Map creation device, map creation system, and map creation program

Abstract

To efficiently move a plurality of types of mobile robots.SOLUTION: A map creation device 140 comprises a setting section 145 that respectively sets a first region 201 in which a first robot 121 moves and a second region 202 in which a second robot 122 moves with respect to a map used by the first robot 121 and the second robot 122 smaller than the first robot 121.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a map creation device, a map creation system, and a map creation program that create a two-dimensional map of an area in which multiple types of mobile robots move. [Background technology]

[0002] For example, Patent Document 1 describes a technology in which a cleaning area made up of a plurality of rectangles is created on a map, and a mobile robot is moved in accordance with the shape of the floor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-25721 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when different types of mobile robots move around on the same floor, the range of movement varies depending on the size and height of the robot, making it difficult to create maps to provide to different types of mobile robots on floors with complex shapes.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and provides a map creation device, a map creation system, and a map creation program that provide useful maps for multiple types of mobile robots. [Means for solving the problem]

[0006] A map creation device according to one aspect of the present disclosure includes a setting unit that sets a first area in which the first robot can move and a second area in which the second robot can move on a map used by a first robot that moves on a moving plane and a second robot that moves on the moving plane and is smaller than the first robot.

[0007] A map creation system according to one aspect of the present disclosure includes a first robot capable of moving along a plane of movement, a second robot smaller than the first robot and also capable of moving along the plane of movement, and a map creation device that creates a two-dimensional map in a plane along the plane of movement corresponding to a plurality of heights, the map creation device including a setting unit that sets a first area in which the first robot moves and a second area in which the second robot moves for the maps used by the first robot and the second robot, respectively.

[0008] A map creation program according to one embodiment of the present disclosure sets a first area in which the first robot moves and a second area in which the second robot moves on a map used by the first robot and a second robot smaller than the first robot. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a mobile robot with a map that enables multiple types of mobile robots to determine their travel area based on the placement of obstacles. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view showing a state in which the map creation system is creating a map of the interior of a room. [Figure 2] FIG. 2 is a block diagram showing the functional configuration of a coordinate measuring machine and a map creation device. [Figure 3] FIG. 10 is a side view showing the relationship between the first height region, the second height region, and the robot. [Figure 4] 10 is a side view showing a state in which an extraction unit extracts extraction points from three-dimensional point information within a specific region. FIG. [Figure 5] FIG. 2 is a diagram showing a first map created by a map creation unit. [Figure 6] FIG. 10 is a diagram showing a second map created by a map creation unit. [Figure 7] 10 is a flowchart showing a flow of processing by a setting unit. [Figure 8]FIG. 10 is a block diagram showing a functional configuration of a map creation system according to a first modified example. [Figure 9] FIG. 10 is a block diagram showing a functional configuration of a second modified example of a map creation system. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of a map creation device, a map creation system, and a map creation program according to the present invention will be described with reference to the drawings. Note that the following embodiments are presented as examples to explain the present invention and are not intended to limit the present invention. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical formulas, the content of each step in a method, and the order of each step shown in the following embodiments are merely examples and may include content not described below. Furthermore, while geometric expressions such as parallel and orthogonal may be used, these expressions do not indicate mathematical precision and include substantially acceptable errors, deviations, etc. Furthermore, expressions such as simultaneous and identical also include substantially acceptable ranges.

[0012] The drawings are schematic diagrams in which emphasis, omission, or adjustment of proportions is appropriately made for the purpose of explaining the present invention, and differ from the actual shapes, positional relationships, and proportions. The X-axis, Y-axis, and Z-axis shown in the drawings represent Cartesian coordinates arbitrarily set for the purpose of explaining the drawings. In other words, the Z-axis is not necessarily an axis along the vertical direction, and the X-axis and Y-axis are not necessarily located within a horizontal plane.

[0013] In addition, in the following, multiple inventions may be collectively described as one embodiment, and some of the contents described below may be described as optional components related to the present invention.

