reliability data can be transmitted from the AGV 10 to the terminal device 20 or the operation management device 50. The terminal device 20 or the operation management device 50 can receive the self-position (x, y, θ) and reliability data and display them on the built-in or connected display device.

In the present embodiment, the microcomputer 14a and the position estimation device 14e are considered to be separate components, but this is an example. It may be one chip circuit or a semiconductor integrated circuit capable of independently performing each operation of the microcomputer 14a and the position estimation device 14e. FIG. 6A shows a chip circuit 14g including the microcomputer 14a and the position estimation device 14e. Hereinafter, an example in which the microcomputer 14a and the position estimation device 14e are provided separately and independently will be described.

The two motors 16a and 16b are attached to the two wheels 11a and 11b, respectively, to rotate each wheel. That is, the two wheels 11a and 11b are driving wheels, respectively. In the present specification, the motor 16a and the motor 16b are described as being motors for driving the right wheel and the left wheel of the AGV 10, respectively.

The moving body 10 further includes an encoder unit 18 for measuring the rotation position or rotation speed of the wheels 11a and 11b. The encoder unit 18 includes a first rotary encoder 18a and a second rotary encoder 18b. The first rotary encoder 18a measures the rotation of the power transmission mechanism from the motor 16a to the wheels 11a at any position. The second rotary encoder 18b measures the rotation of the power transmission mechanism from the motor 16b to the wheels 11b at any position. The encoder unit 18 transmits the signals acquired by the rotary encoders 18a and 18b to the microcomputer 14a. The microcomputer 14a may control the movement of the moving body 10 by using not only the signal received from the position estimation device 14e but also the signal received from the encoder unit 18.

The drive device 17 has motor drive circuits 17a and 17b for adjusting the voltage applied to each of the two motors 16a and 16b. Each of the motor drive circuits 17a and 17b includes a so-called inverter circuit. The motor drive circuits 17a and 17b turn on or off the current flowing through each motor by the PWM signal transmitted from the microcomputer 14a or the microcomputer in the motor drive circuit 17a, thereby adjusting the voltage applied to the motor.

FIG. 6B shows a second hardware configuration example of the AGV10. The second hardware configuration example differs from the first hardware configuration example (FIG. 6A) in that it has a laser positioning system 14h and that the microcomputer 14a is connected to each component on a one-to-one basis. To do.

The laser positioning system 14h includes a position estimation device 14e and a laser range finder 15. The position estimation device 14e and the laser range finder 15 are connected by, for example, an Ethernet (registered trademark) cable. Each operation of the position estimation device 14e and the laser range finder 15 is as described above. The laser positioning system 14h outputs information indicating the pose (x, y, θ) of the AGV 10 to the microcomputer 14a.

The microcomputer 14a has various general-purpose I / O interfaces or general-purpose input / output ports (not shown). The microcomputer 14a is directly connected to other components in the travel control device 14, such as the communication circuit 14d and the laser positioning system 14h, via the general-purpose input / output port.

Except for the configuration described above with respect to FIG. 6B, the configuration is the same as that of FIG. 6A. Therefore, the description of the common configuration will be omitted.

The AGV 10 in the embodiment of the present disclosure may include a safety sensor such as a bumper switch (not shown). The AGV10 may include an inertial measurement unit such as a gyro sensor. By using the measurement data by the rotary encoders 18a and 18b or the internal sensor such as the inertial measurement unit, it is possible to estimate the movement distance and the change amount (angle) of the posture of the AGV10. These distance and angle estimates are called odometry data and can exert a function of assisting the position and orientation information obtained by the position estimation device 14e.

(4) Map data FIGS. 7A to 7F schematically show an AGV 10 moving while acquiring sensor data. The user 1 may manually move the AGV 10 while operating the terminal device 20. Alternatively, the unit provided with the travel control device 14 shown in FIGS. 6A and 6B, or the AGV10 itself may be placed on the trolley, and the user 1 may manually push or pull the trolley to acquire sensor data.

FIG. 7A shows an AGV 10 that scans the surrounding space using the laser range finder 15. A laser beam is emitted at a predetermined step angle to perform scanning. The illustrated scan range is an example schematically shown, and is different from the above-mentioned scan range of 270 degrees in total.

In each of FIGS. 7A to 7F, the positions of the reflection points of the laser beam are schematically shown by using a plurality of black points 4 represented by the symbol “•”. The laser beam scan is performed at short intervals while the position and orientation of the laser range finder 15 changes. Therefore, the actual number of reflection points is much larger than the number of reflection points 4 shown in the figure. The position estimation device 14e stores the positions of the black spots 4 obtained during traveling, for example, in the memory 14b. The map data is gradually completed by continuously scanning while the AGV10 is running. In FIGS. 7B-7E, only the scan range is shown for brevity. The scan range is an example and is different from the above-mentioned example of total 270 degrees.

