Carrier robot

Abstract

To provide a carrier robot that, even if there is a difference in the progress of layout change in traveling another area approximate in layout to one area as an area concerned, is allowed to use map data matched with a layout of the other area by utilizing map data on the area concerned when traveling the other area.SOLUTION: A carrier robot allows, in travel, a map-data controlling section 46 to add partial-map data to for-work updated-map data and continue to update the for-work updated-map data and, at an end of travel, to store difference-map data as a difference between for-work updated-map data and for-work initial-map data in a difference-map data storing section 24 every travel. At a start of the next travel, map data which the difference-map data stored in the difference-map data storing section 24 is added to the initial-map data stored in the initial-map data storing section 22 is given as for-work initial-map data and for-work updated-map data.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an autonomously traveling transport robot, and more particularly to a self-propelled transport robot such as an autonomous mobile robot (AMR) used in factories and the like. [Background technology]

[0002] 2. Description of the Related Art A conventional transfer system equipped with a self-propelled transfer robot is disclosed in Patent Document 1.

[0003] The transport system 1 has a control device 10 and a transport robot 20. The control device 10 has a master memory unit 16 that stores map data, and a transport route determination unit 14 that determines the transport route from the source of the transport object to the destination by the transport robot 20 based on the transport instruction and the map data, and the transport robot 20 has a slave communication unit 21 that is a communication interface for communicating with the control device 10, a travel control unit 22, an environmental sensor 26, an environmental information acquisition unit 27 that acquires the measurement results measured by the environmental sensor 26, and a slave memory unit 28.

[0004] Then, when the control device 10 acquires the measurement results of the environmental sensor 26 from the transfer robot 26, the transfer route determination unit 14 updates the map data stored in the master storage unit 16 based on the acquired measurement results. That is, the environmental parameter information and obstacle information in the map data are updated.

[0005] Specifically, the driving control unit 22 acquires scan data from the distance sensor 24, converts the position of the scan data at the attitude position of each particle, and converts the scan data after the position conversion into local map data based on the correspondence of the accumulated map data to generate local map data.

[0006] Then, the traveling control unit 22 updates the maximum likelihood particle as the current position and posture of the transfer robot 20, and also updates the local map data to map data of the entire area. Then, the traveling control unit 22 transmits the updated map data including the obstacle information to the control device 10 through the slave communication unit 21. At that time, the traveling control unit 22 links the values ​​of the environmental parameters acquired by the environmental information acquisition unit 27 using the environmental sensor 26 to the current position and transmits them to the control device 10. As a result, in the control device 10, the obstacle information and environmental parameter information are changed to the updated map data and stored in the master storage unit 16. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2022-139772 A Summary of the Invention [Problem to be solved by the invention]

[0008] However, for example, when the layout (e.g., the arrangement of equipment such as shelves and the arrangement of equipment constituting a manufacturing line) in an area is similar to that in another area in a factory building, and the change status of the layout in the area is similar among the multiple areas, it is possible to use the map data updated in a certain area (the area in question) in the other areas. However, when the progress of the layout change is different among the multiple areas, if the map data updated in a certain area is applied to another area (say area A) where the progress of the update is delayed, the layout of the area A does not match the updated map data, and the updated map data cannot be used. In other words, when traveling in another area whose layout is similar to that of the area in question, depending on the progress of the layout change, the map data of the area in question cannot be used. If map data matching the layout of area A can be used, the risk of losing track of the vehicle's own position can be reduced.

[0009] Therefore, an object of the present invention is to provide a transport robot that can use map data that matches the layout of a certain area by utilizing the map data of the certain area when traveling through another area whose layout is similar to that of the certain area, even if the progress of the layout change is different. [Means for solving the problem]

[0010] The present invention has been made to solve the above problems, and firstly, there is provided a transport robot which autonomously travels to transport goods, the transport robot including an initial map data storage unit (22) which stores initial map data which is two-dimensional point cloud data of an area in which the transport robot travels, a differential map data storage unit (24) for storing differential map data, a working initial map data storage unit (26) for storing working initial map data, a working update map data storage unit (28) for storing working update map data, a route data storage unit (30) for storing route data, a partial map data storage unit (32) for storing partial map data, a drive unit (13) having wheels (14) and a drive unit (16) which drives the wheels, a LIDAR unit (12) which scans laser light in two-dimensional directions, receives reflected light, and outputs LIDAR data consisting of distance and direction data, a partial map data creation control unit (41) which creates partial map data consisting of two-dimensional point cloud data based on the LIDAR data from the LIDAR unit and stores the created partial map data in the partial map data storage unit, and the map data control unit stores composite map data, which is data obtained by adding differential map data stored in the differential map data storage unit to initial map data stored in the initial map data storage unit, as initial work map data, in the initial work map data storage unit, and stores the composite map data in the work update map data storage unit as initial work map data; and during the travel of the transport robot, the partial map data creation control unit stores the partial map data in the partial map data storage unit at every first time (T2), which is a predetermined time, and the map data control unit creates a map data file for every second time (T1), which is a predetermined time and is longer than the first time.The working update map data is updated by reading partial map data from the partial map data storage unit and adding the partial map data to the working update map data stored in the working update map data storage unit, and when the transport robot finishes traveling, the map data control unit creates differential map data which is the difference between the working update map data stored in the working update map data storage unit and the working initial map data stored in the working initial map data storage unit and stores the differential map data in the differential map data storage unit, and the map data control unit stores the differential map data in the differential map data storage unit for each traveling.

[0011] In the transport robot of the first configuration, when the robot travels through a certain area (the relevant area), differential map data is stored for each travel, and therefore, when the robot travels through another area having a layout similar to that of the relevant area, even if the progress of the layout change is different, the differential map data for the relevant area can be used and added to the work update map data, making it possible to use map data that matches the layout of the other area, thereby reducing the risk of the robot losing track of its own position when traveling through another area.

[0012] In addition, since differential map data is stored for each driving session, when the layout of the area is returned to the previous layout (i.e., the layout from the previous driving session), the stored differential map data can be deleted from the differential map data to be added to the working update map data, making it possible to use map data that matches the returned layout, thereby reducing the risk of losing track of the vehicle's position when driving in an area whose layout has been returned.