[0014] Furthermore, the flowchart is an example, and even if the processing flow is different, such as if the order of processing is different, multiple processes are integrated, or one process is separated, it may still be included in the embodiment of the present invention.

[0015] Fig. 1 is a perspective view showing a state in which the map creation system 100 is creating a map of the inside of a room 200. Note that the black dots shown in Fig. 1 represent three-dimensional point information. Also, the ceiling and the wall on the front side are not shown in Fig. 1. Inside the room 200, there exists a second area 202 in which the first robot 121 cannot move but the second robot 122 can move due to the difference in size between the first robot 121 and the second robot 122.

[0016] In this embodiment, the map creation system 100 includes a three-dimensional measuring machine 110 and a map creation device 140. FIG.

[0017] The three-dimensional measuring machine 110 is movable along a moving plane 210 (on the floor in this embodiment). The three-dimensional measuring machine 110 may be equipped with a self-propelled device such as motor-driven wheels to move autonomously on the moving plane 210, or may be moved by other means such as human power. The three-dimensional measuring machine 110 is equipped with a three-dimensional sensor 111. In this embodiment, the three-dimensional measuring machine 110 is equipped with an odometry sensor 112 and a measuring machine control device 113. Note that an obstacle is an object that impedes the travel of a robot such as an autonomous vacuum cleaner that travels using a map created by the map creation system 100, and also includes walls, doors, and furniture installed in the room 200.

[0018] Three-dimensional sensor 111 is a sensor that measures the positions of multiple points on the surface of an obstacle present around three-dimensional measuring machine 110 as three-dimensional point information. The type of three-dimensional sensor 111 is not limited, and examples include an LRF (Laser Range Finder), a LIDAR (Laser Imaging Detection and Ranging), a ToF (Time of Flight) camera (depth camera), a stereo camera, sonar, and RADAR. Three-dimensional sensor 111 may also be a combination of multiple types of sensors. In this embodiment, the three-dimensional point information obtained from three-dimensional sensor 111 is three-dimensional information with the position of three-dimensional sensor 111 (the self-position of three-dimensional measuring machine 110) as the origin.

[0019] The odometry sensor 112 is a sensor that acquires the position and attitude of the three-dimensional measuring machine 110, which is information for creating a map together with the three-dimensional point information, i.e., the odometry information of the three-dimensional sensor 111. The odometry sensor 112 detects at least two-dimensional components parallel to the moving plane 210 of each of the movement distance, speed, acceleration, angular velocity, and attitude of the three-dimensional measuring machine 110. The type of the odometry sensor 112 is not limited, but examples include an acceleration sensor, an angular velocity sensor, an encoder that measures the rotation of wheels equipped on the three-dimensional measuring machine 110, a geomagnetic sensor, and a torque sensor. The odometry sensor 112 may also be a combination of multiple types of sensors.

[0020] The measuring machine control device 113 is a device that controls the coordinate measuring machine 110 and includes a processor. The measuring machine control device 113 includes an output unit 114 as a processing unit that is realized by causing the processor to execute a measuring machine program.

[0021] The output unit 114 acquires the three-dimensional point information acquired by the three-dimensional sensor 111 and odometry information such as the position and attitude of the three-dimensional sensor 111 when the three-dimensional sensor 111 acquired the three-dimensional point information, and outputs the three-dimensional point information and the odometry information in association with each other to the map creation device 140. The communication method between the three-dimensional measuring machine 110 and the map creation device 140 is not limited, and may be either wired communication or wireless communication.

[0022] Map creation device 140 is a device that creates a two-dimensional map on a plane along movement plane 210 based on three-dimensional point information and odometry information acquired from three-dimensional measuring device 110. Map creation device 140 includes a processor, and includes processing units that are realized by causing the processor to execute a map creation program, such as an information acquisition unit 141, an area limitation unit 144, an extraction unit 142, a map creation unit 143, and a setting unit 145. Note that while FIG. 1 illustrates a mode in which map creation device 140 communicates directly with three-dimensional measuring device 110, map creation device 140 may also communicate with three-dimensional measuring device 110 via a network. Also, while map creation device 140 is illustrated as a mobile terminal, map creation device 140 may exist as one of the functions of a server or the like that functions as a cloud.

