Method and system for generating environment map and mobile robot

Abstract

Provided are a method, a system, and a mobile robot for generating an environmental map, which are capable of generating a broad and high-precision environmental map at low cost and in a short time. A method according to one embodiment of the present invention is a method for generating an environment map by controlling a first mobile robot, which is provided with a first detection means for detecting an environment and generating first environment information, and which is movable, and a second mobile robot, which is provided with a second detection means for generating second environment information. The second mobile robot is provided with a second detection unit used for detecting the environment and generating second environment information and can move. The method comprises the following steps that the first mobile robot moves; generating first environment information by detecting an environment by a first detection unit of a moving first mobile robot; the second mobile robot moves in a mode of following the first mobile robot; generating second environment information by detecting the environment by a second detection unit of a moving second mobile robot; and generating an environment map based on the first environment information and the second environment information.

Description

Technical Field

[0001] This invention relates to methods, systems, and mobile robots for generating environmental maps. Background Technology

[0002] In order for mobile robots to move autonomously in environments inhabited by people and other machinery, the mobile robot itself needs to accurately recognize its own position, posture, and surrounding environment. Previously, as a method for performing such recognition, it is known to create an environment... Figure 1 SLAM (Simultaneous Localization and Mapping) technology, which simultaneously estimates its own position.

[0003] For example, Patent Document 1 discloses a robot system that evaluates the reliability of multiple estimators that perform self-position estimation based on the output of multiple different sensors, and integrates the self-position estimation information obtained from the multiple estimators according to the reliability.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2012-248032

[0005] However, there are limitations to the detection range of sensors and the number of sensors that can be set up. Therefore, sometimes occlusion caused by complex shapes in the environment can result in gaps in certain areas of the constructed map. In addition, reflective surfaces in the environment can sometimes cause defects or errors in the constructed map. To address these technical problems, it is possible to repeatedly move the mobile robot, perform sensor detection, or edit the map, but either approach is time-consuming and costly. Summary of the Invention

[0006] Therefore, the present invention provides a method, system, and mobile robot for generating environmental maps that can generate large and high-precision environmental maps at low cost and in a short time.

[0007] One aspect of the present invention relates to a method for controlling a first mobile robot and a second mobile robot to generate an environmental map. The first mobile robot is equipped with a first detection unit for detecting the environment and generating first environmental information and is capable of movement. The second mobile robot is equipped with a second detection unit for detecting the environment and generating second environmental information and is also capable of movement. The method includes the following steps: the first mobile robot moves; the first mobile robot detects the environment through its first detection unit to generate first environmental information; the second mobile robot moves in a manner that follows the first mobile robot; the second mobile robot detects the environment through its second detection unit to generate second environmental information; and an environmental map is generated based on the first environmental information and the second environmental information.

[0008] According to this method, an environmental map is generated based on first environmental information generated by a first detection unit of a first mobile robot moving within the environment and second environmental information generated by a second detection unit of a second mobile robot moving within the environment in a manner that follows the first mobile robot. Therefore, a large and highly accurate environmental map can be generated at low cost and in a short time.

[0009] In the above-described manner, the step of the second mobile robot moving in a manner that follows the first mobile robot may include the following steps: acquiring path information related to the path of movement of the first mobile robot; generating a path plan for the movement of the second mobile robot based on the path information; and the second mobile robot moving based on the path plan.

[0010] According to this method, based on a path plan generated from path information related to the path of the first mobile robot, the second mobile robot moves in a manner that follows the first mobile robot. Therefore, the accuracy of the second mobile robot in following the first mobile robot is improved, and the completeness of the environmental map is improved.

[0011] In the above method, the second mobile robot may acquire the path information in the step of acquiring path information related to the path of the first mobile robot, and generate the path plan in the step of generating a path plan for the second mobile robot to move based on the path information.

[0012] According to this method, the second mobile robot obtains a path plan generated based on path information related to the path of the first mobile robot, and generates a path plan for the movement of the second mobile robot based on it. Therefore, the second mobile robot can move in a way that follows the first mobile robot at low cost and in a short time.

[0013] In the above method, in the step of generating an environmental map based on the first environmental information and the second environmental information, the second mobile robot obtains the first environmental information from the first mobile robot, the second mobile robot obtains the second environmental information from the second detection unit, and the second mobile robot generates an environmental map based on the obtained first environmental information and second environmental information.

[0014] According to this method, the second mobile robot generates an environmental map based on the first environmental information obtained from the first mobile robot and the second environmental information obtained from the second detection unit. Therefore, it is possible to generate an environmental map at low cost and in a short time.

[0015] In the above method, in the step of generating an environmental map based on the first environmental information and the second environmental information, the first mobile robot obtains the second environmental information from the second mobile robot, the first mobile robot obtains the first environmental information from the first detection unit, and the first mobile robot generates an environmental map based on the obtained first environmental information and the second environmental information.

[0016] According to this method, the first mobile robot generates an environmental map based on the first environmental information obtained from the first detection unit and the second environmental information obtained from the second mobile robot. Therefore, it is possible to generate an environmental map at low cost and in a short time.

[0017] In the above method, the server may obtain path information in the step of obtaining path information related to the path of the first mobile robot, generate path plan based on path information for the second mobile robot, and send path plan to the second mobile robot.

[0018] According to this method, the server obtains a path plan generated based on path information related to the path of the first mobile robot, and generates a path plan for the second mobile robot to move based on it. Therefore, the second mobile robot can move in a way that follows the first mobile robot at low cost and in a short time.

[0019] In the above method, in the step of generating an environmental map based on the first environmental information and the second environmental information, the server obtains the first environmental information from the first mobile robot, the server obtains the second environmental information from the second mobile robot, and the server generates an environmental map based on the obtained first environmental information and second environmental information.

[0020] According to this method, the server generates an environmental map based on the first environmental information obtained from the first mobile robot and the second environmental information obtained from the second mobile robot. Therefore, it is possible to generate an environmental map at low cost and in a short time.

[0021] In the above method, the step of the second mobile robot moving in a manner that follows the first mobile robot may include the following steps: a third detection unit set on the second mobile robot detects the first mobile robot, thereby obtaining position information representing the position of the first mobile robot; based on the position information, a path plan for the movement of the second mobile robot is generated; and the second mobile robot moves based on the path plan.

[0022] According to this method, a path plan for the movement of the second mobile robot is generated based on the position information of the first mobile robot obtained by detecting the first mobile robot through a third detection unit set on the second mobile robot. Therefore, the path plan can be easily generated.

[0023] In the above-described manner, it is also possible that, in the step of the second mobile robot moving in a manner that follows the first mobile robot, the second mobile robot moves in a manner in which the orientation of the second detection unit relative to the movement direction of the second mobile robot is different from the orientation of the first detection unit relative to the movement direction of the first mobile robot.

[0024] According to this method, the orientation of the first detection unit set on the first mobile robot is different from that of the second detection unit set on the second mobile robot. As a result, the range of the first environmental information is different from that of the second environmental information, and the degree to which the first environmental information and the second environmental information in the environmental map complement each other is improved.

[0025] In the above-described manner, it is also possible that, in the step of the second mobile robot moving in a manner that follows the first mobile robot, the second mobile robot moves in a manner in which the orientation of the second detection unit relative to the movement direction of the second mobile robot is opposite to the orientation of the first detection unit relative to the movement direction of the first mobile robot.

[0026] According to this method, the orientation of the first detection unit set on the first mobile robot is opposite to the orientation of the second detection unit set on the second mobile robot. As a result, the range of the first environmental information is different from the range of the second environmental information, and the degree to which the first environmental information and the second environmental information in the environmental map complement each other is improved.

[0027] One aspect of the present invention relates to a system comprising: a first mobile robot having a first detection unit for detecting the environment and generating first environmental information and being capable of movement; a second mobile robot having a second detection unit for detecting the environment and generating second environmental information and being capable of movement; a first movement control unit controlling the first mobile robot to move; a first detection control unit controlling the first mobile robot to detect the environment through the first detection unit of the moving first mobile robot and generate the first environmental information; a second movement control unit controlling the second mobile robot to move in a manner that follows the first mobile robot; a second detection control unit controlling the second mobile robot to detect the environment through the second detection unit of the moving second mobile robot and generate the second environmental information; and an environment map generation unit generating an environment map based on the first environmental information and the second environmental information.

[0028] According to this method, an environmental map is generated based on first environmental information generated by a first detection unit of a first mobile robot moving within the environment and second environmental information generated by a second detection unit of a second mobile robot moving within the environment in a manner that follows the first mobile robot. Therefore, a high-accuracy environmental map can be generated at low cost and in a short time.