[0013] In addition, in the above first configuration, "a partial map data creation control unit (41) that creates partial map data consisting of two-dimensional point cloud data based on LIDAR data from the LIDAR unit and stores the created partial map data in a partial map data storage unit" may be changed to "a partial map data creation control unit (41) that creates partial map data consisting of two-dimensional point cloud data based on LIDAR data from the LIDAR unit and working update map data stored in the working update map data storage unit, and stores the created partial map data in the partial map data storage unit."

[0014] Secondly, in the above-mentioned first configuration, the partial map data creation control unit has a partial map data creation unit (42) and a partial map data control unit (44), the partial map data creation unit creates partial map data based on LIDAR data from the LIDAR unit, and the partial map data control unit stores the created partial map data in the partial map data storage unit, and if partial map data for a second time period has already been stored in the partial map data storage unit, the partial map data control unit deletes the oldest partial map data from the partial map data stored in the partial map data storage unit and then stores the created partial map data.

[0015] According to the transport robot of the second configuration, if partial map data for the second time period has already been stored in the partial map data storage unit, the oldest partial map data among the partial map data stored in the partial map data storage unit is deleted, and then the created partial map data is stored, so that the partial map data for the second time period stored in the partial map data storage unit can always be kept as the latest data.

[0016] In addition, in the above second configuration, "The partial map data creation unit creates partial map data based on the LIDAR data from the LIDAR unit" may be changed to "The partial map data creation unit creates partial map data based on the LIDAR data from the LIDAR unit and the working update map data stored in the working update map data storage unit."

[0017] Thirdly, in the above first or second configuration, the transport robot is provided with a display means (60) for displaying, for each piece of differential map data, specific information for identifying the differential map data stored in the differential map data storage unit, and an input means (70) for selecting one or more pieces of specific information from the specific information displayed on the display means and for instructing addition or deletion of differential map data identified by the selected specific information, and when the transport robot starts traveling, with the specific information displayed on the display means, the input means is used to select the specific information and to instruct addition or deletion of the differential map data identified by the selected specific information, whereby the map data control unit adds or deletes the differential map data identified by the selected specific information to the working update map data stored in the working update map data storage unit.

[0018] According to the transport robot of the third configuration, while the specific information, which is information for identifying the differential map data, is displayed on the display means, the differential map data can be selected and an instruction given to add or delete the differential map data can be given, so that when the transport robot starts traveling, the selected differential map data can be added to the work update map data or the selected differential map data can be deleted from the work update map data.

[0019] In addition, in the above third configuration, the transport robot may have a communication terminal, the display means and the input means may be provided on the communication terminal, and the display means and the input means may be connected to the map data control unit by wireless communication means. Effect of the Invention

[0020] According to the transport robot based on the present invention, when the robot travels through a certain area (the relevant area), differential map data is stored for each travel, and therefore, when the robot travels through another area having a layout similar to that of the relevant area, even if the progress of the layout change is different, the differential map data for the relevant area can be used and added to the work update map data, so that the robot can use map data that matches the layout of the other area, thereby reducing the risk of losing track of its own position when traveling through other areas. [Brief description of the drawings]

[0021] [Figure 1] FIG. 2 is a block diagram of a transport robot. [Diagram 2] 13 is a flowchart illustrating the operation of the transport robot. [Diagram 3] 13 is a flowchart illustrating the operation of the transport robot. [Figure 4] FIG. 11 is an explanatory diagram for explaining the operation of the transport robot. [Diagram 5] FIG. 11 is an explanatory diagram for explaining the operation of the transport robot. [Figure 6] FIG. 11 is an explanatory diagram for explaining the operation of the transport robot. [Figure 7] FIG. 11 is an explanatory diagram for explaining the operation of the transport robot. [Figure 8] FIG. 11 is an explanatory diagram for explaining the operation of the transport robot. [Figure 9] FIG. 11 is an explanatory diagram for explaining the operation of the transport robot. [Figure 10] FIG. 2 is an explanatory diagram for explaining a display device provided in the transport robot and its display content. [Figure 11] FIG. 11 is an explanatory diagram for explaining the operation of the transport robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] In the present invention, the objective of providing a transport robot that can use map data that matches the layout of a certain area by utilizing map data of the certain area when traveling through another area whose layout is similar to that of the certain area, even if the progress of the layout change is different, is achieved in the following manner.

[0023] A transport robot (which may also be referred to as an "item transport robot") 10 based on the present invention is configured as shown in FIG. 1, and has a lidar unit 12, wheels 14, a drive unit 16, a memory unit 20, and a control unit 40.

[0024] Here, the LIDAR unit 12 is a sensor unit for autonomous driving using LIDAR (Light Detection and Ranging) technology, and the LIDAR unit 12 has an emitter (not shown) that irradiates infrared laser light in a horizontal direction, a receiver (not shown) that receives reflected light of the irradiated laser light, and a motor (not shown) that rotates the emitter and receiver in a horizontal direction. When the laser light is irradiated from the emitter and hits an object in the vicinity of the transport robot 10, the reflected light is received by the receiver, and the distance from the LIDAR unit 12 to the reflection point is measured by measuring the time from irradiation to reception. The emitter and receiver are rotated in the horizontal direction by the motor, so that the laser light is scanned in the horizontal direction, and the direction and distance of the object in the vicinity of the transport robot 10 are measured. The measured direction and distance data are output as LIDAR data.

[0025] The emitter and receiver are provided at a position at a predetermined height from the lower ends of the wheels 14 of the transport robot 10, and the distance to an object at a position at a predetermined height from the traveling surface is measured.

[0026] Further, the wheels 14 have a pair of left and right wheels, and the drive unit 16 has a motor provided for each wheel. That is, a motor (right motor) for driving the right wheel and a motor (left motor) for driving the left wheel are provided, and when the transport robot 10 turns while traveling, the speed difference between the left and right wheels is utilized. That is, the traveling of the pair of wheels in the wheels 14 is controlled by left and right two-axis speed difference control. The wheels 14 and the drive unit 16 constitute the drive unit 13.

[0027] Next, the storage unit 20 stores various data, and is composed of storage devices such as RAM, a hard disk drive, etc. As shown in Fig. 1, the storage unit 20 is provided with an initial map data storage unit 22, a differential map data storage unit 24, a working initial map data storage unit 26, a route data storage unit 30, and a partial map data storage unit 32.

