Self position estimation device

Abstract

To provide a self position estimation device that can improve the estimation accuracy of the self position of a moving object.SOLUTION: A self position estimation device 20 estimates the self position of a moving object 2 when the moving object 2 travels through a travel area. The self position estimation device 20 comprises: a laser sensor 6 for detecting an object that exists around the moving object 2; a map storage unit 7 for storing a plurality of map data relating to the travel area; a shutter information acquisition unit 11 for acquiring status information of a shutter 4 that exists in the travel area; a map setting unit 12 that sets map data of the travel area in which the moving object 2 travels, among the plurality of map data stored in the map storage unit 7, based on the status information of the shutter 4; and a self position estimation unit 13 that estimates the self position of the moving object 2 based on the detection data of the laser sensor 6 and the map data set by the map setting unit 12.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a self-location estimation device. [Background technology]

[0002] A self-location estimation device detects the distance to objects around a moving object using, for example, a laser range finder, and then matches the detected data with map data of the environment to estimate the moving object's self-location. In this case, due to the characteristics of matching technology, if the map data differs from the actual environment, the accuracy of the self-location estimation will decrease. For this reason, it is necessary to always maintain accurate map data.

[0003] For example, Patent Document 1 describes a technology in which a robot is driven within a target area, sensors are used to measure the environment within the target area to generate multiple partial maps, the partial map coordinates of the multiple partial maps are converted into a single common fixed coordinate system called overall map coordinates, the multiple partial maps are placed in an overall map coordinate space indicated by the overall map coordinates to generate an overall map, storage priorities of the multiple partial maps are calculated based on the overall map, and parts of the multiple partial maps are deleted based on the storage priorities. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-135579 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when considering operations at logistics sites such as factories and warehouses, the actual environment does not change relative to the map data over time, but may change relative to the map data when a specific event occurs. For example, if a factory or warehouse has shutters installed, the actual environment changes relative to the map data depending on whether the shutters are open or closed. Therefore, if a map with a closed shutter is used when the shutters are open, or if a map with an open shutter is used when the shutters are closed, mismatches between the sensor detection data and the map data are likely to occur. This leads to a decrease in the accuracy of the self-location estimation.

[0006] An object of the present invention is to provide a self-position estimation device that can improve the accuracy of estimating the self-position of a moving object. [Means for solving the problem]

[0007] (1) One aspect of the present invention is a self-position estimation device that estimates the self-position of a mobile body when the mobile body travels through a travel area, and includes a detection unit that detects objects present around the mobile body, a map storage unit that stores multiple map data related to the travel area, an information acquisition unit that acquires status information of movable objects present in the travel area, a map setting unit that sets map data for the travel area through which the mobile body travels from the multiple map data stored in the map storage unit based on the status information of the movable objects acquired by the information acquisition unit, and a self-position estimation unit that estimates the self-position of the mobile body based on the detection data from the detection unit and the map data set by the map setting unit.

[0008] In this configuration, status information of movable objects present in a travel area is acquired, and map data for the travel area in which the movable object travels is set from among multiple map data stored in the map storage unit based on the status information of the movable object. Then, objects present around the movable object are detected by the detection unit, and the self-position of the movable object is estimated based on the detection data from the detection unit and the set map data. By setting map data for the travel area in which the movable object travels based on the status information of the movable object in this way, the self-position of the movable object is estimated using appropriate map data according to the status of the movable object. This improves the accuracy of estimating the self-position of the movable object.

[0009] (2) In the above (1), the map storage unit may store a plurality of map data associated with the state of the movable object, and the map setting unit may select map data of a travel area in which the movable object travels from the plurality of map data based on the state information of the movable object acquired by the information acquisition unit. In such a configuration, the processing of the map setting unit can be simplified by selecting map data of a travel area in which the movable object travels from the plurality of map data associated with the state of the movable object based on the state information of the movable object.