[0029] One aspect of the present invention relates to a mobile robot that is equipped with a detection unit for detecting the environment and generating environmental information and is capable of movement. The robot comprises: a movement control unit that controls the mobile robot to move in a manner that follows other mobile robots, wherein the other mobile robots are configured to be equipped with other detection units for detecting the environment and generating other environmental information and are capable of movement; a detection control unit that controls the detection units of the moving mobile robot and generates environmental information; and a supply unit that supplies the generated environmental information to an environment map generation unit that generates an environment map based on the environmental information and other environmental information.

[0030] According to this method, an environmental map is generated based on other environmental information generated by other detection units of other mobile robots moving within the environment, and environmental information generated by detection units of mobile robots moving in a manner that follows other mobile robots within the environment. Therefore, a high-accuracy environmental map can be generated at low cost and in a short time.

[0031] According to the present invention, a method, system, and mobile robot for generating environmental maps are provided, which can generate large and high-precision environmental maps at low cost and in a short time. Attached Figure Description

[0032] Figure 1 This diagram is used to explain the overview of the environmental map generation system 1 involved in this embodiment.

[0033] Figure 2 This is a schematic diagram illustrating an example of the functional structure of the environmental map generation system 1 according to the first embodiment.

[0034] Figure 3 This is a diagram illustrating an example of the action flow of the action processing performed by the environment map generation system 1 according to the first embodiment.

[0035] Figure 4 This is a diagram representing an example of map information (ML).

[0036] Figure 5 This is a diagram representing an example of map information MF.

[0037] Figure 6 This is a diagram representing an example of synthetic map information (MA).

[0038] Figure 7 This is a schematic diagram illustrating an example of the functional structure of the environment map generation system 2 according to the second embodiment.

[0039] Figure 8 This is a diagram illustrating an example of the action flow of the action processing performed by the environment map generation system 2 according to the second embodiment.

[0040] Figure 9 This is a schematic diagram illustrating an example of the functional structure of the environment map generation system 3 according to the third embodiment.

[0041] Figure 10 This is a diagram illustrating an example of the action flow of the action processing performed by the environment map generation system 3 according to the third embodiment.

[0042] Figure 11 This is a schematic diagram illustrating an example of the functional structure of the environment map generation system 4 according to the fourth embodiment.

[0043] Figure 12 This is a diagram illustrating an example of the action flow of the action processing performed by the environment map generation system 4 according to the fourth embodiment. Detailed Implementation

[0044] Preferred embodiments of the present invention will be described with reference to the accompanying drawings. (It should be noted that components labeled with the same reference numerals in the drawings have the same or identical structure.)

[0045] (1) First implementation method

[0046] (1-1) Summary

[0047] Figure 1 This diagram illustrates an overview of the environmental map generation system 1 according to this embodiment. The environmental map generation system includes, for example, a first mobile robot 10 and a second mobile robot 20. The environmental map generation system 1 controls the first mobile robot 10 and the second mobile robot 20 to generate an environmental map.

[0048] Both the first mobile robot 10 and the second mobile robot 20 are so-called self-propelled robots that move autonomously by driving on the floor surface, which serves as the driving surface. Figure 1 In this context, the driving surface (moving surface) is defined as a surface that is approximately parallel to the XY plane defined by the X-axis and Y-axis. It should be noted that self-propelled driving is not limited to fully autonomous driving; it can also include driving via remote control or other external devices.

[0049] The first mobile robot 10 is configured to have external sensors 11 for detecting the environment and generating map information ML (an example of "first environmental information"), and is capable of movement. Figure 1 In the diagram, the direction of movement of the first mobile robot 10 is represented by the solid line DL, and the orientation of the external sensor 11 is represented by the dashed line SL. The external sensor 11 is configured, for example, to detect the environment in a direction within a defined first range relative to the external sensor 11. Figure 1 In the diagram, as an example of a first range, a first range 11R of approximately 270 degrees centered on the orientation SL of the external sensor 11 is shown. It should be noted that the angle of the first range 11R is not limited to approximately 270 degrees and can be any value. The external sensor 11 is configured to detect the environment in the direction of this first range 11R. When the first mobile robot 10 moves within the environment, the external sensor 11 detects the environment in the direction of the first range 11R and generates map information ML based on the detection results.

[0050] The second mobile robot 20 is configured to have external sensors 21 for detecting the environment and generating map information MF (an example of "second environmental information"), and is capable of movement. Figure 1 In the diagram, the direction of movement of the second mobile robot 20 is represented by a solid line DF, and the orientation of the external sensor 21 is represented by a dashed line SF. The external sensor 21 is configured to detect, for example, the environment in a direction within a defined second range relative to the external sensor 21. Figure 1 In the diagram, as an example of a second range, a second range 21R of approximately 270 degrees centered on the orientation SF of the external sensor 21 is shown. It should be noted that the angle of the second range 21R is not limited to approximately 270 degrees and can be any value. The external sensor 21 is configured to detect the environment in the direction of this second range 21R. When the second mobile robot 20 moves within the environment in a manner that follows the first mobile robot 10, the external sensor 21 detects the environment in the direction of the second range 21R and generates map information MF based on the detection results.

[0051] The environmental map generation system 1 generates synthetic map information MA (an example of an "environmental map") based on map information ML and map information MF. In the environmental map generation system 1, for example, a second mobile robot 20 obtains map information ML from a first mobile robot 10 and synthesizes it with map information MF generated based on the detection results of an external sensor 21, thereby generating synthetic map information MA.

[0052] In this environmental map generation system, the first mobile robot 10 moves within the environment, and the second mobile robot 20 moves within the environment in a manner that follows the first mobile robot 10. Furthermore, synthetic map information MA is generated based on map information ML generated by external sensors 11 installed on the first mobile robot 10 and map information MF generated by external sensors 21 installed on the second mobile robot 20. Therefore, it is possible to generate large-scale and high-precision environmental maps at low cost and in a short time.

[0053] It should be noted that in this disclosure, attitude information, path information, and map information are sometimes referred to simply as "attitude," "path," and "map," respectively.

[0054] (1-2) Structure

[0055] Figure 2 This is a schematic diagram illustrating an example of the functional structure of the environmental map generation system 1 according to the first embodiment. The first mobile robot 10 and the second mobile robot 20 are interconnected via a communication network N such as Wi-Fi (registered trademark) or Bluetooth (registered trademark) to send and receive information.

[0056] In the environmental map generation system 1 according to the first embodiment, the second mobile robot 20 acquires the path information TL of the first mobile robot 10 and generates a path plan for the second mobile robot 20 to follow the first mobile robot 10. Furthermore, in the environmental map generation system 1 according to the first embodiment, the second mobile robot 20 acquires map information ML and map information MF, and generates synthetic map information MA based on these.

[0057] (1-2-1) Structure of the first mobile robot 10

[0058] The first mobile robot 10 has an external sensor 11, an internal sensor 12, a communication unit 13, a driving unit 14, and a control device 15.

[0059] External sensors 11 are sensors that detect information related to the surrounding environment of the first mobile robot 10. External sensors 11 may detect information related to the position, two-dimensional or three-dimensional shape, color, and material of the surrounding environment. External sensors 11 may also be composed of sensors such as LRF (Laser Range Finder), LIDAR (Laser Imaging Detection and Ranging), cameras, depth cameras, stereo cameras, sonar, RADAR, or combinations thereof. It should be noted that the number and configuration of external sensors 11 on the first mobile robot 10 are not particularly limited. External sensors 11 may also be configured at any position, such as the front, rear, or side of the first mobile robot 10. For example, external sensors 11 may be configured to face a predetermined direction SL relative to the first mobile robot 10 and to detect the environment in a predetermined first range 11R relative to the external sensor 11 (see reference). Figure 1 ).

[0060] The internal sensor 12 is a sensor that detects information related to the position and attitude of the first mobile robot 10. For example, the internal sensor 12 is configured to detect at least one absolute value of the three directional components (e.g., the X-axis, Y-axis, and Z-axis components of the XYZ orthogonal coordinate system) of the first mobile robot 10's movement distance, velocity, acceleration, angular velocity, and attitude. The internal sensor 12 can also be composed of sensors such as accelerometers, angular velocity sensors, encoders, geomagnetic sensors, air / water pressure sensors, torque sensors, or combinations thereof.

[0061] The communication unit 13 is a wireless communication module (also called a communication circuit) used by the first mobile robot 10 to communicate wirelessly with the second mobile robot 20 and other devices via the communication network N. There are no particular limitations on the communication standard used for communication; for example, it can be Wi-Fi (registered trademark), Bluetooth (registered trademark), etc.