[0028] Here, initial map data is stored in the initial map data storage unit 22. This initial map data is two-dimensional map data created and stored in advance for the area (which may be a "space" or the same applies to other areas) in which the transport robot 10 travels, and is specifically formed from two-dimensional point cloud data. For example, by having a transport robot equipped with a LIDAR unit travel within the area, partial map data made up of two-dimensional point cloud data is created based on direction and distance data obtained by the LIDAR unit 12, and the partial map is accumulated while traveling, thereby creating the initial map data.

[0029] The differential map data is stored in the differential map data storage unit 24. This differential map data is difference data between the work-use update map data and the work-use initial map data, and is created each time the transfer robot 10 travels.

[0030] The work initial map data storage unit 26 stores work initial map data. The work initial map data is the first map data in a certain driving session, and is map data obtained by combining the initial map data and the difference map data. This work initial map data is stored at the end of a certain driving session in order to calculate the difference data between the work initial map data and the work update map data.

[0031] The work update map data is stored in the work update map data storage unit 28. The work update map data is map data that is created by updating the work initial map data when the transport robot travels, and the work update map data is updated every time partial map data (described later) is created.

[0032] The route data storage unit 30 stores route data for the transport robot. That is, data on a predetermined travel route is stored in a two-dimensional coordinate area corresponding to map data, and the route data is stored, for example, by a user manually inputting a route. For example, the route data is composed of two-dimensional coordinates of positions (passing positions) through which the transport robot 10 passes, information on the order of the passing positions, and the like. As an example of the route data, as shown in FIG. 5(a), data indicating a route starting from position a, in the order of position b, position c, position d, position e, position f, position g, position h, and position a.

[0033] The partial map data storage unit 32 stores partial map data created by the partial map data creation unit 42. As will be described later, the partial map data storage unit 32 stores partial map data for a time T1 (a second time).

[0034] Next, the control unit 40 controls the operation of the transport robot 10, and is composed of a program for performing the operation and a CPU for executing the program, etc. The control unit 40 has a partial map data creation unit 42, a partial map data control unit 44, a map data control unit 46, a self-position estimation unit 48, and a travel control unit 50.

[0035] Here, the partial map data creation unit 42 creates partial map data consisting of two-dimensional point cloud data mainly based on the LIDAR data (direction and distance data) obtained from the LIDAR unit 12 (S22). Specifically, the partial map data creation unit 42 compares the map data created from the direction and distance data (LIDAR data) with the working update map data stored in the working update map data storage unit 28, so that the partial map data becomes map data with the same absolute coordinates as the initial map data. In other words, it can be said that the partial map data creation unit 42 creates partial map data based on the LIDAR data obtained from the LIDAR unit 12 and the working update map data stored in the working update map data storage unit 28. Note that the creation of the partial map data is performed every time T2 (first time) (S31).

[0036] It should be noted that when creating the partial map data, the partial map data may be created by taking into consideration not only the work update map data but also the information on the self-position from the self-position estimation unit 48.

[0037] Furthermore, when partial map data is created by the partial map data creation unit 42, the partial map data control unit 44 stores the partial map data in the partial map data storage unit 32 (S25), and at that time, when partial map data for time T1 has already been stored, deletes the oldest partial map data (S23, S24). In other words, when partial map data for time T1 has not been stored in the partial map data storage unit 32, the partial map data is stored in the partial map data storage unit 32, whereas when partial map data for time T1 has already been stored, the oldest partial map data is deleted from the partial map data storage unit 32, and then the partial map data is stored in the partial map data storage unit 32.

[0038] The partial map data creation unit 42 and the partial map data control unit 44 constitute a partial map data creation control unit 41, which creates partial map data consisting of two-dimensional point cloud data based on the LIDAR data from the LIDAR unit, and stores the created partial map data in a partial map data storage unit.

[0039] The map data control unit 46 controls all map data other than the partial map data, and when driving starts, the map data control unit 46 adds differential map data to the initial map data to create initial working map data and working update map data (S11, S12), and while driving, updates the working update map data with the partial map data (S15), and when driving ends, calculates the difference between the working update map data and the initial working map data to create differential map data, and stores this in the differential map data storage unit 24 (S17).

[0040] The self-position estimation unit 48 estimates the self-position of the transport robot 10 by matching the partial map data created by the partial map data creation unit 42 with the work update map data, and outputs data on the self-position (S28, S29).

[0041] The driving control unit 50 controls the drive unit 16 to perform driving control in accordance with the self-position data estimated by the self-position estimation unit 48, the route data stored in the route data storage unit 30, and the work update map data stored in the work update map data storage unit 28 (S30). The driving control unit 50 also performs driving control based on LIDAR data from the LIDAR unit 12, as described below (S30).

[0042] The transfer robot 10 is also provided with a start button (not shown) which is an operation button for instructing the transfer robot 10 to start traveling.

[0043] In the above description, the time T1 is longer than the time T2 (T1>T2), and for example, T1 is 100 to 1000 times larger than T2. ​​Both the times T1 and T2 are predetermined times.

[0044] The transport robot 10 is provided with a loading platform (not shown) for loading articles.

[0045] The operation of the transport robot 10 will be described with reference to Figures 2, 3, etc. The flowchart shown in Figure 2 mainly explains the operation of the map data control unit 46, and the flowchart shown in Figure 3 mainly explains the operation of the components in the control unit 40 other than the map data control unit 46 (i.e., the partial map data creation unit 42, the partial map data control unit 44, the self-position estimation unit 48, and the driving control unit 50), and the operation of the wheels 14 and the drive unit 16.

[0046] 2, when an operation button for instructing the transfer robot 10 to start traveling is turned on, the map data control unit 46 reads out the initial map data stored in the initial map data storage unit 22 and the differential map data stored in the differential map data storage unit 24, and creates composite map data by combining the initial map data and the differential map data (S11). In other words, the differential map data is added to the initial map data to create composite map data. Note that if no differential map data is stored in the differential map data storage unit 24, the initial map data is used as is as the composite map data.

[0047] Then, the map data control unit 46 stores the composite map data in the working initial map data storage unit 26 and the working update map data storage unit 28. In other words, the map data control unit 46 stores the composite map data in the working initial map data storage unit 26 as working initial map data, and stores the composite map data in the working update map data storage unit 28 as working update map data.

