Method of creating environmental map, system therefor, and mobile robot

Abstract

To provide an environment map creating method, a system therefor, and a mobile robot therefor which can create a broad and satisfactorily-accurate environment map with low costs in a short period of time.SOLUTION: In a method according to one embodiment of the present invention, an environment map is created by controlling a movable first mobile robot which is provided with first detection means for detecting an environment to generate first environment information, and a movable second mobile robot which is provided with second detection means for detecting an environment to generate second environment information. The method has the steps of: moving the first mobile robot; generating the first environment information by detection of an environment by the first detection means of the moving first mobile robot; moving the second mobile robot so as to follow the first mobile robot; generating the second environment information by detection of the environment by the second detection means of the moving second mobile robot; and creating the environment map based on the first environment information and the second environment information.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a method, a system, and a mobile robot for generating an environmental map. [Background technology]

[0002] For a mobile robot to move autonomously in an environment where humans and other machines exist, it is necessary for the mobile robot itself to correctly recognize its own position, posture, and surrounding environment. Conventionally, a technique known as SLAM (Simultaneous Localization And Mapping) is known for performing such recognition, which creates a map of the environment while simultaneously estimating 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 from the multiple estimators according to the reliability. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-248032 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, because there are limitations to the range that a sensor can detect and the number of sensors that can be installed, some areas on the constructed map may be missing due to occlusion caused by complex shapes in the environment. Also, reflective surfaces in the environment may cause missing or errors in the constructed map. To address these issues, repeated movement and sensing by a mobile robot or editing the map can be considered, but either solution requires a lot of time and cost.

[0006] Therefore, the present invention provides a method, a system, and a mobile robot for generating an environmental map that are capable of generating an extensive and highly accurate environmental map at low cost and in a short time. [Means for solving the problem]

[0007] A method according to one aspect of the present invention is a method of controlling a first mobile robot provided with a first detection means for detecting the environment and generating first environmental information, and a second mobile robot provided with a second detection means for detecting the environment and generating second environmental information, to generate an environmental map, the method including the steps of: moving the first mobile robot; generating first environmental information by the first detection means of the moving first mobile robot detecting the environment; moving the second mobile robot to follow the first mobile robot; generating second environmental information by the second detection means of the moving second mobile robot detecting the environment; and generating an environmental map based on the first environmental information and the second environmental information.

[0008] According to this aspect, an environmental map is generated based on first environmental information generated by a first detection means provided on a first mobile robot that moves within the environment detecting the environment, and second environmental information generated by a second detection means provided on a second mobile robot that moves within the environment following the first mobile robot, thereby making it possible to generate an extensive and highly accurate environmental map at low cost and in a short time.

[0009] In the above aspect, the step of the second moving robot moving to follow the first moving robot may include the steps of acquiring route information regarding the route traveled by the first moving robot, generating a route plan for the movement of the second moving robot based on the route information, and moving the second moving robot based on the route plan.

[0010] According to this aspect, the second moving robot moves to follow the first moving robot based on a path plan generated based on path information regarding the path traveled by the first moving robot, thereby improving the accuracy with which the second moving robot follows the first moving robot and improving the completeness of the environmental map.

[0011] In the above aspect, in the step of acquiring route information regarding the route traveled by the first moving robot, the second moving robot may acquire the route information, and in the step of generating a route plan for the movement of the second moving robot based on the route information, the second moving robot may generate the route plan.

[0012] According to this aspect, the second moving robot acquires a path plan generated based on route information regarding the route traveled by the first moving robot, and then generates a path plan for the movement of the second moving robot based on this, making it possible to move the second moving robot to follow the first moving robot at low cost and in a short time.

[0013] In the above aspect, in the step of generating an environmental map based on the first environmental information and the second environmental information, the second mobile robot may acquire the first environmental information from the first mobile robot, the second mobile robot may acquire the second environmental information from the second detection means, and the second mobile robot may generate the environmental map based on the acquired first environmental information and second environmental information.

[0014] According to this aspect, the second mobile robot generates an environmental map based on the first environmental information acquired from the first mobile robot and the second environmental information acquired from the second detection means, making it possible to generate an environmental map at low cost and in a short period of time.

[0015] In the above aspect, in the step of generating an environmental map based on the first environmental information and the second environmental information, the first mobile robot may acquire the second environmental information from the second mobile robot, the first mobile robot may acquire the first environmental information from the first detection means, and the first mobile robot may generate the environmental map based on the acquired first environmental information and second environmental information.

[0016] According to this aspect, the first mobile robot generates an environmental map based on the first environmental information acquired from the first detection means and the second environmental information acquired from the second mobile robot, making it possible to generate an environmental map at low cost and in a short period of time.

[0017] In the above aspect, the step of acquiring route information regarding the route traveled by the first moving robot may include a step in which a server acquires the route information, and the step of generating a route plan for the movement of the second moving robot based on the route information may include a step in which the server generates the route plan, and further the server transmits the route plan to the second moving robot.

[0018] According to this aspect, the server acquires a route plan generated based on route information regarding the route traveled by the first moving robot, and then generates a route plan for the movement of the second moving robot based on this, making it possible to move the second moving robot to follow the first moving robot at low cost and in a short time.

[0019] In the above aspect, in the step of generating an environmental map based on the first environmental information and the second environmental information, the server may acquire the first environmental information from the first mobile robot, the server may acquire the second environmental information from the second mobile robot, and the server may generate the environmental map based on the acquired first environmental information and second environmental information.

[0020] According to this aspect, 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, making it possible to generate an environmental map at low cost and in a short period of time.

[0021] In the above aspect, the step of the second moving robot moving to follow the first moving robot may include a step of obtaining position information indicating the position of the first moving robot by a third detection means provided on the second moving robot detecting the first moving robot, a step of generating a path plan for the movement of the second moving robot based on the position information, and a step of the second moving robot moving based on the path plan.

[0022] According to this aspect, a path plan for the movement of the second moving robot is generated based on the position information of the first moving robot obtained when the third detection means provided on the second moving robot detects the first moving robot, making it possible to easily generate the path plan.

[0023] In the above aspect, in the step in which the second moving robot moves to follow the first moving robot, the second moving robot may move so that the orientation of the second detection means relative to the movement direction of the second moving robot is different from the orientation of the first detection means relative to the movement direction of the first moving robot.

[0024] According to this aspect, since the orientation of the first detection means provided on the first mobile robot is different from the orientation of the second detection means provided on the second mobile robot, the range of the first environmental information is different from the range of the second environmental information, thereby increasing the degree to which the first environmental information and the second environmental information complement each other in the environmental map.

[0025] In the above aspect, in the step in which the second moving robot moves to follow the first moving robot, the second moving robot may move so that the orientation of the second detection means relative to the movement direction of the second moving robot is opposite to the orientation of the first detection means relative to the movement direction of the first moving robot.

[0026] According to this aspect, since the orientation of the first detection means provided on the first mobile robot and the orientation of the second detection means provided on the second mobile robot are opposite directions, the range of the first environmental information and the range of the second environmental information differ, thereby increasing the degree to which the first environmental information and the second environmental information complement each other in the environmental map.

[0027] A system according to one embodiment of the present invention includes a first mobile robot provided with a first detection means for detecting the environment and generating first environmental information, a second mobile robot provided with a second detection means for detecting the environment and generating second environmental information, a first movement control unit that controls the first mobile robot to move, a first detection control unit that controls the first detection means of the moving first mobile robot to generate the first environmental information by detecting the environment, a second movement control unit that controls the second mobile robot to move to follow the first mobile robot, a second detection control unit that controls the second detection means of the moving second mobile robot to detect the environment and generate the second environmental information, and an environmental map generation unit that generates an environmental map based on the first environmental information and the second environmental information.

[0028] According to this aspect, an environmental map is generated based on first environmental information generated by a first detection means provided on a first mobile robot that moves within the environment detecting the environment, and second environmental information generated by a second detection means provided on a second mobile robot that moves within the environment following the first mobile robot, thereby making it possible to generate a highly accurate environmental map at low cost in a short time.