[0023] The information acquisition unit 141 acquires three-dimensional point information measured by the three-dimensional sensor 111 of the three-dimensional measuring machine 110 from the output unit 114. In the present embodiment, the information acquisition unit 141 acquires associated odometry information from the three-dimensional measuring machine 110 along with the three-dimensional point information.

[0024] The region limiting unit 144 extracts a plurality of pieces of 3D point information included in a first height region T1 (see FIG. 3 ) from the plurality of pieces of 3D point information, and extracts a plurality of pieces of 3D point information included in a second height region T2 (see FIG. 3 ), which is a region different from the first height region T1. This reduces the number of processes performed by the extraction unit 142. The first height region T1 and the second height region T2 are determined based on the height of the robot using the created map, the robot's running ability, and the like. The information acquisition unit 141 may acquire information indicating the specifications of the first robot 121 and the second robot 122 in advance, and the region limiting unit 144 may acquire this information and perform processing. The first height region T1 is set within a range from the maximum height that the first robot 121, such as a vacuum cleaner using the map, can overcome to the minimum height that the first robot 121 can crawl into. The second height region T2 may be set within a range from the maximum height that the second robot 122 can overcome to the minimum height that the second robot 122 can crawl into.

[0025] For each of the three-dimensional point information included in the first height region T1 and the three-dimensional point information included in the second height region T2, the extraction unit 142 extracts, from the multiple three-dimensional point information, an extraction point 400, which is the three-dimensional point information closest to the three-dimensional measuring machine 110 in the direction along the moving plane 210, from the multiple three-dimensional point information included in multiple specific regions 302 each including multiple extraction planes 301 that are aligned in an intersecting state with the moving plane 210 along which the three-dimensional measuring machine 110 moves, for each specific region 302.

[0026] In this embodiment, the extraction planes 301 are virtual planes that are perpendicular to the moving plane 210 and include the three-dimensional sensor 111, and multiple extraction planes 301 exist around the entire periphery of the three-dimensional sensor 111. Note that FIG. 1 shows two of the multiple extraction planes 301. Also, in FIG. 1, the multiple extraction planes 301 are depicted radially around an axis that virtually extends vertically through the three-dimensional sensor 111. However, because the three-dimensional measuring machine 110 acquires three-dimensional point information while moving (while moving intermittently), the multiple extraction planes 301 are not necessarily arranged radially around a single axis. The specific region 302 is a region for including three-dimensional point information that is not included in the extraction planes 301 due to deviations of the three-dimensional point information within a plane parallel to the moving plane 210. In this embodiment, the three-dimensional sensor 111 acquires three-dimensional point information that is aligned in a straight line in the vertical direction, as shown in FIG. 1, on a plane perpendicular to the moving plane 210 (such as the wall of the room 200). The specific region 302 has a plate-like (or columnar) shape from which only three-dimensional point information that can be regarded as at least one line aligned in the vertical direction can be acquired.

[0027] The 3D point information closest to the three-dimensional measuring machine 110 in the direction along the moving plane 210 is, for example, the 3D point information obtained by excluding height direction information (information in the Z-axis direction in the figure) from the 3D point information included in the specific region 302, and the 3D point information having the closest distance D (see FIG. 4 ) between the 3D point information and the position of the 3D sensor 111 when the 3D point information was acquired, excluding the height direction information. Note that FIG. 4 is a diagram for explaining the operation of the extraction unit 142 and is unrelated to FIGS. 1 and 3 . Also, although FIG. 4 shows multiple pieces of 3D point information closest to the 3D sensor 111, it is possible to identify the closest 3D point information because there is some measurement error. Furthermore, “closest” does not mean only the first 3D point information when the pieces of 3D point information are arranged in order of shortest distance D from the 3D sensor 111, but also means that any of the second or third 3D point information or subsequent pieces of 3D point information that can be equated with the first, such as the second or third 3D point information.