[0062] The driving unit 14 is a unit that enables the first mobile robot 10 to drive (move). For example, it may include at least one wheel and an actuator that powers the wheel. The actuator drives the wheel based on control commands from the driving control unit 151b, thereby causing the first mobile robot 10 to move.

[0063] The control device 15 is a computer equipped with a CPU (Central Processing Unit), storage devices (composed of storage devices such as RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), or SSD (Solid State Drive), etc.), and various interfaces. The control device 15 has a control unit 151 and a storage unit 152. Some or all of the functional units of the control unit 151, described later, can also be implemented by executing a predetermined program stored in the aforementioned storage device. Alternatively, some or all of the functional units of the control unit 151 can also be implemented using hardware such as a custom IC.

[0064] The control unit 151 includes a sensor control unit 151a, a driving control unit 151b, a map information generation / self-position estimation unit 151c, and a transceiver unit 151d.

[0065] The sensor control unit 151a controls the external sensor 11 and the internal sensor 12 to generate detection results from each sensor. For example, the sensor control unit 151a, together with the external sensor 11, constitutes a first detection unit, generating map information ML based on the detection signal supplied from the external sensor 11. The sensor control unit 151a can also control the external sensor 11. For example, the sensor control unit 151a can also control the orientation SL and / or the size of the first range 11R of the external sensor 11.

[0066] The driving control unit 151b generates a path plan for the first mobile robot 10 and controls the driving unit 14 based on the path plan, thereby moving the first mobile robot 10. The method for generating the path plan is not particularly limited, but for example, the driving control unit 151b may use map information ML stored in the storage unit 152 and information about the first mobile robot 10's own position estimated by the map generation / self-position estimation unit 151c to generate the path plan. Furthermore, the driving control unit 151b may also generate a path plan based on a set motion mode. The motion mode can be arbitrarily set, but for example, it may be a "free mode" for random movement, a "map creation mode" for expanding the map creation range, or a "destination designation mode" for moving to a designated location, etc. The driving control unit 151b generates control signals based on the generated path plan and supplies them to the actuators in the driving unit 14, thereby driving the wheels and the like to move the first mobile robot 10.

[0067] The map generation / self-position estimation unit 151c acquires at least one absolute value of each of the three directional components of the first mobile robot 10's movement distance, velocity, acceleration, angular velocity, and attitude, obtained from the internal sensor 12. Furthermore, the map generation / self-position estimation unit 151c acquires information about the surrounding environment of the first mobile robot 10 obtained from the external sensor 11. Moreover, based on the acquired information, the map generation / self-position estimation unit 151c estimates the self-position of the first mobile robot 10 and generates map information through filtering processing. The filtering processing can be configured using methods such as Kalman filters, extended Kalman filters, unscented Kalman filters, particle filters, and Rao-Blackwellized particle filters.

[0068] By estimating its own position, attitude information PL and path information TL are generated. Map information ML is generated by generating map information. Here, attitude information PL may also include the position (coordinates) and orientation of the first mobile robot 10. Path information TL may also include information representing the path the first mobile robot 10 moves along. Map information ML may also include information about the environment map.

[0069] The map generation / self-position estimation unit 151c saves the generated attitude information PL, path information TL, and map information ML to the storage unit 152. If the corresponding attitude information PL, path information TL, and map information ML already exist, the map information is updated by combining the map information saved in the storage unit 152, and then saved to the storage unit 152.

[0070] The transceiver unit 151d performs information transmission and reception with other devices such as the second mobile robot 20 via the communication unit 13 and the communication network N. For example, the transceiver unit 151d can also send attitude information PL, path information TL, and / or map information ML to the second mobile robot 20.

[0071] The storage unit 152 stores various programs and data used to control the first mobile robot 10. For example, the storage unit stores attitude information PL, path information TL, and / or map information ML generated by the map generation / self-position estimation unit 151c.

[0072] (1-2-2) Structure of the second mobile robot 20

[0073] The second mobile robot 20 has an external sensor 21, an internal sensor 22, a communication unit 23, a driving unit 24, and a control device 25.

[0074] External sensors 21 are sensors that detect information related to the surrounding environment of the second mobile robot 20. External sensors 21 may detect information related to the position, two-dimensional or three-dimensional shape, color, and material of the surrounding environment. External sensors 21 may also be composed of sensors such as LRF (Laser Range Finder), LIDAR (Laser Imaging Detection and Ranging), cameras, depth cameras, stereo cameras, sonar, RADAR, or combinations thereof. It should be noted that the number and configuration of external sensors 21 on the second mobile robot 20 are not particularly limited. External sensors 21 can also be configured at any position, such as the front, rear, or side of the second mobile robot 20. For example, external sensors 21 may be configured to face a predetermined direction SF relative to the second mobile robot 20, and to detect the environment in a predetermined second range 21R relative to the external sensor 21 (see reference). Figure 1 ).

[0075] The internal sensor 22 is a sensor that detects information related to the position and attitude of the second mobile robot 20. For example, the internal sensor 22 is configured to detect at least one absolute value of the three directional components (e.g., the X-axis, Y-axis, and Z-axis components of the XYZ orthogonal coordinate system) of the second mobile robot 20's travel distance, velocity, acceleration, angular velocity, and attitude. The internal sensor 22 can also be composed of sensors such as accelerometers, angular velocity sensors, encoders, geomagnetic sensors, air / water pressure sensors, torque sensors, or combinations thereof.

[0076] The communication unit 23 is a wireless communication module (also called a communication circuit) used by the second mobile robot 20 to communicate wirelessly with the first mobile robot 10 and other devices via the communication network N. There are no particular limitations on the communication standard used for communication; for example, it can be Wi-Fi (registered trademark), Bluetooth (registered trademark), etc.

[0077] The driving unit 24 is a unit that enables the second mobile robot 20 to move. For example, it may include at least one wheel and an actuator that powers the wheel. The actuator drives the wheel based on control commands from the driving control unit 251b, thereby causing the second mobile robot 20 to move.

[0078] The control device 25 is a computer equipped with a CPU (Central Processing Unit), a storage device (composed of storage devices such as RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), or SSD (Solid State Drive), and various interfaces. The control device 25 has a control unit 251 and a storage unit 252. Some or all of the functional units of the control unit 251, described later, can also be implemented by executing a predetermined program stored in the aforementioned storage device. Alternatively, some or all of the functional units of the control unit 251 can also be implemented using hardware such as a custom IC.

[0079] The control unit 251 includes a sensor control unit 251a, a driving control unit 251b, a map information generation / self-position estimation unit 251c, a transceiver unit 251d, and a map information synthesis unit 251e.

[0080] The sensor control unit 251a controls the external sensor 21 and the internal sensor 22 to acquire the detection results of each sensor. For example, the sensor control unit 251a, together with the external sensor 21, constitutes a second detection unit, generating map information MF based on the detection signal supplied from the external sensor 21. The sensor control unit 251a can also control the external sensor 21. For example, the sensor control unit 251a can also control the orientation SF and / or the size of the second range 21R of the external sensor 21. In particular, the sensor control unit 251a can control the orientation SF and / or the size of the second range 21R of the external sensor 21 such that when the second mobile robot 20 moves in a manner that follows the first mobile robot 10, the second range 21R of the detection environment of the external sensor 21 of the second mobile robot 20 includes a range not included in the first range 11R of the detection environment of the external sensor 11 of the first mobile robot 10.

[0081] The driving control unit 251b generates a path plan for the second mobile robot 20 and controls the driving unit 24 based on the path plan, thereby causing the second mobile robot 20 to move. Specifically, the driving control unit 251b causes the second mobile robot 20 to move in a manner that follows the first mobile robot 10. Therefore, the driving control unit 251b, for example, acquires path information TL related to the path of the first mobile robot 10, and generates a path plan for the second mobile robot 20 based at least on the path information TL. It should be noted that, alternatively, the path plan may also be generated based on map information MF stored in the storage unit 252 and information about the second mobile robot 20's own position estimated by the map generation / self-position estimation unit 251c.

[0082] Here, following the first mobile robot 10 is not limited to a path that is exactly the same as the path the first mobile robot 10 moves along, but can also include moving along a path that includes a range of distances away from the path the first mobile robot 10 moves along. This predetermined distance can be stored as a pre-defined value in the storage unit 252, for example. This value can also be set according to the mode of the first mobile robot 10 and the mode of the second mobile robot 20, for example. Furthermore, the driving control unit 251b can also calculate and update this predetermined distance based on the detection results of the external sensor 21 and the internal sensor 22.

