WO2020095696A1

WO2020095696A1 - Information collection system, information collection method, self-propelled robot, information processing device, and program

Info

Publication number: WO2020095696A1
Application number: PCT/JP2019/041662
Authority: WO
Inventors: 孝浩井上
Original assignee: オムロン株式会社
Priority date: 2018-11-09
Filing date: 2019-10-24
Publication date: 2020-05-14
Also published as: JP2020077324A; JP7014133B2

Abstract

In this information collection system (1): a self-propelled robot (200) is provided with an information transmission unit (223) for transmitting, to an information processing device (100), robot interior information and first timing information; a measurement device (500) is provided with a measurement data transmission unit (312) for transmitting measurement data to the information processing device (100); and the information processing device is provided with a first information reception unit (119) for receiving the robot interior information and the first timing information from the self-propelled robot, a second information reception unit (115) for receiving the measurement data from the measurement device (500), and an accumulation processing unit (114) for performing a process of accumulating, in association and in a storage unit, the measurement data and the robot interior information stored in time sequence, on the basis of the times at which the first timing information is received.

Description

Information collecting system, information collecting method, self-propelled robot, information processing device and program

The present invention relates to an information collecting system, and more particularly to an information collecting system that collects information by using a self-propelled robot. The present invention also relates to an information collecting method, a self-propelled robot, an information processing device, and a program for such an information collecting system.

For example, Non-Patent Document 1 (“Mobile Robot LD Series”, [online], March 14, 2017, OMRON Corporation, [Search August 31, 2018], Internet <URL https: //www.fa. As disclosed in omron.co.jp/products/family/3664/ ＞), when the target point is set by the user (user), the vehicle starts traveling from the departure point and avoids obstacles There are known self-propelled robots that select and run to a target point.

Here, it is desired to mount various measuring devices (laser scanner, image pickup device, etc.) on such a self-propelled robot and collect data measured by the measuring device on a route selected by the self-propelled robot. Have needs.

However, in the conventional self-propelled robot, the specification is such that the internal state related to the traveling of the self-propelled robot (for example, the encoder value of the traveling motor) and the measurement data by the mounted measuring device are associated with each other. There is a problem that not.

Therefore, an object of the present invention is to provide an information collection system capable of associating and analyzing the internal state regarding the traveling of the self-propelled robot and the measurement data by the mounted measuring device. Another object of the present invention is to provide an information collecting method, a self-propelled robot, an information processing device and a program for such an information collecting system.

In order to solve the above problems, the information collection system of this disclosure is
An information collection system including a self-propelled robot, a measurement device mounted on the self-propelled robot, and an information processing device that processes measurement data measured by the measurement device,
The self-propelled robot includes an information transmission unit that transmits, to the information processing device, robot internal information indicating an internal state regarding traveling of the self-propelled robot and first timing information indicating timing regarding traveling of the self-propelled robot. Prepare,
The measurement device includes a measurement data transmission unit that transmits the measurement data to the information processing device,
The above information processing device is
A first information receiving unit for receiving the robot internal information and the first timing information from the self-propelled robot;
A second information receiving unit that receives the measurement data from the measurement device,
An accumulation processing unit that performs a process of associating the robot internal information stored in time series with the measurement data in association with each other based on the time when the first timing information is received, and accumulating in the storage unit;
It is characterized by including.

In the present specification, the “self-propelled robot” refers to a robot which, when a target point is set by a user, starts traveling from a departure point and selects a route by itself while avoiding obstacles and travels to the target point.

In addition, the "robot internal information" is a state of the self-propelled robot such as movement start, stop, route change, operation condition, which is an event related to traveling of the self-propelled robot, or a sensor value inside the self-propelled robot, Refers to information related to encoder values.

Further, the "first timing information" refers to information indicating the occurrence timing of each event (movement start, stop, route change, operation condition acquisition, sensor value acquisition, encoder value acquisition, etc.) related to traveling of the self-propelled robot. ..

Also, "measurement equipment" refers to equipment that can perform measurement operations, such as 3D laser scanners, environmental sensors, and imaging devices. In that case, the “measurement data” refers to data (physical quantity (3D coordinate data, temperature, etc.), image, etc.) measured by the measuring device.

