Map correction system, and map correction program

Abstract

To reflect the situation of a real space to improve the accuracy of map data, and enable reference management of the map data and BIM data.SOLUTION: A map correction system uses three-dimensional or two-dimensional map data for every type of a robot defining a movable range of a robot according to structures in a space, and a self-position estimation result obtained from a result of collation with the positions of the structure performed by a robot having received control information, to issue an instruction to detect the shapes of the structures to another robot not having received the control information, acquires a self-position estimation result transmitted by the other robot, uses a result of detection performed by the robot having received the control information and the self-position estimation result from the other robot, to correct map information of the robot having received the control information so as to reflect the situation of the structures, and performs management to allow selection as to whether to refer to the map data or to refer to BIM data.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to correction of map information necessary for controlling a robot.

Background Art

[0002] Conventionally, a technique related to position estimation of a robot that estimates its own position even at a construction site has been known (for example, Patent Document 1). In this technique, mapping information is obtained by extracting from construction data of a measurable construction object, and the self-position in the space is calculated based on the measurement data and the mapping information.

[0003] Also, a technique related to a moving body that can be easily applied even when the layout in the moving space is changed, has a small introduction cost, and can recognize its own position quickly and accurately has been known (for example, Patent Document 2). As a similar technique, a technique for a moving body to estimate its own position and stably obtain the position of the moving body so that it can be autonomously controlled to move to a designated destination has been known (for example, Patent Document 3).

[0004] Also, a technique for providing an autonomous mobile device that can accurately estimate its own position within a construction site in consideration of the circumstances unique to a building construction site has been known (for example, Patent Document 4). In this technique, shape data of a plurality of target parts existing in the construction site of a building is acquired, drawing data is referred to, and a reference target part is specified from among the plurality of target parts based on information regarding the dimensions of each of the plurality of target parts. Further, the self-position within the construction site is estimated based on the collation result between the position of the reference target part included in the drawing data and the position of the actual reference target part in the shape data.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0006] According to the technologies described in the above Patent Documents 1 to 4, the self-position of a robot in real space can be accurately estimated. If the self-position is accurately estimated in this way, it is considered that the robot can move accurately and smoothly along its path. However, there may be differences between the data on the map indicating the path and the data of the actual construction site. This is because various changes occur at the actual construction site, such as changes in the arrangement of materials, etc. according to the situation, and changes in the arrangement due to design changes. Therefore, simply being able to accurately estimate the self-position of the robot does not guarantee the accuracy of the robot's movement.

[0007] In consideration of the above facts, an object of the present invention is to improve the accuracy of map data by reflecting the situation of real space and to enable the reference management of map data and BIM data.

Means for Solving the Problems

[0008] In order to achieve the above object, the map correction system of the present invention uses three-dimensional or two-dimensional map data for each type of robot that defines the movable range of the robot according to the structure in space, and the self-position estimation result based on the collation result between the position of the structure by the robot receiving the control information, detects the difference or error between the map data and the real space, and when the difference or error is detected, in order to specify the shape of the structure, instructs another robot that is not receiving control information to detect the shape of the structure, acquires the self-position estimation result obtained by the other robot while patrolling the structure, which is the self-position estimation result transmitted by the other robot, and uses the detection result of the robot receiving the control information and the self-position estimation result of the other robot during the patrol of the other robot against the obstacle, corrects the map data of the robot receiving the control information to reflect the situation of the structure, the space is the real space of the construction site of the building, the structure is a movable structure at the construction site of the building in the real space, and is at least one of the installations, materials, and construction tools at the construction site, and manages so that it can be selected whether to refer to the map data corrected to reflect the situation of the structure in the actual space or to refer to the BIM data, which is the original data used to generate the map data. Thereby, the accuracy of the map data is improved by reflecting the situation of the real space, and the reference management of the map data and the BIM data is enabled.