[0083] The driving control unit 251b can also move the second mobile robot 20 such that the second range 21R of the environment detected by the external sensor 21 of the second mobile robot 20 includes the range not included in the first range 11R of the environment detected by the external sensor 11 of the first mobile robot 10.

[0084] For example, when the size of the first range 11R of the external sensor 11 is equal to the size of the second range 21R of the external sensor 21, the driving control unit 251b can also move the second mobile robot 20 such that the orientation of the external sensor 21 relative to the second mobile robot 20 is different from the orientation of the external sensor 11 relative to the first mobile robot 10. For example, Figure 1 In the diagram, the solid arrow DL represents the direction of movement of the first mobile robot 10, the dashed arrow SL represents the orientation of the external sensor 21, the solid arrow DF represents the direction of movement of the second mobile robot 20, and the dashed arrow SF represents the orientation of the external sensor 21. Figure 1 As shown, the angle between the movement direction DL of the first mobile robot 10 and the orientation SL of the external sensor 11 is approximately 0 degrees. Furthermore, as... Figure 1 As shown, the angle between the movement direction DF of the second mobile robot 20 and the orientation SF of the external sensor 21 is approximately 180 degrees. Therefore, the orientation of the external sensor 21 relative to the movement direction of the second mobile robot 20 is different from the orientation of the external sensor 11 relative to the movement direction of the first mobile robot 10.

[0085] As described above, in the environmental map generation system 1 according to this embodiment, the second mobile robot 20 can move in a manner that follows the first mobile robot 10. Therefore, the movement direction DF of the second mobile robot 20 when passing through any position may be approximately equal to the movement direction DL of the first mobile robot 10 when passing through that position. In this case, as described above, the second mobile robot 20 moves in a direction in which the orientation of the external sensor 21 relative to the movement direction of the second mobile robot 20 is different from the orientation of the external sensor 11 relative to the movement direction of the first mobile robot 10. As a result, the orientation of the external sensor 11 provided by the first mobile robot 10 when passing through any position is different from the orientation of the external sensor 21 provided by the second mobile robot 20, and the second range R21 of the external sensor 21 includes the range not included in the first range R11 of the external sensor 11. Therefore, from the viewpoint of the range of the shooting area, the map information ML and map information MF, which form the basis for synthesizing map information MA, can complement each other.

[0086] It should be noted that, alternatively, the second mobile robot 20 may have a driving control unit 251b that moves the second mobile robot 20 such that the angle between the moving direction DL of the first mobile robot 10 and the orientation SL of the external sensor 11 is a predetermined value, and the angle between the moving direction DF of the second mobile robot 20 and the orientation SF of the external sensor 21 is a predetermined value. This predetermined value can be any value, for example, any value between 0 and 45 degrees, 45 degrees, any value between 45 and 90 degrees, 90 degrees, or any value between 90 and 180 degrees. Furthermore, the driving control unit 251b can also vary this predetermined value based on various parameters. For example, the driving control unit 251b can also vary this predetermined value according to a user-defined mode (such as a mode related to the accuracy of the generated environmental map). Additionally, for example, the driving control unit 251b can also vary this predetermined value based on generated / acquired data (e.g., attitude information PF, path information TF, map information MF, attitude information PL, path information TL, map information ML, and synthetic map information MA).

[0087] Alternatively, for example, if the size of the second range 21R of the external sensor 21 is smaller than the size of the first range 11R of the external sensor 11, the driving control unit 251b may move the second mobile robot in such a way that the second range 21R includes the range not included in the first range 11R.

[0088] It should be noted that, for example, if the size of the second range 21R is larger than the size of the first range 11R, the second range 21R includes the range not included in the first range 11R, regardless of the orientation of the external sensor 21 SF. Therefore, the driving control unit 251b can also make the second mobile robot move arbitrarily.

[0089] The map generation / self-position estimation unit 251c acquires at least one absolute value of each of the three directional components of the second mobile robot 20's movement distance, velocity, acceleration, angular velocity, and attitude, obtained from the internal sensor 22. Furthermore, the map generation / self-position estimation unit 251c acquires information about the surrounding environment of the second mobile robot 20 obtained from the external sensor 21. Moreover, based on the acquired information, the map generation / self-position estimation unit 251c estimates the self-position of the second mobile robot 20 and generates map information through filtering processing. The filtering processing can be configured using methods such as Kalman filters, extended Kalman filters, unscented Kalman filters, particle filters, and Rao-Blackwellized particle filters.

[0090] By estimating its own position, attitude information (PF) and path information (TF) are generated. Map information (MF) is generated by generating map information. Here, the attitude information (PF) may also include the position (coordinates) and orientation of the second mobile robot 20. The path information (TF) may also include information representing the path the second mobile robot 20 moves along. The map information (MF) may also include information about the environment map.

[0091] The map generation / self-position estimation unit 251c saves the generated attitude information PF, path information TF, and map information MF to the storage unit 252. If the corresponding attitude information PF, path information TF, and map information MF already exist, the map information is updated using the map information stored in the storage unit 252, and then saved to the storage unit 252. As an example of a supply unit, the map generation / self-position estimation unit 251c supplies map information MF to the map information synthesis unit 251e.

[0092] The transceiver unit 251d performs information transmission and reception with other devices such as the first mobile robot 10 via the communication unit 23 and the communication network N. For example, the transceiver unit 251d can also receive posture information PL, path information TL, and / or map information ML from the first mobile robot 10.

[0093] The map information compositing unit 251e generates composite map information MA based on map information ML and map information MF. For example, the map information compositing unit 251e generates composite map information MA by compositing map information ML and map information MF. The compositing of map information ML and map information MF can also use known point cloud matching techniques such as the ICP (Iterative Closest Point) algorithm. It should be noted that in the generation of composite map information MA, attitude information PL and attitude information PF can be converted to the same coordinate system. Furthermore, in the generation of composite map information MA, path information TL and path information TF can be converted to the same coordinate system.

[0094] Storage unit 252 stores various programs and data used to control the second mobile robot 20. For example, storage unit 252 stores attitude information PF, path information TF, and / or map information MF generated by the map generation / self-position estimation unit 251c, etc. Storage unit 252 also stores attitude information PL, path information TL, and / or map information ML received from the first mobile robot 10, for example. Furthermore, storage unit 252 stores composite map information MA generated by the map information synthesis unit 251e, etc.

[0095] (1-3) Action processing

[0096] Figure 3 This diagram illustrates an example of the motion processing flow performed by the environment map generation system 1 according to the first embodiment. The motion processing flow includes: a motion processing flow representing the motion processing performed by the first mobile robot 10 and a motion processing flow representing the motion processing performed by the second mobile robot 20.

[0097] (1-3-1) Motion processing of the first mobile robot 10

[0098] First, the action processing performed by the first mobile robot 10 will be explained.

[0099] First, in step S111, the internal sensor 12 acquires information related to the position and attitude of the first mobile robot 10. The acquired information may include, for example, the absolute values ​​of the three directional components of the first mobile robot 10's movement distance, speed, acceleration, angular velocity, and attitude.

[0100] Next, in step S112, the external sensor 11 acquires information related to the surrounding environment of the first mobile robot 10. Here, the acquired information includes information related to the location of the surrounding environment, and information related to the two-dimensional or three-dimensional shape, color, and material.

[0101] Next, in step S113, the map generation / self-position estimation unit 151c uses the information obtained by the external sensor 11 and the information obtained by the internal sensor 12 to generate map information and estimate the self-position of the first mobile robot 10. Thus, the attitude information PL, path information TL, and map information ML of the first mobile robot 10 are generated.

[0102] Reference Figure 4 The attitude information PL, path information TL, and map information ML are explained. Figure 4 The map information ML is shown when the first mobile robot 10 moves along the path TL to position PL while detecting walls W1, W2, and W3 via external sensors 11. Figure 4 In the diagram, solid lines represent walls W1, W2, W3, and path TL detected by external sensor 11. At this time, as... Figure 4 As shown, during the detection of wall W1 by external sensor 11, a defect d1 is generated due to the angle of external sensor 11. Furthermore, protrusions S1 and S2 are provided on wall W3. At this time, as... Figure 4 As shown, during the detection of wall W3 by external sensor 11, a defect d2 is generated due to the reflection of light caused by protrusion S2.

[0103] Next, in step S114, the transceiver unit 151d sends the generated posture information PL, path information TL, and map information ML of the first mobile robot 10 to the second mobile robot 20.

[0104] Next, in step S115, the driving control unit 151b generates a path plan for the first mobile robot 10. The driving control unit 151b may, for example, use map information ML stored in the storage unit 152 and information about the first mobile robot 10's own position estimated by the map generation / self-position estimation unit 151c to generate the path plan.