The map may be created by using the microcomputer 14a in the AGV10 or an external computer based on the sensor data after acquiring the amount of sensor data required for map creation. Alternatively, a map may be created in real time based on the sensor data acquired by the moving AGV10.

FIG. 7F schematically shows a part of the completed map 40. In the map shown in FIG. 7F, the free space is partitioned by a point cloud corresponding to a collection of reflection points of the laser beam. Another example of a map is an occupied grid map that distinguishes between the space occupied by an object and the free space on a grid-by-grid basis. The position estimation device 14e stores map data (map data M) in the memory 14b or the storage device 14c. The number or density of sunspots shown is an example.

The map data thus obtained can be shared by a plurality of AGV10s.

A typical example of an algorithm in which the AGV10 estimates its own position based on map data is ICP (Iterative Closest Point) matching. As described above, by matching the local map data (sensor data) created from the scan result of the laser range finder 15 with the map data M in a wider range, the self-position (x,) on the map data M is performed. y, θ) can be estimated.

When the area in which the AGV 10 travels is wide, the amount of map data M increases. Therefore, inconveniences such as an increase in map creation time and a large amount of time required for self-position estimation may occur. When such an inconvenience occurs, the map data M may be created and recorded separately for a plurality of partial map data.

FIG. 8 shows an example in which the entire area of one floor of one factory is covered by the combination of the four partial map data M1, M2, M3, and M4. In this example, one partial map data covers an area of 50m x 50m. A rectangular overlapping area having a width of 5 m is provided at the boundary between two adjacent maps in each of the X and Y directions. This overlapping area is called a "map switching area". When the AGV 10 traveling while referring to one partial map reaches the map switching area, it switches to traveling referring to another adjacent partial map. The number of partial maps is not limited to four, and may be appropriately set according to the area of the floor on which the AGV10 travels, the performance of the computer that performs map creation and self-position estimation. The size of the partial map data and the width of the overlapping area are not limited to the above example, and may be set arbitrarily.

(5) Configuration Example of Operation Management Device FIG. 9 shows a hardware configuration example of the operation management device 50. The operation management device 50 includes a CPU 51, a memory 52, a position database (position DB) 53, a communication circuit 54, a map database (map DB) 55, an image processing circuit 56, and an individual difference database (individual difference DB). It has 57 and.

The CPU 51, the memory 52, the position DB 53, the communication circuit 54, the map DB 55, the image processing circuit 56, and the individual difference DB 57 are connected by a bus 58, and data can be exchanged with each other.

The CPU 51 is a signal processing circuit (computer) that controls the operation of the operation management device 50. Typically, the CPU 51 is a semiconductor integrated circuit.

The memory 52 is a volatile storage device that stores a computer program executed by the CPU 51. The memory 52 can also be used as a work memory when the CPU 51 performs an operation.

The position DB 53 stores position data indicating each position that can be a destination of each AGV 10. In the present embodiment, the position data includes a set of the coordinate value of the position output by the reference AGV and the angle value of the posture. The location data may be referred to as "operation management registration data". The reference AGV corresponds to the moving body 1a shown in FIG.

The communication circuit 54 performs wired communication conforming to, for example, an Ethernet (registered trademark) standard. The communication circuit 54 is connected to the access point 2 (FIG. 1) by wire, and can communicate with the AGV 10 via the access point 2. The communication circuit 54 receives data to be transmitted to the AGV 10 from the CPU 51 via the bus 58. Further, the communication circuit 54 transmits the data (notification) received from the AGV 10 to the CPU 51 and / or the memory 52 via the bus 58.

The map DB 55 stores map data of the inside of a factory or the like on which the AGV 10 runs. The map may be the same as or different from the map 40 (FIG. 7F). The data format does not matter as long as the map has a one-to-one correspondence with the position of each AGV10. For example, the map stored in the map DB 55 may be a map created by CAD.

The position DB 53 and the map DB 55 may be built on a non-volatile semiconductor memory, a magnetic recording medium typified by a hard disk, or an optical recording medium typified by an optical disk.

The image processing circuit 56 is a circuit that generates video data to be displayed on the monitor 59. The image processing circuit 56 operates exclusively when the administrator operates the operation management device 50. In this embodiment, further detailed description will be omitted. The monitor 59 may be integrated with the operation management device 50. Further, the CPU 51 may perform the processing of the image processing circuit 56.

The individual difference DB 57 is a storage device that stores individual difference data of each AGV10. It is assumed that the AGV 10 that has performed sensing at a certain position outputs the coordinate values (x, y) and the angle θ that represents the posture. In the present embodiment, the individual difference data is acquired as the amount of deviation of each value of (x, y, θ) from the reference value. The “reference value” is the output (x, y, θ) of the reference AGV that has been sensed at the position. Individual difference data is calculated for each AGV. Further, when a plurality of maps exist, the individual difference data can be calculated for each map and each AGV. Details of individual difference data will be described later.

