Map utilization device and program

Abstract

To provide a map utilization device capable of preparing an appropriate two-dimensional map according to an individual situation.SOLUTION: A map utilization device distributes map information along a designated route in order to move a mobile robot along said route, acquires 3D map information along said route as being around said route from the overall 3D map information constructed for a field in which the mobile robot can move, and distributes the 3D map information along said route to the mobile robot after converting to 2D map information considering a sensing range by an external recognition sensor and the inclination of said route when the mobile robot moves autonomously.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a map utilization device and a program for effectively utilizing map information in relation to a mobile robot and a map utilization environment. [Background technology]

[0002] Conventionally, technology has been considered for multiple vehicles or robots to share the same map for their movement.

[0003] In Patent Document 1, in a system consisting of a vehicle that monitors the surroundings with a sensor while traveling on a road and a server that manages and updates a map, if the landmark position acquired by monitoring the surroundings of the vehicle differs from the landmark position on the map, the server considers updating the map. In Patent Document 2, in a system consisting of a vehicle capable of manual and automatic driving and a server that manages a map, in order to reduce the amount of communication when uploading surrounding map information acquired by the vehicle while traveling on a road to the server side, map information is not uploaded from the vehicle to the server all the time, but only map information for the vicinity of a position where a takeover occurs, where the vehicle switches from automatic driving to manual driving, and map updates are considered in the server.

[0004] In Patent Document 3, in order to efficiently create a vast environmental map covering a wide area, multiple autonomous robots detect the relative positions between the robots, divide and define search areas for each robot, collect map information for the search area assigned to each robot using SLAM (Simultaneous Localization and Mapping) positioning, and then combine the map information for each search area to generate the entire environmental map. In Patent Document 4, multiple robots that perform SLAM positioning share the map information that each robot has between the robots via landmark information, thereby improving the positioning accuracy of each robot without each robot having to accumulate a large amount of map information individually. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-38359 A [Patent Document 2] JP 2020-71053 A [Patent Document 3] JP 2013-109325 A [Patent Document 4] JP 2019-57312 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the conventional technologies described above, no consideration was given to enabling robots as autonomous mobile devices to appropriately use 2D maps, which can be used with less load than 3D maps, for each of the mobile robots, which may have a wide variety of individual specifications.

[0007] Map information used for autonomous navigation can be broadly classified into 2D and 3D maps. 2D maps are suitable for indoor use, as they assume a flat ground surface, or for outdoor use, where the surface can be considered nearly flat. On the other hand, 3D maps assume the slope of the ground, so they have a wider range of applications, but they also impose a heavy computational load.

[0008] The vehicles targeted in Patent Documents 1 and 2 (the computers installed in the vehicles that process map information and sensor information) have abundant computing resources and are able to directly download and use 3D maps shared on the server.

[0009] On the other hand, for robots whose uses are not limited to autonomous driving on roads, a wide variety of robots may be used depending on individual applications and cost constraints, and while some robots have abundant computing resources that enable them to handle 3D maps, many robots have only limited computing resources, and these robots need to convert the 3D maps into 2D maps before handling them.

[0010] However, even in Patent Documents 3 and 4, which are aimed at robots, converting a 3D map into a 2D map is not considered, and therefore a method of converting into a 2D map suitable for each mobile robot, the individual specifications of which are expected to vary widely, is not considered.

[0011] When converting a map into a 2D map suited to the specifications of a mobile robot, it is important to consider the various possibilities of the field of view of each robot and the driving environment in which the map is converted into a 2D map. Figures 1 and 2 show examples of such situational changes.

[0012] FIG. 1 shows, in schematic form, that even with the same mobile robot 2 and the same measurement object OB-1, the appearance by the external recognition sensor when the driving environment is on a horizontal plane as shown in example EX-11 (as captured within the field of view V-11) is different from the appearance when the driving environment is an uphill slope as shown in example EX-12 (as captured within the same field of view V-11).

[0013] In the case of a horizontal plane shown in Example EX11, only the top of the measurement object OB-1 at height h1, which is a horizontal distance D1 away, is visible within the field of view V11. However, in the case of a slope shown in Example EX12, which is inclined at an angle θ, this height h1 is approximately reduced to h1*(cos θ) by the cosine function cos, so that the top of the measurement object OB-1 is also invisible within the same field of view V11, and the measurement object OB-1 is located outside the field of view V11 and cannot be seen. Note that while FIG. 1 illustrates an example of an uphill slope at an angle θ, it is assumed that in the case of a downhill slope at an angle θ, the height h1 is also approximately reduced to h1*(cos θ), so that the measurement object OB-1 is also invisible outside the field of view V11 of the same mobile robot 2. (That is, in the case of an uphill slope at an angle θ as depicted in FIG. 1, object OB-1 of height h1 does not stand vertically with the uphill ground as the reference point, but stands tilted at an angle θ from vertical toward the far side of mobile robot 2; in the case of a downhill slope at an angle θ not depicted in FIG. 1, object OB-1 of height h1 does not stand vertically with the downhill ground as the reference point, but stands tilted at an angle θ from vertical toward the near side of mobile robot 2; in both the uphill and downhill cases, the height h1 of object OB-1 is reduced to approximately h1*(cos θ).)

[0014] In the example of Fig. 2, even if the mobile robots 2-A and 2-B are located horizontally at a distance D from the apex of the same cone-shaped measurement object OB-2, the two mobile robots 2-A and 2-B, which have different field of view height specifications, see the measurement object OB-2 differently. In the mobile robot 2-A in example EX2A, the field of view V2A is relatively high, so the mobile robot captures the cone-shaped object OB-2 in its field of view V2A at a higher position, and the measurement result shows that the object is a distance DA away. However, in the mobile robot 2-B in example EX2B, the field of view V2B is relatively low, so the mobile robot captures the cone-shaped object OB-2 in its field of view V2B at a lower position, and the result shows that the object is a distance DB away.