The “information processing device” is typically configured by a data logger provided outside the self-propelled robot, a general-purpose computer device having a wireless or wired communication function, or the like. It may be built into the robot.

In the information collection system of this disclosure, the information transmitting unit of the self-propelled robot includes the robot internal information indicating the internal state regarding the traveling of the self-propelled robot and the first timing information indicating the timing regarding the traveling of the self-propelled robot. Is transmitted to the information processing device. The measurement data transmission unit of the measurement device transmits the measurement data to the information processing device. The first information receiving unit of the information processing device receives the robot internal information and the first timing information from the self-propelled robot. The second information receiving unit of the information processing device receives the measurement data from the measuring device. The accumulation processing unit of the information processing unit apparatus performs a process of associating the robot internal information stored in time series with the measurement data in the storage unit in association with each other based on the time when the first timing information is received. .. Therefore, the user can analyze the internal state related to the traveling of the self-propelled robot and the measurement data by the mounted measuring device in association with each other.

The information collecting system of one embodiment is
The above information processing device is
A timing information transmitting unit for transmitting, to the measuring device, second timing information indicating the timing at which the measuring device should perform measurement;
A second timing storage unit that stores the time when the second timing information is transmitted,
The measuring device includes a third information receiving unit that receives the second timing information,
It is characterized in that the measurement data is acquired by performing measurement according to the timing represented by the second timing information.

In the information collection system of this one embodiment, the timing information transmission unit of the information processing device transmits the second timing information indicating the timing at which the measurement device should perform measurement to the measurement device. The second timing storage unit of the information processing device stores the time when the second timing information is transmitted. The third information receiving unit of the measuring device receives the second timing information. The measurement data is acquired by performing measurement according to the timing represented by the second timing information. Therefore, it is possible to specify the time at which the second timing information indicating the timing at which the measurement should be performed is transmitted from the information processing device to the measuring device. As a result, the second timing information and the measurement data can be associated with each other.

In another aspect, the information gathering method of this disclosure comprises:
An information collecting method using a self-propelled robot, a measuring device mounted on the self-propelled robot, and an information processing device that processes measurement data measured by the measuring device,
The information transmitting unit of the self-propelled robot transmits to the information processing device the robot internal information indicating the internal state regarding the traveling of the self-propelled robot and the first timing information indicating the timing regarding the traveling of the self-propelled robot. Along with, the measurement data transmission unit of the measurement device transmits the measurement data to the information processing device,
The first information receiving unit of the information processing device receives the robot internal information and the first timing information from the self-propelled robot, and the second information receiving unit of the information processing device receives the measuring device from the measuring device. Receive measurement data,
The storage processing unit of the information processing unit device stores the robot internal information and the measurement data stored in time series in association with each other based on the time when the first timing information is received. And

With the disclosed information collection method, the user can analyze the internal state related to the traveling of the self-propelled robot and the measurement data by the mounted measuring device in association with each other.

Further, in another aspect, the self-propelled robot of the present disclosure is
A self-propelled robot used in the above information collecting system,
It is characterized by further comprising an information transmitting unit for transmitting to the information processing apparatus the robot internal information indicating the internal state regarding the traveling of the self-propelled robot and the first timing information indicating the timing regarding the traveling of the self-propelled robot. ..

With the self-propelled robot of this disclosure, it is possible to transmit the internal state regarding the traveling of the self-propelled robot to the information processing device. As a result, the user can analyze the internal state related to the traveling of the self-propelled robot and the measurement data of the mounted measuring device in the information processing device in association with each other.

Furthermore, in another aspect, the information processing device of the present disclosure is
An information processing device in the information collecting system,
A first information receiving unit for receiving the robot internal information and the first timing information from the self-propelled robot;
A second information receiving unit that receives the measurement data from the measurement device,
It is characterized by further comprising: an accumulation processing unit that performs a process of associating the robot internal information stored in time series with the measurement data in association with each other based on the time when the first timing information is received and storing the measurement data in the storage unit. ..