When a drone or the like flying in a three-dimensional space is adopted as a moving body, individual difference data can be acquired as a deviation amount of each value of (x, y, z, θ, φ) from the reference value.

(6) Operation of the Operation Management Device The outline of the operation of the operation management device 50 will be described with reference to FIG. FIG. 10 is a diagram schematically showing an example of the movement route of the AGV 10 determined by the operation management device 50.

The outline of the operation of the AGV 10 and the operation management device 50 is as follows. In the following, an example will be described in which a certain AGV 10 is currently in position M ₁ , passes through several positions, and travels to the final destination position M _{n + 1} (a positive integer greater than or equal to n: 1). .. In the position DB 53, coordinate data indicating each position such as the position M ₂ to be passed next to the position M _{1 and} the position M ₃ to be passed next to the position M ₂ is recorded.

The CPU 51 of the operation management device 50 reads the coordinate data of the position M ₂ with reference to the position DB 53, further reads the individual difference data of the AGV 10 from the individual difference DB 57, and generates a travel command directed to the position M ₂ . The communication circuit 54 transmits a travel command to the AGV 10 via the access point 2.

The CPU 51 periodically receives data indicating the current position and posture from the AGV 10 via the access point 2. In this way, the operation management device 50 can track the position of each AGV 10. CPU51 determines that the current position of the AGV10 matches the position _{M 2,} similarly reads out the coordinate data and the individual difference data position _{M 3,} and transmits the AGV10 generates a travel command to direct the position _{M 3} .. That is, when the operation management device 50 determines that the AGV 10 has reached a certain position, it transmits a travel command to move to the next position to be passed. As a result, the AGV ₁₀ can reach the final target position M _{n + 1} . The above-mentioned passing position and target position of AGV10 may be referred to as "markers".

(7) Processing of a Moving Body Using a Derivative for Creating a Map Next, the moving body according to the present embodiment will be described more specifically. In the following description, the AGV having the image pickup device 25b shown in FIG. 1B will be taken as an example, but the following description can be applied even if the image pickup device 25b is changed to the magnetic sensor 25a or the laser radar device 25c.

FIG. 11 shows the image pickup apparatus 25b separated from each other and the AGV10. The image pickup device 25b is removable from the AGV 10.

When the image pickup device 25b is attached to the AGV10, the microcomputer 14a operates the AGV10 in a data collection mode for collecting map creation data. In the data acquisition mode, the microcomputer 14a moves the AGV 10 along the map-creating derivative and acquires sensor data as map-creating data using the laser range finder 15. On the other hand, when the image pickup device 25b is removed from the AGV 10, the microcomputer 14a autonomously runs the AGV 10 according to the estimation result of the self-position and the posture using the sensor data and the map data output from the laser range finder 15.

An input interface 14h is provided on the transfer table 13 of the AGV 10. On the other hand, an output interface 14j is provided at the bottom of the derivative reading device 25. The input interface 14h can detect attachment / detachment (attachment / detachment) of the image pickup apparatus 25b, for example, depending on the presence / absence of continuity. When the input interface 14h detects that the image pickup device 25b has been attached, the data of the shift direction and the shift amount is transmitted from the image pickup device 25b to the microcomputer 14a. The microcomputer 14a shifts to an operation mode in which the AGV 10 is driven along the map-making derivative. As a result, it is possible to collect map creation data. A mechanical lock mechanism may be provided so that the derivative reading device 25 does not fall out of the AGV 10 during traveling.

It is not essential that the image pickup apparatus 25b be detachable from the AGV 10, and it may be permanently fixed to the AGV 10 so that it cannot be detached. When the imaging device 25b is permanently fixed to the AGV 10, the imaging device 25b reads the mapping derivative in the data acquisition mode. Further, the image pickup device 25b may be used to detect an obstacle or the like in the course during normal traveling. Detection of obstacles and the like can be realized by identifying obstacles and the like by image processing.

FIG. 12 shows how the AGV 10 is induced along the thread 31. In the illustrated example, the AGV 10 runs from the front side of the paper toward the depth direction.

FIG. 13 is an example of the image 35 acquired by the image pickup apparatus 25b. The image 35 includes an image 36 of the thread 31. When the thread 31 has a fluorescent color, the image processing circuit of the image pickup apparatus 25b identifies the image 36 of the thread 31 by extracting the pixels having the fluorescent color.

In the present embodiment, the image pickup apparatus 25b captures moving images at a frame rate of, for example, 15 images per second, and performs a process of identifying the image 36 of the thread 31 for each frame image. By continuously performing the identification, the image processing circuit can acquire data on the direction and amount of deviation of the image 36 of the thread 31.