[0015] That is, even if two mobile robots 2-A and 2-B with different visibility specifications are at the same position and the same distance D away from the same cone-shaped object OB-2, the mobile robot 2-A with a relatively high visibility V2A measures the object OB-2 at a distance DA ahead, while the mobile robot 2-B with a relatively low visibility V2B measures the object OB-2 at a distance DB ahead, and the relationship between these two distances is "DA>DB", resulting in different measurement results (how the two mobile robots 2-A and 2-B see the object OB-2). The mobile robot 2-A measures the object OB-2 as being relatively far away, while the mobile robot 2-B measures the object OB-2 as being relatively close. Also, the robot 2-A can see the top of the object OB-2, while the robot 2-B can see the bottom of the object OB-2, so the part and range of the object OB-2 that each robot can see are different.

[0016] As shown in the schematic examples of Figures 1 and 2 above, when a mobile robot moves using a 2D map, it is necessary to use an appropriate 2D map that takes into account the different specifications of the field of view of each individual mobile robot and the different slopes in the driving environment of the mobile robot; however, conventional technology was not able to prepare such a 2D map.

[0017] In view of the problems with the conventional techniques described above, an object of the present invention is to provide a map utilization device and a program capable of preparing an appropriate two-dimensional map according to an individual situation. [Means for solving the problem]

[0018] In order to achieve the above object, the present invention is a map utilization device that distributes map information along a specified route to a mobile robot to move along the route, and obtains 3D map information along the route as being in the vicinity of the route from the entire 3D map information constructed for a field in which the mobile robot can move, converts the 3D map information along the route into 2D map information taking into consideration the sensing range of an external recognition sensor when the mobile robot moves autonomously and the inclination of the route, and distributes the 2D map information to the mobile robot. Also, the present invention is characterized by a program that causes a computer to function as the map utilization device. Effect of the Invention

[0019] According to the present invention, three-dimensional map information is converted into two-dimensional map information taking into account the sensing range of the mobile robot's external recognition sensor and the inclination of the route, so that an appropriate two-dimensional map can be prepared according to individual situations. [Brief description of the drawings]

[0020] [Figure 1] FIG. 13 is a schematic diagram showing that even when using the same mobile robot and the same measurement object, the measurement object looks different when viewed from the mobile robot depending on whether the traveling environment is a horizontal surface or an inclined surface. [Diagram 2] FIG. 13 is a schematic diagram showing that even when mobile robots are placed at the same position relative to the same measurement object, the same measurement object appears differently when the mobile robots have different field of view specifications. [Diagram 3] 1 is a diagram illustrating a configuration of a map using system according to an embodiment. [Figure 4] 1 is a functional block diagram of a user terminal, a mobile robot, and a map using device in a map using system according to an embodiment. [Diagram 5] FIG. 2 is a functional block diagram of a two-dimensional map synthesis unit according to an embodiment. [Figure 6] 10 is a flowchart showing information management of each mobile robot by a map using device according to an embodiment. [Figure 7] 11 is a flowchart of arranging for product delivery and updating map information involving map conversion processing by a map using device according to an embodiment. [Figure 8] 11 is a diagram showing a schematic example of information on visual field specifications stored in a device information storage unit; FIG. [Figure 9] FIG. 1 is a diagram showing a schematic example of two-dimensional map creation and two-dimensional map synthesis. [Figure 10] FIG. 1 is a diagram illustrating a hardware configuration of a typical computer. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] 3 is a diagram showing a configuration of a map usage system 4 according to an embodiment. In this embodiment, as an example of an application of the map usage system 4, a case where an autonomous mobile robot moves through a field F such as a city to a destination specified by a delivery service user (user) and delivers goods will be described, but the map usage system 4 of this embodiment can be applied to any application involving moving an autonomous mobile robot along a specified route within the field F.

[0022] The map utilization system 4 includes a plurality (n units) of user terminals 1-1, 1-2, ..., 1-n used to determine a destination, a plurality (m units) of mobile robots 2-1, 2-2, ..., 2-m that travel to a destination by traveling through a field F such as a city, and a map utilization device 3 that stores 3D maps for the mobile robots, prepares and transmits maps obtained by converting the 3D maps into 2D in an appropriate form for each of the mobile robots 2-1 to 2-m and the traveling environment along their travel routes, and performs operational monitoring and navigation to the destination. These elements that make up the map utilization system 4 are capable of communicating with each other via a network NW such as the Internet.

[0023] Fig. 4 is a functional block diagram of a user terminal 1, a mobile robot 2, and a map usage device 3 in a map usage system 4 according to an embodiment. Note that the user terminal 1 and the mobile robot 2 in Fig. 4 each represent a functional configuration of any one of the n user terminals 1-1 to 1-n and the m mobile robots 2-1 to 2-m in Fig. 3, and represent a functional configuration common to these multiple user terminals 1-1 to 1-n and mobile robots 2-1 to 2-m.

[0024] 4, the functional configuration of the plurality of user terminals 1-1 to 1-n and the mobile robots 2-1 to 2-m may be different from each other in terms of hardware specifications (performance specifications) of the sensing mechanism for estimating the self-position and the mobile mechanism of the autonomous mobile robot. In particular, even if the specifications of the m mobile robots 2-1 to 2-m (each of the mobile robots 2) are different from each other, the map utilization system 4 of this embodiment makes it possible to utilize appropriate map information taking into account the resources of each mobile robot 2.

[0025] The user terminal 1 is, for example, a smartphone, into which a delivery service user inputs information about a destination when ordering a product. The user terminal 1 includes a product ordering unit 101 and a destination information input unit .

[0026] The mobile robot 2 is an autonomous robot that delivers packages to a destination designated by a delivery service user, for example. The mobile robot 2 includes a wireless communication unit 201, a current position acquisition unit 202, a status acquisition unit 203, an imaging unit 204, a device information storage unit 205, a route information storage unit 206, a map information storage unit 207, an operation planning unit 208, and an operation control unit 209.

