System and method for controlling robot

Abstract

To shorten the time of route setting operation at a work site.SOLUTION: A system for controlling a robot includes an autonomous travel robot, a mobile terminal, and a route setting device. The route setting device comprises a three-dimensional map generating section that generates a three-dimensional map of a work site based on three-dimensional information, a two-dimensional interference map generating section that generates a two-dimensional interference map based on the three-dimensional map, a pseudo two-dimensional map generating section that generates a pseudo two-dimensional map based on the three-dimensional map, and a route programming section that sets up a travel route. The autonomous travel robot comprises a robot-ranging sensor that acquires two-dimensional information of the work site at a sensor installation height, a two-dimensional map generating section that generates an actual-machine two-dimensional map based on the two-dimensional information, a map correcting section that corrects the two-dimensional interference map by a coordinate position-located with the actual-machine two-dimensional map and the pseudo two-dimensional map, and a route correcting section that corrects the travel route based on a corrected two-dimensional interference map.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a robot control system and a robot control method for setting a movement path for an autonomous mobile robot. [Background technology]

[0002] In recent years, autonomous mobile robots (hereafter simply referred to as "robots") that move autonomously in work sites without using guides such as magnetic tapes have been increasingly used to reduce manpower and automate various tasks. Some of these robots automatically create an environmental map based on measurement data from a range finder mounted on the robot, while others estimate their own position on an existing environmental map using measurement data from the range finder and move autonomously to specified coordinates on the map.

[0003] Conventionally, before introducing this type of robot into a work site, the user was required to make preparations by manually moving the robot around the actual work site while automatically creating an environmental map, and then manually setting the movement path on the automatically created environmental map.

[0004] However, the sensors installed on conventional robots are 2D range sensors, and the information that can be measured by these range sensors is limited to 2D map information scanned with a laser at the height at which the sensor is installed. Therefore, the map information automatically created by conventional robots was not necessarily effective as map information to refer to when the robot moved autonomously without interfering with three-dimensional structures in the work site.

[0005] For example, if a workbench is installed at a work site and the installation height of the robot's range sensor corresponds to the height of the workbench's legs, the range sensor can only measure the reflected image of the workbench's legs, and is unable to correctly capture the shape of the table surface above the legs, i.e., the shape of a physical obstacle that needs to be taken into consideration when setting the robot's movement path.

[0006] Therefore, in order to prepare an environmental map that can properly determine interference between the robot and physical obstacles, it was necessary to either manually add information indicating areas that the robot could not enter to the environmental map, or to install a structure such as a fence with a shape that projects the surface of a physical obstacle, which is a platform, onto the floor at a height that can be measured by a 2D range sensor, and then have the robot automatically create an environmental map, which was a complex task that required a lot of man-hours for preparation before the robot could be operated.

[0007] Taking these factors into consideration, Patent Document 1 improves the problem described in the abstract, "to efficiently obtain a map used by an autonomous mobile device for autonomous movement," with a map providing system that "provides a route planning map including information regarding the positions of obstacles in a moving space to an autonomous mobile device capable of moving on the floor of the moving space, the map providing system including: a storage unit that stores a 3D map including information regarding the 3D shape of the obstacle in the moving space; an acquisition unit that acquires information regarding the height of the autonomous mobile device from the floor in the vertical direction; and a map generation unit that extracts information regarding a maximum outer shape of the obstacle in a range from the floor to the height of the autonomous mobile device in the vertical direction based on the 3D map and the information regarding the height of the autonomous mobile device, and generates the route planning map including information regarding the maximum outer shape of the obstacle in a direction perpendicular to the vertical direction and position information of the obstacle." [Prior art documents] [Patent documents]

[0008] [Patent Document 1] JP 2022-171210 A Summary of the Invention [Problem to be solved by the invention]

[0009] However, although paragraph 0017 of the specification of Patent Document 1 explains that a pre-created 3D map is essential, saying "The map providing server 200 stores a 3D map of the interior of the building BL. The 3D map of the interior of the building BL is, for example, created in advance, and is map information of what is simply described as a map," the document does not disclose a specific method for creating the 3D map, nor does it explain at all how to improve the control problems of the autonomous mobile device that inevitably occur when there is a discrepancy between the pre-created 3D map and the on-site environment.