Effect of the Invention

[0009] According to the present invention, there is an effect that the accuracy of the map data is improved by reflecting the situation of the real space, and the reference management of the map data and the BIM data is enabled.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 6

Embodiments for Carrying Out the Invention

[0011] [Embodiments of the Present Invention] Hereinafter, with reference to the drawings, a map correction system according to an embodiment of the present invention will be described.

[0012] The outline of the embodiment of the present invention will be described. In the method according to the embodiment of the present invention, using a three-dimensional map (or two-dimensional map) and the result of estimating the self-position of a robot in the real space, a difference or error in the structure between the three-dimensional map and the real space is detected, and the three-dimensional map is corrected using the detection result. The three-dimensional map is an environmental map in which there is a space where structures are arranged in space, and a movable range within which the robot can move in the space is defined. The three-dimensional map is generated by simulation based on BIM data for each type of robot. The real space is a space where the robot actually operates, such as a construction site.

[0013] In addition, as a premise of this method, the robot uses a self-position estimation method called SLAM (Simultaneous Localization and Mapping). SLAM is a technology that simultaneously recognizes the surrounding environment with the robot's sensors and accurately estimates its own position and orientation. It generates an environmental map while estimating its own position. In SLAM, the robot combines multiple sensors for environment recognition. The sensors vary depending on the robot, but distance sensors, cameras, gyro sensors, magnetic sensors, acceleration sensors, radar sensors (scanners), bumper sensors, etc. are used. As an example of self-position estimation using sensors, an example of a four-wheel drive robot for cleaning (hereinafter referred to as a cleaning robot) will be described. For example, the cleaning robot has a laser scanner and a bumper sensor as sensor information. The laser scanner is a sensor that detects surrounding walls and obstacles. By using the laser scanner, the cleaning area can be determined by detecting the reflection markers placed at the four corners of the area to be cleaned. In addition, since the cleaning robot moves within the cleaning area along a path that allows all the dust within the cleaning area surrounded by the reflection markers to be cleaned, the movement path can be automatically generated within the cleaning area. The bumper sensor is a sensor that detects contact with an obstacle and detects and avoids obstacles within the cleaning area.

[0014] The robot moves while constantly monitoring the surrounding situation at its own position through self-position estimation. In self-position estimation, the robot collates the positions of structures in the real space using sensors, and obtains the self-position estimation result based on the collation result. Here, differences or errors may occur between the space of the three-dimensional map and the real space. Specifically, differences or errors may occur between the structures at the construction site in the real space and the structures included in the three-dimensional map obtained by simulation. The structures assumed in the space may be fixed structures or movable structures. Such movable structures include installed objects, materials at the construction site, construction tools, etc. Therefore, at the construction site in the real space, for movable structures, their arrangements change due to movement, addition, use, etc. In such cases, differences or errors occur between the structures in the real space and the structures included in the three-dimensional map. A difference means a situation where structures are added or removed, and the number and arrangement of structures in the space are different from those in the three-dimensional map. An error means a situation where the arrangement of the structures arranged in the three-dimensional map is shifted. In this embodiment, these differences or errors are detected using the three-dimensional map and the self-position estimation result. Then, based on the detection result, the arrangement of the structures in the three-dimensional map is corrected to reflect the situation of the structures in the three-dimensional map. This makes it possible to correct the coordinate information of the structures included in the three-dimensional map and improve the accuracy of the map data for robot control. Also, it is possible to achieve not only the update of the accuracy of the arrangement of the structures as three-dimensional data captured on the three-dimensional map, but also the accuracy update of the two-dimensional point cloud data. Since normal SLAM is processed in two dimensions, when the map data for robot travel extracted from the three-dimensional data of BIM is a two-dimensional map, the two-dimensional data is updated. Also, the actually detected data is updated according to the actual situation during building construction. On the other hand, after completion, since the original BIM data is used, the map data to be used is managed so that it can be selected whether to use the current data or the original data. Along with the above, it becomes possible to improve the accuracy of the robot management system that manages various robots described below.