[0105] Next, in step S116, the driving control unit 151b controls the driving unit 14 based on the path plan generated in step S115, causing the first mobile robot 10 to move. Steps S111 to S116 are then repeated until the predetermined termination condition is met.

[0106] (1-3-2) Motion processing of the second mobile robot 20

[0107] Next, the action processing performed by the second mobile robot 20 will be explained.

[0108] First, in step S121, the internal sensor 22 acquires information related to the position and attitude of the second mobile robot 20. Here, the acquired information may include, for example, the absolute values ​​of the three directional components of the second mobile robot 20's movement distance, speed, acceleration, angular velocity, and attitude.

[0109] Next, in step S122, the external sensor 21 acquires information related to the surrounding environment of the second mobile robot 20. Here, the acquired information includes information related to the location of the surrounding environment, and information related to the two-dimensional or three-dimensional shape, color, and material.

[0110] Next, in step S123, the map generation / self-position estimation unit 251c uses the information obtained by the external sensor 21 and the information obtained by the internal sensor 22 to generate map information and estimate the self-position of the second mobile robot 20. Thus, the attitude information PF, path information TF, and map information MF of the second mobile robot 20 are generated.

[0111] Reference Figure 5 The attitude information PF, path information TF, and map information MF are explained. Figure 5 The map information MF is shown when the second mobile robot 20 moves along the path TF up to position PF while detecting walls W1, W2, and W3 via external sensors 21. Figure 5 In the diagram, dashed lines represent walls W1, W2, W3, and path TF detected by external sensor 21. At this time, as... Figure 5 As indicated by reference numeral c1 in the attached drawing, during the detection of wall W1 by external sensor 21, no defects were observed due to the angle of external sensor 21. Furthermore, at this time, as... Figure 5 As shown by reference numeral c2 in the attached figure, during the detection of the wall W3 by the external sensor 21, no defects caused by light reflection were found in the protrusion S2.

[0112] Next, in step S124, the transceiver unit 251d receives the attitude information PL, path information TL, and map information ML of the first mobile robot 10 sent from the first mobile robot 10 in step S114.

[0113] Next, in step S125, the map information synthesis unit 251e generates synthesized map information MA based on the map information ML generated by the first mobile robot 10 and the map information MF generated by the second mobile robot 20. The synthesis of map information ML and map information MF can also utilize known point cloud matching techniques such as the ICP (Iterative Closest Point) algorithm. It should be noted that in the generation of synthesized map information MA, attitude information PL and attitude information PF can be converted to the same coordinate system. Furthermore, in the generation of synthesized map information MA, path information TL and path information TF can be converted to the same coordinate system.

[0114] Figure 6 The composite map information MA is shown. Solid lines represent walls W1, W2, W3 and path TL detected by external sensor 11. Additionally, dashed lines represent walls W1, W2, W3 and path TF detected by external sensor 21. (See diagram.) Figure 6 As shown, in the synthetic map information MA, the walls W1, W2, and W3 detected by external sensor 11 are configured to be consistent with or close to the walls W1, W2, and W3 detected by external sensor 21. As described above, in the detection of wall W1 by external sensor 11, a defect d1 is generated due to the angle of external sensor 11. Figure 4 On the other hand, in the detection of wall W1 by external sensor 21, no defects were detected due to the angle of external sensor 21. Figure 5 Regarding the missing part, such as... Figure 6 As indicated by reference numeral c1 in the attached diagram, in the composite map information MA, the defect d1 in the wall W1 detected by external sensor 11 is completed by the detection of wall W1 by external sensor 21. Furthermore, as described above, in the detection of wall W3 by external sensor 11, a defect d2 is generated due to the reflection of light generated by the protrusion S2. Figure 4 On the other hand, in the detection of wall W3 by external sensor 21, no defects were detected due to the angle of external sensor 21. Figure 5 Regarding the missing part, such as... Figure 6 As shown by reference numeral c2 in the attached figure, in the synthetic map information MA, the defect d2 in the wall W1 detected by the external sensor 11 is completed by the wall W1 detected by the external sensor 21.

[0115] Next, in step S126, the driving control unit 251b generates a path plan for the second mobile robot 20. In particular, the driving control unit 251b generates a path plan for the second mobile robot 20 to move in a manner that follows the first mobile robot 10, based on the path information TL of the first mobile robot 10 obtained in step S124.

[0116] Next, in step S127, the driving control unit 251b controls the driving unit 24 based on the path plan generated in step S126, causing the second mobile robot 20 to move. Alternatively, the driving control unit 251b may move the second mobile robot 20 such that the second range 21R of the environment detected by the external sensor 21 of the second mobile robot 20 includes a range not included in the first range 11R of the environment detected by the external sensor 11 of the first mobile robot 10. Furthermore, the sensor control unit 251a may control the orientation SF of the external sensor 21 and / or the size of the second range 21R, such that when the second mobile robot 20 moves in a manner following the first mobile robot 10, the second range 21R of the environment detected by the external sensor 21 of the second mobile robot 20 includes a range not included in the first range 11R of the environment detected by the external sensor 11 of the first mobile robot 10. Steps S121 to S127 are repeated until a predetermined termination condition is met.

[0117] (2) Second implementation method

[0118] (2-1) Structure

[0119] Figure 7 This is a schematic diagram illustrating an example of the functional structure of the environmental map generation system 2 according to the second embodiment. Hereinafter, the parts of the environmental map generation system 2 according to the second embodiment that differ from those according to the first embodiment will be described, while the parts that are the same as those according to the environmental map generation system 1 according to the first embodiment will be omitted as appropriate. In the environmental map generation system 1 according to the second embodiment, after acquiring map information ML and map information MF, the first mobile robot 10 generates synthetic map information MA based on them.

[0120] (2-1-1) Structure of the first mobile robot 10

[0121] The transceiver unit 151d can also receive attitude information PF, path information TF, and / or map information MF from the second mobile robot 20, for example.

[0122] The first mobile robot 10 has a map information synthesis unit 151e. The map information synthesis unit 151e generates synthetic map information MA based on map information ML and map information MF. For example, the map information synthesis unit 151e generates synthetic map information MA by synthesizing map information ML and map information MF. The synthesis of map information ML and map information MF can also be performed using known point cloud matching techniques such as the ICP (Iterative Closest Point) algorithm. It should be noted that in the generation of synthetic map information MA, attitude information PL and attitude information PF can be converted to the same coordinate system. Furthermore, in the generation of synthetic map information MA, path information TL and path information TF can be converted to the same coordinate system.

[0123] Storage unit 152 stores, for example, attitude information PL, path information TL, and / or map information ML generated by map generation / self-position estimation unit 151c, etc. Storage unit 152 also stores, for example, attitude information PF, path information TF, and / or map information MF received from the second mobile robot 20. Furthermore, storage unit 152 stores, for example, composite map information MA generated by map information synthesis unit 151e, etc.

[0124] (2-2) Action processing

[0125] Figure 8 This diagram illustrates an example of the motion flow of the environment map generation system 2 according to the second embodiment. The motion flow includes motion flows representing the motion processes performed by the first mobile robot 10 and motion flows representing the motion processes performed by the second mobile robot 20.

[0126] (2-2-1) Motion processing of the first mobile robot 10

[0127] First, the action processing performed by the first mobile robot 10 will be explained.

[0128] First, in step S211, the internal sensor 12 acquires information related to the position and attitude of the first mobile robot 10. The acquired information may include, for example, the absolute values ​​of the three directional components of the first mobile robot 10's movement distance, speed, acceleration, angular velocity, and attitude.

[0129] Next, in step S212, the external sensor 11 acquires information related to the surrounding environment of the first mobile robot 10. Here, the acquired information includes information related to the location of the surrounding environment, and information related to the two-dimensional or three-dimensional shape, color, and material.

[0130] Next, in step S213, the map generation / self-position estimation unit 151c uses the information acquired by the external sensor 11 and the information acquired by the internal sensor 12 to generate map information and estimate the self-position of the first mobile robot 10. Thus, for example, generating... Figure 4 The first mobile robot 10, as shown, has attitude information PL, path information TL, and map information ML.

[0131] Next, in step S214, the transceiver unit 151d receives the attitude information PF, path information TF, and map information MF of the second mobile robot 20, which were sent from the second mobile robot 20 in step S224. Furthermore, the transceiver unit 151d sends the generated path information TL of the first mobile robot 10 to the second mobile robot 20.