[0027] The map utilization device 3 is, for example, a server device existing on the cloud, which stores a 3D map for the mobile robot 2, converts it into a 2D map with appropriate content for each of the individual visibility specs of the mobile robots 2-1 to 2-m and the running environment (inclination condition) on the moving route, and transmits it, and also performs operational monitoring and navigation to the destination. Note that the calculation load when estimating the self-position is lower with a 2D map than with a 3D map, and therefore in this embodiment, the map is converted into a 2D map so that even a mobile robot 2 that does not have a large amount of calculation resources can estimate its own position.

[0028] The map-use device 3 includes an operation monitoring unit 301, an order information storage unit 302, a destination acquisition unit 303, a 3D map information storage unit 304, a route search unit 305, a route distribution unit 306, a 2D map synthesis unit 300, and a map distribution unit 311.

[0029] FIG. 5 is a functional block diagram of the 2D map synthesis unit 300 according to an embodiment, which further includes an inclination information acquisition unit 307, a visual field information acquisition unit 308, a 2D map creation unit 309, and a multiple 2D map synthesis unit 310. As will be described later in detail, the 2D map synthesis unit 300 converts the 3D map into a 2D map in an appropriate form according to the inclination state of the driving environment along the route obtained by the route search unit 305 and according to the visual field specification of the mobile robot 2 moving along this route through the processing of each of these functional units, and outputs the converted 3D map to the map distribution unit 313, thereby realizing the distribution of the map to the corresponding mobile robot 2. (Similarly, the mobile robot 2 receives route information from the route distribution unit 306, and can move along the route using the distributed route information and 2D map information.)

[0030] FIG. 6 is a flowchart showing information management of each mobile robot 2 by the map using device 3 according to an embodiment, and FIG. 7 is a flowchart showing arrangement of product delivery and update of map information accompanied by map conversion processing by the map using device 3 according to an embodiment. The flowcharts of FIG. 6 and FIG. 7 can be executed in parallel by the map using device 3. According to the flow of FIG. 6, the map using device 3 can periodically grasp and manage the position information of each mobile robot 2, and collect the latest 3D map information measured by the mobile robot 2 in a field F such as a city. According to the flow of FIG. 7, the map using device 3 can update the 3D map information to the latest state, and when a delivery request is received, determine a delivery route, etc., to determine which of the multiple mobile robots 2 will be in charge of the delivery work, and can instruct the mobile robots 2 to deliver the product along the delivery route by distributing appropriate 2D map information and route information.

[0031] Hereinafter, the details of the processing contents of each functional block of the map utilization system 4 shown in FIGS. 4 and 5 will be described in the order of FIGS. 6 and 7 while describing each step in the flow.

[0032] 6 starts, in step S31, the mobile robot 2 determines whether the current time corresponds to the timing for transmitting its own position information, etc., and if so, proceeds to step S32, and if not, proceeds to step S33. This transmission timing may be, for example, every time a certain period of time has elapsed, and the position information, etc. can be transmitted and received in real time at certain intervals.

[0033] <Step S32...Current position acquisition unit 202, status acquisition unit 203, operation monitoring unit 301> In step S32, the current position acquisition unit 202 (and the status acquisition unit 203) processes the mobile robot 2 to transmit its own position information at the current time, etc. to the map using device 3, and the map using device 3 receives this position information through the processing of the operation monitoring unit 301, stores and manages this position information, and then the process proceeds to step S33.

[0034] That is, the current position acquisition unit 202 acquires the position of the mobile robot 2 at the current time, and transmits this position information to the operation monitoring unit 301. For this purpose, the current position acquisition unit 202 acquires the current position by a positioning system using any existing method such as a GPS (Global Positioning System) or an indoor GPS. Here, for indoor facilities where GPS coordinates cannot be acquired, absolute position information acquired by an indoor positioning technology such as IMES (Indoor MEssaging System) may be used as the position information. Moreover, the current position acquisition unit 202 may not only acquire the current position using these methods such as GPS, but may also correct the current position by measuring the distance to surrounding measurement objects by the imaging unit 204, which will be described later.

[0035] Also, the status acquisition unit 203 may acquire the current status of the mobile robot 2 and transmit information on this status to the operation monitoring unit 301. For this reason, the status acquisition unit 203 acquires status data such as the remaining battery level, temperature, moving speed, etc. from various sensors provided in the mobile robot 2.

[0036] Furthermore, the operation monitoring unit 301 monitors the operation of each mobile robot 2. The operation monitoring unit 301 can perform operation monitoring by linking the position information and status information received in real time from each mobile robot 2 with information that identifies the individual mobile robot 2. The operation monitoring unit 301 analyzes the received position information and status information, and may issue an alert to a system monitor if a fault occurs in the mobile robot 2.

[0037] 6 and 7, the wireless communication unit 201 is responsible for transmitting and receiving information via wireless communication between the mobile robot 2 and the map utilization device 3. Here, the wireless communication unit 201 can perform wireless communication via a base station compatible with wireless communication methods such as 4G (fourth generation mobile communication system) and 5G (fifth generation mobile communication system) that are currently in practical use, and 6G (sixth generation mobile communication system) that is expected to be practical in the future.

[0038] Although not explicitly shown as functional blocks, the map usage device 3 and the user terminal 1 also have functions similar to the wireless communication unit 201 in the mobile robot 2, and can transmit and receive information required in each embodiment of each step in Figures 6 and 7 between the map usage device 3 and the user terminal 1, and between the map usage device 3 and the mobile robot 2, via wireless communication.

[0039] <Steps S33, S34...Transmission of map information> In step S33, the mobile robot 2 determines whether the current time corresponds to the timing for transmitting map information for itself, and if so, proceeds to step S34, and if not, returns to step S31. In step S34, the mobile robot 2 transmits map information to the map using device 3, and then returns to step S31. The map information may be obtained in the form of three-dimensional point cloud data or the like obtained by SLAM or the like when the mobile robot 2 moves autonomously, which will be described later (a data format that can be obtained by the imaging unit 204), and can be transmitted to the map using device 3.