[0048] Next, the map data control unit 46 determines whether or not the time T1 has elapsed (S13), and if the time T1 has elapsed, the map data control unit 46 reads out the partial map data from the partial map data storage unit 32 (S14), adds the read out partial map data to the working update map data, and updates the working update map data (S15). The partial map data will be described later.

[0049] Steps S13 to S15 are repeated until driving ends. That is, the partial map data is read out (S14) at every time T1, and the work update map data is updated (S15). In this way, the cycle for updating the work update map data (S15) is set longer than the cycle for creating the partial map data (S22), in order to ensure sufficient time for updating the work update map data, and to quickly obtain the partial map data by shortening the cycle for creating the partial map data.

[0050] Then, when the transfer robot 10 reaches the end point of the travel route and ends its travel (S16), the map data control unit 46 calculates the difference between the work update map data and the work initial map data to create differential map data, and stores this differential map data in the differential map data storage unit 24. This differential map data is stored in the differential map data storage unit 24 for each piece of differential map data created (S17). That is, differential map data is stored for each travel (see FIG. 6).

[0051] As will be described later, differential map data is added to or deleted from the work update map data when the transport robot 10 starts traveling. In order to be able to identify the differential map data at that time, it is preferable to register information for identifying the differential map data (e.g., inventory location type: first inventory location, name: differential map data (first time)) using the touch panel 70 (described later) when storing the differential map data in the differential map data storage unit 24 in step S17. That is, information on the type of travel area and information on the number of travels are registered. The information to be registered becomes "specific information for identifying the differential map data," and this specific information is displayed when traveling starts.

[0052] Also, referring to the flowchart of Figure 3, when the partial map data creation unit 42 receives LIDAR data from the LIDAR unit 12, it creates partial map data consisting of two-dimensional point cloud data based on the LIDAR data and the work update map data stored in the work update map data memory unit 28 (S22).

[0053] Then, the partial map data control unit 44 judges whether or not partial map data for the time T1 is stored in the partial map data storage unit 32 (S23). If partial map data for the time T1 is stored, the partial map data control unit 44 deletes the oldest partial map data (first stored partial map data) among the partial map data stored in the partial map data storage unit 32 (S24), and stores newly created partial map data in the partial map data storage unit 32 (S25). On the other hand, if partial map data for the time T1 is not stored, the newly created partial map data is stored in the partial map data storage unit 32 (S25). In this manner, the partial map data for the time T1 stored in the partial map data storage unit 32 is always updated to the latest data. Note that the creation of partial map data (S22) and the update of the partial map data for the time T1 (S23 to S25) are repeated every time T2 until the travel ends.

[0054] Furthermore, once the partial map data has been created in step S22, the self-position estimation unit 48 reads out the work update map data from the work update map data memory unit 28 (S27), and estimates the self-position of the transport robot 10 by matching the created partial map data with the work update map data (S28).

[0055] The travel control unit 50 then compares the self-position estimated by the self-position estimation unit 48 with the route data stored in the route data storage unit 30, and controls the operation of the drive unit 16 to cause the transport robot 10 to travel (S29), but of course, in accordance with the work update map data, if there is an obstacle on or near the travel route, travel is stopped (i.e., the operation of the drive unit 16 is stopped). In other words, the travel control unit 50 controls the drive unit 16 to perform travel control in accordance with the estimated self-position, route data, and work update map data.

[0056] The travel control unit 50 not only controls travel according to the route data as described above, but also controls travel according to LIDAR data from the LIDAR unit 12 (S30). For example, when a point indicating an obstacle is detected within a predetermined distance from the transport robot 10, the transport robot 10 decelerates or stops. Specifically, when a plurality of consecutive points (points indicating obstacles) are detected in the scanning direction of the laser light, the transport robot 10 decelerates or stops, depending on the distance within the predetermined distance.

[0057] A specific example of the operation of the transport robot 10 described above will be described. Fig. 4 shows an example of an inventory area (or "inventory area") G in a factory building as an area in which the transport robot 10 travels. In the inventory area G, there are a shelf row 100-1 in which a total of five shelves are arranged in a row, a shelf row 100-2 consisting of a total of eight shelves by arranging pairs of shelves back to back, a shelf row 100-3 having the same configuration as the shelf row 100-2, and a shelf row 100-4. The shelf row 100-4 in Fig. 4(a) consists of four shelves in total, each of which is made up of two pairs of shelves back to back, the shelf row 100-4 in Fig. 4(b) consists of six shelves in total, each of which is made up of three pairs of shelves, and the shelf row 100-4 in Fig. 4(c) consists of eight shelves in total, each of which is made up of four pairs of shelves. It should be noted that the shelves constituting shelf rows 100-1 to 100-4 are not provided with doors, and the front sides of the shelves are open.

[0058] Then, initially, inventory area G was in the state shown in Figure 4(a), and the initial map data was the two-dimensional point cloud data shown in Figure 5(a) corresponding to the state of Figure 4(a), but before the first run, shelves 100A and 100B had been added, resulting in the state shown in Figure 4(b).

[0059] Figure 5 shows the two-dimensional point cloud data of inventory area G. The thick lines in Figure 5 indicate the point cloud (a collection of points), and for the shelf rows, they indicate both sides and the back of the shelves (i.e., the laser height positions on both sides and the back of the shelves).

[0060] The route data starts from position a, goes through position a → position b → position c → position d → position e → position f → position g → position h → position a, and then returns to position a.

[0061] In this state, the transfer robot 10 starts traveling (this is the first travel), but at this stage, no differential map data is stored in the differential map data storage unit 24, so in step S12, the initial map data shown in Fig. 5(a) is stored as the initial work map data and the updated work map data. Note that the route data includes information on stopping positions and stopping times on the route, and it is stipulated that when the transfer robot reaches the stopping position, it stops traveling, and when the stopping time has elapsed, it resumes traveling.

[0062] Then, while the transport robot 10 is traveling, partial map data is created every time T2 (S22) and stored in the partial map data storage unit 32 (S23 to S25), and the work update map data is updated by the partial map data for time T1 stored in the partial map data storage unit 32 (S14, S15). Note that while the transport robot 10 is traveling, it stops traveling when it reaches a stop position, and while it is stopped, items (specifically, inventory items) can be unloaded from the loading platform and placed on the shelf, or items can be taken out of the shelf and placed on the loading platform.