In the information processing apparatus of this disclosure, the first information receiving unit of the information processing apparatus receives the robot internal information and the first timing information from the self-propelled robot. The second information receiving unit of the information processing device receives the measurement data from the measuring device. The accumulation processing unit of the information processing unit apparatus performs a process of associating the robot internal information stored in time series with the measurement data in the storage unit in association with each other based on the time when the first timing information is received. .. Therefore, the user can analyze the internal state related to the traveling of the self-propelled robot and the measurement data by the mounted measuring device in association with each other.

Further, in another aspect, the program of this disclosure is
A program for causing the information processing apparatus to execute an information collecting method,
The above information collection method is
The first information receiving unit receives the robot internal information and the first timing information from the self-propelled robot, and the second information receiving unit receives the measurement data from the measuring device,
The storage processing unit stores the robot internal information and the measurement data, which are stored in time series, in association with each other based on the time when the first timing information is received, in the storage unit.

The above information collection method can be implemented by causing the above information processing apparatus to execute the program of this disclosure.

As is clear from the above, in the information collection system, the self-propelled robot, the information processing device, and the information collection method of the present disclosure, the user is required to have internal information regarding the traveling of the self-propelled robot and measurement data by the mounted measuring device. And can be associated and analyzed. Further, by causing a computer to execute the program of this disclosure, the above information collecting method in the information processing device can be implemented.

It is a figure showing the block composition of the information gathering system of one embodiment of this invention. It is a figure which shows the hardware constitutions of the self-propelled robot contained in the said information collection system. FIG. 3A is a diagram showing a hardware configuration of a laser scanner included in the information collecting system. FIG. 3B is a diagram showing a hardware configuration of the image pickup apparatus included in the information collecting system. It is a figure which shows the hardware constitutions of the information processing apparatus contained in the said information collection system. It is a figure which shows the flow of the information collection process (information collection method) which the calculating part of the said information processing apparatus performs. It is a figure which shows the information collection processing operation | movement with the progress of an example which the said information collection system performs. FIG. 7A is a time chart showing robot internal information received by the information processing apparatus from the self-propelled robot at times t0 and t2. FIG. 7B is a time chart showing the synchronization trigger signal which is the first timing information received from the self-propelled robot at the times T0 and T2 by the information collecting device. FIG. 7C is a time chart showing image data, which is measurement data received by the information processing apparatus from the image pickup apparatus at time t1, and image data, which is measurement data received from the image pickup apparatus at time t3. FIG. 7D is a time chart showing the second timing information transmitted by the information processing apparatus at times T1 and T3.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

(Configuration of information collection system)
FIG. 1 schematically shows a block configuration of an information collecting system according to an embodiment of the present invention. The information collecting system is roughly divided into a self-propelled robot 200, a measuring device 500 mounted on the self-propelled robot 200, and an information processing device 100.

As shown in FIG. 2, the self-propelled robot 200 has, as hardware, a calculation unit 201, a motor control calculation unit 202, a motor drive unit 203, and motors M1, M2, ... , Mm, encoders EN1, EN2, ..., ENm attached to each motor, sensors SE1, SE2, ..., SEm, a synchronization trigger signal transmitter 205, and a transmitter 204. As shown in FIG. 1, in this example, the programmed arithmetic unit 201 constitutes a robot state data generation unit 220, a synchronization trigger signal generation unit 221, and a transmission processing unit 223. In this example, the mobile robot LD series manufactured by OMRON Corporation is used as the self-propelled robot 200.

The robot state data generation unit 220 generates robot internal information RI. In this example, as shown in FIG. 2, the robot state data generation unit 220 uses the motor control calculation unit 202 and the motor drive unit 203, and is an event related to the traveling of the self-propelled robot 200 as the robot internal information RI. State data of the self-propelled robot 200 such as movement start, stop, route change, and operation condition is generated. In addition, the robot state data generation unit 220 uses the sensors SE1 to SEm and the encoders EN1 to ENm, and as the robot internal information RI, the state data of the self-propelled robot 200 regarding the sensor value and the encoder value inside the self-propelled robot 200. To generate. In this example, the generated robot internal information RI is transmitted as the robot internal information RI by the transmission processing unit 223 via the transmitting unit 204 to the receiving unit 106 of the information processing apparatus 100 described later.