[0028] In this manner, the extraction unit 142 extracts one extraction point 400 for the first height region T1 of one specific region 302, and extracts one extraction point 400 for the second height region T2 of one specific region 302.

[0029] The extraction unit 142 may select the extraction plane 301 or the specific area 302 so that there is at least one row of 3D point information aligned in the vertical direction between adjacent specific areas 302. This makes it possible to thin out the 3D point information aligned along the movement plane 210, thereby reducing the number of processes for identifying the extraction points 400. Furthermore, it is possible to reduce the number of extraction points 400 output to the map creation unit 143, thereby reducing the number of processes required for map creation by the map creation unit 143.

[0030] The map creation unit 143 creates a two-dimensional first map 311 (see FIG. 5) on a plane along the movement plane 210 based on the plurality of extraction points 400 corresponding to the first height region T1 extracted by the extraction unit 142, and creates a two-dimensional second map 312 (see FIG. 6) on a plane along the movement plane 210 based on the plurality of extraction points 400 corresponding to the second height region T2. ​​The map creation method of the map creation unit 143 is not limited. For example, the map creation unit 143 creates a map using SLAM (Simultaneous Localization and Mapping) technology based on the plurality of extraction points 400 and the plurality of odometry information corresponding to these points.

[0031] The setting unit 145 sets a first area 201 in which the first robot 121 moves and a second area 202 in which the second robot 122 moves, based on the first map 311 and the second map 312. The method for setting the first area 201 and the second area 202 is not limited. For example, a user of the map creation device 140 may set the first area 201 and the second area 202 using a GUI (Graphical User Interface) or the like. In this embodiment, the setting unit 145 sets an area in which the first robot 121 cannot move but the second robot 122 can move as the second area 202, and sets other areas as the first area 201. This allows the first robot 121, which has a longer travel distance between charges than the second robot 122 due to factors such as battery capacity, to travel in the wider first area 201, while the second robot 122 can travel in the narrower second area 202. Furthermore, when the first robot 121 and the second robot 122 are vacuum cleaners, the first robot 121 has a larger dust-holding capacity than the second robot 122, and therefore can hold dust without overflowing even when cleaning the first area 201 which is larger than the second area 202.

[0032] In addition, if a gap between adjacent objects (the area surrounded by a dashed line in Figure 6) is a gap that the second robot 122 cannot enter based on the width of the second robot 122 (the length in a direction perpendicular to the direction of travel on a plane parallel to the movement plane 210), the setting unit 145 may modify the second map 312 to treat the gap as an object.

[0033] 7 is a flowchart showing the processing flow of the setting unit 145. The setting unit 145 acquires the first map 311 and the second map 312 from the map creation unit 143 (S101). The setting unit 145 sets the first area 201, which is an area in which the first robot 121 can travel, on the first map 311 and the second map 312. The setting unit 145 also sets other areas, which are areas other than the first area 201 (S102).

[0034] Next, the setting unit 145 derives a difference area, which is the difference between the first map 311 and the second map (S103). If the second robot 122 cannot travel through the derived difference area (S104, No) and if the second robot 122 cannot travel through other areas (S105, No), the setting unit 145 sets the first area 201 as a travel-prohibited area for the second robot 122 (S106).

[0035] On the other hand, if the second robot 122 can travel through the derived differential area (S104, Yes), or if the second robot 122 cannot travel through the differential area (S104, No) but can travel through other areas (S104, Yes), the setting unit 145 sets the corresponding area as the travel area of ​​the second robot 122.