[0029] A mobile robot according to one aspect of the present invention is a mobile robot provided with detection means for detecting the environment and generating environmental information, a mobile control unit that controls the mobile robot to move so as to follow another mobile robot, the other mobile robot being provided with other detection means for detecting the environment and generating other environmental information and configured to be mobile, a mobile control unit that controls the detection means of the moving mobile robot to generate environmental information, and a supply unit that supplies the generated environmental information to an environmental map generation unit for generating an environmental map based on the environmental information and the other environmental information.

[0030] According to this aspect, an environmental map is generated based on other environmental information generated by another detection means provided on another mobile robot moving within the environment detecting the environment, and environmental information generated by a detection means provided on a mobile robot moving within the environment so as to follow the other mobile robot, making it possible to generate a highly accurate environmental map at low cost in a short time. Effect of the Invention

[0031] According to the present invention, it is possible to provide a method, a system, and a mobile robot for generating an environmental map that are capable of generating an extensive and highly accurate environmental map at low cost and in a short time. [Brief description of the drawings]

[0032] [Figure 1] FIG. 1 is a diagram for explaining an overview of an environment map generating system 1 according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a schematic diagram showing an example of a functional configuration of an environment map generating system 1 according to a first embodiment. [Diagram 3] FIG. 2 is a diagram showing an example of an operation flow illustrating an operation process executed by the environment map generating system 1 according to the first embodiment. [Figure 4] FIG. 2 is a diagram showing an example of map information ML. [Diagram 5] FIG. 4 is a diagram showing an example of map information MF. [Figure 6] FIG. 2 is a diagram showing an example of composite map information MA. [Figure 7] FIG. 11 is a schematic diagram showing an example of the functional configuration of an environment map generating system 2 according to a second embodiment. [Figure 8] FIG. 11 is a diagram showing an example of an operation flow illustrating an operation process executed by the environment map generating system 2 according to the second embodiment. [Figure 9] FIG. 11 is a schematic diagram showing an example of the functional configuration of an environment map generating system 3 according to a third embodiment. [Figure 10] FIG. 11 is a diagram showing an example of an operation flow illustrating an operation process executed by the environment map generating system 3 according to the third embodiment. [Figure 11] FIG. 13 is a schematic diagram showing an example of the functional configuration of an environment map generating system 4 according to a fourth embodiment. [Figure 12] FIG. 13 is a diagram showing an example of an operation flow illustrating an operation process executed by the environment map generating system 4 according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] A preferred embodiment of the present invention will be described with reference to the accompanying drawings. (Note that in each drawing, the same reference numerals denote the same or similar configurations.)

[0034] (1) First embodiment (1-1) Overview 1 is a diagram for explaining an overview of an environmental map generating system 1 according to this embodiment. The environmental map generating system has, for example, a first mobile robot 10 and a second mobile robot 20. The environmental map generating system 1 controls the first mobile robot 10 and the second mobile robot 20 to generate an environmental map.

[0035] Both the first mobile robot 10 and the second mobile robot 20 are so-called self-propelled robots that move by autonomously running on a floor surface as a running surface. In Fig. 1, the running surface (movement surface) is shown as a surface approximately parallel to the XY plane defined by the X-axis and the Y-axis. Note that the term "self-propelled" is not limited to a method of running completely autonomously, but may also include a method of running by being remotely controlled by an external device such as a remote controller.

[0036] The first mobile robot 10 is provided with an external sensor 11 for detecting the environment and generating map information ML (an example of "first environment information"), and is configured to be mobile. In FIG. 1, the moving direction of the first mobile robot 10 is indicated by a solid line DL, and the orientation of the external sensor 11 is indicated by a dotted line SL. The external sensor 11 is configured to detect, for example, an environment in a direction of a predetermined first range relative to the external sensor 11. In FIG. 1, as an example of the first range, a first range 11R of about 270 degrees centered on the orientation SL of the external sensor 11 is shown. Note that the angle of the first range 11R is not limited to about 270 degrees, and may be any value. The external sensor 11 is configured to detect the environment in the direction of the 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 map information ML is generated based on the result of the detection.

[0037] The second mobile robot 20 is provided with an external sensor 21 for detecting the environment and generating map information MF (an example of "second environment information"), and is configured to be mobile. In FIG. 1, the moving direction of the second mobile robot 20 is indicated by a solid line DF, and the direction of the external sensor 21 is indicated by a dotted line SF. The external sensor 21 is configured to detect, for example, an environment in a direction of a predetermined second range relative to the external sensor 21. In FIG. 1, as an example of the second range, a second range 21R of about 270 degrees centered on the direction SF of the external sensor 21 is shown. Note that the angle of the second range 21R is not limited to about 270 degrees, and may be any value. The external sensor 21 is configured to detect the environment in the direction of the second range 21R. When the second mobile robot 20 moves in the environment so as to follow the first mobile robot 10, the external sensor 21 detects the environment in the direction of the second range 21R, and map information MF is generated based on the result of the detection.

[0038] The environmental map generating system 1 generates composite map information MA (an example of an "environment map") based on the map information ML and the map information MF. In the environmental map generating system 1, for example, the second mobile robot 20 acquires the map information ML from the first mobile robot 10, and generates the composite map information MA by combining this with the map information MF generated based on the detection result of the external sensor 21.

[0039] Thus, in the environmental map generating system, the first moving robot 10 moves within the environment, and the second moving robot 20 moves within the environment following the first moving robot 10. Then, composite map information MA is generated based on map information ML generated by the external sensor 11 provided on the first moving robot 10 and map information MF generated by the external sensor 21 provided on the second moving robot 20. Therefore, it is possible to generate an extensive and highly accurate environmental map at low cost and in a short time.

[0040] In this disclosure, the posture information, route information, and map information may be simply referred to as "posture," "route," and "map," respectively.

[0041] (1-2) Configuration 2 is a schematic diagram showing an example of a functional configuration of the environmental map generating system 1 according to the first embodiment. The first mobile robot 10 and the second mobile robot 20 are connected to each other via a communication network N such as Wi-Fi (registered trademark) or Bluetooth (registered trademark) so as to be able to transmit and receive information to and from each other.

[0042] In the environmental map generating system 1 according to the first embodiment, the second moving robot 20 acquires the route information TL of the first moving robot 10, and then generates a route plan for the second moving robot 20 to follow the first moving robot 10. Also, in the environmental map generating system 1 according to the first embodiment, the second moving robot 20 acquires the map information ML and the map information MF, and then generates composite map information MA based on these.

[0043] (1-2-1) Configuration of the First Mobile Robot 10 The first mobile robot 10 has an external sensor 11, an internal sensor 12, a communication unit 13, a running unit 14, and a control unit 15.

[0044] The external sensor 11 is a sensor that detects information about the surrounding environment of the first moving robot 10. The external sensor 11 detects, for example, information about the position of the surrounding environment, two-dimensional or three-dimensional shape, and color and material. The external sensor 11 may be composed of, for example, a laser range finder (LRF), a laser imaging detection and ranging (LIDAR), a camera, a depth camera, a stereo camera, a sonar, a RADAR, or any combination of these sensors. The number of external sensors 11 that the first moving robot 10 has and the positions at which they are arranged are not particularly limited. The external sensor 11 may be arranged at any position, such as the front side, rear side, or side side of the first moving robot 10. The external sensor 11 is provided, for example, so as to face a predetermined direction SL with respect to the first moving robot 10, and is configured to detect the environment in the direction of a predetermined first range 11R with respect to the external sensor 11 (see FIG. 1).

[0045] The internal sensor 12 is a sensor that detects information regarding the position and posture of the first moving robot 10. The internal sensor 12 is configured to be able to detect at least one absolute value of each of three directional components (e.g., X-axis component, Y-axis component, and Z-axis component of an XYZ Cartesian coordinate system) of the moving distance, speed, acceleration, angular velocity, and posture of the first moving robot 10. The internal sensor 12 may be configured by sensors such as an acceleration sensor, an angular velocity sensor, an encoder, a geomagnetic sensor, an air pressure / water pressure sensor, and a torque sensor, or a combination of these sensors.