[0063] At the end of the first travel, point cloud data corresponding to the shelves 100A and 100B is added to the work update map data as shown in FIG. 5(b).

[0064] Then, the differential data calculated in step S17 becomes the difference between the work update map data (see FIG. 5(b)) and the work initial map data (FIG. 5(a)), and so becomes the two-dimensional point cloud data shown in FIG. 7(a), and this differential data is stored in the differential map data storage unit 24 (see FIG. 6). In other words, as shown in FIG. 6, when the first driving is completed, there is no change in the initial map data stored in the initial map data storage unit 22 (i.e., the point cloud data shown in FIG. 5(a) is stored), and the differential map data (the point cloud data shown in FIG. 7(a)) is newly stored in the differential map data storage unit 24.

[0065] It should be noted that if, during the first travel, the travel route is not as described above, but is instead as shown in FIG. 5(b), from position a to position h, the same as above, but from position i to position a, rather than from position h to position a, the initial map data makes it possible to travel along such a route, but when position i is reached, point cloud data corresponding to shelves 100A, 100B has been added and the working updated map data has the configuration shown in FIG. 5(b), so the travel control unit 50 determines that there is an obstacle on the route and stops travel.

[0066] Next, assume that before the second run, shelves 200A and 200B have been added, resulting in the state shown in Fig. 4(c). Also assume that the route data is the same as the route shown in Fig. 5(a), that is, position a → position b → position c → position d → position e → position f → position g → position h → position a.

[0067] In this state, the transport robot 10 starts to run (this is the second run), but since the differential map data is stored in the differential map data storage unit 24 at the time when the run starts, in step S12, the work initial map data storage unit 26 and the work update map data storage unit 28 store map data that is a combination of the initial map data and the differential map data (point cloud data shown in Figure 5(b)) as the work initial map data and the work update map data, respectively.

[0068] While the transport robot 10 is traveling, the work update map data is updated (S14, S15) using partial map data (S22 to S25) that is created sequentially, and as a result, point cloud data corresponding to the shelves 200A, 200B is added to the work update map data at the end of the second traveling run, as shown in FIG. 5(c).

[0069] Then, the differential data calculated in step S17 is the difference between the working update map data (see FIG. 5(c)) and the working initial map data (FIG. 5(b)), and therefore becomes the two-dimensional point cloud data shown in FIG. 7(b), and this differential data is stored in the differential map data storage unit 24. That is, the differential map data is stored in addition to the differential map data already stored in the differential map data storage unit 24 (see FIG. 6). That is, as shown in FIG. 6, when the second traveling is completed, there is no change in the initial map data stored in the initial map data storage unit 22 (that is, the point cloud data shown in FIG. 5(a) is stored), and the differential map data storage unit 24 newly stores the differential map data during the second traveling (point cloud data shown in FIG. 7(b)) in addition to the differential map data during the first traveling (point cloud data shown in FIG. 7(a)). Note that the differential map data obtained in each traveling is stored separately, and therefore the differential map data during the first traveling and the differential map data during the second traveling are stored separately.

[0070] Next, the same process as above is carried out for the third and subsequent travels: for example, at the start of the third travel, when the map data control unit 46 combines the initial map data with the differential map data (S11), it combines the initial map data with the differential map data from the first travel and the differential map data from the second travel to generate working initial map data and working update map data. In other words, at the time of the third travel, two differential map data have been stored, so the initial map data and the two differential map data are combined.

[0071] Furthermore, at the end of the third driving, in the same manner as described above, the difference between the work update map data and the work initial map data is calculated, and the differential map data for the third driving is stored in the differential map data storage unit 24. In other words, the differential map data for the third driving is stored in the differential map data storage unit 24, together with the differential map data for the first driving and the differential map data for the second driving.

[0072] As described above, in the transport robot 10 of the present invention, when traveling through a certain area (the relevant area), differential map data is stored for each travel, and therefore, when traveling through another area (e.g., another area within a factory building) with a layout similar to that of the relevant area, even if the progress of the layout change is different, the differential map data of the relevant area can be used and added to the work update map data, so that map data that matches the layout of the other area can be used, thereby reducing the risk of losing track of the transport robot's position when traveling through another area.

[0073] Furthermore, when driving through a certain area (the area in question), differential map data is stored for each driving session. Therefore, if the layout of the area in question is returned to the previous layout (i.e., the layout from the previous driving session), the stored differential map data can be deleted from the differential map data to be added to the working update map data, making it possible to use map data that matches the returned layout, thereby reducing the risk of losing track of the vehicle's position when driving through the area to which the layout has been returned.

[0074] As described above, when the layout of the area in question and another area are similar, for example, the initial layout is the same, and the subsequent changes to the layout are the same, but the progress of the layout changes is different, and the differential map data stored when traveling in the area in question is added to the work update map data when traveling in another area (another area in the factory building), a specific example will be described below. Note that when the layouts are similar, it is also assumed that the layouts are identical.

[0075] Assume that there are two stock areas as shown in FIG. 4(a) in separate sections in a factory building (i.e., the first stock area and the second stock area), each stock area has shelves as shown in FIG. 4(a), and the initial map data is the point cloud map shown in FIG. 5(a) corresponding to FIG. 4(a). In other words, the first stock area and the second stock area have the same initial layout, and the initial map data is also the same. Note that hereinafter, the "first stock area" may be referred to as the "first stock area," and the "second stock area" may be referred to as the "second stock area."

[0076] 8, in both the first and second stock places, the installation work of installing shelves 100A and 100B (this is referred to as the first installation work) is performed, then the first run is performed, and then the installation work of installing shelves 200A and 200B (this is referred to as the second installation work) is performed, and then the second run is performed. In other words, in both the first and second stock places, the order is first installation work → first run → second installation work → second run. In other words, in both the first and second stock places, the layout is changed based on the same change work.

[0077] Furthermore, the progress of the layout change in the second inventory area (changing the layout by adding shelves) is set to be slower than the layout change in the first inventory area, and the timing of the start of the first installation work in the second inventory area is later than the timing of the start of the first installation work in the first inventory area. As a result, the timing of the start of the first run in the second inventory area is the timing of the end of the first run in the first inventory area, and the timing of the start of the second run in the second inventory area is the timing of the end of the first run in the first inventory area.