[0010] (3) In the above (1), the map storage unit may store multiple map data for each travel area, and the map setting unit may generate the map data for the travel area in which the moving object travels by combining them based on the status information of the moving object acquired by the information acquisition unit. In this configuration, by storing multiple map data for each travel area in the map storage unit, it is possible to use an inexpensive memory with a small capacity as the map storage unit.

[0011] (4) In any of the above (1) to (3), the information acquisition unit may acquire the status information of the movable object from a host system via communication. In this configuration, it is not necessary to mount a dedicated sensor for detecting the status of the movable object on the moving body, and it is also not necessary to perform processing to recognize the status of the movable object from the detection data of the sensor. Therefore, the cost of the self-location estimation device can be reduced.

[0012] (5) In any of the above (1) to (4), the movable object may be an openable / closable object installed in the travel area, and the information acquisition unit may acquire open / closed information of the openable / closable object as the state information of the openable / closable object. In this configuration, appropriate map data of the travel area is set depending on the open / closed state of the openable / closable object, so that the self-position of the moving object can be estimated with high accuracy regardless of the open / closed state of the openable / closable object. [Effects of the Invention]

[0013] According to the present invention, it is possible to improve the accuracy of estimating the self-position of a moving object. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a block diagram showing the configuration of a cruise control system including a self-position estimation device according to an embodiment of the present invention; [Figure 2] FIG. 2 is a schematic diagram showing an example of a travel area in which a moving object travels. [Figure 3] 2 is a diagram showing an example of a plurality of map data stored in a map storage unit shown in FIG. 1; FIG. [Figure 4] 10 is a flowchart showing a process for creating map data and storing it in a map storage unit as a preliminary preparation. [Figure 5] FIG. 2 is a schematic diagram showing a state in which a mobile object is driven in a driving area in order to create map data. [Figure 6] 3 is a flowchart showing a procedure of a driving control process executed by a controller shown in FIG. [Figure 7] FIG. 10 is a block diagram showing the configuration of a cruise control system including a self-position estimation device according to another embodiment of the present invention. [Figure 8] FIG. 10 is a schematic diagram showing another example of a travel area in which a moving object travels. [Figure 9] 8 is a diagram showing an example of a plurality of map data stored in a map storage unit shown in FIG. 7. FIG. [Figure 10] 8 is a flowchart showing a procedure of a driving control process executed by a controller shown in FIG. 7. [Figure 11] 8 is a schematic diagram showing an example of combined map data generated by a map setting unit shown in FIG. 7. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent elements are designated by the same reference numerals, and redundant description will be omitted.

[0016] Fig. 1 is a block diagram showing the configuration of a cruise control system equipped with a self-position estimation device according to one embodiment of the present invention. In Fig. 1, cruise control system 1 is a system that automatically drives a mobile object 2 (see Fig. 2) at a logistics site such as a factory. Mobile object 2 is an industrial vehicle such as a forklift that handles cargo.

[0017] A moving object 2 moves through travel areas A1 and A2, as shown in Fig. 2, for example. Travel areas A1 and A2 are surrounded by a wall 3. A shutter 4, which is an opening and closing mechanism that opens and closes in the vertical direction, is installed at the boundary between travel areas A1 and A2. The shutter 4 is a movable object that exists in travel areas A1 and A2.

[0018] As shown in Figure 2(a), when the shutter 4 is closed, the moving object 2 cannot move from the travel area A1 to the travel area A2. As shown in Figure 2(b), when the shutter 4 is open, the moving object 2 can move from the travel area A1 to the travel area A2.

[0019] The driving control system 1 includes a host system management device 5, a laser sensor 6, a map storage unit 7, a communication device 8, a drive unit 9, and a controller 10. The laser sensor 6, the map storage unit 7, the communication device 8, the drive unit 9, and the controller 10 are mounted on a moving object 2.