[0010] Therefore, the present invention aims to provide a robot control system and a robot control method that can create a 3D map of a work site and a movement route for an autonomous mobile robot inexpensively and efficiently, and that can enable the autonomous mobile robot to move appropriately and autonomously even if there are errors in the simply created 3D map. [Means for solving the problem]

[0011] A robot control system comprising an autonomous mobile robot which executes a predetermined task for a work target installed at a work site, a mobile terminal which acquires three-dimensional information of the work site using a terminal range sensor, and a route setting device which sets a movement route for the autonomous mobile robot based on the three-dimensional information, the route setting device comprising a three-dimensional map generation unit which generates a three-dimensional map of the work site based on the three-dimensional information, a two-dimensional interference map generation unit which generates a two-dimensional interference map taking into consideration interference between a three-dimensional shape of the autonomous mobile robot and an obstacle installed at the work site based on the three-dimensional map, and a predetermined sensor installation unit which sets a movement route for the autonomous mobile robot based on the three-dimensional information. a pseudo 2D map generation unit that generates a pseudo 2D map that takes into account interference with the obstacle at height, and a path planning unit that sets the movement path based on a stopping position set for the work object, wherein the autonomous mobile robot has a robot range sensor that acquires 2D information of the work site at the sensor installation height, a 2D map generation unit that generates an actual 2D map based on the 2D information, a map correction unit that corrects the 2D interference map using coordinates aligned between the actual 2D map and the pseudo 2D map, and a path correction unit that corrects the movement path based on the corrected 2D interference map. Effect of the Invention

[0012] According to the present invention, a 3D map of a work site and a movement route for an autonomous mobile robot can be created inexpensively and efficiently, and further, even if there are errors in the simply created 3D map, the autonomous mobile robot can be allowed to move autonomously in an appropriate manner. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a conceptual diagram showing a configuration of a route setting system according to a first embodiment. [Diagram 2] FIG. 2 is a functional block diagram showing the configuration of a route setting device according to the first embodiment. [Diagram 3] 11 is a flowchart of an off-site process of the route setting system according to the first embodiment. [Figure 4]FIG. 2 is a diagram showing details of a 2D interference map and a pseudo 2D map used in the first embodiment. [Figure 5A] FIG. 4 is a diagram showing an example of work object recognition by a three-dimensional work object extraction unit in the first embodiment. [Figure 5B] FIG. 4 is a diagram showing an example of template creation by the three-dimensional work target extraction unit of the first embodiment. [Figure 6] FIG. 2 is a diagram showing a display example of the display device of the first embodiment. [Figure 7] 4 is an on-site processing flowchart of the route setting system according to the first embodiment. [Figure 8] 5 is a diagram showing an example of the operation of a map correction unit of the route setting device according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the present embodiment will be described with reference to the drawings. The drawings show embodiments and implementation examples according to the principles of the present disclosure, but these are for understanding the present disclosure and are not used to interpret the present disclosure in a limited manner. The description in this specification is merely a typical example and does not limit the scope of the claims or application examples of the present disclosure in any sense. In addition, appropriate omissions and simplifications are made for clarity of explanation. The present invention can be implemented in other various examples or examples in which a part or all of each example are combined. Unless otherwise limited, each component may be singular or multiple. In the explanation of the following examples, the differences from the previous examples will be mainly explained, and the explanation of the overlapping parts will be omitted as appropriate. EXAMPLES

[0015] First, an overview of a robot control system 100 according to this embodiment will be described with reference to Fig. 1. As shown in the figure, the robot control system 100 according to this embodiment is a system that communicably connects a route setting device 1 operated by a user, a mobile terminal 2 equipped with a range measurement sensor, and an autonomous mobile robot (robot 3) equipped with a manipulator, thereby causing the robot 3 to autonomously perform a task for a predetermined work object 4.