[0015] Here, the robot management platform on which the present embodiment is premised will be described. FIG. 1 is an image diagram of the robot management platform. As shown in FIG. 1, the robot management platform is a platform for managing robots in a cloud environment. Programs for executing functions for managing robots are implemented as various modules in the robot management platform, and the modules are appropriately coordinated to perform necessary processing. Thereby, the robot management platform realizes the automation of construction work by robots. The list of modules shown in FIG. 1 is merely an example of functional means and is not limited to these examples. By utilizing such a robot management platform, it is possible to eliminate as much as possible the setting work for troublesome robot operations. In addition, by estimating the self-position of the robot based on the BIM (Building Information Modeling) data of the construction target, the on-site staff can give instructions to the robot by referring to the BIM data, so that an intuitive operation can be provided to the on-site staff. Also, functions necessary during construction, such as the status monitoring of the robot in remote operation, can be developed as services of the platform.

[0016] In the robot management platform shown in FIG. 1, the method of the present embodiment is used, for example, for SLAM·BIM data linkage of various types. It can also be used for robot operation management, path simulation, data accumulation and visualization, etc. In the functions of these modules, it is positioned as a method for optimizing the control in the real space when the robot moves and improving the performance.

[0017] FIG. 2 is a block diagram showing the configuration of a map correction system according to an embodiment of the present invention. As shown in FIG. 2, the map correction system 100 includes a map correction device 110, a terminal 140, and a plurality of robots 150 connected via a network N. The network N is, for example, an Internet line or a public wireless LAN.

[0018] The terminal 140 is a terminal that inputs control input data for the robot 150, checks the self-position estimation result of the robot 150, checks the corrected three-dimensional map, etc. The control input data is information including, for example, a destination, an object to be transported, etc. Note that the terminal 140 is a terminal operated by various responsible persons and performs input / output necessary for the processing of the map correction device 110. The various responsible persons here are applied to the above-described robot management platform. For example, in the present embodiment, the "on-site person in charge" responsible for remotely operating the robot or the "equipment management person in charge" responsible for route simulation becomes the person in charge according to the operation. Although permissions corresponding to various responsible persons are assigned at the time of logging in to the terminal 140, since it is not the main process of the map correction system 100, the description is omitted here.

[0019] The robot 150 is a plurality of robots to be controlled and is equipped with various sensors. Also, the robot 150 receives control information and moves along the route included in the control information while performing self-position estimation. The robot 150 transmits the current location and the self-position estimation result to the map correction device 110 at regular intervals. Note that the robot 150 is implemented as an agent for each type in the simulation environment of the robot environment platform and can perform operation emulation. In the present embodiment, a three-dimensional map defining the movable range has been generated in advance by operation emulation. Also, the route of the robot 150 on the three-dimensional map is generated by the route simulation of the route generation unit 114 described later. Note that in the present embodiment, the case of using a three-dimensional map is described as an example, but as described above, it can be similarly applied to a two-dimensional map.

[0020] The map correction device 110 includes a communication unit 112, a route generation unit 114, a detection unit 116, a map correction unit 118, and a storage unit 120. Also, the map correction device 110 can be configured by a computer including a CPU, a RAM, and a ROM that stores a program for executing each processing unit and various data (not shown). The map correction device 110 of the present embodiment is a server constructed by modularizing some functions of the robot management platform of FIG. 1 described above, and each functional unit is an example of a function.

[0021] The communication unit 112 transmits and receives various data through communication with the terminal 140 and the robot 150. For example, the communication unit 112 receives a three-dimensional map from the terminal 140 and stores it in the storage unit 120. The communication unit 112 receives control input data of the robot 150 from the terminal 140. The communication unit 112 periodically receives the current location from the robot 150. The communication unit 112 receives the self-position estimation result from the robot 150. Also, the communication unit 112 transmits control information to the robot 150.

[0022] Each of the three-dimensional maps received from the terminal 140 is stored in the storage unit 120. The three-dimensional map defines the movable range of the robot in space. Also, the path of the robot 150 generated by the path generation unit 114 is stored in the storage unit 120. Also, the corrected three-dimensional map is stored in the storage unit 120.