[0132] Next, in step S215, the map information synthesis unit 151e generates synthesized map information MA based on the map information ML generated by the first mobile robot 10 and the map information MF generated by the second mobile robot 20. The synthesis of map information ML and map information MF can, for example, use known point cloud matching techniques such as the ICP (Iterative Closest Point) algorithm. It should be noted that in the generation of synthesized map information MA, the attitude information PL and attitude information PF can be converted to the same coordinate system. Furthermore, in the generation of synthesized map information MA, the path information TL and path information TF can be converted to the same coordinate system. Thus, for example, generating… Figure 6 The synthetic map information MA shown is as depicted.

[0133] Next, in step S216, the driving control unit 151b generates a path plan for the first mobile robot 10. The driving control unit 151b may, for example, use map information ML stored in the storage unit 152 and information about the first mobile robot 10's own position estimated by the map generation / self-position estimation unit 151c to generate the path plan.

[0134] Next, in step S217, the driving control unit 151b controls the driving unit 14 based on the path plan generated in step S216, causing the first mobile robot 10 to move. Steps S211 to S217 are then repeated until the predetermined termination condition is met.

[0135] (2-2-2) Motion processing of the second mobile robot 20

[0136] Next, the action processing performed by the second mobile robot 20 will be explained.

[0137] First, in step S221, the internal sensor 22 acquires information related to the position and attitude of the second mobile robot 20. The acquired information may include, for example, the absolute values ​​of the three directional components of the second mobile robot 20's movement distance, speed, acceleration, angular velocity, and attitude.

[0138] Next, in step S222, the external sensor 21 acquires information related to the surrounding environment of the second mobile robot 20. Here, the acquired information includes information related to the location of the surrounding environment, and information related to the two-dimensional or three-dimensional shape, color, and material.

[0139] Next, in step S223, the map generation / self-position estimation unit 251c uses the information obtained by the external sensor 21 and the information obtained by the internal sensor 22 to generate map information and estimate the self-position of the second mobile robot 20. Thus, for example, generating... Figure 5 The second mobile robot 20, as shown, has attitude information PL, path information TL, and map information ML.

[0140] Next, in step S224, the transceiver unit 251d sends the generated posture information PF, path information TF, and map information MF of the second mobile robot 20 to the first mobile robot 10. Furthermore, the transceiver unit 251d receives the path information TL of the first mobile robot 10 sent from the first mobile robot 10 in step S214.

[0141] Next, in step S225, the driving control unit 251b generates a path plan for the second mobile robot 20. In particular, the driving control unit 251b generates a path plan for the second mobile robot 20 to move in a manner that follows the first mobile robot 10, based on the path information TL of the first mobile robot 10 obtained in step S224.

[0142] Next, in step S226, the driving control unit 251b controls the driving unit 24 based on the path plan generated in step S225, causing the second mobile robot 20 to move. Alternatively, the driving control unit 251b may move the second mobile robot 20 such that the second range 21R of the environment detected by the external sensor 21 of the second mobile robot 20 includes a range not included in the first range 11R of the environment detected by the external sensor 11 of the first mobile robot 10. Furthermore, the sensor control unit 251a may control the orientation SF of the external sensor 21 and / or the size of the second range 21R, such that when the second mobile robot 20 moves in a manner following the first mobile robot 10, the second range 21R of the environment detected by the external sensor 21 of the second mobile robot 20 includes a range not included in the first range 11R of the environment detected by the external sensor 11 of the first mobile robot 10. Steps S221 to S226 are repeated until a predetermined termination condition is met.

[0143] (3) Third implementation method

[0144] (3-1) Structure

[0145] Figure 9 This is a schematic diagram illustrating an example of the functional structure of the environmental map generation system 3 according to the third embodiment. Hereinafter, the parts of the environmental map generation system 3 according to the third embodiment that are different from those of the environmental map generation system 1 according to the first embodiment will be described, while the parts that are the same as those of the environmental map generation system 1 according to the first embodiment will be omitted from the description as appropriate.

[0146] The environmental map generation system 3 according to the third embodiment includes a server 30 in addition to a first mobile robot 10 and a second mobile robot 20. The server 30 is connected to the first mobile robot 10 and the second mobile robot 20 via a communication network N, enabling information transmission and reception. In the environmental map generation system 3 according to the third embodiment, the server obtains the path information TL of the first mobile robot 10 from the first mobile robot 10, generates a path plan for the second mobile robot 20 to follow the first mobile robot 10, and sends it to the second mobile robot 20. Furthermore, in the environmental map generation system 3 according to the third embodiment, the second mobile robot 20 obtains map information ML from the first mobile robot 10, obtains map information MF from the first mobile robot 10, and generates composite map information MA based on these.

[0147] (3-1-1) Structure of Server 30

[0148] Server 30 is a computer equipped with a CPU (Central Processing Unit), storage devices (composed of storage devices such as RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), or SSD (Solid State Drive), and various interfaces. Server 30 has a communication unit 31, a control unit 32, and a storage unit 33. Some or all of the functional units of the control unit 32, described later, can also be implemented by executing a predetermined program stored in the aforementioned storage device. Alternatively, some or all of the functional units of the control unit 32 can also be implemented by hardware such as a custom IC.

[0149] The communication unit 31 is a wireless communication module (also called a communication circuit) used by the server 30 to communicate wirelessly with other devices such as the first mobile robot 10 and the second mobile robot 20 via the communication network N. There are no particular limitations on the communication standard used for communication; for example, it can be Wi-Fi (registered trademark), Bluetooth (registered trademark), etc.

[0150] The control unit 32 includes a transceiver unit 32a, a map information synthesis unit 32b, and a route planning generation unit 32c.

[0151] The transceiver unit 32a performs information transmission and reception with other devices such as the first mobile robot 10 and the second mobile robot 20 via the communication unit 31 and the communication network N. For example, the transceiver unit 32a may also receive attitude information PL, path information TL, and / or map information ML from the first mobile robot 10. For example, the transceiver unit 32a may also receive attitude information PF, path information TF, and / or map information MF from the second mobile robot 20. For example, the transceiver unit may also send the path plan generated by the path plan generation unit 32c to the second mobile robot 20.

[0152] The map information compositing unit 32b generates composite map information MA, for example, by compositing map information ML and map information MF. The compositing of map information ML and map information MF can also be performed using known point cloud matching techniques such as the ICP (Iterative Closest Point) algorithm. It should be noted that in the generation of composite map information MA, attitude information PL and attitude information PF can be converted to the same coordinate system. Furthermore, in the generation of composite map information MA, path information TL and path information TF can be converted to the same coordinate system.

[0153] The path planning generation unit 32c generates a path plan for the second mobile robot 20. Specifically, the path planning generation unit 32c generates a path plan that causes the second mobile robot 20 to move in a manner that follows the first mobile robot 10. Therefore, the path planning generation unit 32c generates a path plan for the second mobile robot 20, for example, based at least on path information TL related to the path moved by the first mobile robot 10. The method for generating the path plan based on the path planning generation unit 32c can also be the same as the method for generating the path plan based on the driving control unit 251b of the second mobile robot 20 in the environmental map generation system 1 according to the first embodiment.

[0154] Storage unit 33 stores, for example, attitude information PL, path information TL, and / or map information ML received from the first mobile robot 10. Storage unit 33 also stores, for example, attitude information PF, path information TF, and / or map information MF received from the second mobile robot 20. Furthermore, storage unit 33 stores, for example, composite map information MA generated by the map information synthesis unit 32b, etc.

[0155] (3-2) Action processing

[0156] Figure 10 This diagram illustrates an example of the motion processing flow performed by the environment map generation system 3 according to the third embodiment. The motion processing flow includes motion processing flows representing the motion processing performed by the first mobile robot 10, the motion processing flows representing the motion processing performed by the second mobile robot 20, and the motion processing flows representing the motion processing performed by the server 30.

[0157] (3-2-1) Motion processing of the first mobile robot 10

[0158] First, the action processing performed by the first mobile robot 10 will be explained.

[0159] First, in step S311, the internal sensor 12 acquires information related to the position and attitude of the first mobile robot 10. The acquired information may include, for example, the absolute values ​​of the three directional components of the first mobile robot 10's movement distance, speed, acceleration, angular velocity, and attitude.

[0160] Next, in step S312, the external sensor 11 acquires information related to the surrounding environment of the first mobile robot 10. Here, the acquired information includes information related to the location of the surrounding environment, and information related to the two-dimensional or three-dimensional shape, color, and material.

[0161] Next, in step S313, the map generation / self-position estimation unit 151c uses the information acquired by the external sensor 11 and the information acquired by the internal sensor 12 to generate map information and estimate the self-position of the first mobile robot 10. Thus, for example, generating... Figure 4 The first mobile robot 10, as shown, has attitude information PL, path information TL, and map information ML.