[0020] The host system management device 5 is a device that manages the automatic traveling of the moving body 2. The host system management device 5 transmits information related to the automatic traveling of the moving body 2 to the moving body 2 via wireless communication. The host system management device 5 receives a detection signal from, for example, a reflective laser sensor or a contact sensor (not shown) installed near the shutter 4, recognizes the open / closed state of the shutter 4 based on the detection signal, and transmits the recognition result to the moving body 2 as opening / closing information of the shutter 4.

[0021] The laser sensor 6 detects the distance to objects present around the mobile body 2 by emitting a 2D or 3D laser to the area around the mobile body 2 and receiving the reflected laser light. Objects present around the mobile body 2 include the walls 3 and shutters 4 that define the travel areas A1 and A2. The laser sensor 6 outputs detection data of the distance from the mobile body 2 to the objects as point cloud data. A point cloud is a collection of reflection points on an object. The laser sensor 6 constitutes a detection unit that detects objects present around the mobile body 2. For example, a LiDAR (light detection and ranging) or a laser range finder may be used as the laser sensor 6.

[0022] The map storage unit 7 stores a plurality of map data relating to the travel area in which the mobile object 2 travels. The map data, which will be described later, is created in advance using the laser sensor 6. The map data is formed as point cloud data (see FIG. 3).

[0023] The map storage unit 7 stores multiple map data items associated with the open / closed states of the shutter 4. Here, as shown in Fig. 3, the map storage unit 7 stores map data Da1 for the driving area A1 when the shutter 4 is closed (referred to as map data Da1 for closing the shutter) and map data Da12 for the driving areas A1 and A2 when the shutter 4 is open (referred to as map data Da12 for opening the shutter). The map data Da1 for closing the shutter is provided with a shutter section 4s corresponding to the shutter 4.

[0024] 4 is a flowchart showing the steps of preparing map data and storing it in the map storage unit 7. The preparation is carried out by an operator.

[0025] In FIG. 4, an operator first acquires point cloud data of the laser sensor 6 by manually driving the moving body 2 while irradiating a laser from the laser sensor 6 with the shutter 4 in the closed and open states (step S101).

[0026] When the shutter 4 is closed, the moving object 2 travels only in the travel area A1, thereby acquiring point cloud data of the laser sensor 6 in the travel area A1, as shown in Fig. 5(a). When the shutter 4 is open, the moving object 2 travels both in the travel areas A1 and A2, thereby acquiring point cloud data of the laser sensor 6 in the travel areas A1 and A2, as shown in Fig. 5(b).

[0027] Thereafter, the worker inputs the point cloud data of the laser sensor 6 into a personal computer, processes the point cloud data of the laser sensor 6 in the personal computer, and creates map data Da1 for closing the shutter and map data Da12 for opening the shutter (step S102).

[0028] Then, the worker stores the map data Da1 for closing the shutter and the map data Da12 for opening the shutter in the map storage unit 7 (step S103). As a result, the map data associated with the open / closed state of the shutter 4 is stored in the map storage unit 7.

[0029] 1 , the communication device 8 wirelessly receives information related to the automatic traveling of the mobile object 2, including information on opening and closing of the shutter 4, transmitted from the higher-level system management device 5. The driving unit 9 has, for example, a traveling motor for traveling the mobile object 2 and a steering motor for steering the mobile object 2, although these are not shown.

[0030] The controller 10 is configured with a CPU, RAM, ROM, an input / output interface, etc. The controller 10 has a shutter information acquisition unit 11, a map setting unit 12, a self-position estimation unit 13, and a driving control unit 14.

[0031] The shutter information acquisition unit 11 acquires the open / close information of the shutter 4 received via the communication device 8. The shutter information acquisition unit 11 constitutes an information acquisition unit that acquires the state information of the shutter 4 in cooperation with the communication device 8.

[0032] The map setting unit 12 sets map data of the travel area in which the mobile object 2 travels from among the plurality of map data stored in the map storage unit 7, based on the opening / closing information of the shutter 4 acquired by the shutter information acquisition unit 11. The map setting unit 12 selects map data of the travel area in which the mobile object 2 travels from the plurality of map data, based on the opening / closing information of the shutter 4.