[0036] It should be noted that the present disclosure is not limited to the above-described embodiments. For example, the present disclosure may be embodied in another embodiment realized by any combination of the components described in this specification or by excluding some of the components. Furthermore, the present disclosure also includes modifications obtained by applying various modifications to the above-described embodiments that would occur to a person skilled in the art without departing from the spirit of the present disclosure, i.e., the meaning of the wording of the claims.

[0037] For example, in the present embodiment, a three-dimensional measuring machine 110 is used to create two-dimensional maps of different heights from multiple three-dimensional point information, but the present disclosure may also use multiple two-dimensional measuring machines of different heights to create multiple maps of different heights from the two-dimensional deduction information obtained from each two-dimensional measuring machine.

[0038] 8, the coordinate measuring machine 110 may realize the information acquisition unit 141, area limitation unit 144, and extraction unit 142 as processing units by causing the processor of the measuring machine control device 113 to execute part of a map creation program. The extraction points 400 extracted by the extraction unit 142 and the corresponding odometry information are transmitted to the map creation device 140 via communication with the output unit 114. This makes it possible to reduce the amount of information transmitted to the map creation device 140 via communication.

[0039] Furthermore, as shown in FIG. 9, the three-dimensional measuring machine 110 may have the processor of the measuring machine control device 113 execute a map creation program to realize an information acquisition unit 141, an area limitation unit 144, an extraction unit 142, a map creation unit 143, and a setting unit 145 as processing units, and cause the measuring machine control device 113 to function as a map creation device 140.

[0040] Furthermore, the extraction plane 301 for creating the first map 311 and the extraction plane 301 for creating the second map 312 do not have to be the same.

[0041] The map creation device 140 of the first aspect of the present disclosure includes a setting unit 145 that sets a first area 201 in which the first robot 121 moves and a second area 202 in which the second robot 122 moves on a map used by the first robot 121 and a second robot 122 that is smaller than the first robot 121.

[0042] According to the first aspect, by providing a map with areas set for a plurality of robots of different sizes, each robot can be made to travel efficiently.

[0043] The map creation device 140 of the second embodiment includes the first embodiment, and the setting unit 145 sets the second area 202 as an area in which the first robot 121 cannot move and the second robot 122 can move.

[0044] According to the second aspect, the relatively large first robot 121 is caused to travel over a wide area, and a map can be provided in which areas are set according to the capabilities of each robot.

[0045] The map creation device 140 of the third embodiment includes the second embodiment and includes an information acquisition unit that acquires a plurality of pieces of three-dimensional point information indicating the positions of a plurality of points on the surface of an obstacle present around the movable three-dimensional measuring machine 110 measured by the movable three-dimensional measuring machine 110, an area limitation unit that extracts a plurality of pieces of three-dimensional point information included in a first height region from the plurality of pieces of three-dimensional point information and extracts a plurality of pieces of three-dimensional point information included in a second height region whose upper edge is lower than the upper edge of the first height region, and a region limitation unit that extracts a plurality of extraction planes that are arranged in a state intersecting with the movement plane 210 along which the three-dimensional measuring machine 110 moves from the plurality of pieces of three-dimensional point information included in the first height region and the second height region, respectively. The system is equipped with an extraction unit that extracts, for each specific area, three-dimensional point information that is closest to the three-dimensional measuring machine 110 in a direction along the movement plane 210 from among multiple pieces of three-dimensional point information contained in multiple specific areas each including a surface, and a map creation unit that creates a two-dimensional map on a plane along the movement plane 210 based on the multiple pieces of three-dimensional point information corresponding to the first height area and the multiple pieces of three-dimensional point information corresponding to the second height area extracted by the extraction unit, and a setting unit 145 that sets, as the first area 201, an area other than the area where the first robot 121 cannot move and where the second robot 122 can move based on the height of the space below the obstacle using the multiple pieces of three-dimensional point information corresponding to the second height area.

[0046] According to the third aspect, the necessary extraction points 400 in multiple height regions are extracted from a large number of three-dimensional point information acquired by the three-dimensional measuring machine 110, and maps of different heights are created, thereby making it possible to create maps with a small number of processes.