[0016] For example, if the task to be performed by the robot 3 is to operate a work object 4 (such as an inspection device) installed at a work site, prior to introducing the robot 3 to the site, the user moves around the work site while holding the mobile terminal 2 as shown in Figure 1(a) and collects three-dimensional information of the entire work site using the range sensor mounted on the terminal.

[0017] Next, the user operates the path setting device 1 as shown in Fig. 1(b) to automatically create a two-dimensional map based on the three-dimensional information collected in Fig. 1(a), and then sets a stop position 41 of the robot 3 when operating the work target 4 on the two-dimensional map. After setting the stop position 41, the path setting device 1 automatically creates a movement path R along which the robot 3 moves from the current position to the stop position 41 while avoiding physical obstacles 5 such as walls and luggage, and transmits the created map information, movement path R, etc. to the robot 3.

[0018] Then, the robot 3, which has received the information from the route setting device 1, starts moving along the moving route R as shown in FIG. 1(c). Here, since the information generated based on the output of the range sensor mounted on the commercially available mobile terminal 2 is likely to be low-precision, there may be a discrepancy between the simple map information based on the output of the relatively low-precision range sensor mounted on the mobile terminal 2 and the detailed map information based on the output of the relatively high-precision range sensor mounted on the robot 3. In this case, the robot 3 continues autonomous control in accordance with the actual work site by appropriately correcting the information such as the moving route R and the stop position 41 received from the route setting device 1 using the range sensor output of the robot 3. Hereinafter, the details of this system illustrated in FIG. 1 will be described in order with reference to FIG. 2 and the like.

[0019] <Mobile device 2> The mobile terminal 2 is a terminal such as a commercially available smartphone, tablet, etc. The mobile terminal 2 includes a range measurement sensor 21, a three-dimensional information generating unit 22, and a transmitting / receiving unit 23, as shown in FIG.

[0020] The range sensor 21 is, for example, a three-dimensional sensor such as a three-dimensional Lidar (Light Detection and Ranging), a stereo camera, or an RGB-D camera, or a multi-viewpoint monocular camera image.

[0021] The three-dimensional information generator 22 generates three-dimensional information to be transmitted to the route setting device 1 based on the output of the range sensor 21. The three-dimensional information may be generated by direct depth measurement using Lidar or an RGB-D camera, or may be generated by a method combining photogrammetry using SfM (Structure from Motion) technology that uses images from a multi-viewpoint monocular camera and machine learning.

[0022] The transmitting / receiving unit 23 transmits the three-dimensional information generated by the three-dimensional information generating unit 22 to the route setting device 1 via a wireless communication network.

[0023] <Routing device 1> The route setting device 1 is a device used when creating map information based on three-dimensional information received from the mobile terminal 2, when a user sets a stopping position 41 when making the robot 3 execute a predetermined task, and when automatically creating the above-mentioned moving route R. Specifically, this route setting device 1 is a computer equipped with hardware such as a calculation device such as a CPU, a storage device such as a semiconductor memory, and a communication device. The calculation device executes a predetermined program to realize each function described later, but the following description will be given while omitting such well-known techniques as appropriate.

[0024] 2, the path setting device 1 has a calculation unit 11, a storage unit 12, an input device 13, a display device 14, and a transmission / reception unit 15. Below, an overview of each unit will be described.

[0025] <<Arithmetic unit 11>> The calculation unit 11 has a 3D map generation unit 11a, a 3D work object extraction unit 11b, a 2D interference map generation unit 11c, a pseudo 2D map generation unit 11d, and a route planning unit 11e.

[0026] The 3D map generator 11a generates a 3D map M0 based on the 3D information received from the portable terminal 2, and registers it in the map database 12a of the storage unit 12. Note that since the range sensor 21 of the portable terminal 2 is a relatively low-precision sensor, the 3D map M0 generated based on the sensor output is also relatively low-precision.