[0033] The self-position estimation unit 13 estimates the self-position of the moving object 2 based on the point cloud data (detection data) of the laser sensor 6 and the map data set by the map setting unit 12. Specifically, the self-position estimation unit 13 matches the point cloud data of the laser sensor 6 with map data using, for example, a SLAM (simultaneous localization and mapping) method to estimate the current self-position of the moving object 2. SLAM is a self-position estimation technology that estimates the self-position using sensor data and map data.

[0034] The traveling control unit 14 controls the drive unit 9 to make the moving object 2 travel based on the self-position of the moving object 2 estimated by the self-position estimation unit 13 .

[0035] Here, the laser sensor 6, the map storage unit 7, the communication device 8, the shutter information acquisition unit 11 of the controller 10, the map setting unit 12, and the self-position estimation unit 13 constitute a self-position estimation device 20 of this embodiment. The self-position estimation device 20 estimates the self-position of the moving object 2 when the moving object 2 travels in a travel area.

[0036] 6 is a flowchart showing the procedure of the travel control process executed by the controller 10. This process is executed when an instruction to start travel control of the moving body 2 is issued.

[0037] 6, the controller 10 first acquires the open / close information of the shutter 4 received by the communication device 8 (step S111). Then, the controller 10 determines whether the shutter 4 is in a closed state based on the open / close information of the shutter 4 (step S112).

[0038] When the controller 10 determines that the shutter 4 is in the closed state, it selects map data Da1 for closing the shutter from the plurality of map data stored in the map storage unit 7 (step S113).When the controller 10 determines that the shutter 4 is in the open state, not the closed state, it selects map data Da12 for opening the shutter from the plurality of map data stored in the map storage unit 7 (step S114).

[0039] After executing step S113 or step S114, the controller 10 acquires point cloud data of the laser sensor 6 (step S115). Then, the controller 10 matches the point cloud data of the laser sensor 6 with the map data Da1 for closing the shutter or the map data Da12 for opening the shutter, thereby estimating the self-position of the moving object 2 (step S116). Then, based on the self-position of the moving object 2, the controller 10 controls the drive unit 9 to make the moving object 2 travel toward the destination (step S117).

[0040] Next, the controller 10 determines whether the moving object 2 has reached the destination based on the self-position of the moving object 2 (step S118). If the controller 10 determines that the moving object 2 has not reached the destination, it executes the above step S115 again. If the controller 10 determines that the moving object 2 has reached the destination, it controls the drive unit 9 to stop the moving object 2 (step S119), and ends the execution of this process.

[0041] Here, the shutter information acquisition unit 11 executes step S111. The map setting unit 12 executes steps S112 to S114. The self-position estimation unit 13 executes steps S115 and S116. The traveling control unit 14 executes steps S117 to S119.

[0042] As described above, in this embodiment, status information of the shutters 4 present in the travel area is acquired, and map data of the travel area in which the mobile object 2 travels is set from among the plurality of map data stored in the map storage unit 7 based on the status information of the shutters 4. Then, objects present around the mobile object 2 are detected by the laser sensor 6, and the self-position of the mobile object 2 is estimated based on the detection data of the laser sensor 6 and the set map data. By setting the map data of the travel area in which the mobile object 2 travels based on the status information of the shutters 4 in this way, the self-position of the mobile object 2 is estimated using appropriate map data according to the status of the shutters 4. This improves the accuracy of estimating the self-position of the mobile object 2 and makes it possible to improve the robustness of the self-position estimation result.

[0043] In addition, in this embodiment, the processing of the map setting unit 12 can be simplified by selecting map data of the travel area in which the moving body 2 travels from multiple map data associated with the state of the shutter 4 based on the state information of the shutter 4.