The synchronization trigger signal generation unit 221 generates first timing information, which is information indicating the timing of occurrence of each event related to the traveling of the self-propelled robot 200. In this example, as shown in FIG. 2, the synchronization trigger signal generation unit 221 uses the motor control calculation unit 202, the motor drive unit 203, the sensors SE1 to SEm, and the encoders EN1 to ENm to drive the self-propelled robot 200. Information indicating the occurrence timing of each event related to traveling (movement start, stop, route change, operation condition acquisition, sensor value acquisition, encoder value acquisition, etc.) is generated. In this example, the first timing information is transmitted as a synchronization trigger signal ST by the transmission processing unit 223 to the reception unit 106 of the information processing apparatus 100 described later via the synchronization trigger signal transmission unit 205.

As shown in FIG. 1, the measuring device 500 includes a laser scanner 300 and an imaging device 400 in this example. The measuring device 500 is not limited to the laser scanner 300 and the imaging device 400. Any device may be used as long as it can perform the measurement operation.

As shown in FIG. 3A, the laser scanner 300 includes, as hardware, a transmission / reception optical system 302, a control unit 301, a transmission unit 303, and a reception unit 304. As shown in FIG. 1, the laser scanner 300 includes a 3D coordinate data generation unit 310, a synchronization signal input unit 311, a transmission processing unit 312, and a reception processing unit 313 by a programmed control unit 301 in this example. And are configured.

The reception unit 304 included in the laser scanner 300 receives the pulse number (Pulse Per Second) signal PPS from the transmission unit 107 of the information processing apparatus 100 described below by the reception processing unit 313. The signal input unit 311 calibrates the accumulated error of the time stamp inside the laser scanner 300 by the pulse number signal PPS. The 3D coordinate data generation unit 310 commands acquisition of 3D coordinate data. The 3D coordinate data generation unit 310 controls the transmission / reception optical system 302. The transmission / reception optical system 302 rotates a light projecting portion of a laser to scan a certain range. As a result, the 3D coordinate data generation unit 310 acquires the 3D coordinate data (position information) of the object by the irradiated laser. The transmission unit 303 transmits the 3D coordinate data D3D, which is the measurement data acquired by the transmission processing unit 312, to the reception unit 106 of the information processing apparatus 100 described below.

As shown in FIG. 3B, the image pickup device 400 includes an image pickup unit 402, a control unit 401, a transmission unit 403, and a reception unit 404 as hardware. As shown in FIG. 1, in the imaging apparatus 400, in this example, the programmed control unit 401 controls the image data generation unit 410, the synchronization signal generation unit 411, the transmission processing unit 413, and the synchronization signal input unit 412. And a reception processing unit 414.

The receiving unit 404 included in the imaging device 400 receives the shutter signal SS from the transmitting unit 107 of the information processing device 100 described below by the reception processing unit 414. The synchronization signal input unit 412 instructs the image data generation unit 410 to acquire the image data DI in synchronization with the shutter signal SS. The image data generation unit 410 controls the imaging unit 402. The image capturing unit 402 includes a CCD (Charge Coupled Device) and captures an image of an object. Accordingly, the image data generation unit 410 acquires the image data DI of the target object. The transmission unit 403 transmits the image data DI, which is the measurement data acquired by the transmission processing unit 413, to the reception unit 106 of the information processing apparatus 100 described below. In addition, the synchronization signal generation unit 411 of the imaging device 400 generates a signal indicating the timing at which the imaging unit 402 has captured an image. In this example, the synchronization signal generator 411 generates the exposure signal ES. The transmission unit 403 transmits the exposure signal ES generated by the transmission processing unit 413 to the reception unit 106 of the information processing apparatus 100 described below.

As shown in FIG. 4, the information processing apparatus 100 has, as hardware, a calculation unit 101, a display unit 102, an input unit 103, a memory 104, a data storage device 105, a reception unit 106, and a transmission unit 107. It has and. As shown in FIG. 1, the information processing apparatus 100 includes a data storage processing unit 114, a time stamp imprint processing unit 111, a time stamp storage processing unit 112, and a data storage unit by a programmed arithmetic unit 101 in this example. The matching processing unit 113, the execution timing generation unit 110, the

reception processing units

115, 117 and 119, and the

transmission processing units

116 and 118 are configured. The data storage processing unit 114, the data matching processing unit 113, the time stamp imprinting processing unit 111, and the time stamp storage processing unit 112 constitute a storage processing unit. The reception processing unit 119 constitutes a first information receiving unit. The operation of each of these units will be described later in the flow of information collection control in FIG.