[0040] When the mobile robot 2 of this embodiment moves autonomously, even if 3D point cloud data is used as external measurement data, the data need not be acquired over a wide range such as the entire sky, but only in a limited range for comparison with a 2D map (the limited field of view of the mobile robot 2 as exemplified in Figs. 1 and 2). Therefore, for the mobile robot 2 for collecting the latest map information, a mobile robot 2 with higher measurement specifications and capable of directly using a 3D map may be used, separate from the mobile robot 2 that uses the 2D map in this embodiment.

[0041] Note that any existing method for keeping 3D map information up to date may be used for acquiring this map information and updating the map in the map using device 3 in step S45 in Fig. 7 described later, and functional blocks for performing specific processes for these map updates are omitted from Fig. 4 etc. For example, the timing for transmitting the map information in step S33 may be when it is determined that the map information acquired by the mobile robot 2 contains information that has changed from the map information received from the map using device 3 (for example, when there is an object that is estimated to be a new object), etc.

[0042] Each step in FIG. 6 has been described above. The flow in FIG. 6 is executed by each of the multiple mobile robots 2 (each of the m mobile robots 2-1 to 2-m in FIG. 3) for the map using device 3. In this way, the map using device 3 monitors all information of the m mobile robots 2-1 to 2-m in real time in the operation monitoring unit 301, and can keep the 3D map information (stored in the 3D map information storage unit 304 described later) up to date using map information appropriately transmitted from the m mobile robots 2-1 to 2-m as the latest measurement results of the field F. In this way, the map using device 3 grasps all of the multiple mobile robots 2 in real time and keeps the 3D map information up to date, while generating an appropriate 2D map according to the specifications and route of each mobile robot 2 from the 3D map according to the next flow in FIG. 7, and the map using device 3 can arrange for product delivery.

[0043] <Step S41...3D map information storage unit 304, device information storage unit 205> 7 is started, in step S41, as a pre-processing required to enable product delivery, the map utilization device 3 constructs map information to store 3D map information of the field F in the 3D map information storage unit 304, and the device information (information related to the visual field specifications of the mobile robots 2) stored in the device information storage unit 205 of each mobile robot 2 is received and stored in the 2D map synthesis unit 300, and then the process proceeds to step S42. (Note that the 2D map synthesis unit 300 uses the visual field specification information stored in step S41 to synthesize a 2D map according to the delivery route and the visual field specifications of the mobile robots 2 in step S43, which will be described later. The visual field specification information will be described later with reference to the example of FIG. 8 for the device information storage unit 205.)

[0044] The 3D map information storage unit 304 stores nationwide road map data and associated facility data such as various facilities and stores in 3D as map information of the field F in which the mobile robot 2 operates. The 3D map information storage unit 304 also stores indoor 3D map data related to indoor facilities and stores to which the mobile robot 2 may move. The 3D map information storage unit 304 may store, for example, 3D point cloud map information created by the mobile robot 2 using SLAM (Simultaneous Localization and Mapping), a technology that simultaneously performs self-location estimation and environmental map creation. (As described above, in this case, a 3D point cloud created by a high-spec mobile robot 2 that can directly handle a 3D map, separate from the mobile robot 2 that uses a 2D map in this embodiment, may be used.) Also, the 3D map information may be in a different format such as an occupancy grid or a 3D model, or may be 3D map information created by another moving body such as an automobile.

[0045] The 3D map information storage unit 304 further links the 3D map information stored as described above to information on a graph (discrete graph) for enabling route search. As is well known, a graph for route search is defined as edges connecting nodes, and can be expressed in a data format such as an adjacency matrix. The nodes are linked to point coordinates (3D spatial coordinates) of corresponding positions in the 3D map information, and similarly, the edges can be linked to spatial coordinates in the 3D map information as straight lines or curves connecting adjacent nodes. (Note that when the 3D map information is given as, for example, a point cloud, the spatial coordinates of the nodes in the graph to be associated may or may not match any of the point clouds. For example, the center of gravity of the point cloud in a certain local spatial range may be assigned to the spatial coordinates of one node as a representative point representing this local spatial range.)

[0046] This graph linked to the three-dimensional map information is a model of a route network (such as a road network on which the mobile robot 2 can move) in the field F represented by the three-dimensional map information.

[0047] The 3D map information associated with the graph and stored in the 3D map information storage unit 304 in step S41 may be obtained automatically or manually by an administrator from a server or the like that manages a map information database on the network NW. In step S45 described later, the 3D map information stored in the 3D map information storage unit 304 can also be updated to the latest state.

[0048] The device information storage unit 205 stores height information of the camera and LiDAR, which are external recognition sensors (used for estimating the self-position) mounted on the mobile robot 2, as information on the visual field specifications of the mobile robot 2. The height information in the device information storage unit 205 may be input in advance by a person, or the height of the camera and LiDAR may be estimated by determining the distance to a characteristic object captured by the imaging unit 204 and the size of the object.

[0049] FIG. 8 shows a schematic example of information on visual field specifications stored in the device information storage unit 205. The visual field specifications do not relate to the size of the mobile robot 2 itself (such as the height Hr shown in the figure), but can be given as information on the height H of the viewpoint p (camera position p) of the camera or LiDAR from the ground to specify the field of view R (sensing range R) in relation to the ground. More specifically, information on the upper limit H1(d) and lower limit H2(d) of the vertical visual field range at a position horizontally in front of the viewpoint p by a distance d may be included in the visual field specification information. The upper limit H1(d) and lower limit H2(d) may be given in the form of table information as a function of the distance d, or may be given as constants H1(=H1(d)) and H2(=H2(d)) that are independent of the distance d as a simplified model of the visual field specifications.

[0050] <Step S42...Determination of whether processing is required by the product ordering unit 101 and the destination information input unit 102> In step S42, when a product delivery request is sent from any of the user terminals 1, it is determined whether or not the map using device 3 has received this request at the current time. If the request has been received, the process proceeds to step S43; if the request has not been received, the process proceeds to step S44.