[0078] It is also assumed that a differential map data storage unit 24 is provided for each stock location (see FIG. 9). It is also assumed that common data (data shown in FIG. 5(a)) for the first stock location and the second stock location is stored as the initial map data.

[0079] In the above case, as shown in FIG. 9, at the start of the first drive through the first inventory area, no data is stored in the differential map data storage unit 24, so the work initial map data and the work update map data are the same as the initial map data (see R1 in FIG. 9), and at the end of the first drive through the first inventory area, the differential map data (first time) is stored for the first inventory area (see R2 in FIG. 9).

[0080] Next, at the start of the first travel to the second stockyard, the initial map data is not used as the working update map data, and since the differential map data (first time) for the first stockyard is stored, data obtained by combining the initial map data and the differential map data (first time for the first stockyard) (differential map data (first time) for the first stockyard) is stored as the working update map data in the working update map data storage unit 28 (see R3 in FIG. 9). In other words, the differential map data (first time for the first stockyard) is added to the working update map data.

[0081] In this case, under normal operation, the differential map data (first time at the second location) is not stored, so the working update map data will consist of only the initial map data. Specifically, a manual instruction is given to add the differential map data (first time at the first location) to the working update map data.

[0082] That is, in an example of a configuration in which differential map data is manually added to the working update map data, the transfer robot 10 is provided with a display device (display means) 60 provided with a touch panel (input means) 70 as an input device, and the differential map data stored in the differential map data storage unit 24 is displayed for each stock yard on the display device 60, and at the start of the first travel to the second stock yard, as shown in FIG. 10(a), "First stock yard: differential map data (first time) / Second stock yard: none" is displayed, and "Differential map data (first time)", "Add", and "Delete" are input buttons 72 on the touch panel 70, respectively, so that by selecting "Differential map data (first time)" for the first stock yard and then selecting "Add", the differential map data (first time for the first stock yard) is added to the working update map data. In this case, in the block diagram of FIG. 1, it is assumed that the display device 60 and the touch panel (input device) 70 are connected to the map data control unit 46.

[0083] Specifically, the display device 60 and the touch panel 70 may be provided directly on the housing of the transport robot 10, or a communication terminal (which may be a remote control) having the display device 60 and the touch panel 70 may be provided, and the display device 60 and the touch panel 70 may be connected to the map data control unit 46 via a communication means.

[0084] 1 and a communication terminal, the communication terminal is provided with a display device 60, a touch panel 70, a communication unit consisting of a communication device, and a control unit for controlling the operation of each unit in the communication terminal, and the transport robot body is provided with a communication unit consisting of a communication device connected to a map data control unit 46, and the display device 60 and the touch panel 70 are connected to the map data control unit 46 by wireless communication means between the two communication units. Even in the case of a configuration with a communication terminal, by making the communication terminal a component of the transport robot 10, it can be said that the display device 60 and the touch panel 70 are provided in the transport robot 10.

[0085] Specifically, when the map data control unit 46 is displaying the screen shown in Figure 10 (a) on the display device 60 and detects that the user has operated the input button 72 to instruct the addition of differential map data (first time for first location), the map data control unit 46 adds the differential map data (first time for first location) to the working update map data stored in the working update map data memory unit 28.

[0086] This makes it possible to create work update map data that matches the layout in Fig. 4(b) (i.e., work update map data that reflects the situation after the first installation work), thereby reducing the risk of losing sight of the transport robot 10's own position while it is traveling. In other words, the self-position estimation unit 48 estimates the self-position by matching the partial map data with the work update map data, thereby reducing the risk of losing sight of the self-position.

[0087] Incidentally, the initial work map data is essentially a combination of the initial map data and the differential map data for the second inventory area, so the initial work map data at the start of the first drive through the second inventory area will consist of only the initial map data, since the differential map data for the second inventory area is not stored.

[0088] That is, even when differential map data obtained by another drive is used, in step S12, the initial map data and the differential map data stored in the differential map data storage unit for the second inventory site are combined and stored as initial work map data in the initial work map data storage unit. At this stage, since no differential map data is stored in the differential map data storage unit for the second inventory site, only the initial map data is stored in the initial work map data storage unit 26. This is to enable obtaining differential map data indicating the difference between the situation at the second inventory site before the start of the first drive at the second inventory site at the end of the first drive at the second inventory site.

[0089] In FIG. 10(a), the “differential map data (first time)” for the first inventory location is the “specific information for identifying the differential map data”, and in FIG. 10(b) described below, the “differential map data (first time)” and “differential map data (second time)” displayed for the first inventory location and the “differential map data (first time)” displayed for the second inventory location are the “specific information for identifying the differential map data”, and in FIG. 10(c) described below, the “differential map data (first time)” and “differential map data (second time)” displayed for the first inventory location and the “differential map data (first time)” and “differential map data (second time)” displayed for the second inventory location are the “specific information for identifying the differential map data”, and in this manner, the specific information is displayed on the display device 60 for each differential map data.

[0090] At the end of the first trip to the second stock yard, in step S17, the difference between the work update map data and the work initial map data (that is, the initial map data) is stored as differential map data (first time) (see R4 in FIG. 9).

[0091] Next, at the start of the second travel through the first inventory area, the differential map data (first time) for the first inventory area is stored, so the working initial map data and the working update map data are data obtained by combining the initial map data and the differential map data (first time for the first inventory area) (differential map data (first time) for the first inventory area) (see R5 in FIG. 9). Then, at the end of the second travel through the first inventory area, the differential map data (second time) is added to the differential map data (first time) and stored for the first inventory area (see R6 in FIG. 9).

[0092] Next, when the second travel to the second stockyard begins, the data obtained by combining the initial map data and the differential map data (first time) for the second stockyard is not used as the working update map data, but since the differential map data (second time) for the first stockyard is stored, the working update map data storage unit 28 stores the data obtained by combining the initial map data, the differential map data (first time for the second stockyard) (differential map data (first time) for the second stockyard), and the differential map data (second time for the first stockyard) (differential map data (second time) for the first stockyard) as the working update map data (see R7 in FIG. 9). In other words, the differential map data (second time for the first stockyard) is added to the working update map data.

[0093] In this case, too, under normal operation, the differential map data (second time at the second storage location) is not stored, so the working update map data will consist only of the initial map data + differential map data (first time at the second storage location), and therefore, specifically, a manual instruction is given to add the differential map data (second time at the first storage location) to the working update map data.