[0027] The three-dimensional work object extraction unit 11b extracts the work object 4 that serves as a reference for the stopping position of the robot 3, based on the three-dimensional map M0.

[0028] The two-dimensional interference map generating unit 11c generates a two-dimensional interference map M1 by projecting the area occupied by the actual obstacle 5 into a two-dimensional map based on the three-dimensional map M0, and registers the two-dimensional interference map M1 in the map database 12a of the storage unit 12.

[0029] The pseudo 2D map generating unit 11d calculates the sensor installation height H of the robot 3 based on the 3D map M0. S The pseudo two-dimensional map M2 obtained by the above is generated and registered in the map database 12a of the storage unit 12. Note that the sensor installation height H S is information registered in the route setting device 1 by the user using the input device 13, which will be described later.

[0030] The path planning unit 11e plans a movement path R that enables the robot 3 to reach a stop position 41 set by the user near the work object 4 while avoiding walls and physical obstacles 5, and registers the plan in the path database 12b. Note that when there are multiple work objects 4 and the user has set multiple stop positions 41, the path planning unit 11e plans a movement path R that passes through the multiple stop positions 41 in sequence.

[0031] <<Storage section 12>> The storage unit 12 includes a map database 12a and a route database 12b.

[0032] The map database 12a stores the above-mentioned 3D map M0, 2D interference map M1, and pseudo 2D map M2, as well as various templates, which will be described later.

[0033] The above-mentioned travel route R is registered in the route database 12b.

[0034] <<Input device 13>> The input device 13 is a device that a user uses to input information to the route setting device 1, and specifically, is a keyboard, a mouse, a touch panel, or the like that is connected to a computer.

[0035] <<Display device 14>> The display device 14 is a device used when the route setting device 1 presents information to the user, and is specifically a display connected to a computer. Note that, although Fig. 2 illustrates the route setting device 1 equipped with the input device 13 and the display device 14, the configuration excluding the input device 13 and the display device 14 may be referred to as the route setting device 1.

[0036] <<Transmitter / receiver 15>> The transmitting / receiving unit 15 is a communication device for communicating with the portable terminal 2 and the robot 3 via a wireless communication network. Note that the transmitting / receiving unit 15 may communicate with the portable terminal 2 and the robot 3 using wired communication.

[0037] <Robot 3> 3, the robot 3 has a range sensor 31, a calculation unit 32, a storage unit 33, and a transmission / reception unit 34. Below, an overview of each unit will be described.

[0038] <<Surveillance Sensor 31>> The range sensor 31 is set at a predetermined height (sensor installation height H S ) and acquires two-dimensional information in the horizontal direction, such as a laser sensor. Note that the range sensor 31 may be any sensor capable of acquiring measurement data with higher accuracy than the range sensor 21 of the mobile terminal 2, and a three-dimensional range sensor such as a three-dimensional Lidar, a stereo camera, or an RGB-D camera may be used.

[0039] <<Arithmetic section 32>> The calculation unit 32 has a two-dimensional map generation unit 32a, a two-dimensional work object extraction unit 32b, a map correction unit 32c, a stop position correction unit 32d, and a route correction unit 32e.

[0040] The two-dimensional map generating unit 32a generates an actual two-dimensional map M3 based on the two-dimensional information acquired by the range sensor 31 of the robot 3, and registers it in the map database 33a of the storage unit 33.

[0041] The two-dimensional work object extraction unit 32b extracts the work object 4 that serves as a reference for the stopping position of the robot 3, based on the actual machine two-dimensional map M3.

[0042] The map correction unit 32c associates the points on the actual 2D map M3 with the points on the pseudo 2D map M2 to correct the 2D interferogram M1, and registers the corrected 2D interferogram M1' in the map database 33a of the storage unit 33.

[0043] The stop position correction unit 32d corrects the stop position 41 based on the extraction result of the two-dimensional work object extraction unit 32b.