[0046] The communication unit 13 is a wireless communication module (also called a communication circuit) for the first mobile robot 10 to perform wireless communication with other devices such as the second mobile robot 20 via the communication network N. The communication standard used for communication is not particularly limited, and may be, for example, Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0047] The running unit 14 is a means for running (moving) the first mobile robot 10, and may be configured to include, for example, at least one wheel and an actuator for powering the wheel. The actuator drives, for example, the wheel based on a control command from the running control unit 151b, thereby moving the first mobile robot 10.

[0048] The control device 15 is a computer equipped with a CPU (Central Processing Unit), a storage device (consisting of storage devices such as a RAM (Random Access Memory), a ROM (Read Only Memory), a HDD (Hard Disk Drive) or an SSD (Solid State Drive)), 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 below may be realized by executing a predetermined program stored in the storage device. Alternatively, some or all of the functional units of the control unit 151 may be realized by hardware such as a custom IC.

[0049] The control unit 151 includes a sensor control unit 151a, a driving control unit 151b, a map information generating / self-position estimating unit 151c, and a transmitting / receiving unit 151d.

[0050] The sensor control unit 151a controls the external sensor 11 and the internal sensor 12, and generates detection results of each sensor. For example, the sensor control unit 151a configures a first detection means together with the external sensor 11, and generates map information ML based on a detection signal supplied from the external sensor 11. The sensor control unit 151a may control the external sensor 11. For example, the sensor control unit 151a may control the orientation SL of the external sensor 11 and / or the size of the first range 11R.

[0051] The traveling control unit 151b generates a route plan for the first moving robot 10, and then controls the traveling unit 14 based on the route plan to move the first moving robot 10. The method of generating the route plan is not particularly limited. For example, the traveling control unit 151b may generate the route plan using the map information ML stored in the storage unit 152 and information on the self-position of the first moving robot 10 estimated by the map generation / self-position estimation unit 151c. The traveling control unit 151b may also generate the route plan based on a set operation mode. The operation mode may be any one that is set, but may be, for example, a "free mode" in which the robot moves randomly, a "map generation mode" in which the map generation range is expanded, or a "destination designation mode" in which the robot moves to a designated location. The traveling control unit 151b generates a control signal based on the generated route plan and supplies the control signal to an actuator of the traveling unit 14 to drive wheels and the like to move the first moving robot 10.

[0052] The map generation / self-position estimation unit 151c acquires at least one of the absolute values ​​of three-directional components of the moving distance, speed, acceleration, angular velocity, and attitude of the first moving robot 10 obtained from the internal sensor 12. The map generation / self-position estimation unit 151c also acquires information about the surrounding environment of the first moving robot 10 from the external sensor 11. The map generation / self-position estimation unit 151c estimates the self-position of the first moving robot 10 and generates map information from the acquired information by filtering processing. The filtering processing can be implemented by any of the following methods: Kalman filter, extended Kalman filter, unsented Kalman filter, particle filter, and Rao-Blackwellized particle filter.

[0053] Posture information PL and route information TL are generated by estimating the self-position. Map information ML is generated by generating map information. Here, the posture information PL may include the position (coordinates) and orientation of the first moving robot 10. The route information TL may include information indicating the route traveled by the first moving robot 10. The map information ML may include information on the map of the environment.

[0054] The map generation / self-position estimation unit 151c stores the generated posture information PL, route information TL, and map information ML in the storage unit 152. When the corresponding posture information PL, route information TL, and map information ML already exist, the map information stored in the storage unit 152 is used together with the updated map information, and the updated map information is stored in the storage unit 152.

[0055] The transmitting / receiving unit 151d transmits and receives information to and from other devices such as the second moving robot 20 via the communication unit 13 and the communication network N. The transmitting / receiving unit 151d may transmit, for example, posture information PL, route information TL, and / or map information ML to the second moving robot 20.

[0056] The storage unit 152 stores various programs and various data for controlling the first moving robot 10. The storage unit stores, for example, posture information PL, route information TL, and / or map information ML generated by the map generation / self-position estimation unit 151c or the like.

[0057] (1-2-2) Configuration of the second mobile robot 20 The second mobile robot 20 has an external sensor 21, an internal sensor 22, a communication unit 23, a running unit 24, and a control device 25.

[0058] The external sensor 21 is a sensor that detects information about the surrounding environment of the second moving robot 20. The external sensor 21 detects, for example, information about the position of the surrounding environment, two-dimensional or three-dimensional shape, and color and material. The external sensor 21 may be composed of, for example, a laser range finder (LRF), a laser imaging detection and ranging (LIDAR), a camera, a depth camera, a stereo camera, a sonar, a RADAR, or any combination of these sensors. The number of external sensors 21 that the second moving robot 20 has and the positions at which they are arranged are not particularly limited. The external sensor 21 may be arranged at any position, such as the front side, rear side, or side side of the second moving robot 20. The external sensor 21 is provided, for example, so as to face a predetermined direction SF with respect to the second moving robot 20, and is configured to detect the environment in the direction of a predetermined second range 21R with respect to the external sensor 21 (see FIG. 1).

[0059] The internal sensor 22 is a sensor that detects information regarding the position and posture of the second moving robot 20. The internal sensor 22 is configured to be able to detect at least one of the absolute values ​​of three directional components (e.g., X-axis component, Y-axis component, and Z-axis component of an XYZ Cartesian coordinate system) of the movement distance, speed, acceleration, angular velocity, and posture of the second moving robot 20. The internal sensor 22 may be configured by sensors such as an acceleration sensor, an angular velocity sensor, an encoder, a geomagnetic sensor, an air pressure / water pressure sensor, and a torque sensor, or a combination of these sensors.

[0060] The communication unit 23 is a wireless communication module (also called a communication circuit) for the second mobile robot 20 to perform wireless communication with other devices such as the first mobile robot 10 via the communication network N. The communication standard used for communication is not particularly limited, and may be, for example, Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0061] The running unit 24 is a means for running (moving) the second mobile robot 20, and may be configured to include, for example, at least one wheel and an actuator for powering the wheel. The actuator drives, for example, the wheel based on a control command from the running control unit 251b, thereby moving the second mobile robot 20.

[0062] The control device 25 is a computer equipped with a CPU (Central Processing Unit), a storage device (consisting of storage devices such as a RAM (Random Access Memory), a ROM (Read Only Memory), a HDD (Hard Disk Drive) or an 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 below may be realized by executing a predetermined program stored in the storage device. Alternatively, some or all of the functional units of the control unit 251 may be realized by hardware such as a custom IC.

[0063] The control unit 251 includes a sensor control unit 251a, a driving control unit 251b, a map information generating / self-position estimating unit 251c, a transmitting / receiving unit 251d, and a map information synthesizing unit 251e.

[0064] The sensor control unit 251a controls the external sensor 21 and the internal sensor 22, and acquires the detection results of each sensor. For example, the sensor control unit 251a configures a second detection means together with the external sensor 21, and generates map information MF based on a detection signal supplied from the external sensor 21. The sensor control unit 251a may control the external sensor 21. For example, the sensor control unit 251a may control the orientation SF of the external sensor 21 and / or the size of the second range 21R. In particular, when the second moving robot 20 moves so as to follow the first moving robot 10, the sensor control unit 251a may control the orientation SF of the external sensor 21 and / or the size of the second range 21R so that the second range 21R in which the external sensor 21 of the second moving robot 20 detects the environment includes a range that is not included in the first range 11R in which the external sensor 11 of the first moving robot 10 detects the environment.

[0065] The traveling control unit 251b generates a path plan for the second moving robot 20, and then controls the traveling unit 24 based on the path plan to move the second moving robot 20. In particular, the traveling control unit 251b moves the second moving robot 20 so as to follow the first moving robot 10. For this purpose, the traveling control unit 251b acquires, for example, path information TL regarding the path traveled by the first moving robot 10, and generates a path plan for the second moving robot 20 based at least on the path information TL. Note that the path plan may be further generated based on map information MF stored in the storage unit 252 and information on the self-position of the second moving robot 20 estimated by the map generation / self-position estimation unit 251c.