[0094] In other words, when the second drive through the second storage area begins, the display device 60 equipped with the touch panel 70 will display "First inventory area: differential map data (first time), differential map data (second time)·Second inventory area: differential map data (first time)" as shown in FIG. 10(b), so by selecting "Differential map data (second time)" for the first inventory area and then selecting "Add," the differential map data (first storage area, second time) will be added to the working update map data.

[0095] Specifically, when the map data control unit 46 is displaying the screen shown in Figure 10 (b) on the display device 60 and detects that the user has operated the touch panel 70 to instruct the addition of differential map data (second time for the first location), the map data control unit 46 adds the differential map data (second time for the first location) to the working update map data stored in the working update map data memory unit 28.

[0096] This makes it possible to generate work update map data that matches the layout of Figure 4(c) (i.e., work update map data that reflects the situation after the second installation work), thereby reducing the risk of the transport robot 10 losing track of its own position while traveling.

[0097] In addition, the initial working map data is essentially data obtained by combining the initial map data and the differential map data for the second stockyard, and is therefore data obtained by combining the initial map data and the differential map data (first trip to the second stockyard). This makes it possible to obtain differential map data that indicates the difference between the situation at the end of the second trip to the second stockyard and the situation before the start of the second trip to the second stockyard. At the end of the second travel to the second stock yard, in step S17, the difference between the work update map data and the work initial map data is stored as differential map data (second time) (see R8 in FIG. 9).

[0098] In the above explanation, it has been assumed that the initial map data is common to the first and second inventory areas. However, if the initial layouts of the first and second inventory areas are similar but not identical, for example, if the initial layouts of the first and second inventory areas are slightly different and, in shelf row 100-1, the second inventory area does not have a shelf located at the end on the position b side, and initial map data is provided for each of the first and second inventory areas, if the subsequent layout changes are the same but the progress of the layout changes differs, then, as described above, at the start of travel through the second inventory area, the differential map data for the first inventory area can be added to the working update map data to create working update map data that matches the layout of the second inventory area.

[0099] For example, since initial map data is provided for each of the first and second stock places, when starting travel in the first stock place, differential map data for the first stock place is added to the initial map data for the first stock place, and when starting travel in the second stock place, differential map data for the second stock place is added to the initial map data for the second stock place, but when starting the first travel in the second stock place in the example of Fig. 8, data obtained by combining the initial map data (initial map data for the second stock place) and the differential map data (first time for the first stock place) is used as working update map data, and when starting the second travel in the second stock place, data obtained by combining the initial map data (initial map data for the second stock place), the differential map data (first time for the second stock place) and the differential map data (second time for the first stock place) is used as working update map data. Note that although initial map data is provided for each of the first and second stock places when the initial layouts are slightly different, common initial map data may be used depending on the degree of difference in the layouts.

[0100] Furthermore, as shown in Figure 11, a third inventory area is added to the example of Figure 8, and the start timing of the first installation work at the third inventory area is delayed compared to the start timing of the first installation work at the second inventory area. As a result, the start timing of the first run at the third inventory area is the end timing of the first run at the second inventory area, and the start timing of the second run at the third inventory area is the end timing of the first run at the second inventory area.

[0101] As in the case of the second inventory area, for this third inventory area, the differential map data for the first inventory area can be used as the working update map data; for example, at the start of the first drive through the third inventory area, data obtained by combining the initial map data and the differential map data (first time for the first inventory area) is used as the working update map data (i.e., the differential map data (first time for the first inventory area) is added to the working update map data), and at the start of the second drive through the third inventory area, data obtained by combining the initial map data and the differential map data (first time for the third inventory area) (the differential map data (first time) for the third inventory area) and the differential map data (second time for the first inventory area) is used as the working update map data (i.e., the differential map data (second time for the first inventory area) is added to the working update map data).

[0102] As described above, the initial work map data for the third inventory area is a combination of the initial map data and the differential map data for the third inventory area. When the first drive begins, the initial map data becomes the initial work map data, and when the second drive begins, the combined data of the initial map data and the differential map data (first drive for the third inventory area) becomes the initial work map data.

[0103] In the above description, the differential map data for the first stock yard is used as the working update map data for the third stock yard, but the differential map data for the second stock yard may be used. That is, at the start of the first travel to the third stock yard, data obtained by combining the initial map data and the differential map data (first time for the second stock yard) may be used as the working update map data, and at the start of the second travel to the third stock yard, data obtained by combining the initial map data, the differential map data (first time for the third stock yard) and the differential map data (second time for the second stock yard) may be used as the working update map data.

[0104] In addition, since during the first run through the third inventory area, a second run is also made through the first inventory area, it is necessary to prepare another transport robot and copy the initial map data stored in the initial map data storage unit 22 and the differential map data stored in the differential map data storage unit 24 of the transport robot used to run through the first and second inventory areas, and store them in the other transport robot.

[0105] As described above, when driving is completed, the initial map data is not overwritten and updated with the map data updated during driving (work update map data), but the difference data with the map data before driving is stored. Therefore, the difference data obtained after driving in a certain area can be used for driving in a different area where the same layout change work is being performed, thereby reducing the risk of losing track of the vehicle's position when driving in the different area.

[0106] In the above description, one piece of differential map data is added to the working update map data at the start of travel, but multiple pieces of differential map data may be added. For example, in the example of FIG. 8, if the first travel to the second stock yard starts after the second travel to the first stock yard ends, and the first installation work and the second installation work have already been completed at the start of the first travel to the second stock yard, the data obtained by combining the initial map data, the differential map data (first time at the first stock yard), and the differential map data (second time at the first stock yard) is used as the working update map data at the start of the first travel to the second stock yard. That is, in this case, the original working update map data at the start of the first travel to the second stock yard is only the initial map data, but an operation is performed to add two pieces of differential map data, the differential map data (first time at the first stock yard) and the differential map data (second time at the first stock yard).

[0107] Next, a specific example will be described below in which, when the layout of a certain area is returned to a previous layout as described above, the differential map data stored when traveling through that area is deleted from the differential map data to be added to the working update map data.