[0051] Here, when the following processing is performed by the input operation of the user in the product ordering section 101 and the destination information input section 102 of any of the user terminals 1 used by the user requesting product delivery, a product delivery request is sent from the user terminal 1 and received by the map utilization device 3, and a positive judgment is obtained in step S42.

[0052] The product ordering unit 101 is used by a user, i.e., a delivery service user, to select a product using a smartphone or the like owned by the user and manually place an order. The product ordering unit 101 may also manage the remaining amount of goods owned by the delivery service user in real time, and automatically order a replenishment product when the remaining amount falls below a preset threshold value.

[0053] The destination information input unit 102 inputs information about the destination, such as an address, when a product order is placed by the product ordering unit 101 as described above. The destination information input unit 102 may reuse previous input and omit input each time. The destination information input unit 102 may also use a GPS positioning function provided in the smartphone to set the current location acquired by the GPS as the destination. The destination information input unit 102 may also use surrounding scenery information captured by the smartphone camera as a reference for the destination.

[0054] The information on the product that is the subject of the delivery request and the information on the destination to which the product is to be delivered, obtained by the product ordering unit 101 and the destination information 102, are transmitted from the user terminal 1 to the map using device 3 and stored as order information in the order information storage unit 302 of the map using device 3.

[0055] In step S43, the map utilization device 3 arranges for product delivery in accordance with the order information for which a positive judgment was obtained in step S42, and then the process proceeds to step S44. In accordance with this arrangement, the mobile robot 2 can dispatch the product. Details of the product arrangement in step S43, such as route calculation, map preparation, and selection of the mobile robot 2 to be in charge of product delivery, will be described later.

[0056] In step S44, the map using device 3 determines whether the current time corresponds to the timing for updating the map information, and if so, proceeds to step S45, and if not, returns to step S42. In step S45, the map using device 3 updates the 3D map information (and the graph information linked thereto) stored in the 3D map information storage unit 304, for example by reflecting the latest map information transmitted from the mobile robot 2, and then returns to step S42. As described above, any existing method may be used as a method for updating the map information to the latest state, and specific functional blocks for this update process are omitted in FIG. 4 etc.

[0057] In this way, according to the flow of FIG. 7, the map utilization device 3 determines at each real-time instant whether a delivery request has been received in step S42 and whether a map update is necessary in step S44. If a delivery request has been received, delivery arrangements are made, and if a map update is necessary, the map update is made, thereby enabling delivery arrangements to be made in accordance with the latest map.

[0058] In the following, regarding step S43, the details of which will be described later, a description will be given of the details of the delivery arrangement involving the map conversion process by the map using device 3, as well as the details of the product delivery by the mobile robot 2 in accordance with this delivery arrangement.

[0059] <Delivery Arrangements by the Map Using Device 3 in Step S43> Specifically, the map utilization device 3 can make delivery arrangements by processing each of the functional blocks as follows.

[0060] The order information storage unit 302 receives and stores order information for ordering products from the product ordering unit 101 and the destination information input unit 102. The order information storage unit 302 performs purchasing processing in cooperation with a purchasing system (not shown) and formulates a product delivery plan.

[0061] For example, the product delivery plan may define, for each mobile robot 2, its current location (current point) as the start point, a location where the product to be delivered specified in the order information is automatically or manually loaded onto the mobile robot 2 as the relay location (relay point), and a destination (destination location, destination point) to which the product specified in the order information is to be delivered as the end point. If the current location of the mobile robot 2 is already in, for example, a warehouse or store where the product to be delivered is present, the start point and the relay location may be deemed to coincide, and the relay location may be omitted.

[0062] The destination acquisition unit 303 acquires destination information from the order information stored in the order information storage unit 302 .

[0063] The route search unit 305 searches for a driving route from the starting point (current position) of the mobile robot 2 to the destination acquired from the destination acquisition unit 303 based on the map information stored in the 3D map information storage unit 304. The route search unit 305 searches for a driving route from the starting point to the destination using an algorithm such as Dijkstra's algorithm, A* algorithm, or genetic algorithm. The shortest route can be searched for by providing a cost according to the length of the edge (the physical distance of the straight line or curve on the 3D map information corresponding to the edge).

[0064] At this time, if the mobile robot 2 is not loaded with the product to be delivered, two route searches, "start point → relay point" and "relay point → destination", may be performed. Also, for each of the three points, the start point, relay point, and destination, a corresponding node in a discrete graph linked to the 3D map information may be determined, and a route search may be performed on the discrete graph. The current position of the mobile robot 2 may be obtained from information monitored and grasped in real time by the operation monitoring unit 301.

[0065] The route distribution unit 306 transmits the route guidance data searched by the route search unit 305 to the mobile robot 2. This route guidance data is configured as data for reaching the destination from the starting point (via the relay points, if any) by following adjacent nodes on the graph, with each edge on the graph as a route.

[0066] This route guidance data is linked to 2D map information by distributing a 2D map synthesized by a 2D map synthesizing unit 300 (described later) to the mobile robot by a map distribution unit 311. The linked 2D map information is referenced for self-location estimation when the mobile robot 2 moves according to the route guidance data. (That is, map information of the surrounding environment when moving according to the route guidance data is distributed by the map distribution unit 311.)

[0067] The target of route distribution by the route distribution unit 306 (and map distribution by the map distribution unit 311 described later) may be one of the multiple mobile robots 2-1 to 2-m that has been determined to be in charge of delivery work. This one robot may be automatically determined by estimating the time required for delivery from the route searched by the route search unit 305 and selecting the one that will take the shortest time, or may be manually selected by an administrator or the like from multiple robots whose required times are estimated to be within a threshold value.

[0068] The 2D map synthesis unit 300 reads map information located around the route from the 3D map stored in the 3D map information storage unit 304, targeting the mobile robot 2 performing product delivery and its route, and converts the locations of the route that are determined to be horizontal into a 2D map according to the height H of the field of view of the mobile robot 2. For this height information, the height of the sensor position (height H in the example of FIG. 8) may be used as the height of the sensing range of each mobile robot 2 received from the device information storage unit 205.