[0162] Next, in step S314, the transceiver unit 151d sends the generated posture information PL, path information TL, and map information ML of the first mobile robot 10 to the server 30.

[0163] Next, in step S315, the driving control unit 151b generates a path plan for the first mobile robot 10. The driving control unit 151b may, for example, use map information ML stored in the storage unit 152 and information about the first mobile robot 10's own position estimated by the map generation / self-position estimation unit 151c to generate the path plan.

[0164] Next, in step S316, the driving control unit 151b1 controls the driving unit 14 based on the path plan generated in step S315, causing the first mobile robot 10 to move. Alternatively, the driving control unit 251b may move the second mobile robot 20 such that the second range 21R of the environment detected by the external sensor 21 of the second mobile robot 20 includes a range not included in the first range 11R of the environment detected by the external sensor 11 of the first mobile robot 10. Furthermore, the sensor control unit 251a may control the orientation SF of the external sensor 21 and / or the size of the second range 21R, such that when the second mobile robot 20 moves in a manner following the first mobile robot 10, the second range 21R of the environment detected by the external sensor 21 of the second mobile robot 20 includes a range not included in the first range 11R of the environment detected by the external sensor 11 of the first mobile robot 10. Steps S311 to S316 are repeated until a predetermined termination condition is met.

[0165] (3-2-2) Second mobile robot 20

[0166] Next, the action processing performed by the second mobile robot 20 will be explained.

[0167] First, in step S321, the internal sensor 22 acquires information related to the position and attitude of the second mobile robot 20. The acquired information may include, for example, the absolute values ​​of the three directional components of the second mobile robot 20's movement distance, speed, acceleration, angular velocity, and attitude.

[0168] Next, in step S322, the external sensor 21 acquires information related to the surrounding environment of the second mobile robot 20. Here, the acquired information includes information related to the location of the surrounding environment, and information related to the two-dimensional or three-dimensional shape, color, and material.

[0169] Next, in step S323, the map generation / self-position estimation unit 251c uses the information acquired by the external sensor 21 and the information acquired by the internal sensor 22 to generate map information and estimate the self-position of the second mobile robot 20. Thus, for example, generating... Figure 5 The second mobile robot 20, as shown, has attitude information PL, path information TL, and map information ML.

[0170] Next, in step S324, the transceiver unit 251d sends the generated posture information PF, path information TF, and map information MF of the second mobile robot 20 to the server.

[0171] Next, in step S325, the transceiver unit 251d receives the path plan (a path plan for causing the second mobile robot 20 to move in a manner that follows the first mobile robot 10) sent from the server in step S332.

[0172] Next, in step S326, the driving control unit 251b controls the driving unit 24 based on the path plan obtained in step S325, causing the second mobile robot 20 to move. Steps S321 to S326 are then repeated until the predetermined termination condition is met.

[0173] (3-2-3) Action processing of server 30

[0174] Next, the actions performed by server 30 will be explained.

[0175] First, in step S331, the transceiver unit 32a receives the attitude information PL, path information TL, and map information ML of the first mobile robot 10 transmitted from the first mobile robot 10 in step S314. Furthermore, the transceiver unit 32a receives the attitude information PF, path information TF, and map information MF of the second mobile robot 20 transmitted from the second mobile robot 20 in step S324.

[0176] Next, in step S332, the path planning unit 32c generates a path plan for the second mobile robot 20. Specifically, based on the path information TL of the first mobile robot 10 obtained from the first mobile robot 10 in step S314, the path planning unit 32c generates a path plan for the second mobile robot 20 to move in a manner that follows the first mobile robot 10. Furthermore, the transceiver unit 32a sends the path plan generated by the path planning unit 32c to the second mobile robot 20.

[0177] Next, in step S333, the map information synthesis unit 32b generates synthesized map information MA based on the map information ML generated by the first mobile robot 10 and the map information MF generated by the second mobile robot 20. The synthesis of map information ML and map information MF can, for example, utilize known point cloud matching techniques such as the ICP (Iterative Closest Point) algorithm. It should be noted that in the generation of synthesized map information MA, attitude information PL and attitude information PF can be converted to the same coordinate system. Furthermore, in the generation of synthesized map information MA, path information TL and path information TF can be converted to the same coordinate system. Thus, for example, generating… Figure 6 The resulting composite map information MA is shown below. Steps S331 to S333 are then repeated until the specified termination condition is met.

[0178] (4) Fourth implementation method

[0179] (4-1) Structure

[0180] Figure 11 This is a schematic diagram illustrating an example of the functional structure of the environmental map generation system 4 according to the fourth embodiment. Hereinafter, the parts of the environmental map generation system 4 according to the fourth embodiment that differ from those according to the third embodiment will be described, while the parts that are the same as those according to the third embodiment will be omitted from the description as appropriate.

[0181] In the environmental map generation system 4 according to the fourth embodiment, the second mobile robot 20 has a second external sensor 26. In the environmental map generation system 4 according to the fourth embodiment, the second mobile robot 20 detects the first mobile robot 10 using the second external sensor 26, and generates position information representing the position of the first mobile robot 10 based on the detection result. Furthermore, based on the position information representing the position of the first mobile robot 10, the second mobile robot 20 generates a path plan for its movement, and moves based on the path plan.

[0182] (4-1-1) First Mobile Robot 10

[0183] The second mobile robot 20 has a second external sensor 26. The second external sensor 26 is a sensor that detects information related to the surrounding environment of the second mobile robot 20. For example, the second external sensor 26 detects information related to the position, two-dimensional or three-dimensional shape, color, and material of the surrounding environment. The second external sensor 26 can also be composed of sensors such as LRF (Laser Range Finder), LIDAR (Laser Imaging Detection and Ranging), cameras, depth cameras, stereo cameras, sonar, RADAR, or a combination thereof. It should be noted that there is no particular limitation on the number or configuration of the second external sensor 26 on the second mobile robot 20. The second external sensor 26 can also be configured at any position on the front, rear, or side of the second mobile robot 20.

[0184] The sensor control unit 251a of the second mobile robot 20, together with the second external sensor 26, constitutes a third detection unit. Based on the detection signal supplied from the second external sensor 26, it generates a detection result indicating that the second external sensor 26 has detected the first mobile robot 10. Alternatively, the sensor control unit 251a may generate the detection result of the first mobile robot 10 by performing feature analysis or similar operations relative to the detection signal supplied from the second external sensor 26. This detection result may include, for example, the position information of the first mobile robot 10, the distance to the first mobile robot 10, and the orientation of the first mobile robot 10. It should be noted that the sensor control unit 251a may also use the position information (its own position) of the second mobile robot 20 in calculating the detection result of the first mobile robot 10.

[0185] The second mobile robot 20 has a driving control unit 251b that generates a path plan for the second mobile robot 20 to move in a manner that follows the first mobile robot 10, based on the detection results of the first mobile robot 10. The method for generating the path plan is not particularly limited, but it can be, for example, PID (Proportional Integral-Differential) control, Pure-Pursuit control, etc.

[0186] Alternatively, when generating a path plan for the second mobile robot 20, the driving control unit 251b may generate a path plan in which the angle between the orientation of the second external sensor 26 and the orientation of the second mobile robot 20 is less than a predetermined threshold. Furthermore, the driving control unit 251b may vary this predetermined threshold based on various parameters. For example, the driving control unit 251b may vary the predetermined threshold according to a user-defined mode (such as a mode related to the accuracy of the generated environmental map). Additionally, for example, the driving control unit 251b may vary the predetermined threshold based on generated / acquired data (e.g., attitude information PF, path information TF, map information MF, attitude information PL, path information TL, map information ML, and synthetic map information MA).

[0187] (4-2) Action processing

[0188] Figure 12 This diagram illustrates an example of the motion processing flow performed by the environment map generation system 4 according to the fourth embodiment. The motion processing flow includes motion processing flows representing the motion processing performed by the first mobile robot 10, the motion processing flows representing the motion processing performed by the second mobile robot 20, and the motion processing flows representing the motion processing performed by the server 30.

[0189] (4-2-1) Motion processing of the first mobile robot 10

[0190] Action processing performed by the first mobile robot 10, and action processing performed by the first mobile robot 10 by the environment map generation system according to the third embodiment ( Figure 10 Since they are the same, the explanation is omitted.

[0191] (4-2-2) Motion processing of the second mobile robot 20

[0192] Next, the action processing performed by the second mobile robot 20 will be explained.

[0193] First, in step S421, the internal sensor 22 acquires information related to the position and attitude of the second mobile robot 20. The acquired information may include, for example, the absolute values ​​of the three directional components of the second mobile robot 20's movement distance, speed, acceleration, angular velocity, and attitude.