[0044] The route correction unit 32e generates a travel route R′ by correcting the travel route R received from the route setting device 1 based on the corrected two-dimensional interference map M1′, and registers the travel route R′ in the route database 33b of the storage unit 33.

[0045] <<Storage section 33>> The storage unit 33 includes a map database 33a and a route database 33b.

[0046] The map database 33a registers the 3D map M0, the 2D interferometric map M1, the pseudo 2D map M2, the actual 2D map M3, the corrected 2D interferometric map M1', and various templates, which are received from the route setting device 1, as well as the various templates described later.

[0047] In the route database 33b, the travel route R received from the route setting device 1 and the above-mentioned corrected travel route R' are registered.

[0048] <<Transmitter / receiver 34>> The transmitting / receiving unit 34 is a communication device for communicating with the route setting device 1.

[0049] <Off-site processing flow> Next, the off-site processing (before the robot is introduced into the work site) will be described in sequence with reference to the flowchart in FIG.

[0050] First, in step S11, the user uses the range sensor 21 of the mobile terminal 2 to collect 3D information of the work site and transmits it to the route setting device 1 (see FIG. 1(a)). Then, the 3D map generator 11a of the route setting device 1 generates a 3D map M0 of the work site based on the received 3D information.

[0051] In step S12, the 2D interference map generating unit 11c generates a 2D interference map M1 by projecting the outermost surfaces of the actual obstacles 5 located within the range from the floor surface to the total height H of the robot 3 onto the floor surface based on the 3D map M0, and registers the generated map in the map database 12a. Also, the pseudo 2D map generating unit 11d generates a pseudo 2D interference map M1 by projecting the outermost surfaces of the actual obstacles 5 located within the range from the floor surface to the total height H of the robot 3 onto the floor surface based on the 3D map M0. S The pseudo two-dimensional map M2 obtained in the above is generated and registered in the map database 12a. Note that the total height H of the robot 3 and the sensor installation height H S This information may be input by the user from the input device 13, or may be defined in advance in a setting file.

[0052] Fig. 4 shows specific examples of a 2D interference map M1 and a pseudo 2D map M2. Fig. 4(a) is a diagram showing the relationship between a real obstacle 5 and a 2D map. The real obstacle 5 shown here is an obstacle with a protruding part, a long desk, or the like, which is at a height that cannot be detected by the range sensor 31 of the robot 3 and includes a part with which the robot 3 may collide. Fig. 4(b) shows a 2D interference map M1 in which real obstacles 5 in the range from the floor surface to the total height H of the robot are projected onto the floor surface in the 3D map M0 shown in Fig. 4(a). Fig. 4(c) shows the real obstacle 5 at the sensor installation height H of the robot 3. SThis is a pseudo 2D map M2 in which map information of actual obstacles 5 obtained by the above is extracted from the 3D map M0.

[0053] In step S13, the 3D work object extraction unit 11b recognizes the work object 4 by model matching based on the 3D appearance information of the work object 4 stored in advance and the 3D map M0. Then, from among the recognized 3D shape of the work object 4, the sensor installation height H S The point cloud information is extracted and stored in the map database 12a as a template of the work object on a two-dimensional plane.

[0054] FIG. 5A shows an example of a work object 4 extracted from a 3D map M0 by model matching. FIG. 5B shows an example of a sensor installation height H S 1 is an example of generating a two-dimensional work object area template T by extracting map information obtained in 2. Note that even if model matching fails, a GUI function may be provided that allows the user to manually specify the area of ​​the work object 4.

[0055] In step S14, the 2D interference map M1 generated in step S12 and the pseudo 2D map M2 are displayed superimposed on the GUI of the display device 14, and further the work object 4 extracted in step S13 is displayed on the map.