[0066] Here, following the first moving robot 10 is not limited to a path that completely matches the path traveled by the first moving robot 10, but may include moving along a path that is within a range of a predetermined distance from the path traveled by the first moving robot 10. The predetermined distance may be stored in the storage unit 252 or the like as a predetermined value, for example. The value may be set according to the mode of the first moving robot 10 and the mode of the second moving robot 20, for example. In addition, the traveling control unit 251b may calculate and update the predetermined distance according to the detection results of the external sensor 21 and the internal sensor 22.

[0067] The driving control unit 251b may move the second moving robot 20 so that the second range 21R in which the external sensor 21 possessed by the second moving robot 20 detects the environment includes a range that is not included in the first range 11R in which the external sensor 11 possessed by the first moving robot 10 detects the environment.

[0068] For example, when the size of the first range 11R of the external sensor 11 and the size of the second range 21R of the external sensor 21 are equal, the travel control unit 251b may move the second moving robot 20 so that the orientation of the external sensor 21 relative to the moving direction of the second moving robot 20 is different from the orientation of the external sensor 11 relative to the moving direction of the first moving robot 10. For example, in FIG. 1, the moving direction of the first moving robot 10 is represented by a solid arrow DL, the orientation of the external sensor 21 is represented by a dotted arrow SL, the moving direction of the second moving robot 20 is represented by a solid arrow DF, and the orientation of the external sensor 21 is represented by a dotted arrow SF. As shown in FIG. 1, the angle between the moving direction DL of the first moving robot 10 and the orientation SL of the external sensor 11 is approximately 0 degrees. Also, as shown in FIG. 1, the angle between the moving direction DF of the second moving 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 moving direction of the second moving robot 20 is different from the orientation of the external sensor 11 relative to the moving direction of the first moving robot 10.

[0069] As described above, in the environmental map generating system 1 according to this embodiment, the second moving robot 20 can move so as to follow the first moving robot 10, so that the moving direction DF of the second moving robot 20 when passing through an arbitrary position can be substantially equal to the moving direction DL of the first moving robot 10 when passing through the position. In this case, as described above, the second moving robot 20 moves so that the orientation of the external sensor 21 relative to the moving direction of the second moving robot 20 is different from the orientation of the external sensor 11 relative to the moving direction of the first moving robot 10. As a result, the orientation of the external sensor 11 provided on the first moving robot 10 when passing through an arbitrary position and the orientation of the external sensor 21 provided on the second moving robot 20 are different from each other, and the second range R21 of the external sensor 21 includes a range that is not included in the first range R11 of the external sensor 11. Therefore, the map information ML and the map information MF on which the composite map information MA is based can complement each other in terms of the range of the imaging area, etc.

[0070] The travel control unit 251b of the second moving robot 20 may move the second moving robot 20 so that the difference between the angle between the moving direction DL of the first moving robot 10 and the direction SL of the external sensor 11 and the angle between the moving direction DF of the second moving robot 20 and the direction SF of the external sensor 21 becomes a predetermined value. The predetermined value may be any value, for example, any value between 0 degrees and 45 degrees, 45 degrees, any value between 45 degrees and 90 degrees, 90 degrees, or any value between 90 degrees and 180 degrees. The travel control unit 251b may change the predetermined value based on various parameters. For example, the travel control unit 251b may change the predetermined value according to a mode set by the user (such as a mode related to the accuracy of the generated environmental map). Also, for example, the driving control unit 251b may change the specified value depending on the generated and acquired data (for example, posture information PF, route information TF, map information MF, posture information PL, route information TL, map information ML, and composite map information MA).

[0071] Also, for example, when 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 traveling control unit 251b may move the second mobile robot so that the second range 21R includes a range that is not included in the first range 11R.

[0072] For example, if the size of the second range 21R is larger than the size of the first range 11R, the traveling control unit 251b may move the second mobile robot arbitrarily, since the second range 21R includes a range that is not included in the first range 11R, regardless of the orientation SF of the external sensor 21.

[0073] The map generation / self-position estimation unit 251c acquires at least one of the absolute values ​​of the three directional components of the moving distance, speed, acceleration, angular velocity, and attitude of the second moving robot 20 acquired from the internal sensor 22. The map generation / self-position estimation unit 251c also acquires information about the surrounding environment of the second moving robot 20 from the external sensor 21. The map generation / self-position estimation unit 251c estimates the self-position of the second moving robot 20 and generates map information from the acquired information by filtering processing. The filtering processing can be configured by any of the following methods: Kalman filter, extended Kalman filter, unsented Kalman filter, particle filter, and Rao-Blackwellized particle filter.

[0074] Posture information PF and path information TF are generated by estimating the self-position. Map information MF is generated by generating map information. Here, the posture information PF may include the position (coordinates) and orientation of the second mobile robot 20. The path information TF may include information indicating the path traveled by the second mobile robot 20. The map information MF may include information on the map of the environment.

[0075] The map generation / self-location estimation unit 251c stores the generated attitude information PF, route information TF, and map information MF in the storage unit 252. If the corresponding attitude information PF, route information TF, and map information MF already exist, the map information stored in the storage unit 252 is also used to update the map information, and the updated information is stored in the storage unit 252. The map generation / self-location estimation unit 251c, as an example of a supply unit, supplies the map information MF to the map information synthesis unit 251e.

[0076] The transmitting / receiving unit 251d transmits and receives information to and from other devices such as the first moving robot 10 via the communication unit 23 and the communication network N. The transmitting / receiving unit 251d may receive, for example, posture information PL, route information TL, and / or map information ML from the first moving robot 10.

[0077] The map information synthesis unit 251e generates the composite map information MA based on the map information ML and the map information MF. The map information synthesis unit 251e generates the composite map information MA by, for example, synthesizing the map information ML and the map information MF. For example, a known point cloud matching technique such as an ICP (Iterative Closest Point) algorithm may be used to synthesize the map information ML and the map information MF. In generating the composite map information MA, the orientation information PL and the orientation information PF may be converted into the same coordinate system. In generating the composite map information MA, the route information TL and the route information TF may be converted into the same coordinate system.

[0078] The memory unit 252 stores various programs and various data for controlling the second moving robot 20. The memory unit 252 stores, for example, the posture information PF, route information TF, and / or map information MF generated by the map generation / self-position estimation unit 251c, etc. The memory unit 252 stores, for example, the posture information PL, route information TL, and / or map information ML received from the first moving robot 10. The memory unit 252 stores, for example, the composite map information MA generated by the map information composite unit 251e, etc.

[0079] (1-3) Operation processing 3 is a diagram showing an example of an operation flow showing an operation process executed by the environment map generating system 1 according to the first embodiment. The operation flow includes an operation flow showing an operation process executed by the first mobile robot 10 and an operation flow showing an operation process executed by the second mobile robot 20.

[0080] (1-3-1) Operation process of the first mobile robot 10 First, the operation process executed by the first mobile robot 10 will be described.

[0081] First, in step S111, the internal sensor 11 acquires information on the position and posture of the first moving robot 10. Here, the acquired information may include, for example, absolute values ​​of three-directional components of the moving distance, velocity, acceleration, angular velocity, and posture of the first moving robot 10.

[0082] Next, in step S112, the external sensor 11 acquires information about the surrounding environment of the first moving robot 10. The acquired information includes information about the position of the surrounding environment, and information about a two-dimensional or three-dimensional shape, color, and material.

[0083] Next, in step S113, the map generation / self-position estimation unit 151c generates map information and estimates the self-position of the first moving robot 10 using the information acquired by the external sensor 11 and the information acquired by the internal sensor 12. As a result, posture information PL, route information TL, and map information ML of the first moving robot 10 are generated.

[0084] The posture information PL, the path information TL, and the map information ML will be described with reference to FIG. 4. FIG. 4 shows the map information ML when the first mobile robot 10 moves along the path TL to the position PL while detecting the walls W1, W2, and W3 by the external sensor 11. In FIG. 4, the walls W1, W2, and W3 detected by the external sensor 11 and the path TL are shown by solid lines. At this time, as shown in FIG. 4, it is assumed that a defect d1 occurs in the detection of the wall W1 by the external sensor 11 due to the angle of the external sensor 11. In addition, the wall W3 is provided with protrusions S1 and S2. At this time, it is assumed that a defect d2 occurs in the detection of the wall W3 by the external sensor 11 due to the reflection of light by the protrusion S2 as shown in FIG. 4.