The arithmetic unit 101 includes a CPU (central processing unit) operated by software (computer program), and executes processes according to an information collecting method described later and other various processes.

In this example, the input unit 103 includes a key input switch and a setting switch, and is used for inputting or setting an instruction and data from a user (operator).

In this example, the display unit 102 is composed of an LCD (Liquid Crystal Display), and displays numerical values and the like according to a control signal from the calculation unit 101.

In this example, the memory 104 includes an EEPROM (electrically rewritable non-volatile memory) capable of storing data non-temporarily and a RAM (random access memory) capable of storing data temporarily. I'm out. The memory 104 stores software (computer program) for controlling the arithmetic unit 101.

The data storage device 105 includes an auxiliary storage device such as an HDD (Hard Disk Drive) in this example. Further, in this example, the state of the self-propelled robot 200 such as movement start, stop, route change, and operation condition, which are events related to the traveling of the self-propelled robot 200, is stored in the data storage device 105 as the robot internal information RI, Alternatively, information about sensor values, encoder values, etc. inside the self-propelled robot 200 is stored in time series. Further, as measurement data, data measured by the measuring device 500 (physical quantity (3D coordinate data, temperature, etc.), image data, etc.) is stored in time series. In addition, the information processing apparatus 100 generates a time stamp related to information indicating the occurrence timing of each event (movement start, stop, route change, operation condition acquisition, sensor value acquisition, encoder value acquisition, etc.) related to traveling of the self-propelled robot 200. A time stamp relating to execution timing information to be executed is stored together with this information. Further, the robot internal information RI and the measurement data stored in time series are stored in association with each other. These stored contents will be described in detail later.

The receiving unit 106 is controlled by the arithmetic unit 101, receives information from an external device, and transfers the information to the arithmetic unit 101. In this example, the receiving unit 106 receives information (synchronization trigger signal ST, robot internal information RI, 3D coordinate data D3D, image data DI, exposure signal ES) from the self-propelled robot 200, the laser scanner 300, and the imaging device 400. To receive.

The transmission unit 107 is controlled by the calculation unit 101 and transmits predetermined information to an external device. In this example, the transmission unit 107 transmits information (pulse number signal PPS, shutter signal SS indicating shutter timing) to the laser scanner 300, which is the measurement device 500, and the imaging device 400.

(Operation of information collection system)
FIG. 5 shows a processing flow of an information collecting method executed by the information collecting system in order to match the robot internal information or the measurement data with the timing information.

First, as shown in step S1 of FIG. 5, the information processing apparatus 100 causes the arithmetic unit 101 to function as the reception processing unit 119 in response to a user's instruction through the input unit 103, and the self-propelled robot 200 generates the information. Receive timing information. In this example, as shown in FIG. 4, the information processing device 100 captures the synchronization trigger signal ST in the calculation unit 101 via the reception unit 106.

Next, as shown in step S2 of FIG. 5, the information processing apparatus 100 causes the arithmetic unit 101 to function as the time stamp imprint processing unit 111 to imprint the time stamp on the synchronization trigger signal ST fetched by the arithmetic unit 101. At that time, the synchronization trigger signal ST having the time stamp imprinted thereon is stored in the data storage device 105 by the time stamp accumulation processing unit 112 together with the time stamp.

Next, as shown in step S3 of FIG. 5, the information processing apparatus 100 receives the robot internal information RI generated by the self-propelled robot 200 via the receiving unit 106. Further, when receiving the 3D coordinate data D3D which is the measurement data from the laser scanner 300 which is the measuring device, the information processing apparatus 100 receives the 3D coordinate data D3D from the laser scanner 300 via the receiving unit 106. Further, when receiving the image data DI that is the measurement data from the imaging device 400, the information processing device 100 receives the image data DI from the imaging device 400 that is the measurement device via the receiving unit 106.