[0047] The map creation system 100 of the fourth aspect includes a first robot 121 that can move along a moving plane 210, a second robot 122 that can move along the moving plane 210 and is smaller than the first robot 121, and a map creation device 140 that creates a two-dimensional map on a plane along the moving plane 210 corresponding to a plurality of heights, and the map creation device 140 The robot includes a setting unit that sets a first area in which the first robot moves and a second area in which the second robot moves, for the maps used by the first robot and the second robot.

[0048] According to the fourth aspect, by providing a map with areas set for a plurality of robots of different sizes, each robot can be made to travel efficiently.

[0049] The map creation program of the fifth aspect sets a first area 201 in which the first robot 121 moves and a second area 202 in which the second robot 122 moves on a map used by the first robot 121 and a second robot 122 that is smaller than the first robot 121.

[0050] According to the fifth aspect, by providing a map with areas set for a plurality of robots of different sizes, each robot can be made to travel efficiently. [Industrial Applicability]

[0051] The present disclosure can be used to create maps to be used for a first robot with a cleaning function and a second robot that is smaller than the first robot. [Explanation of symbols]

[0052] 100 Mapping System 110 Coordinate measuring machine 111 Three-dimensional sensor 112 Odometry sensor 113 Measuring machine control device 114 Output section 121 First Robot 122 Second Robot 140 Map-making device 141 Information Acquisition Department 142 Extraction part 143 Map Creation Department 144 Area restriction section 145 Setting section 200 rooms 201 First area 202 Second area 210 Moving plane 301 Extraction plane 302 Specific area 311 First Map 312 Second Map 400 extraction points

Claims

1. The system includes a setting unit that sets a first area in which the first robot can move and a second area in which the second robot can move on a map used by a first robot that moves on a moving plane and a second robot that moves on the moving plane and is smaller than the first robot. Mapping device.

2. The setting unit An area other than the area in which the first robot cannot move and the second robot can move is set as a first area. The map creation device according to claim 1 .

3. an information acquisition unit that acquires a plurality of pieces of three-dimensional point information that indicate the positions of a plurality of points on the surface of an obstacle present around a movable three-dimensional measuring machine, the three-dimensional point information being measured by the movable three-dimensional measuring machine; an area limiting unit that extracts a plurality of pieces of three-dimensional point information included in a first height area from the plurality of pieces of three-dimensional point information, and extracts a plurality of pieces of three-dimensional point information included in a second height area whose upper edge is lower than an upper edge of the first height area; an extraction unit that extracts, for each of the three-dimensional point information included in the first height region and the three-dimensional point information included in the second height region, the three-dimensional point information that is closest to the three-dimensional measuring machine in a direction along the movement plane from the plurality of three-dimensional point information included in each of a plurality of specific regions each including a plurality of extraction planes that are aligned in a state intersecting with a movement plane along which the three-dimensional measuring machine moves; a map creation unit that creates a two-dimensional map on a plane along the movement plane based on a plurality of pieces of three-dimensional point information corresponding to the first height region and a plurality of pieces of three-dimensional point information corresponding to the second height region extracted by the extraction unit, The setting unit A region other than a region where the first robot cannot move and where the second robot can move is set as a first region based on the height of a space below an obstacle using information on a plurality of three-dimensional points corresponding to the second height region. The map creation device according to claim 2 .

4. a first robot movable along a movement plane; a second robot that is smaller than the first robot and that is movable along the movement plane; a map creation device that creates a two-dimensional map in a plane along the moving plane corresponding to a plurality of heights, The map creation device a setting unit that sets a first area in which the first robot moves and a second area in which the second robot moves, for maps used by the first robot and the second robot, respectively; Mapping system.

5. A first area in which the first robot moves and a second area in which the second robot moves are set on a map used by the first robot and a second robot smaller than the first robot. A map creation program that causes a processor to execute the process.

Images