[0085] Next, in step S114, the transmitting / receiving unit 151d transmits the generated posture information PL of the first moving robot 10, the path information TL, and the map information ML to the second moving robot 20.

[0086] Next, in step S115, the traveling control unit 151b generates a route plan for the first moving robot 10. The traveling control unit 151b may generate the route plan using, for example, the map information ML stored in the storage unit 152 and information on the self-position of the first moving robot 10 estimated by the map generation / self-position estimation unit 151c.

[0087] Next, in step S116, the traveling control unit 151b controls the traveling unit 14 based on the path plan generated in step S115 to move the first moving robot 10. After that, steps S111 to S116 are repeated until a predetermined end condition is satisfied.

[0088] (1-3-2) Operation process of the second mobile robot 20 Next, the operation process executed by the second mobile robot 20 will be described.

[0089] First, in step S121, the internal sensor 22 acquires information on the position and posture of the second moving robot 20. Here, the acquired information may include, for example, absolute values ​​of three-directional components of the moving distance, velocity, acceleration, angular velocity, and posture of the second moving robot 20.

[0090] Next, in step S122, the external sensor 21 acquires information about the surrounding environment of the second moving robot 20. The acquired information includes information about the position of the surrounding environment, and information about a two-dimensional or three-dimensional shape, color, and material.

[0091] Next, in step S123, the map generation / self-position estimation unit 251c generates map information and estimates the self-position of the second moving robot 20 by using the information acquired by the external sensor 21 and the information acquired by the internal sensor 22. As a result, posture information PF, route information TF, and map information MF of the second moving robot 20 are generated.

[0092] The posture information PF, the path information TF, and the map information MF will be described with reference to FIG. 5. FIG. 5 shows the map information MF when the second mobile robot 20 moves along the path TF to the position PF while detecting the walls W1, W2, and W3 by the external sensor 21. In FIG. 5, the walls W1, W2, and W3 detected by the external sensor 21 and the path TF are indicated by dotted lines. At this time, as shown by reference symbol c1 in FIG. 5, it is assumed that no loss occurs in the detection of the wall W1 by the external sensor 21 due to the angle of the external sensor 21. Also, at this time, it is assumed that no loss occurs in the detection of the wall W3 by the external sensor 21 due to the reflection of light for the protrusion S2 as well, as shown by reference symbol c2 in FIG. 5.

[0093] Next, in step S124, the transmitting / receiving unit 251d receives the posture information PL, the route information TL, and the map information ML of the first moving robot 10 transmitted from the first moving robot 10 in step S114.

[0094] Next, in step S125, the map information synthesis unit 251e generates composite 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 map information ML and the map information MF may be synthesized using a known point cloud matching technique such as an ICP (Iterative Closest Point) algorithm. In generating the composite map information MA, the orientation information PL and the orientation information PF may be converted into the same coordinate system. In generating the composite map information MA, the route information TL and the route information TF may be converted into the same coordinate system.

[0095] FIG. 6 shows the composite map information MA. The walls W1, W2, and W3 detected by the external sensor 11 and the route TL are indicated by solid lines. The walls W1, W2, and W3 detected by the external sensor 21 and the route TF are indicated by dotted lines. As shown in FIG. 6, in the composite map information MA, the walls W1, W2, and W3 detected by the external sensor 11 and the walls W1, W2, and W3 detected by the external sensor 21 are arranged so as to coincide with or be close to each other. As described above, in the detection of the wall W1 by the external sensor 11, a defect d1 occurred due to the angle of the external sensor 11 (FIG. 4), whereas in the detection of the wall W1 by the external sensor 21, no defect occurred due to the angle of the external sensor 21 (FIG. 5). As for the defect portion, as shown by the reference symbol c1 in FIG. 6, in the composite map information MA, the defect d1 in the detection of the wall W1 by the external sensor 11 is complemented by the detection of the wall W1 by the external sensor 21. As described above, in the detection of wall W3 by the external sensor 11, a defect d2 occurred due to the reflection of light by the raised portion S2 (FIG. 4), whereas in the detection of wall W3 by the external sensor 21, no defect occurred due to the angle of the external sensor 21 (FIG. 5). As for the defect portion, as shown by reference symbol c2 in FIG. 6, in the composite map information MA, the defect d2 in the detection of wall W1 by the external sensor 11 is complemented by the detection of wall W1 by the external sensor 21.

[0096] Next, in step S126, the traveling control unit 251b generates a path plan for the second moving robot 20. In particular, the traveling control unit 251b generates a path plan for moving the second moving robot 20 so as to follow the first moving robot 10, based on the path information TL of the first moving robot 10 acquired in step S124.

[0097] Next, in step S127, the traveling control unit 251b controls the traveling unit 24 based on the path plan generated in step S126 to move the second moving robot 20. At this time, the traveling control unit 251b may move the second moving robot 20 so that the second range 21R in which the external sensor 21 of the second moving robot 20 detects the environment includes a range that is not included in the first range 11R in which the external sensor 11 of the first moving robot 10 detects the environment. In addition, at this time, the sensor control unit 251a may control the orientation SF of the external sensor 21 and / or the size of the second range 21R so that the second range 21R in which the external sensor 21 of the second moving robot 20 detects the environment includes a range that is not included in the first range 11R in which the external sensor 11 of the first moving robot 10 detects the environment when the second moving robot 20 moves to follow the first moving robot 10. Thereafter, steps S121 to S127 are repeated until a predetermined end condition is satisfied.

[0098] (2) Second embodiment (2-1) Configuration 7 is a schematic diagram showing an example of the functional configuration of an environment map generating system 2 according to the second embodiment. Below, regarding the environment map generating system 2 according to the second embodiment, the parts that are different from the environment map generating system 2 according to the first embodiment will be described, and the description of the parts that are the same as the environment map generating system 1 according to the first embodiment will be omitted as appropriate. In the environment map generating system 1 according to the second embodiment, the first mobile robot 10 acquires the map information ML and the map information MF, and then generates composite map information MA based on these.

[0099] (2-1-1) Configuration of the First Mobile Robot 10 The transmitter / receiver 151d may receive, for example, from the second moving robot 20, the posture information PF, the path information TF, and / or the map information MF.

[0100] The first mobile robot 10 has a map information synthesis unit 151e. The map information synthesis unit 151e generates the composite map information MA based on the map information ML and the map information MF. The map information synthesis unit 151e generates the composite map information MA by, for example, synthesizing the map information ML and the map information MF. For example, a known point cloud matching technique such as an ICP (Iterative Closest Point) algorithm may be used to synthesize the map information ML and the map information MF. In generating the composite map information MA, the orientation information PL and the orientation information PF may be converted into the same coordinate system. In generating the composite map information MA, the path information TL and the path information TF may be converted into the same coordinate system.

[0101] The storage unit 152 stores, for example, the posture information PL, the route information TL, and / or the map information ML generated by the map generation / self-position estimation unit 151c etc. The storage unit 152 stores, for example, the posture information PF, the route information TF, and / or the map information MF received from the second moving robot 20. The storage unit 152 stores, for example, the composite map information MA generated by the map information composition unit 151e etc.

[0102] (2-2) Operation processing 8 is a diagram showing an example of an operation flow showing an operation process executed by the environmental map generating system 2 according to the second embodiment. The operation flow includes an operation flow showing an operation process executed by the first mobile robot 10 and an operation flow showing an operation process executed by the second mobile robot 20.

[0103] (2-2-1) Operation process of the first mobile robot 10 First, the operation process executed by the first mobile robot 10 will be described.

[0104] First, in step S211, the internal sensor 12 acquires information on the position and posture of the first moving robot 10. Here, the acquired information may include, for example, absolute values ​​of three-directional components of the moving distance, velocity, acceleration, angular velocity, and posture of the first moving robot 10.

[0105] Next, in step S212, the external sensor 11 acquires information about the surrounding environment of the first moving robot 10. The acquired information includes information about the position of the surrounding environment, and information about a two-dimensional or three-dimensional shape, color, and material.