Next, as shown in step S4 of FIG. 5, the information processing apparatus 100 causes the arithmetic unit 101 to function as the data storage processing unit 114 and stores the robot internal information RI in the data storage device 105 in time series. When receiving the 3D coordinate data D3D from the laser scanner 300, the information processing apparatus 100 similarly stores the 3D coordinate data D3D in the data storage device 105 in time series. Similarly, when receiving the image data DI from the imaging device 400, the information processing device 100 stores the image data DI in the data storage device 105 in time series.

Next, as shown in step S5 of FIG. 5, the information processing apparatus 100 causes the arithmetic unit 101 to act as the data matching processing unit 113, and the time when the robot internal information RI is stored is the time of the time stamp of the synchronization trigger signal ST. It is determined whether or not it is just after. In this example, it is determined whether the time when the robot internal information RI is stored and the time of the time stamp of the synchronization trigger signal ST exist within a predetermined period. When the time when the robot internal information RI is stored is not immediately after the time of the time stamp (NO in step S5), step S5 is repeated. When the time when the robot internal information RI is stored is immediately after the time of the time stamp of the synchronization trigger signal ST (YES in step S5), the process proceeds to step S6. In addition, the information processing apparatus 100 determines whether the time when the 3D coordinate data D3D is stored is immediately after the time of the time stamp. When the measurement data D is not immediately after the time of the time stamp (NO in step S5), step S5 is repeated. When the measurement data D is immediately after the time of the time stamp (YES in step S5), the process proceeds to step S6. Further, with respect to the image data DI received from the imaging device 400, the information processing apparatus 100 similarly determines whether the time when the image data DI is stored is immediately after the time stamp of the execution timing.

Next, as shown in step S6 of FIG. 5, the information processing apparatus 100 causes the calculation unit 101 to work as the data matching processing unit 113 to match the robot internal information RI with the synchronization trigger signal ST, and the robot internal information RI. The data is stored in the data storage device 105 in association with the synchronization trigger signal ST. In addition, the information processing apparatus 100 also causes the 3D coordinate data D3D or the image data DI received from the laser scanner 300 or the imaging apparatus 400 to match the 3D coordinate data D3D or the image data DI with the execution timing. The D3D or image data DI is stored in the data storage device 105 in association with the execution timing.

The information processing apparatus 100 repeats the processing from step S1 to step S6 until receiving an end instruction through the input unit 103 of the user.

In this example, the information processing apparatus matches the robot internal information RI with the synchronization trigger signal ST and stores the robot internal information RI in the data storage device in association with the synchronization trigger signal ST in real time, but the present invention is not limited to this. is not. In the process of matching the robot internal information RI with the synchronous trigger ST and storing the robot internal information RI in the data storage device in association with the synchronous trigger signal ST, all the synchronous trigger signals ST and the robot internal information RI are received and stored. You may go later. Similarly, for the 3D coordinate data D3D or the image data DI, the matching process may be performed after receiving and storing all the 3D coordinate data D3D or the image data DI.

(Example of information collection system operation)
FIG. 6 exemplarily shows an information collection processing operation with the lapse of time from the start of traveling using the self-propelled robot. At time T0, the self-propelled robot starts traveling, and at time T1, the measuring device acquires measurement data DI1. At time T2, the self-propelled robot corrects the trajectory, and at time T3, the measuring device acquires the measurement data DI3. The information collection processing operation at each time will be described in the time chart of FIG.

FIG. 7 (A) shows robot internal information RI0, RI2 that the information processing device receives from the self-propelled robot at times t0, t2. FIG. 7B shows the synchronization trigger signals ST0 and ST2 received by the information collecting device from the self-propelled robot 200 at times T0 and T2. FIG. 7C shows image data DI1 and DI3 that the information processing apparatus receives from the image capturing apparatus at times t1 and t3. FIG. 7D shows shutter signals SS1 and SS3 that are second timing information transmitted by the information processing device at times T1 and T3.