[0108] In other words, in the above example, if shelves 100A, 100B are removed after the second run through the first inventory area (shelves 200A, 200B remain), and then a third run is made through the first inventory area, the differential map data (first run through the first inventory area) will not be stored in the working update map data at the start of the run, but rather the working update map data at the start of the run will be a combination of the initial map data and the differential map data (second run through the first inventory area).

[0109] In other words, at the start of the fourth drive through the first storage area, as shown in FIG. 10(c), "First storage area: differential map data (1st), differential map data (2nd) · Second storage area: differential map data (1st), differential map data (2nd)" is displayed, so by selecting "Differential map data (1st)" in the first storage area and then selecting "Delete", the differential map data (first storage area, 1st) will be deleted from the working update map data.

[0110] Specifically, when the map data control unit 46 is displaying the screen shown in Figure 10 (c) on the display device 60 and detects that the user has operated the touch panel 70 to instruct the deletion of the differential map data (first location, first time), the map data control unit 46 deletes the differential map data (first location, first time) from the working update map data stored in the working update map data memory unit 28.

[0111] This allows map data that is close to the state after the shelves 100A and 100B are removed to be used as the working update map data, thereby reducing the risk of losing track of the vehicle's own position.

[0112] In the above description, one piece of differential map data is deleted from the working update map data when the vehicle starts traveling, but multiple pieces of differential map data may be deleted. For example, after the second travel in the first stock yard, the shelves 100A, 100B, 200A, and 200B are removed and the state returns to that shown in FIG. 4(a), and then, when the vehicle travels a third time in the first stock yard, the working update map data at the start of the travel does not store the differential map data (first time in the first stock yard) and the differential map data (second time in the first stock yard), and the working update map data at the start of the travel is the initial map data. In other words, the working update map data when the vehicle travels a third time in the first stock yard is data obtained by combining the initial map data, the differential map data (first time in the first stock yard), and the differential map data (second time in the first stock yard), but an operation is performed to delete the two pieces of differential map data, the differential map data (first time in the first stock yard) and the differential map data (second time in the first stock yard).

[0113] As described above, in the transport robot 10 of the present invention, differential map data is stored for each driving session, and by adding or deleting the stored differential map data to or from the work update map data when the transport robot starts driving, it is possible to use map data that matches the layout of the area through which the transport robot is driving, thereby reducing the risk of losing track of its own position while driving.

[0114] In the above explanation, an inventory area within a factory building has been used as an example of the travel area, but this is not limited to this and may be, for example, an area within a factory building where production lines with similar layouts (i.e., similar configurations) are located. [Explanation of symbols]

[0115] 10. Transport Robot 12 Rider Unit 13 Drive unit 14 wheels 16 Drive unit 20 Memory section 22 Initial map data storage unit 24 Differential map data storage unit 26 Working initial map data storage unit 28 Working update map data storage unit 30 Route data storage unit 32 Part of map data storage unit 40 Control section 41 Part of map data creation control section 42 Part of the map data production department 44 Part of map data control section 46 Map data control section 48 Self-position estimation part 50 Driving control unit 60 Display device 70 Touch Panel 72 Input button 100-1, 100-2, 100-3, 100-4 shelf rows 100A, 100B, 200A, 200B Shelves G Stockyard a, b, c, d, e, f, g, h, i position

Claims

1. A transport robot that autonomously travels to transport items, an initial map data storage unit (22) for storing initial map data, which is two-dimensional point cloud data of an area in which the transport robot travels; a differential map data storage unit (24) for storing differential map data; a working initial map data storage unit (26) for storing working initial map data; a working update map data storage unit (28) for storing working update map data; A route data storage unit (30) for storing route data; a partial map data storage unit (32) for storing partial map data; A drive unit (13) having wheels (14) and a drive part (16) for driving the wheels; a lidar unit (12) that scans a laser beam in two dimensions, receives reflected light, and outputs lidar data consisting of distance and direction data; a partial map data creation control unit (41) that creates partial map data consisting of two-dimensional point cloud data based on LIDAR data from a LIDAR unit and stores the created partial map data in a partial map data storage unit; a self-location estimation unit (48) that estimates a self-location from the partial map data created by the partial map data creation control unit and the working update map data stored in the working update map data storage unit; a travel control unit (50) that controls the operation of the drive unit based on data of the self-position estimated by the self-position estimation unit, route data stored in the route data storage unit, and work update map data stored in the work update map data storage unit; A map data control unit (46), When the transport robot starts traveling, the map data control unit stores composite map data, which is data obtained by adding the differential map data stored in the differential map data storage unit to the initial map data stored in the initial map data storage unit, in the working initial map data storage unit as initial working map data, and stores the composite map data in the working update map data storage unit as updated working map data; while the transport robot is traveling, the partial map data creation control unit stores the partial map data in the partial map data storage unit at every first time (T2) which is a predetermined time, and the map data control unit reads out the partial map data from the partial map data storage unit at every second time (T1) which is a predetermined time and is longer than the first time, and adds the partial map data to the working update map data stored in the working update map data, thereby updating the working update map data; When the transport robot finishes traveling, the map data control unit creates differential map data which is the difference between the work update map data stored in the work update map data storage unit and the work initial map data stored in the work initial map data storage unit, and stores the differential map data in the differential map data storage unit, and the map data control unit stores the differential map data in the differential map data storage unit for each traveling.

2. The partial map data creation control unit has a partial map data creation unit (42) and a partial map data control unit (44), The partial map data creation unit creates partial map data based on the LIDAR data from the LIDAR unit, The transport robot according to claim 1, characterized in that the partial map data control unit stores the created partial map data in the partial map data storage unit, and if partial map data for a second time period has already been stored in the partial map data storage unit, deletes the oldest partial map data from the partial map data stored in the partial map data storage unit and then stores the created partial map data.

3. The transfer robot is provided with a display means (60) for displaying, for each piece of differential map data, specific information for identifying the differential map data stored in the differential map data storage unit, and an input means (70) for selecting one or more pieces of specific information from the specific information displayed on the display means and for issuing an instruction to add or delete the differential map data identified by the selected specific information, 3. The transport robot according to claim 1 or 2, characterized in that, when the transport robot starts traveling, with the specific information being displayed on the display means, the input means is used to select the specific information and to instruct addition or deletion of differential map data specified by the selected specific information, whereby the map data control unit adds or deletes the differential map data specified by the selected specific information to the work update map data stored in the work update map data storage unit.

Images