[0069] Each position on the 3D map is given in advance a distinction between a movable part such as the ground and an immovable part such as a wall, as well as information on the height of the ground (for example, in the case of a building, the information is not the height of the building but the height of the first floor above ground). For each position (x, y) on the 2D map, if the visual field height H of the mobile robot 2 corresponds to a movable part such as the ground (the three-dimensional position obtained by adding the visual field height H to the ground height is space and there is no object), it is considered to be movable, and if it corresponds to the inside of a wall or other immovable obstacle (the three-dimensional position obtained by adding the visual field height H to the ground height is inside an object), it is considered to be immovable. By doing so, it is possible to obtain the conversion result into a 2D map by giving each position (x, y) a distinction between movable and immovable. (Note that instead of using the visibility height H as a single value, the height of the visibility range R as shown in FIG. 8 may be used. In other words, the range of the visibility R height [H2(d),H1(d)] from the lower limit height H2 (=H2(d)) to the upper limit height H1 (=H1(d)) may be used to determine whether movement is possible or not in the same manner for the entire range of the visibility height H, H2(d)≦H≦H1(d). In the following description, the visibility height H is described as a single value, but a range may be considered in this way. As for the horizontal distance d, a fixed value or a fixed range d1≦d≦d2 may be used as the distance when the mobile robot 2 estimates its own position.)

[0070] In addition, if the visibility height H is used to distinguish between movable and immovable and then converted into a two-dimensional map, a situation may occur in which obstacles that do not appear at this height H are not reflected in the two-dimensional map and are lost. For example, for a certain position (x, y), the height H is a space where no objects exist and is movable, but in a three-dimensional map, a situation may occur (although this is generally not considered to occur frequently) in which an obstacle exists at a lower height H / 2. In this way, the virtual obstacle completion technology of the present applicant in Patent Application No. 2021-214770 can be used as a technology for dealing with obstacles that are lost on a two-dimensional map at the visibility height H.

[0071] The 2D map synthesis unit 300 further converts the 3D map into a 2D map for any portion of the route that is not determined to be horizontal, depending on the height H of the field of view of the mobile robot 2 and its inclination angle θ (when θ is positive, it may be distinguished as an uphill slope along the route, and when θ is negative, it may be distinguished as a downhill slope along the route).

[0072] In the above, in order to explain the overall overview of the processing by the 2D map synthesis unit 300, the route is divided into cases according to whether it is horizontal or has an inclination angle θ. However, by setting θ=0°, it is possible to process the horizontal case in a similar framework as a special case of an inclined case.

[0073] That is, in general, including the case where θ=0°, when the route information to the destination searched by the route search unit 305 passes through a location range where the ground slope (slope angle θ along the route) is different, the 2D map creation unit 309 converts the 3D map into a 2D map based on the ground slope angle θ at that location and the height H of the camera or LiDAR of each of the mobile robots 2-1 to 2-m in each location range. By utilizing the route information to the destination in this way, it becomes possible to create an appropriate 2D map that matches the field of view of each robot, even if the slope changes in the direction of the movement route from the current location of the mobile robot 2 to the destination.

[0074] To perform this process, the two-dimensional map creation unit 309 uses information from the tilt information acquisition unit 307 and the visual field information acquisition unit 308 as input, as described below.

[0075] The inclination information acquisition unit 307 acquires ground inclination information in the moving direction along the path of the mobile robot 2 from the 3D map information stored in the 3D map information storage unit 304. The inclination information acquisition unit 307 may acquire ground inclination information for the entire moving path of the mobile robot 2 from the starting point to the destination stored in the path distribution unit 306. The visual field information acquisition unit 308 acquires height information of the camera and LiDAR mounted on each of the mobile robots 2-1 to 2-m (information on the height H of the viewpoint p in the example of FIG. 8) from the device information storage unit 205.

[0076] In addition, when the inclination angle θ on the route cannot be considered constant over a certain range due to the ground on the route being extremely uneven, and changes rapidly locally, it is generally considered difficult to appropriately estimate the self-location on the 2D map by referring to the 2D map, and it is necessary to perform self-location estimation on the 3D map using the 3D map. In this embodiment, it is assumed that the inclination angle θ is constant at the edges (edges moving from a node to an adjacent node) constituting the searched route and that the 2D map can be used on the route. (Note that in order to deal with cases where the 2D map cannot be used, the technology of Patent Application No. 2021-210317 by the present applicant can be used as a technology for determining whether a 2D map or a 3D map should be used depending on the route and delivering the determined 2D map or 3D map to the appropriate mobile robot 2.)

[0077] In this case, the tilt angle at an edge E_k is θ_k, and the tilt angle at the next edge E_k+1 on the path is θ_k+1 (≠θ_k). The tilt angle may change along the path, but it is assumed that the tilt angle change is switched smoothly and almost instantaneously. Therefore, when the mobile robot 2 is located on the edge E_k, it refers to the local two-dimensional map M_k corresponding to the tilt angle θ_k, and immediately switches to and refers to the local two-dimensional map M_k+1 corresponding to the tilt angle θ_k+1 when it moves to the next edge E_k+1, thereby making it possible to switch the reference map while estimating its own position along the path. (Note that an example of this switching reference will be described later with reference to FIG. 9, but by processing by the multiple two-dimensional map synthesis unit 310 described later, from the viewpoint of the mobile robot 2, by referring to a single synthesized two-dimensional map (including information that distinguishes each area corresponding to the local two-dimensional map), it is possible to obtain a result similar to that of the switching without performing processing to switch the local two-dimensional map.)

[0078] In the above, it is assumed that each edge E_k constituting the route has a constant gradient θ_k. A discrete graph linked to a 3D map may be defined in advance so that this assumption holds, or the 3D map range corresponding to each edge E_k may be divided into grids or the like, with a constant gradient maintained for each grid and the gradient changing at the grid boundaries.