[0194] Next, in step S422, the external sensor 11 acquires information related to the surrounding environment of the second mobile robot 20. Here, the acquired information includes information related to the location of the surrounding environment, and information related to the two-dimensional or three-dimensional shape, color, and material.

[0195] Next, in step S423, the map generation / self-position estimation unit 251c uses the information acquired by the external sensor 11 and the information acquired by the internal sensor 22 to generate map information and estimate the self-position of the second mobile robot 20. Thus, for example, generating... Figure 5 The second mobile robot 20, as shown, has attitude information PF, path information TF, and map information MF.

[0196] Next, in step S424, the transceiver 251d sends the generated posture information PF, path information TF, and map information MF of the second mobile robot 20 to the server.

[0197] Next, in step S425, the second external sensor 26 acquires information related to the surrounding environment of the second mobile robot 20. Furthermore, the sensor control unit 251a generates a detection result for the first mobile robot 10 based on the detection signal supplied from the second external sensor 26.

[0198] Next, in step S426, the driving control unit 251b generates a path plan for the second mobile robot 20 to move in a manner that follows the first mobile robot 10 based on the detection results of the first mobile robot 10.

[0199] Next, in step S427, the driving control unit 251b controls the driving unit 24 to move the second mobile robot 20 based on the path plan generated in step S426. At this time, the driving control unit 251b can also move the second mobile robot 20 such that the second range 21R of the environment detected by the external sensor 21 of the second mobile robot 20 includes a range not included in the first range 11R of the environment detected by the external sensor 11 of the first mobile robot 10. Furthermore, at this time, the sensor control unit 251a can also control the orientation SF of the external sensor 21 and / or the size of the second range 21R, such that when the second mobile robot 20 moves in a manner following the first mobile robot 10, the second range 21R of the environment detected by the external sensor 21 of the second mobile robot 20 includes a range not included in the first range 11R of the environment detected by the external sensor 11 of the first mobile robot 10. Steps S421 to S427 are repeated until a predetermined termination condition is met.

[0200] (4-2-3) Server action processing

[0201] Next, the actions performed by server 30 will be explained.

[0202] First, in step S431, the transceiver unit 32a receives the attitude information PL, path information TL, and map information ML of the first mobile robot 10 transmitted from the first mobile robot 10 in step S414. Furthermore, the transceiver unit 32a receives the attitude information PF, path information TF, and map information MF of the second mobile robot 20 transmitted from the second mobile robot 20 in step S424.

[0203] Next, in step S432, the map information synthesis unit 32b generates synthesized map information MA based on the map information ML generated by the first mobile robot 10 and the map information MF generated by the second mobile robot 20. The synthesis of map information ML and map information MF can, for example, use known point cloud matching techniques such as the ICP (Iterative Closest Point) algorithm. It should be noted that in the generation of synthesized map information MA, attitude information PL and attitude information PF can be converted to the same coordinate system. Furthermore, in the generation of synthesized map information MA, path information TL and path information TF can be converted to the same coordinate system. Thus, for example, generating… Figure 6 The resulting composite map information MA is shown below. Steps S431 to S432 are then repeated until the specified termination condition is met.

[0204] The embodiments described above are intended to facilitate understanding of the present invention and are not intended to limit the invention. The elements, configurations, materials, conditions, shapes, and dimensions of the embodiments are not limited to the examples shown, but can be appropriately varied. Furthermore, the structures shown in different embodiments can be partially substituted or combined with each other.

[0205] Explanation of reference numerals in the attached figures

[0206] 1, 2, 3, 4...Environmental map generation system; 10...First mobile robot; 11...External sensor; 12...Internal sensor; 13...Communication unit; 14...Motor unit; 15...Control device; 151...Control unit; 152...Storage unit; 151a...Sensor control unit; 151b...Motor control unit; 151c...Map information generation / self-position estimation unit; 151d...Transmitter unit; 151e...Map information synthesis unit; 21...External sensor; 22...Internal sensor; 23...Communication unit ; 24... Driving unit; 25... Control device; 251... Control unit; 252... Storage unit; 251a... Sensor control unit; 251b... Driving control unit; 251c... Map information generation / self-position estimation unit; 251d... Transceiver unit; 251e... Map information synthesis unit; 26... Second external sensor; 30... Server; 31... Communication unit; 32... Control unit; 33... Storage unit; 32... Control unit; 32a... Transceiver unit; 32b... Map information synthesis unit; 32c... Route planning generation unit.

Claims

1. A method for controlling a first mobile robot and a second mobile robot to generate an environmental map, wherein the first mobile robot is equipped with a first detection unit for detecting the environment and generating first environmental information and is capable of movement, and the second mobile robot is equipped with a second detection unit for detecting the environment and generating second environmental information and is capable of movement, the method comprising the following steps: The first mobile robot moves; First environmental information is generated by detecting the environment through the first detection unit of the moving first mobile robot; The second mobile robot moves in a manner that follows the first mobile robot; Second environmental information is generated by detecting the environment through the second detection unit of the moving second mobile robot; and An environmental map is generated based on the first environmental information and the second environmental information.

2. The method according to claim 1, wherein, The first detection unit is configured to generate the first environmental information by detecting the environment in a direction relative to the first detection unit within a first range. The second detection unit is configured to generate the second environmental information by detecting the environment in a direction relative to the second detection unit within a second range.

3. The method according to claim 2, wherein, In the step of generating the second environmental information, the second range includes ranges not included in the first range.

4. The method according to claim 1, wherein, The steps for the second mobile robot to move in a manner that follows the first mobile robot include the following steps: Path information related to the path of movement of the first mobile robot is acquired; Based on the path information, a path plan is generated for the movement of the second mobile robot; and The second mobile robot moves based on the path plan.

5. The method according to claim 4, wherein, In the step of acquiring path information related to the path moved by the first mobile robot, the second mobile robot acquires the path information. In the step of generating a path plan for the movement of the second mobile robot based on the path information, the second mobile robot generates the path plan.

6. The method according to claim 1, wherein, In the step of generating an environmental map based on the first environmental information and the second environmental information The second mobile robot obtains the first environmental information from the first mobile robot. The second mobile robot obtains the second environmental information from the second detection unit. The second mobile robot generates the environmental map based on the acquired first environmental information and second environmental information.

7. The method according to claim 1, wherein, In the step of generating an environmental map based on the first environmental information and the second environmental information The first mobile robot obtains the second environmental information from the second mobile robot. The first mobile robot obtains the first environmental information from the first detection unit. The first mobile robot generates the environmental map based on the acquired first environmental information and second environmental information.

8. The method according to claim 4, wherein, In the step of acquiring path information related to the path of movement of the first mobile robot, the server acquires the path information. In the step of generating a path plan for the movement of the second mobile robot based on the path information, the server generates the path plan. It also includes the step of the server sending the path plan to the second mobile robot.

9. The method according to claim 1, wherein, In the step of generating an environmental map based on the first environmental information and the second environmental information The server obtains the first environmental information from the first mobile robot. The server obtains the second environmental information from the second mobile robot. The server generates the environment map based on the first environment information and the second environment information obtained.

10. The method according to claim 1, wherein, The steps for the second mobile robot to move in a manner that follows the first mobile robot include the following steps: The third detection unit, located on the second mobile robot, detects the first mobile robot; Based on the detection results of the third detection unit, a path plan for the movement of the second mobile robot is generated; and The second mobile robot moves based on the path plan.

11. The method according to claim 10, wherein, The detection results include location information indicating the position of the first mobile robot.

12. A system having: The first mobile robot is equipped with a first detection unit for detecting the environment and generating first environmental information, and is capable of movement. The second mobile robot is equipped with a second detection unit for detecting the environment and generating second environmental information, and is capable of movement. A first motion control unit controls the movement of the first mobile robot. The first detection control unit controls the generation of first environmental information by detecting the environment through the first detection unit of the moving first mobile robot. The second motion control unit controls the second mobile robot to move in a manner that follows the first mobile robot. The second detection control unit controls the generation of second environmental information by detecting the environment through the second detection unit of the moving second mobile robot. as well as The environment map generation unit generates an environment map based on the first environment information and the second environment information.

13. A mobile robot, equipped with a detection unit for detecting the environment and generating environmental information and capable of movement, the mobile robot comprising: A mobile control unit controls the mobile robot to move in a manner that follows other mobile robots, wherein the other mobile robots are configured to be equipped with other detection units for detecting the environment and generating other environmental information and are capable of movement. The detection and control unit controls the detection unit of the moving mobile robot and generates the environmental information; and The supply unit supplies the generated environmental information to the environmental map generation unit, which generates an environmental map based on the environmental information and other environmental information.

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