[0023] The path generation unit 114 generates the path of the robot 150 in the three-dimensional map of the storage unit 120 according to the control input data of the robot 150 received from the terminal 140. Then, it transmits control information including the path in the three-dimensional map to the robot 150. Also, the control information including the path generated here is information including the path from the starting point to the destination included in the control input data and the necessary work processes. The starting point is the latest current location received from the robot 150.

[0024] The detection unit 116 uses the three-dimensional map of the storage unit 120 and the self-position estimation result received from the robot 150 to detect the difference or error between the three-dimensional map and the real space.

[0025] The map correction unit 118 corrects the three-dimensional map of the storage unit 120 using the detection result of the detection unit 116 so as to reflect the situation of the structure.

[0026] Here, specific examples of the detection by the detection unit 116 and the correction by the map correction unit 118 will be described. FIG. 3 is a diagram showing an example of the detection and correction of differences when an obstacle is removed. In the example shown in FIG. 3, it is assumed that in the space of the three-dimensional map, a cleaning area and a non-cleanable area are set as the movable range. The cleaning area is set in an area without obstacles corresponding to the path of the cleaning robot. Also, the non-cleanable area is arbitrarily set in an area where there are obstacles and cleaning cannot be performed. It is assumed that these settings are preset at the stage of generating the three-dimensional map. Here, it is assumed that the cleaning robot is operated in the real space, and in the self-position estimation result, a difference in the space where the obstacle has been removed is detected. In this case, the map correction unit 118 corrects the three-dimensional map using the detection result of the removed obstacle. Also, the path generation unit 114 sets a new cleaning area and generates a path. In this way, when a new obstacle is installed, the three-dimensional map is corrected so that the movable range expands.

[0027] Detection and correction can be performed in the same manner when a new obstacle is installed or when an obstacle is moved. FIG. 4 is a diagram showing an example of the detection and correction of differences when a new obstacle is installed. As shown in FIG. 4, when a new obstacle is installed, the three-dimensional map is corrected so that the movable range narrows. FIG. 5 is a diagram showing an example of the detection and correction of errors when an obstacle is moved. As shown in FIG. 5, when an obstacle is moved (or displaced), the three-dimensional map is corrected so as to adjust the movable range. As described above, the real-time situation can be fed back to the three-dimensional map, and the passable path of the robot can be regenerated.

[0028] Next, the operation of the map correction device 110 according to the embodiment of the present invention will be described. FIG. 6 is a sequence diagram showing map correction processing in the map correction device 110 according to the embodiment of the present invention. The map correction processing is performed by the CPU reading a program and various data from the ROM and executing them. The CPU functions as each part of the map correction device 110. It is assumed that a three-dimensional map received in advance from the terminal 140 is stored in the storage unit 120 in advance. Also, the current location is received from the robot 150 regularly. Regarding the description that each functional unit performs the transmission and reception of various information of the map correction device 110, it is assumed that this is performed via the communication unit 112.

[0029] In step S100, the terminal 140 transmits the control input data of the robot 150 to the map correction device 110. A specific robot 150 is specified in the control input data.

[0030] In step S102, the route generation unit 114 generates a route in the three-dimensional map corresponding to the specified robot 150 in the storage unit 120 according to the control input data, and generates control information including the route.

[0031] In step S104, the route generation unit 114 transmits the control information to the robot 150.

[0032] In step S106, the robot 150 moves while performing self-position estimation according to the received control information including the reference area.

[0033] In step S108, the robot 150 transmits the self-position estimation result to the map correction device 110.

[0034] In step S110, the detection unit 116 detects a difference or error using the three-dimensional map in the storage unit 120 and the self-position estimation result received from the robot 150.

[0035] In step S112, the map correction unit 118 corrects the three-dimensional map in the storage unit 120 using the detection result of step S110.