The microcomputer 14a receives the data of the deviation direction and the deviation amount from the image pickup apparatus 25b, and controls the posture of the AGV 10 during traveling so that the deviation amount falls within the range of, for example, 0 ± 10 mm.

The image processing circuit of the image pickup apparatus 25b may set the position 37 at the center of the lower side of the image as a reference position for calculating the deviation amount. At this time, the microcomputer 14a of the AGV10 controls the posture of the AGV10 during traveling so that the image 36 passes through the range including the position 37 at the center of the lower side of the image.

In the above description, an example has been described in which the magnetic sensor 25a, the image pickup device 25b, and the laser radar device 25c, which are the derivative reading devices 25, calculate and output the data of the deviation direction and the deviation amount by themselves. As another example, the derivative reading device 25 performs a process of acquiring data for calculating the data of the deviation direction and the deviation amount, and the process of actually calculating the data of the deviation direction and the deviation amount is the processing of the microcomputer 14a. May be done. As a result, the configuration of the derivative reading device 25 can be further simplified and the cost can be suppressed.

FIG. 14 is a flowchart showing a processing procedure of the AGV10 microcomputer 14a in the map creation data collection mode. As described above, the derivative reading device 25 is attached to the AGV 10 in the map creation data collection mode.

In step S10, the microcomputer 14a acquires the data of the reading result of the map-making derivative from the derivative reading device 25.

In step S11, the microcomputer 14a runs the AGV 10 along the map-making derivative according to the reading result.

In step S12, the microcomputer 14a sequentially causes the laser range finder 15 to acquire map creation data during traveling.

In step S13, the microcomputer 14a stores the map creation data in the storage device 14c.

According to the above processing, the AGV10 can automatically read the map-making derivative which is a mark and collect the map-making data along with the map-making derivative. After collecting the map creation data, the microcomputer 14a may additionally perform a process of creating a map using the collected data, or transmit the collected data to an external device and have the external device create a map. You may.

The above-mentioned comprehensive or specific embodiment may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium. Alternatively, it may be realized by any combination of systems, devices, methods, integrated circuits, computer programs, and recording media.

The moving body of the present disclosure can be suitably used for moving and transporting items such as luggage, parts, and finished products in factories, warehouses, construction sites, physical distribution, hospitals, and the like.

1 ... User, 2a, 2b ... Access point, 10 ... AGV (moving body), 11a, 11b ... Drive wheels (wheels), 11c, 11d, 11e, 11f ... Caster, 12 ... frame, 13 ... transfer table, 14 ... travel control device, 14a ... microcomputer, 14b ... memory, 14c ... storage device, 14d ... communication circuit, 14e ... Positioning device, 16a, 16b ... motor, 15 ... laser range finder, 17a, 17b ... motor drive circuit, 20 ... terminal device (mobile computer such as tablet computer), 25 ... derivative reading Device, 25a ... Magnetic sensor, 25b ... Imaging device, 25c ... Laser radar device, 50 ... Operation management device, 51 ... CPU, 52 ... Memory, 53 ... Location database (Position DB), 54 ... Communication circuit, 55 ... Map database (Map DB), 56 ... Image processing circuit, 100 ... Mobile management system

Claims (8)

It is a moving body that can perform autonomous driving while estimating its own position by sensing the surrounding space using a sensor and collating the acquired sensor data with a map prepared in advance.
With the motor
A drive device that controls the motor to move the moving body,
A reader that optically or magnetically reads the location of the mapping derivative placed on the floor,
A signal processing circuit that controls the drive device so as to run the floor along the map-making derivative according to the reading result of the reading device.
A sensor that acquires sensor data by sensing the surrounding space while traveling along the map-making derivative,
A mobile body including a storage device for storing the sensor data, and using a map created from the sensor data as the map prepared in advance for performing the autonomous driving. The mapping derivative is a thread laid on the floor.
The moving body according to claim 1, wherein the reading device is an imaging device that optically images the thread. The mapping derivative is a line drawn on the floor.
The moving body according to claim 1, wherein the reading device is an imaging device that optically captures the line. The mapping derivative is a magnetic tape drawn on the floor.
The mobile body according to claim 1, wherein the reading device is a magnetic sensor. The reading device is removable and
The moving body according to any one of claims 1 to 4, wherein the reading device is attached when the sensor data for creating the map is acquired and is removed during the autonomous driving. An interface device capable of detecting the attachment / detachment of the reading device is further provided.
According to any one of claims 1 to 5, when the interface device detects that the reading device is attached, the signal processing circuit shifts to an operation mode in which the floor is run along the mapping derivative. The described mobile body. The mobile body according to any one of claims 1 to 4, wherein the reading device is permanently fixed. The mobile body according to any one of claims 1 to 7, wherein the signal processing circuit creates a map from the sensor data and uses it as the map prepared in advance for performing the autonomous traveling.

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