[0056] Then, the user selects the work object 4 on the GUI using the input device 13, and inputs relative stop position and orientation information. After that, a movement order that connects the set multiple stop positions 41 is given, and the path planning unit 11e generates a movement path R that does not collide with obstacles. Furthermore, information on the movement path R set in this step is stored in the path database 12b.

[0057] The reason for describing the stop position 41 as a relative positional relationship is that the robot 3 needs to stop at a position where it can operate an item on the workbench, and the cart needs to approach the work object 4 and stop at an accurate position. Therefore, it is desirable to define the stop position 41 as a relative position with respect to the work object 4. Note that even if 2D template matching fails, a GUI function may be provided that allows the user to manually specify the area of ​​the work object 4 by operation.

[0058] An example of a route setting screen using a GUI environment is shown in FIG. 6. As shown in the lower diagram of FIG. 6, when a specific work object 4 is clicked on the two-dimensional map M of the GUI, a screen (upper diagram of FIG. 6) for setting a stop position 41 associated with the work object 4 appears, and a relative positional relationship with respect to the work object 4 is input. A route sequence connecting these multiple stop positions 41 is set, and a moving route R that does not collide with obstacles is obtained by the route planning unit 11e. Here, an example in which the user manually sets three stop positions 41 is shown, but for example, when a mobile robot 3 having a manipulator stops in front of a workbench and performs work using an object placed on the workbench, the allowable stop position range can also be determined from the constraints of the workable range of the manipulator. A mechanism may be used in which the workable range of the manipulator is verified by simulation using the three-dimensional map M0, stop positions where the work can be performed are calculated, and the stop positions are presented to the user as setting candidates for the stop position for the work object 4.

[0059] <On-site processing flow> Next, the on-site processing (after the robot is introduced into the work site) will be described in sequence with reference to the flowchart in FIG.

[0060] First, in step S21, the two-dimensional map generating unit 32a of the robot 3 brought into the work site is caused to generate an actual two-dimensional map M3 based on the output of the range sensor 31.

[0061] In step S22, in order to apply the travel route R set off-site to the robot 3, the origins of the actual 2D map M3 created on the robot 3 side and the pseudo 2D map M2 created on the route setting device 1 side are aligned. For the origin alignment, matching is performed using the feature similarity of the point clouds in the maps. Here, since the 2D interference map M1 and the pseudo 2D map M2 are in the same planar coordinate system, a coordinate transformation is also applied to the 2D interference map M1 so that the actual 2D map M3 and the pseudo 2D map M2 match.

[0062] However, this method alone cannot handle cases where there is distortion in the map created by the route setting device 1. Therefore, in step S23, the map correction unit 32c obtains the error of each corresponding point group between the actual 2D map M3 and the pseudo 2D map M2, and corrects the 2D interference map M1 using the amount of error of each point.

[0063] The correction in this step will be explained with reference to Figure 8. Specifically, resampling (upsampling) is performed on the point clouds of each map, and linear interpolation between sparse point clouds is performed. Resampling is achieved, for example, by connecting nearby point clouds with a line segment and adding points to the line segment so that the point cloud density is determined in advance.

[0064] 8, 81 denotes original points on the pseudo 2D map M2, which is a point cloud map, and 82 denotes points complemented by resampling. Next, the amount of error in (X, Y) between the nearest corresponding point groups 83 on the resampled actual 2D map M3 and the resampled pseudo 2D map M2 is calculated and used as a correction amount, and the coordinates of each point are corrected in correspondence with each point group on the resampled 2D interference map M1, thereby obtaining a corrected 2D interference map M1'.

[0065] The correspondence between point clouds is performed, for example, by calculating the matching of shape features of point clouds in local areas on a map using an ICP (Iterative Closest Point) or NDT (Normal Distribution Transform) algorithm, and the amount of error (X, Y) between corresponding close point clouds in local areas on the two maps being compared is calculated.

[0066] The point group 84 of a portion that does not exist in the pseudo 2D map M2, such as a protruding obstacle in the 2D interference map M1, is corrected using the correction amount of the point having the correction corresponding point that is located at the closest position to the point group.