[0036] In step S114, the path generation unit 114 regenerates a path using the corrected three-dimensional map and transmits control information including the path to the robot 150. Thereafter, until the robot 150 reaches the destination, the process shifts to the process from step S106 to perform map correction processing.

[0037] As described above, according to the map correction system 100 according to the embodiment of the present invention, it is possible to improve the accuracy of map data by reflecting the situation in the real space.

[0038] Note that the present invention is not limited to the above-described embodiments, and various modifications and applications are possible without departing from the gist of the present invention.

[0039] For example, when it is detected that there is a difference or error between the real space and the space of the three-dimensional map, in order to perform correction that precisely captures the three-dimensional shape of the structure, for a robot with other work available, measurement for estimating the shape of the structure may be instructed. This is because the above robot only incidentally captures the structure as a result of self-position estimation in the movement of its own work, and it is assumed that only some situations can be captured. The instructed robot 150 moves so as to tour the difference or the surroundings and transmits the self-position estimation result to the map correction device 110. In the map correction device 110, the detection unit 116 and the map correction unit 118 perform the same processing as described above, and correct the three-dimensional map that captures the shape of the structure. As described above, by having another robot perform the work for capturing the overall image of the structure for which the difference or error has been detected, the situation of the structure in the real space can be accurately reflected in the three-dimensional map.

Explanation of Reference Numerals

[0040] 100 Map correction system 110 Map correction device 112 Communication Unit 114 Route Generation Unit 116 Detection Unit 118 Map Correction Unit 120 Memory Unit 140 Terminal 150 Robot

Claims

1. Detecting a difference or error between the map data and a real space using three-dimensional or two-dimensional map data for each type of robot, which defines a movable range of the robot according to structures in space, and a self-location estimation result obtained by comparing the position of the structure by the robot receiving the control information, and When the difference or error is detected, instructing another robot that has not received control information to detect the shape of the structure in order to identify the shape of the structure; acquiring a self-location estimation result transmitted by the other robot, the self-location estimation result being obtained by the other robot patrolling the structure; correcting the map data of the robot receiving the control information so as to reflect a state of the structure, using a detection result of the robot receiving the control information and a self-location estimation result of the other robot in patrol of the obstacle by the other robot; The space is a real space of a construction site of a building, and the structure is a movable structure at the construction site of the building in the real space, and is at least one of an installation, a material, and a construction tool at the construction site; The map data is managed so that the user can select whether to refer to the map data corrected to reflect the state of the structure in the actual space or to refer to the BIM data that is the original data used to generate the map data. Map correction system.

2. 2. The map correction system of claim 1, wherein the correction is made to reflect changes in the configuration of the movable structure due to movement, addition, and use based on detection results of obstacles detected by the other robots during patrols, and to reflect the shape of the structure.

3. 2. The map correction system according to claim 1, wherein the management is configured to refer to the map data updated by the correction according to the actual situation of the construction site during construction of the building, and to refer to the BIM data after completion of the building.

4. Detecting a difference or error between the map data and a real space using three-dimensional or two-dimensional map data for each type of robot, which defines a movable range of the robot according to structures in space, and a self-location estimation result obtained by comparing the position of the structure by the robot receiving the control information, and When the difference or error is detected, instructing another robot that has not received control information to detect the shape of the structure in order to identify the shape of the structure; acquiring a self-location estimation result transmitted by the other robot, the self-location estimation result being obtained by the other robot patrolling the structure; correcting the map data of the robot receiving the control information so as to reflect a state of the structure, using a detection result of the robot receiving the control information and a self-location estimation result of the other robot in patrol of the obstacle by the other robot; The space is a real space of a construction site of a building, and the structure is a movable structure at the construction site of the building in the real space, and is at least one of an installation, a material, and a construction tool at the construction site; The map data is managed so that the user can select whether to refer to the map data corrected to reflect the state of the structure in the actual space or to refer to the BIM data that is the original data used to generate the map data. A map correction program that causes a computer to carry out the processing.

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