[0044] Furthermore, in this embodiment, by acquiring the state information of the shutter 4 from the higher-level system management device 5 via communication, it is not necessary to mount a dedicated sensor for detecting the state of the shutter 4 on the moving object 2, and it is also not necessary to perform processing to recognize the state of the shutter 4 from the detection data of the dedicated sensor. Therefore, the cost of the self-position estimation device 20 can be reduced.

[0045] Furthermore, in this embodiment, map data for an appropriate travel area is set depending on whether the shutter 4 is open or closed, so the self-position of the moving object 2 is estimated with high accuracy regardless of whether the shutter 4 is open or closed.

[0046] Furthermore, in this embodiment, when the detection data of the laser sensor 6 is matched with the map data to estimate the self-position of the moving object 2, appropriate map data is used according to the open / closed state of the shutter 4, thereby suppressing erroneous matching. Therefore, the estimation accuracy of the self-position of the moving object 2 is further improved.

[0047] In this embodiment, when the shutter 4 is in a closed state, the map data Da1 for closing the shutter is selected, and when the shutter 4 is in an open state, the map data Da12 for opening the shutter is selected, but this is not particularly limited to such an embodiment. For example, the map data Da1 for closing the shutter may normally be selected in advance, and when it is determined that the shutter 4 is in an open state based on the opening / closing information of the shutter 4, the map data Da1 for closing the shutter may be switched to the map data Da12 for opening the shutter.

[0048] In addition, in this embodiment, map data Da1 for driving area A1 when shutter 4 is closed and map data Da12 for driving areas A1 and A2 when shutter 4 is open are stored in the map storage unit 7, but map data for driving area A2 when shutter 4 is closed may also be stored in the map storage unit 7.

[0049] Fig. 7 is a block diagram showing the configuration of a cruise control system including a self-location estimation device according to another embodiment of the present invention. In Fig. 7, a self-location estimation device 20A of this embodiment includes a map storage unit 7A instead of the map storage unit 7 in the above embodiment.

[0050] In this embodiment, the moving object 2 travels through travel areas B1 to B3, as shown in Fig. 8, for example. The travel areas B1 to B3 are surrounded by a wall 3. A shutter 16 is installed at the boundary between the travel areas B1 and B2. A shutter 17 is installed at the boundary between the travel areas B1 and B3. The shutters 16 and 17 are openable / closable objects (movable objects) that open and close in the vertical direction.

[0051] As shown in Figure 8(a), when both shutters 16 and 17 are closed, the moving object 2 cannot move from travel area B1 to travel areas B2 and B3. As shown in Figure 8(b), when only shutter 16 is open, the moving object 2 can move from travel area B1 to travel area B2. As shown in Figure 8(c), when only shutter 17 is open, the moving object 2 can move from travel area B1 to travel area B3. As shown in Figure 8(d), when both shutters 16 and 17 are open, the moving object 2 can move from travel area B1 to travel areas B2 and B3.

[0052] The map storage unit 7A stores a plurality of map data relating to the travel area. As shown in Fig. 9, the map storage unit 7A stores a plurality of map data for each travel area.

[0053] Specifically, the map storage unit 7A stores map data Db1 for traveling area B1, map data Db2 for traveling area B2, and map data Db3 for traveling area B3. The map data Db1 for traveling area B1 is map data in a state where shutters 16 and 17 are closed. The map data Db1 for traveling area B1 is provided with shutter sections 16s and 17s corresponding to the shutters 16 and 17. The map data Db2 for traveling area B2 is map data in a state where shutter 16 is open. The map data Db3 for traveling area B3 is map data in a state where shutter 17 is open.

[0054] Furthermore, the self-position estimation device 20A includes a controller 10A instead of the controller 10 in the above embodiment. The controller 10A includes the shutter information acquisition unit 11, the map setting unit 12A, the self-position estimation unit 13, and the driving control unit 14.