[0079] The 2D map creation unit 309 may determine whether there is a correlation between the ground slopes (whether there is a change in the ground slope) between grids based on a certain standard area, and may create grids where the ground slope does not change much in the same 2D map, and create grids where the ground slope changes as separate 2D maps. For example, if a first road where the ground slope does not change much continues for 300 m, it is desirable to create the same first 2D map, and if a second road where the ground slope becomes steeper continues for 100 m after that, it is desirable to create a separate second 2D map for that 100 m. (In other words, for the area around a first road, the 3D map may be converted into a first 2D map by taking into account the slope of the first road, and for the area around a second road, the 3D map may be converted into a second 2D map by taking into account the slope of the second road, thereby obtaining 2D maps that are converted separately for each change in slope along the route.) The 2D map creation unit 309 may, for example, set a threshold value for the amount of change in ground slope, and if the threshold is exceeded, create a separate 2D map.

[0080] The multiple 2D map synthesis unit 310 synthesizes 2D maps for each location (each location on the route where the inclination angle θ is determined to be constant) converted by the 2D map creation unit 309 based on the route information to the destination searched by the route search unit 305, and creates a 2D map to the destination.

[0081] Thus, it is possible to create an appropriate two-dimensional map even for the situation changes exemplified in FIGS. 1 and 2. In the example of FIG. 1, in the presence of the common mobile robot 2 and the common object OB-1, when it is horizontal, as in Example EX11, assuming the object OB-1 is visible, and when there is an inclination angle θ, as in Example EX12, assuming the object OB-1 is not visible, a two-dimensional map can be created. (On the other hand, it is desirable to navigate the mobile robot 2 to move based on other visible objects so as not to collide with the invisible object OB-1 in the case of Example EX12.)

[0082] Also, when there is an inclination angle θ in Example EX12, a two-dimensional map can be created by performing a distance expansion transformation of D11 = D1 / (cos θ) so that the horizontal distance D1 becomes the distance D11 considering the inclination. When the range of the existing inclination angle θ is small and the magnification of 1 / (cos θ) times can be relatively ignored in relation to the moving distance of the mobile robot 2 (when cos θ≒1 and 1 / (cos θ)≒1), this distance expansion transformation may be omitted.

[0083] In the example of FIG. 2, even in the situation where the same conical object OB-2 is located at the same distance D on the same horizontal plane, a two-dimensional map can be created in a form suitable for the individual visual field specifications of the mobile robot 2 such that the distance is DA for the mobile robot 2-A with a high visual field and the distance is DB (DB < DA) for the mobile robot 2-B with a low visual field.

[0084] 9 is a diagram showing a schematic example of 2D map creation and 2D map synthesis by the above process. For example, for a certain mobile robot 2-1, the 2D map creation unit 309 creates separate 2D maps 71, 72, 73, and 74 for sections 61, 62, 63, and 64 where the ground slope on the route is different. The multiple 2D map synthesis unit 310 synthesizes the 2D maps 71, 72, 73, and 74 to create one 2D map 75. In this way, when the mobile robot 2-1 is located in the sections 61, 62, 63, and 64, it estimates its own position by referring to the corresponding 2D maps 71, 72, 73, and 74, respectively, and becomes able to move along the specified route.

[0085] For example, when the mobile robot 2-1 is in the second section 62 of the four sections, it estimates its own position by referring to only the corresponding second two-dimensional map 72 among the two-dimensional maps 75 (whole), and the result of the self-position estimation in this second two-dimensional map 72 can be obtained as the result in the two-dimensional map 75 (whole), but the maps 71, 73, and 74 corresponding to the other sections 61, 63, and 64 other than the second one are not referred to for self-position estimation. (Note that in the four two-dimensional maps 71, 72, 73, and 74, the coordinates (x, y) of each map are not referenced.) 71 ,(x,y) 72 ,(x,y) 73 ,(x,y) 74 These coordinates are generally different in scale and orientation, and do not necessarily match. For example, if the end point of the section 61 is at coordinates (100, 100) on the two-dimensional map 71, 71 The start point of the section 62, which is at the same position as this, is at coordinates (100, 100) on the two-dimensional map 72. 72 If the relation "(100,100) 71 =(100,100) 72 " is valid, but because the coordinate systems are different, the relationship "(101,101)" is not valid for other coordinate values. 71 =(101,101) 72 " does not hold in general. In this embodiment, the two-dimensional maps 71, 72, 73, and 74 are switched for each section, so the coordinate system should be switched at that time.)

[0086] In this case, for example, the mobile robot 2-1 can extract the detection object 51 in section 63 within a detection range 2002, which is plotted on a two-dimensional map as a detection object 76. (Note that this detection range 2002 is the same as the detection range 2001 in another section 61, for example, when viewed from the mobile robot 2-1 as a reference, but when viewed from the field F as a reference, it becomes a different range according to the different slopes in sections 61, 63, etc.)

[0087] On the other hand, in contrast, if the method of this embodiment is not applied and it is assumed that the two-dimensional map is not divided according to the change in ground inclination, the sections 61, 63, etc. in this embodiment become sections 81, 83, etc. shown in the lower part, and the two-dimensional map 91 is created. In this case, instead of the detection range 2002 (upper part) using the original inclination information for the mobile robot 2-1 to appropriately detect the detection object 51 in the sections 63 and 83, for example, the inclination information of the section 81 is uniformly reflected, and conversion to the two-dimensional map 91 is performed under the detection range 3001 that is inappropriate for the section 83. In this case, the detection object 51 is not extracted on the two-dimensional map 91, and the measurement object existing in the part indicated by the range of the reference numeral 92 on the two-dimensional map 91 cannot be correctly recognized, and the current location may be erroneously determined in the self-location estimation.