As shown in FIG. 7 (B), when the self-propelled robot starts traveling at time T0, the information processing device receives “start traveling” from the self-propelled robot as a synchronization trigger signal ST0. Further, as shown in FIG. 7A, the information processing device receives the robot internal information RI0 from the self-propelled robot. The information processing device stamps time T0 as a time stamp on the synchronization trigger signal ST0 sent from the self-propelled robot. Further, the information processing device takes in the robot internal information RI0 received from the self-propelled robot into the data storage device and stores the time as t0. The information processing device determines whether the time t0 when the robot internal information RI0 is stored is immediately after the time T0 of the time stamp of the synchronization trigger signal ST0. In this example, it is determined that the time t0 when the robot internal information RI0 is stored is immediately after the time T0 of the time stamp of the synchronization trigger signal ST0. As a result, the information processing device matches the robot internal information RI0 with the synchronization trigger signal ST0 and stores the robot internal information RI0 in the data storage device in association with the synchronization trigger signal ST0. Therefore, the robot internal information RI0 is associated with the synchronization trigger signal ST0.

Next, as shown in FIG. 7D, at time T1, the information processing device transmits a shutter signal SS1 as execution timing information to the imaging device of the measuring device. At that time, the information processing device stamps the time T1 as a time stamp at the time T1 when the shutter signal SS1 is transmitted. Further, as illustrated in FIG. 7C, the information processing device receives the image data DI1 from the imaging device. The information processing device fetches the image data DI1 received from the imaging device into the data storage device and stores the time as t1. The information processing apparatus determines whether the time t1 when the image data DI1 is stored is immediately after the time T1 of the time stamp of the shutter signal SS1. In this example, it is determined that the time t1 when the image data DI1 is stored is immediately after the time T1 of the time stamp of the shutter signal SS1. As a result, the information processing device matches the image data DI1 with the shutter signal SS1 and stores the image data DI1 in the data storage device in association with the shutter signal SS1. Therefore, the image data DI1 is associated with the shutter signal SS1.

Next, as shown in FIG. 7B, when the self-propelled robot changes its trajectory at time T2, the information processing apparatus receives "trajectory change" from the self-propelled robot as a synchronization trigger signal ST2. .. Further, as shown in FIG. 7A, the information processing device receives the robot internal information RI2 from the self-propelled robot. The information processing apparatus stamps time T2 as a time stamp on the synchronization trigger signal ST2 sent from the self-propelled robot. Further, the information processing device captures the robot internal information RI2 transmitted from the self-propelled robot in the data storage device and stores the time as t2. The information processing apparatus determines whether the time t2 at which the robot internal information RI2 is stored is immediately after the time T2 of the time stamp of the synchronization trigger signal ST2. In this example, it is determined that the time t2 when the robot internal information RI2 is stored is immediately after the time T2 of the time stamp of the synchronization trigger signal ST2. As a result, the information processing device matches the robot internal information RI2 with the synchronization trigger signal ST2 and stores the robot internal information RI2 in the data storage device in association with the synchronization trigger signal ST2. Therefore, the robot internal information RI2 is associated with the synchronization trigger signal ST2.

Next, as shown in FIG. 7D, at time T3, the information processing device transmits a shutter signal SS3 as execution timing information to the imaging device of the measuring device. At that time, the information processing apparatus stamps time T3 as a time stamp at time T3 when the shutter signal SS3 is transmitted. Further, as illustrated in FIG. 7C, the information processing device receives the image data DI3 from the imaging device. The information processing device fetches the image data DI3 received from the imaging device into the data storage device and stores the time as t3. The information processing apparatus determines whether the time t3 when the image data DI3 is stored is immediately after the time T3 of the time stamp of the shutter signal SS3. In this example, it is determined that the time t3 when the image data DI3 is stored is immediately after the time T3 of the time stamp of the shutter signal SS3. As a result, the information processing device matches the image data DI3 with the shutter signal SS3 and stores the image data DI3 in the data storage device in association with the shutter signal SS3. Therefore, the image data DI3 is associated with the shutter signal SS3.

As described above, the information processing device associates the robot internal information RI0 and RI2 with the synchronization trigger signals ST0 and ST2. The image data DI1 and DI3 are associated with the shutter signals SS1 and SS3. As a result, the user can analyze the robot internal information RI0 and RI2 related to the traveling of the self-propelled robot and the image data DI1 and DI3 which are the measurement data by the mounted measuring device in association with each other.