[0055] The map setting unit 12A sets map data of the travel area in which the mobile object 2 travels from among the multiple map data stored in the map storage unit 7A, based on the open / close information of the shutters 16 and 17 acquired by the shutter information acquisition unit 11. The map setting unit 12A generates a combination of map data of the travel area in which the mobile object 2 travels, based on the open / close information of the shutters 16 and 17.

[0056] The self-position estimation unit 13 estimates the self-position of the moving object 2 based on the point cloud data of the laser sensor 6 and the map data set by the map setting unit 12A.

[0057] FIG. 10 is a flowchart showing the procedure of the driving control process executed by the controller 10A, and corresponds to FIG.

[0058] The controller 10A first acquires the open / close information of the shutters 16 and 17 received by the communication device 8 (step S121). Then, the controller 10A determines whether only the shutter 16 is open based on the open / close information of the shutters 16 and 17 (step S122).

[0059] When the controller 10A determines that the condition that only the shutter 16 is open is satisfied, the controller 10A generates combined map data by combining the map data Db1 of the traveling area B1 and the map data Db2 of the traveling area B2 (step S123). Then, the controller 10A deletes the shutter section 16s from the combined map data (step S124). As a result, as shown in FIG. 11(a), combined map data DC of the traveling areas B1 and B2 in a state where the shutter 16 is open and the shutter 17 is closed is generated.

[0060] When the controller 10A determines that the condition that only the shutter 16 is open is not met, it determines whether only the shutter 17 is open based on the opening and closing information of the shutters 16 and 17 (step S125).

[0061] When the controller 10A determines that the condition that only the shutter 17 is open is satisfied, the controller 10A generates combined map data by combining the map data Db1 of the traveling area B1 and the map data Db3 of the traveling area B3 (step S126). Then, the controller 10A deletes the shutter section 17s from the combined map data (step S127). As a result, as shown in FIG. 11(b), combined map data DC of the traveling areas B1 and B3 in a state where the shutter 16 is closed and the shutter 17 is open is generated.

[0062] When the controller 10A determines that the condition that only the shutter 17 is in the open state is not met, the controller 10A determines whether both the shutters 16 and 17 are in the open state based on the opening and closing information of the shutters 16 and 17 (step S128).

[0063] When the controller 10A determines that the condition that the shutters 16 and 17 are both open is met, the controller 10A generates combined map data by combining the map data Db1 for the traveling area B1, the map data Db2 for the traveling area B2, and the map data Db3 for the traveling area B3 (step S129). The controller 10A then deletes the shutter sections 16s and 17s from the combined map data (step S130). As a result, combined map data DC for the traveling areas B1 to B3 with the shutters 16 and 17 open is generated, as shown in FIG. 11(c).

[0064] If the controller 10A determines that the condition that both the shutters 16 and 17 are open is not met, that is, that both the shutters 16 and 17 are closed, the controller 10A sets the map data Db1 of the traveling area B1 as the combined map data (step S131). As a result, combined map data DC of the traveling area B1 when the shutters 16 and 17 are closed is generated, as shown in FIG. 11(d).

[0065] After executing any one of steps S124, S127, S130, and S131, the controller 10A acquires point cloud data of the laser sensor 6 (step S132). Then, the controller 10A matches the point cloud data of the laser sensor 6 with the combined map data DC to estimate the self-position of the moving object 2 (step S133). Then, the controller 10A executes the above steps S117 to S119.

[0066] Here, the shutter information acquisition unit 11 executes step S121. The map setting unit 12A executes steps S122 to S131. The self-position estimation unit 13 executes steps S132 and S133.

[0067] In the present embodiment as described above, by storing a plurality of map data for each driving area in the map storage unit 7A, it is possible to use an inexpensive memory with a small capacity as the map storage unit 7A.

[0068] In this embodiment, the map data Db2 for the traveling area B2 is map data for a state in which the shutter 16 is open, and the map data Db3 for the traveling area B3 is map data for a state in which the shutter 17 is open, but this is not a limitation. The map data Db2 for the traveling area B2 may be map data for a state in which the shutter 16 is closed, and the map data Db3 for the traveling area B3 may be map data for a state in which the shutter 17 is closed.