[0067] Next, in order to restore the preset route, in step S24, the 2D work object extraction unit 32b recognizes the work object 4 from the actual 2D map M3 using the 2D template T of the work object 4 created in advance. Then, the stop position correction unit 32d reads out the relative stop position 41 corresponding to the work object 4 recognized by the 2D work object extraction unit 32b from the route database 33b, and restores it on the actual 2D map M3.

[0068] Then, in step S25, the actual 2D map M3 and the corrected 2D interference map M1' are superimposed and displayed, and using the route sequence information connecting each stopping position read from the route database 33b, the route correction unit 32e re-plans a route that does not collide with the obstacles 5, and sets the obtained movement route R for the robot 3.

[0069] According to the above configuration and flow, it is possible to accurately transplant the movement route R set on a relatively low-precision map based on the range sensor 21 of the mobile terminal 2 onto a relatively high-precision map based on the range sensor 31 of the robot 3, thereby reducing the amount of preparatory work required when operating the robot 3 at a work site. EXAMPLES

[0070] Next, a description will be given of a second embodiment of the present invention. The configuration that is not described below is the same as that of the first embodiment.

[0071] In this embodiment, a range sensor 21 with the same level of accuracy as the range sensor 31 of the robot 3 is installed in the mobile terminal 2, and if the map based on the information acquired by the mobile terminal 2 is as accurate as the actual 2D map M3 of the robot 3 in Example 1 and there is no distortion in the map, it is considered that no map is created on the actual machine, but the pseudo 2D map M2 is applied to the actual machine.

[0072] If it is found in a prior evaluation that the pseudo 2D map M2 generated using the 3D map M0 acquired by a range finder such as the mobile terminal 2 is free of distortion compared to the actual 2D map M3, the steps S15 and onward are not executed, the robot 3 is set to a pre-set route, and the robot 3 performs self-location estimation using the pseudo 2D map M2 and moves autonomously. According to the above configuration, since the process of map generation by the robot 3 on-site is not required, it is expected to further effectively reduce the number of setting steps. In addition, by having the robot 3 directly use the map acquired by the mobile terminal 2, there is also an advantage that even if the layout at the work site is changed, the autonomous movement map can be easily partially updated by re-scanning with the mobile terminal 2. EXAMPLES

[0073] Next, a third embodiment of the present invention will be described. The configuration not described below is the same as that of the first embodiment.

[0074] The robot 3 of this embodiment is not a robot that moves on a floor surface, but a ceiling-suspended manipulator that can freely move in two axial directions on a ceiling surface.

[0075] In this embodiment, when moving a ceiling-mounted manipulator having an XY movement mechanism, a 2D interference map M1 is generated from a 3D map M0 acquired in advance by a mobile terminal 2, so that the range of motion of the ceiling-mounted manipulator does not interfere with the equipment, and is used for the movement plan. In this case, a map of the movable area can be generated by projecting the actual obstacles 5 in the environment within the range of the hanging height of the ceiling-mounted manipulator from the ceiling surface onto the ceiling surface. In addition, the work target 4 is recognized from the 3D map M0, so that the movement path can be set efficiently.

[0076] According to the above configuration, even a robot that does not have a range sensor can set an efficient and safe movement path. [Explanation of symbols]

[0077] 100...Robot control system 1...Routing device 11 Arithmetic section 11a…3D map generation section 11b…3D work object extraction section 11c…2D interference map generator 11d…Pseudo 2D map generation section 11e…Route planning section 12 Storage device 12a…Map database 12b…Route database 13 Transmitter / receiver 2. Mobile devices 21...Surveillance sensor 22...3D information generation section 23...Transmitter / receiver 3. Robot 31...Surveillance sensor 32...Arithmetic section 32a…2D map generation section 32b…2D work object extraction section 32c…Map correction section 32d...stop position correction section 32e…Path correction section 33...Storage section 33a…Map database 33b…Route database 34...Transmitter / receiver 4. Work object 41…Stop position 5. Physical obstacles M0…3D map M1: 2D interference map M1': Corrected 2D interferometric map M2…Pseudo 2D map M3…Actual 2D map