[0106] Next, in step S213, the map generation / self-position estimation unit 151c generates map information and estimates the self-position of the first moving robot 10 using the information acquired by the external sensor 11 and the information acquired by the internal sensor 12. As a result, for example, posture information PL, route information TL, and map information ML of the first moving robot 10 as shown in Fig. 4 are generated.

[0107] Next, in step S214, the transmitting / receiving unit 151d receives the posture information PF, the path information TF, and the map information MF of the second moving robot 20 transmitted from the second moving robot 20 in step S224. The transmitting / receiving unit 151d also transmits the generated path information TL of the first moving robot 10 to the second moving robot 20.

[0108] Next, in step S215, the map information synthesis unit 151e generates composite 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. For synthesis of the map information ML and the map information MF, a known point cloud matching technique such as an ICP (Iterative Closest Point) algorithm may be used. In generating the composite map information MA, the orientation information PL and the orientation information PF may be converted into the same coordinate system. In generating the composite map information MA, the path information TL and the path information TF may be converted into the same coordinate system. As a result, for example, the composite map information MA as shown in FIG. 6 is generated.

[0109] Next, in step S216, the traveling control unit 151b generates a route plan for the first moving robot 10. The traveling control unit 151b may generate the route plan using, for example, the map information ML stored in the storage unit 152 and information on the self-position of the first moving robot 10 estimated by the map generation / self-position estimation unit 151c.

[0110] Next, in step S217, the traveling control unit 151b controls the traveling unit 14 based on the path plan generated in step S216 to move the first moving robot 10. After that, steps S211 to S217 are repeated until a predetermined end condition is satisfied.

[0111] (2-2-2) Operation process of the second mobile robot 20 Next, the operation process executed by the second mobile robot 20 will be described.

[0112] First, in step S221, the internal sensor 22 acquires information on the position and posture of the second moving robot 20. Here, the acquired information may include, for example, absolute values ​​of three-directional components of the moving distance, velocity, acceleration, angular velocity, and posture of the second moving robot 20.

[0113] Next, in step S222, the external sensor 21 acquires information about the surrounding environment of the second moving robot 20. The acquired information includes information about the position of the surrounding environment, and information about a two-dimensional or three-dimensional shape, color, and material.

[0114] Next, in step S223, the map generation / self-position estimation unit 251c generates map information and estimates the self-position of the second moving robot 20 by using the information acquired by the external sensor 21 and the information acquired by the internal sensor 22. As a result, for example, posture information PL, route information TL, and map information ML of the second moving robot 20 as shown in FIG.

[0115] Next, in step S224, the transmitting / receiving unit 251d transmits the generated posture information PF, path information TF, and map information MF of the second moving robot 20 to the first moving robot 10. The transmitting / receiving unit 251d also receives the path information TL of the first moving robot 10 transmitted from the first moving robot 10 in step S214.

[0116] Next, in step S225, the traveling control unit 251b generates a path plan for the second moving robot 20. In particular, the traveling control unit 251b generates a path plan for moving the second moving robot 20 so as to follow the first moving robot 10, based on the path information TL of the first moving robot 10 acquired in step S224.

[0117] Next, in step S226, the traveling control unit 251b controls the traveling unit 24 based on the path plan generated in step S225 to move the second moving robot 20. At this time, the traveling control unit 251b may move the second moving robot 20 so that the second range 21R in which the external sensor 21 of the second moving robot 20 detects the environment includes a range that is not included in the first range 11R in which the external sensor 11 of the first moving robot 10 detects the environment. In addition, at this time, the sensor control unit 251a may control the orientation SF of the external sensor 21 and / or the size of the second range 21R so that the second range 21R in which the external sensor 21 of the second moving robot 20 detects the environment includes a range that is not included in the first range 11R in which the external sensor 11 of the first moving robot 10 detects the environment when the second moving robot 20 moves to follow the first moving robot 10. Thereafter, steps S221 to S226 are repeated until a predetermined end condition is satisfied.

[0118] (3) Third embodiment (3-1) Configuration 9 is a schematic diagram showing an example of the functional configuration of an environment map generating system 3 according to the third embodiment. In the following, regarding the environment map generating system 3 according to the third embodiment, the parts that are different from the environment map generating system 1 according to the first embodiment will be described, and the description of the parts that are the same as those of the environment map generating system 1 according to the first embodiment will be omitted as appropriate.

[0119] The environmental map generating system 3 according to the third embodiment includes a server 30 in addition to the first moving robot 10 and the second moving robot 20. The server 30 is connected to the first moving robot 10 and the second moving robot 20 via a communication network N so as to be able to transmit and receive information. In the environmental map generating system 3 according to the third embodiment, the server acquires the path information TL of the first moving robot 10 from the first moving robot 10, generates a path plan for the second moving robot 20 to follow the first moving robot 10, and transmits it to the second moving robot 20. In the environmental map generating system 3 according to the third embodiment, the second moving robot 20 acquires the map information ML from the first moving robot 10 and the map information MF from the second moving robot 20, and generates composite map information MA based on these.

[0120] (3-1-1) Configuration of Server 30 The server 30 is a computer equipped with a CPU (Central Processing Unit), a storage device (consisting of storage devices such as a RAM (Random Access Memory), a ROM (Read Only Memory), a HDD (Hard Disk Drive) or an SSD (Solid State Drive)), and various interfaces. The 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 below may be realized by executing a predetermined program stored in the above-mentioned storage device. Alternatively, some or all of the functional units of the control unit 32 may be realized by hardware such as a custom IC.

[0121] The communication unit 31 is a wireless communication module (also called a communication circuit) for the server 30 to perform wireless communication with other devices such as the first mobile robot 10 and the second mobile robot 20 via the communication network N. The communication standard used for communication is not particularly limited, and may be, for example, Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0122] The control unit 32 includes a transmission / reception unit 32a, a map information synthesis unit 32b, and a route plan generation unit 32c.

[0123] The transmitter / receiver 32a transmits and receives information to and from other devices such as the first moving robot 10 and the second moving robot 20 via the communication unit 31 and the communication network N. The transmitter / receiver 32a may receive, for example, posture information PL, path information TL, and / or map information ML from the first moving robot 10. The transmitter / receiver 32a may receive, for example, posture information PF, path information TF, and / or map information MF from the second moving robot 20. The transmitter / receiver may transmit, for example, a path plan generated by the path plan generation unit 32c to the second moving robot 20.

[0124] The map information synthesis unit 32c generates the synthetic map information MA by, for example, synthesizing the map information ML and the map information MF. For example, a known point cloud matching technique such as an ICP (Iterative Closest Point) algorithm may be used to synthesize the map information ML and the map information MF. In generating the synthetic map information MA, the orientation information PL and the orientation information PF may be converted into the same coordinate system. In generating the synthetic map information MA, the route information TL and the route information TF may be converted into the same coordinate system.

[0125] The path plan generating unit 32c generates a path plan for the second moving robot 20. In particular, the path plan generating unit 32c generates a path plan for moving the second moving robot 20 so as to follow the first moving robot 10. For this purpose, the path plan generating unit 32c generates a path plan for the second moving robot 20, for example, based at least on path information TL relating to the path traveled by the first moving robot 10. The method of generating the path plan by the path plan generating unit 32c may be similar to the method of generating the path plan by the traveling control unit 251b of the second moving robot 20 in the environmental map generating system 1 according to the first embodiment.

[0126] The storage unit 33 stores, for example, the posture information PL, the path information TL, and / or the map information ML received from the first moving robot 10. The storage unit 33 stores, for example, the posture information PF, the path information TF, and / or the map information MF received from the second moving robot 20. The storage unit 33 stores, for example, the composite map information MA generated by the map information synthesis unit 32b etc.

[0127] (3-2) Operation processing 10 is a diagram showing an example of an operation flow showing an operation process executed by the environmental map generating system 3 according to the third embodiment. The operation flow includes an operation flow showing an operation process executed by the first mobile robot 10, an operation flow showing an operation process executed by the second mobile robot 20, and an operation flow showing an operation process executed by the server 30.

[0128] (3-2-1) Operation process of the first mobile robot 10 First, the operation process executed by the first mobile robot 10 will be described.