[0069] Although several embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. For example, in the above embodiments, information on the open / closed states of shutters in the travel area is acquired via communication from the higher-level system management device 5, but the present invention is not particularly limited to such an embodiment. For example, the open / closed states of the shutters may be detected and acquired by a camera or laser sensor mounted on the moving object 2.

[0070] In the above embodiment, the self-position of the moving object 2 is estimated by matching the point cloud data of the laser sensor 6 with map data using the laser SLAM technique, but the self-position estimation technology is not limited to the laser SLAM technique as long as it uses map data, and may be, for example, a visual SLAM technique. In this case, the self-position of the moving object 2 is estimated based on image data from a camera or an image sensor and map data.

[0071] Furthermore, in the above embodiment, information on whether a shutter in the travel area is open or closed is acquired, and map data for the travel area in which the mobile object 2 travels is set from among the plurality of map data stored in the map storage unit based on the information on whether the shutter is open or closed, but this is not particularly limited to such an embodiment. For example, if a door (opening / closing object) that opens and closes laterally is installed in the travel area, map data for the travel area in which the mobile object 2 travels may be set from among the plurality of map data stored in the map storage unit based on the information on whether the door is open or closed.

[0072] Furthermore, movable objects present in the travel area are not limited to objects that open and close, such as shutters, doors, etc. For example, if a movable object such as a truck or mobile equipment is present in the travel area, map data for the travel area in which the mobile object 2 travels may be acquired from the plurality of map data stored in the map storage unit based on information on the presence or absence of the movable object as status information of the movable object.

[0073] Furthermore, in the above embodiment, the moving body 2 is an industrial vehicle, but the moving body 2 is not particularly limited to an industrial vehicle, and may be a vehicle such as an automobile. [Explanation of symbols]

[0074] 2...moving object, 4...shutter (openable / closable object, movable object), 5...host system management device (host system), 6...laser sensor (detection unit), 7, 7A...map memory unit, 8...communication device (information acquisition unit), 11...shutter information acquisition unit (information acquisition unit), 12, 12A...map setting unit, 13...self-position estimation unit, 16, 17...shutter (openable / closable object, movable object), 20, 20A...self-position estimation device, A1, A2...driving area, B1, B2, B3...driving area, Da1...map data (map data for closing the shutter), Da12...map data (map data for opening the shutter), Db1, Db2, Db3...map data.

Claims

1. A self-position estimation device that estimates a self-position of a moving body when the moving body travels in a travel area, a detection unit that detects an object present around the moving object; a map storage unit that stores a plurality of map data relating to the travel area; an information acquisition unit that acquires state information of a movable object present in the travel area; a map setting unit that sets map data of a travel area in which the moving object travels from among the plurality of map data stored in the map storage unit based on the state information of the moving object acquired by the information acquisition unit; a self-position estimation unit that estimates the self-position of the moving object based on the detection data of the detection unit and the map data set by the map setting unit;

2. the map storage unit stores a plurality of map data associated with states of the movable object; The self-position estimation device according to claim 1 , wherein the map setting unit selects map data of a travel area in which the moving object travels from the plurality of map data based on the state information of the moving object acquired by the information acquisition unit.

3. the map storage unit stores a plurality of map data for each of the driving areas; The self-position estimation device according to claim 1 , wherein the map setting unit generates map data of a travel area in which the moving object travels based on the state information of the moving object acquired by the information acquisition unit.

4. The self-position estimation device according to claim 1 , wherein the information acquisition unit acquires the state information of the movable object from a host system through communication.

5. the movable object is an opening / closing object installed in the travel area, The self-position estimation device according to claim 1 , wherein the information acquisition unit acquires open / close information of the opening / closing object as the state information of the opening / closing object.

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