In addition, the above-mentioned information collection method is used as a software (computer program) on a recording medium capable of storing data non-transitory such as a CD (compact disc), a DVD (digital versatile disc), and a flash memory. May be recorded. By installing the software recorded in such a recording medium in a substantial computer device such as a personal computer, a PDA (Personal Digital Assistants), a smartphone, a PLC (Programmable Logic Controller), etc. The information collection method described above can be executed.

Also, in the above example, the information processing device is arranged outside the self-propelled robot, but the invention is not limited to this. For example, the information processing devices may be installed in parallel in the arithmetic units provided inside the self-propelled robot. In this case, the user collects the data storage device after the work using the self-propelled robot is completed, and analyzes the internal state related to the traveling of the self-propelled robot and the measurement data by the mounted measuring device in association with each other. It becomes possible.

The above embodiments are examples, and various modifications can be made without departing from the scope of the present invention. The above-described plurality of embodiments can be independently established, but the embodiments can be combined with each other. Further, although various features in different embodiments can be established independently, it is also possible to combine features in different embodiments.

1 Information collecting system 100 Information processing device 200 Self-propelled robot 300 Laser scanner 400 Imaging device 500 Measuring instrument

Claims

An information collection system including a self-propelled robot, a measurement device mounted on the self-propelled robot, and an information processing device that processes measurement data measured by the measurement device,
The self-propelled robot includes an information transmitting unit that transmits to the information processing device, robot internal information indicating an internal state regarding traveling of the self-propelled robot and first timing information indicating timing regarding traveling of the self-propelled robot. Prepare,
The measurement device includes a measurement data transmission unit that transmits the measurement data to the information processing device,
The above information processing device is
A first information receiving unit for receiving the robot internal information and the first timing information from the self-propelled robot;
A second information receiving unit that receives the measurement data from the measurement device,
An accumulation processing unit that performs a process of associating the robot internal information stored in time series with the measurement data in association with each other based on the time when the first timing information is received, and accumulating in the storage unit;
An information gathering system comprising:
In the information collection system of claim 1,
The above information processing device is
A timing information transmitting unit for transmitting, to the measuring device, second timing information indicating the timing at which the measuring device should perform measurement;
A second timing storage unit that stores the time when the second timing information is transmitted,
The measuring device includes a third information receiving unit that receives the second timing information,
An information collecting system, characterized in that measurement is performed according to a timing represented by the second timing information to obtain the measurement data.
An information collecting method using a self-propelled robot, a measuring device mounted on the self-propelled robot, and an information processing device that processes measurement data measured by the measuring device,
The information transmitting unit of the self-propelled robot transmits to the information processing device the robot internal information indicating the internal state regarding the traveling of the self-propelled robot and the first timing information indicating the timing regarding the traveling of the self-propelled robot. Along with, the measurement data transmission unit of the measurement device transmits the measurement data to the information processing device,
The first information receiving unit of the information processing device receives the robot internal information and the first timing information from the self-propelled robot, and the second information receiving unit of the information processing device receives the measuring device from the measuring device. Receive measurement data,
The storage processing unit of the information processing unit device stores the robot internal information and the measurement data, which are stored in time series, in association with each other, in the storage unit, based on the time when the first timing information is received. How to collect information.
A self-propelled robot used in the information collecting system according to claim 1,
It is characterized by further comprising an information transmitting unit for transmitting to the information processing apparatus the robot internal information indicating the internal state regarding the traveling of the self-propelled robot and the first timing information indicating the timing regarding the traveling of the self-propelled robot. Self-propelled robot.
An information processing device in the information collection system according to claim 1,
A first information receiving unit for receiving the robot internal information and the first timing information from the self-propelled robot;
A second information receiving unit that receives the measurement data from the measurement device,
It is characterized by further comprising: an accumulation processing unit that performs a process of associating the robot internal information stored in time series with the measurement data in association with each other based on the time when the first timing information is received and storing the measurement data in the storage unit. Information processing device.
A program for causing the information processing apparatus according to claim 5 to execute an information collecting method,
The above information collection method is
The first information receiving unit receives the robot internal information and the first timing information from the self-propelled robot, and the second information receiving unit receives the measurement data from the measuring device,
A program for causing the storage processing unit to store the robot internal information and the measurement data, which are stored in time series, in association with each other based on the time when the first timing information is received, in the storage unit.