[0129] First, in step S311, the internal sensor 12 acquires information on the position and posture of the first moving robot 10. Here, the acquired information may include, for example, absolute values ​​of three-directional components of the moving distance, velocity, acceleration, angular velocity, and posture of the first moving robot 10.

[0130] Next, in step S312, the external sensor 11 acquires information about the surrounding environment of the first moving robot 10. The acquired information includes information about the position of the surrounding environment, and information about a two-dimensional or three-dimensional shape, color, and material.

[0131] Next, in step S313, the map generation / self-position estimation unit 151c generates map information and estimates the self-position of the first moving robot 10 using the information acquired by the external sensor 11 and the information acquired by the internal sensor 12. As a result, for example, posture information PL, route information TL, and map information ML of the first moving robot 10 as shown in Fig. 4 are generated.

[0132] Next, in step S314, the transmitting / receiving unit 151d transmits to the server 30 the generated posture information PL of the first moving robot 10, the path information TL, and the map information ML.

[0133] Next, in step S315, the traveling control unit 151b generates a route plan for the first moving robot 10. The traveling control unit 151b may generate the route plan, for example, by using the map information ML stored in the storage unit 152 and information on the self-position of the first moving robot 10 estimated by the map generation / self-position estimation unit 151c.

[0134] Next, in step S316, the traveling control unit 151b1 controls the traveling unit 14 based on the path plan generated in step S315 to move the first moving robot 10. At this time, the traveling control unit 251b may move the second moving robot 20 so that the second range 21R in which the external sensor 21 of the second moving robot 20 detects the environment includes a range that is not included in the first range 11R in which the external sensor 11 of the first moving robot 10 detects the environment. In addition, at this time, the sensor control unit 251a may control the orientation SF of the external sensor 21 and / or the size of the second range 21R so that the second range 21R in which the external sensor 21 of the second moving robot 20 detects the environment includes a range that is not included in the first range 11R in which the external sensor 11 of the first moving robot 10 detects the environment when the second moving robot 20 moves to follow the first moving robot 10. Thereafter, steps S311 to S316 are repeated until a predetermined end condition is satisfied.

[0135] (3-2-2) Second mobile robot 20 Next, the operation process executed by the second mobile robot 20 will be described.

[0136] First, in step S321, the internal sensor 22 acquires information on the position and posture of the second moving robot 20. Here, the acquired information may include, for example, absolute values ​​of three-directional components of the moving distance, velocity, acceleration, angular velocity, and posture of the second moving robot 20.

[0137] Next, in step S322, the external sensor 21 acquires information about the surrounding environment of the second moving robot 20. The acquired information includes information about the position of the surrounding environment, and information about a two-dimensional or three-dimensional shape, color, and material.

[0138] Next, in step S323, the map generation / self-position estimation unit 251c generates map information and estimates the self-position of the second moving robot 20 by using the information acquired by the external sensor 21 and the information acquired by the internal sensor 22. As a result, for example, posture information PL, route information TL, and map information ML of the second moving robot 20 as shown in Fig. 5 are generated.

[0139] Next, in step S324, the transmitting / receiving unit 251d transmits the generated posture information PF of the second moving robot 20, the path information TF, and the map information MF to the server.

[0140] Next, in step S325, the transmitting / receiving unit 251d receives the path plan (the path plan for moving the second moving robot 20 so as to follow the first moving robot 10) transmitted from the server in step S332.

[0141] Next, in step S326, the traveling control unit 251b controls the traveling unit 24 based on the path plan acquired in step S325 to move the second moving robot 20. Thereafter, steps S321 to S326 are repeated until a predetermined end condition is satisfied.

[0142] (3-2-3) Operational process of the server 30 Next, the operational process executed by the server 30 will be described.

[0143] First, in step S331, the transmitter / receiver 32a receives the posture information PL, route information TL, and map information ML of the first moving robot 10 transmitted from the first moving robot 10 in step S314. The transmitter / receiver 32a also receives the posture information PF, route information TF, and map information MF of the second moving robot 20 transmitted from the second moving robot 20 in step S324.

[0144] Next, in step S332, the path plan generating unit 32c generates a path plan for the second moving robot 20. In particular, the path plan generating unit 32c generates a path plan for moving the second moving robot 20 to follow the first moving robot 10, based on the path information TL of the first moving robot 10 acquired from the first moving robot 10 in step S314. Then, the transmitting / receiving unit 32a transmits the path plan generated by the path plan generating unit 32c to the second moving robot 20.

[0145] Next, in step S333, the map information synthesis unit 32b generates composite 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. For synthesis of the map information ML and the map information MF, a known point cloud matching technique such as an ICP (Iterative Closest Point) algorithm may be used. In generating the composite map information MA, the orientation information PL and the orientation information PF may be converted into the same coordinate system. In generating the composite map information MA, the path information TL and the path information TF may be converted into the same coordinate system. As a result, the composite map information MA is generated, for example, as shown in FIG. 6. Thereafter, steps S331 to S333 are repeated until a predetermined end condition is satisfied.

[0146] (4) Fourth embodiment (4-1) Configuration 11 is a schematic diagram showing an example of the functional configuration of an environment map generating system 4 according to the fourth embodiment. In the following, regarding the environment map generating system 4 according to the fourth embodiment, the parts that are different from the environment map generating system according to the third embodiment will be described, and the description of the parts that are the same as those in the environment map generating system according to the third embodiment will be omitted as appropriate.

[0147] In the environmental map generating system 4 according to the fourth embodiment, the second mobile robot 20 has a second external sensor 26. In the environmental map generating system 4 according to the fourth embodiment, the second mobile robot 20 detects the first mobile robot 10 by the second external sensor 26, and generates position information indicating the position of the first mobile robot 10 based on the detection result. Then, the second mobile robot 20 generates a path plan for the movement of the second mobile robot 20 based on the position information indicating the position of the first mobile robot 10, and moves based on the path plan.

[0148] (4-1-1) First mobile robot 10 The second mobile robot 20 has a second external sensor 26. The second external sensor 26 is a sensor that detects information about the surrounding environment of the second mobile robot 20. The second external sensor 26 detects, for example, information about the position of the surrounding environment, and two-dimensional or three-dimensional shapes and colors and materials. The second external sensor 26 may be composed of, for example, a laser range finder (LRF), a laser imaging detection and ranging (LIDAR), a camera, a depth camera, a stereo camera, a sonar, a RADAR, or any combination of these sensors. The number of second external sensors 26 that the second mobile robot 20 has and the positions at which they are arranged are not particularly limited. The second external sensor 26 may be arranged at any position, such as the front side, rear side, or side of the second mobile robot 20.

[0149] The sensor control unit 251a of the second moving robot 20 constitutes a third detection means together with the second external sensor 26, and generates a detection result of the second external sensor 26 detecting the first moving robot 10 based on a detection signal supplied from the second external sensor 26. The sensor control unit 251a may generate the detection result of the first moving robot 10, for example, by performing feature analysis or the like on the detection signal supplied from the second external sensor 26. The detection result may include, for example, position information of the first moving robot 10, the distance to the first moving robot 10, the direction of the first moving robot 10, and the like. Note that the sensor control unit 251a may further use position information (self-position) of the second moving robot 20 in calculating the detection result of the first moving robot 10.

[0150] The travel control unit 251b of the second moving robot 20 generates a path plan for the second moving robot 20 to move so as to follow the first moving robot 10, based on the detection result of the first moving robot 10. The method of generating the path plan is not particularly limited, and may be, for example, PID (Proportional Integral-Differential) control, Pure-Pursuit control, or the like.

[0151] When generating a path plan for the second moving robot 20, the traveling control unit 251b may generate a path plan such that the angle between the orientation of the second external sensor 26 and the orientation of the second moving robot 20 is less than a predetermined threshold. The traveling control unit 251b may change the predetermined threshold based on various parameters. For example, the traveling control unit 251b may change the predetermined threshold according to a mode set by the user (such as a mode related to the accuracy of the generated environmental map). For example, the traveling control unit 251b may change the predetermined threshold according to the generated / acquired data (for example, the posture information PF, the path information TF, the map information MF, the posture information PL, the path information TL, the map information ML, and the composite map information MA).