Claims

1. an autonomous mobile robot that executes a predetermined task on a work object installed at a work site; A mobile terminal that acquires three-dimensional information of the work site using a terminal range sensor; a route setting device that sets a movement route of the autonomous mobile robot based on the three-dimensional information; A robot control system comprising: The route setting device includes: a three-dimensional map generating unit that generates a three-dimensional map of the work site based on the three-dimensional information; a two-dimensional interference map generating unit that generates a two-dimensional interference map based on the three-dimensional map, taking into consideration interference between a three-dimensional shape of the autonomous mobile robot and an obstacle installed at the work site; a pseudo two-dimensional map generating unit that generates a pseudo two-dimensional map based on the three-dimensional map, taking into consideration interference with the obstacle at a predetermined sensor installation height; a route planning unit that sets the movement route based on a stop position set for the work object, The autonomous mobile robot comprises: a robot range sensor for acquiring two-dimensional information of the work site at the sensor installation height; a two-dimensional map generating unit that generates a real-machine two-dimensional map based on the two-dimensional information; a map correction unit that corrects the 2D interference map based on coordinates obtained by aligning the actual 2D map and the pseudo 2D map; a path correction unit that corrects the travel path based on the corrected two-dimensional interference map; A robot control system comprising:

2. 2. The robot control system according to claim 1, The route setting device further comprises: a three-dimensional work object extraction unit that extracts the work object from the three-dimensional map; The autonomous mobile robot further comprises: a two-dimensional work object extraction unit that extracts the work object from the actual machine two-dimensional map; a stop position correction unit that corrects the stop position by comparing the position of the work object extracted by the three-dimensional work object extraction unit with the position of the work object extracted by the two-dimensional work object extraction unit; A robot control system comprising:

3. 2. The robot control system according to claim 1, the two-dimensional interference map is a map taking into consideration interference between a three-dimensional shape of the autonomous mobile robot and the obstacle within a range from a floor surface to an overall height of the autonomous mobile robot, A robot control system according to claim 1, wherein the overall height is information input by a user into the path setting device.

4. 2. The robot control system according to claim 1, the map correction unit calculates a positional error between the point cloud of the actual 2D map and the point cloud of the pseudo 2D map, matches nearest corresponding point clouds in the point cloud of the actual 2D map and the point cloud of the pseudo 2D map, and applies an amount of error between each point cloud of the actual 2D map and the pseudo 2D map to each corresponding point cloud of the 2D interference map, thereby correcting distortion of the 2D interference map.

5. an autonomous mobile robot that executes a predetermined task on a work object installed at a work site; A mobile terminal that acquires three-dimensional information of the work site using a terminal range sensor; a route setting device that sets a movement route of the autonomous mobile robot based on the three-dimensional information; A robot control method using a three-dimensional map generating step of generating a three-dimensional map of the work site based on the three-dimensional information; a two-dimensional interference map generating step of generating a two-dimensional interference map based on the three-dimensional map, the two-dimensional interference map taking into consideration interference between a three-dimensional shape of the autonomous mobile robot and an obstacle installed at the work site; a pseudo two-dimensional map generating step of generating a pseudo two-dimensional map based on the three-dimensional map, the pseudo two-dimensional map taking into consideration interference with the obstacle at a predetermined sensor installation height; A route planning step of setting the movement route based on a stop position set for the work object; a two-dimensional information acquisition step of acquiring two-dimensional information of the work site at the sensor installation height; a two-dimensional map generating step of generating a real-machine two-dimensional map based on the two-dimensional information; a map correction step of correcting the 2D interference map based on coordinates obtained by aligning the actual 2D map and the pseudo 2D map; a path correction step of correcting the travel path based on the corrected two-dimensional interference map; A robot control method comprising the steps of:

Images