[0152] (4-2) Operation processing 12 is a diagram showing an example of an operation flow showing an operation process executed by the environmental map generating system 4 according to the fourth embodiment. The operation flow includes an operation flow showing an operation process executed by the first mobile robot 10, an operation flow showing an operation process executed by the second mobile robot 20, and an operation flow showing an operation process executed by the server 30.

[0153] (4-2-1) Operation process of the first mobile robot 10 The operation processing executed by the first moving robot 10 is similar to the operation processing by the first moving robot 10 of the environmental map generating system according to the third embodiment (FIG. 10), and therefore a description thereof will be omitted.

[0154] (4-2-2) Operation process of the second mobile robot 20 Next, the operation process executed by the second mobile robot 20 will be described.

[0155] First, in step S421, the internal sensor 22 acquires information on the position and posture of the second moving robot 20. Here, the acquired information may include, for example, absolute values ​​of three-directional components of the moving distance, velocity, acceleration, angular velocity, and posture of the second moving robot 20.

[0156] Next, in step S422, the external sensor 11 acquires information about the surrounding environment of the second moving robot 20. The acquired information includes information about the position of the surrounding environment, and information about a two-dimensional or three-dimensional shape, color, and material.

[0157] Next, in step S423, the map generation / self-position estimation unit 251c generates map information and estimates the self-position of the second moving robot 20 using the information acquired by the external sensor 11 and the information acquired by the internal sensor 22. As a result, for example, posture information PF, route information TF, and map information MF of the second moving robot 20 as shown in Fig. 5 are generated.

[0158] Next, in step S424, the transmitting / receiving unit 251d transmits the generated posture information PF of the second moving robot 20, the path information TF, and the map information MF to the server.

[0159] Next, in step S425, the second external sensor 26 acquires information about the surrounding environment of the second moving robot 20. Then, the sensor control unit 251a generates a detection result of the first moving robot 10 based on the detection signal supplied from the second external sensor 26.

[0160] Next, in step S426, the traveling control unit 251b generates a route plan for the second moving robot 20 to move so as to follow the first moving robot 10 based on the detection result of the first moving robot 10.

[0161] Next, in step S427, the traveling control unit 251b controls the traveling unit 24 based on the path plan generated in step S426 to move the second moving robot 20. At this time, the traveling control unit 251b may move the second moving robot 20 so that the second range 21R in which the external sensor 21 of the second moving robot 20 detects the environment includes a range that is not included in the first range 11R in which the external sensor 11 of the first moving robot 10 detects the environment. In addition, at this time, the sensor control unit 251a may control the orientation SF of the external sensor 21 and / or the size of the second range 21R so that the second range 21R in which the external sensor 21 of the second moving robot 20 detects the environment includes a range that is not included in the first range 11R in which the external sensor 11 of the first moving robot 10 detects the environment when the second moving robot 20 moves to follow the first moving robot 10. Thereafter, steps S421 to S427 are repeated until a predetermined end condition is satisfied.

[0162] (4-2-2) Server operation processing Next, the operational process executed by the server 30 will be described.

[0163] First, in step S431, the transmitting / receiving unit 32a receives the posture information PL, the path information TL, and the map information ML of the first moving robot 10 transmitted from the first moving robot 10 in step S414. The transmitting / receiving unit 32a also receives the posture information PF, the path information TF, and the map information MF of the second moving robot 20 transmitted from the second moving robot 20 in step S424.

[0164] Next, in step S432, the map information synthesis unit 32b generates composite 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. For synthesis of the map information ML and the map information MF, a known point cloud matching technique such as an ICP (Iterative Closest Point) algorithm may be used. In generating the composite map information MA, the orientation information PL and the orientation information PF may be converted into the same coordinate system. In generating the composite map information MA, the path information TL and the path information TF may be converted into the same coordinate system. As a result, the composite map information MA is generated, for example, as shown in FIG. 6. Thereafter, steps S431 to S432 are repeated until a predetermined end condition is satisfied.

[0165] The above-described embodiments are intended to facilitate understanding of the present invention, and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangements, materials, conditions, shapes, sizes, etc., are not limited to those shown as examples and can be changed as appropriate. In addition, configurations shown in different embodiments can be partially substituted or combined with each other. [Explanation of symbols]

[0166] 1, 2, 3, 4... environmental map generating system, 10... first mobile robot, 11... external sensor, 12... internal sensor, 13... communication unit, 14... traveling unit, 15... control device, 151... control unit, 152... memory unit, 151a... sensor control unit, 151b... traveling control unit, 151c... map information generating / self-position estimating unit, 151d... transmission / reception unit, 151e... map information synthesis unit, 21... external sensor, 22... internal sensor, 23... communication unit, 24...traveling unit, 25...control device, 251...control unit, 252...storage unit, 251a...sensor control unit, 251b...traveling control unit, 251c...map information generation / self-position estimation unit, 251d...transmission / reception 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...transmission / reception unit, 32b...map information synthesis unit, 32c...route plan generation unit

Claims

1. A method for generating an environmental map by controlling a first mobile robot provided with a first detection means for detecting an environment and generating first environmental information, and a second mobile robot provided with a second detection means for detecting an environment and generating second environmental information, the method comprising: the first mobile robot moving; generating first environmental information by detecting an environment with the first detection means of the first moving robot; a step of moving the second moving robot so as to follow the first moving robot; generating second environmental information by detecting an environment with the second detection means of the second moving robot; generating an environmental map based on the first environmental information and the second environmental information; The method includes:

2. the first sensing means is configured to generate the first environmental information by sensing an environment in a first range of directions relative to the first sensing means; The method of claim 1 , wherein the second sensing means is configured to generate the second environmental information by sensing an environment in a second range of directions relative to the second sensing means.

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

4. The step of moving the second moving robot so as to follow the first moving robot includes: acquiring route information regarding a route traveled by the first mobile robot; generating a path plan for the second mobile robot based on the path information; moving the second mobile robot based on the path plan; The method of claim 1 , comprising:

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

6. In the step of generating an environmental map based on the first environmental information and the second environmental information, The second mobile robot acquires the first environment information from the first mobile robot; the second mobile robot acquires the second environmental information from the second detection means; The method of claim 1 , wherein the second mobile robot generates the environmental map based on the acquired first environmental information and the acquired second environmental information.

7. In the step of generating an environmental map based on the first environmental information and the second environmental information, the first mobile robot acquires the second environment information from the second mobile robot; the first mobile robot acquires the first environmental information from the first detection means; The method of claim 1 , wherein the first mobile robot generates the environmental map based on the acquired first environmental information and the acquired second environmental information.

8. In the step of acquiring route information regarding a route traveled by the first moving robot, a server acquires the route information, In the step of generating a route plan for the second mobile robot based on the route information, the server generates the route plan; The method of claim 4 , further comprising the step of the server transmitting the path plan to the second mobile robot.

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

10. The step of moving the second moving robot so as to follow the first moving robot includes: a third detection means provided on the second moving robot detecting the first moving robot; generating a path plan for the second mobile robot to move based on a detection result by the third detection means; moving the second mobile robot based on the path plan; The method of claim 1 , comprising:

11. The method of claim 10 , wherein the sensing result includes position information indicating a position of the first mobile robot.

12. a first mobile robot capable of moving and provided with a first detection means for detecting an environment and generating first environmental information; a second mobile robot capable of moving and provided with a second detection means for detecting an environment and generating second environmental information; A first movement control unit that controls the first moving robot to move; a first detection control unit that controls the first detection means of the first moving robot to detect an environment and generate first environmental information; a second movement control unit that controls the second moving robot to move so as to follow the first moving robot; a second detection control unit that controls the second detection means of the second moving robot to detect an environment and generate second environmental information; an environment map generating unit that generates an environment map based on the first environment information and the second environment information; A system comprising:

13. A mobile robot having a detection means for detecting an environment and generating environmental information, a movement control unit that controls the mobile robot to move so as to follow another mobile robot, the other mobile robot being provided with another detection means for detecting an environment and generating another environmental information and configured to be movable; a detection control unit that controls the detection means of the moving robot to generate the environmental information; a supply unit that supplies the generated environmental information to an environmental map generation unit that generates an environmental map based on the environmental information and the other environmental information; A mobile robot comprising:

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