[0088] It should be noted that the example of this embodiment in the upper part of Figure 9 is an example in which a route is given in the order of sections 61, 62, 63, and 64. If the direction is reversed to give a route of sections 64, 63, 62, and 61, the sign of the inclination angle θ will also be reversed, resulting in a different route, and it is generally assumed that a different two-dimensional map from the two-dimensional map 75 indicated by the symbol 75 will be synthesized.

[0089] As described above, in this embodiment, an appropriate two-dimensional map can be synthesized and distributed in accordance with the individual visual field specifications of the mobile robot 2 and the inclination of a specifically determined route.

[0090] <Delivery process of the mobile robot 2 that has received the delivery instruction in step S43> The above has described the details of the processing content of each functional block in charge of arranging delivery by the map using device 3 in step S43. Below, the processing of the delivery process performed by the mobile robot 2 in charge of delivery operations, which has received route information and two-dimensional map information as delivery instructions in accordance with the delivery arrangements made by the map using device 3, will be described as detailed processing of each functional block. This delivery process can be realized by moving along a specified route while estimating its own position using an existing method, referring to the received two-dimensional map.

[0091] In this embodiment, as shown in the example of Figure 9, there may be changes in inclination on the received two-dimensional map, but from the perspective of the mobile robot 2, it is always assumed to be on a horizontal plane, and can autonomously move along the route while estimating its own position by referring to the two-dimensional map according to existing methods.

[0092] The imaging unit 204 uses a camera mounted on the mobile robot 2 to capture images of the traveling direction, etc. of the mobile robot 2 as input necessary for estimating the self-position when the mobile robot 2 moves. The imaging unit 204 may further use a LiDAR mounted on the mobile robot 2 to measure the traveling direction, etc.

[0093] The route information storage unit 206 stores route information to the destination received from the route distribution unit 306 of the map-to-be-used determination device 3 , and uses the information to determine the operation of the mobile robot 2 .

[0094] The map information storage unit 207 stores map information of places where the mobile robot 2 may move (i.e., places around the route) received from the map distribution unit 311 of the used map determination device 3, and uses the map information to determine the operation of the mobile robot 2. The map information stored in the map information storage unit 207 is the two-dimensional map received from the map distribution unit 311 of the used map determination device 3.

[0095] The motion planning unit 208 plans the next motion of the mobile robot 2 (motion at each time when moving along a route in real time). When the motion planning unit 208 moves along a route stored in the route information storage unit 206 with reference to a map stored in the map information storage unit 207, the motion planning unit 208 plans motion suited to the surrounding environment using the current position acquired by the current position acquisition unit 202, the state of the mobile robot 2 acquired by the state acquisition unit 203, and the image acquired by the image acquisition unit 204. For example, when there is an obstacle ahead, the motion planning unit 208 plans motion for each local environment in which the mobile robot 2 is located so that the mobile robot 2 moves along a route that avoids the obstacle at an appropriate moving speed.

[0096] Details of the current position acquisition unit 202 and the status acquisition unit 203 are as described above in the explanation of step S32, and the current position and status of the mobile robot 2 can be acquired by each sensor, etc., when the mobile robot 2 moves in accordance with a delivery command.

[0097] The motion control unit 209 executes the motion determined by the motion planning unit 208. The motion control unit 209 controls the driving type, such as forward movement, backward movement, and right / left turn, the driving speed, and the motion type other than driving, such as changing the direction of the camera.

[0098] The mobile robot 2 that has received a command for delivery work can move to the destination and deliver the goods as described above, and the mobile robot 2 may move independently to make the delivery, or may periodically communicate with the map using device 3 along the way and move according to navigation from the map using device 3. For example, instead of receiving delivery route information and two-dimensional or three-dimensional map information all at once for the entire delivery route, the delivery route may be divided into a number of partial routes, and each time a partial route is passed, route and map information for the next partial route may be received from the map using device 3.

[0099] Various supplementary examples, additional examples, alternative examples, etc. will be described below.

[0100] (1) As an application example of the embodiment of the present invention, it is possible to more smoothly perform tasks using robots in a certain environment such as a work site by remote control (centralized management by a remote manager using the map utilization device 3). This makes it unnecessary for a worker to actually go to the work site, and it is possible to reduce carbon dioxide emissions by saving energy resources required for human movement, which makes it possible to contribute to Goal 13 of the Sustainable Development Goals (SDGs) led by the United Nations, which is to "take urgent action to combat climate change and its impacts."

[0101] (2) The conversion of distance D1 to distance D11 = D1 / (cos θ) described above with reference to Figure 1 can be achieved by treating the inclined plane along the inclination angle θ as a horizontal plane from the position of the mobile robot 2 when it is moving (treating it as a deemed horizontal plane) when the object OB-1 exists extending in the vertical direction and is at an inclination angle of angle θ (within the range of inclination angles of angle θ on the path of the mobile robot 2), and treating the object OB-1 as existing as extending at an inclination angle θ from the vertical direction, rather than in the vertical direction, from the deemed horizontal plane.

[0102] This is based on the premise that the object OB-1 is modeled as a sufficiently thin rod extending in the vertical direction, and when the inclination angle θ is 0° (horizontal plane), it has the longest length h1, and when the inclination angle θ is constant, it exists in an inclined state with its height reduced to h1*(cos θ).

[0103] More generally, even if the object OB-1 has a more complicated shape or is positioned at an inclination with respect to the horizontal plane, the object OB-1 can be appropriately handled in the presence of the inclination angle θ by considering the assumed horizontal plane when the inclination angle θ exists. For this purpose, it is sufficient to use an existing 3D CG model to check in 3D space whether the viewing range of the mobile robot 2 and the object OB-1 taking the inclination angle θ into consideration overlap.

[0104] To reduce the computational load of this overlap determination within the three-dimensional space, the objects on the three-dimensional map can be simply modeled as simple geometric shapes such as sufficiently thin rods or rectangular prisms, or the three-dimensional map itself can be simply modeled as having a vertical wall that separates the movable and non-movable areas.

[0105] (3) The information on the visual field of the mobile robot 2 stored in the device information storage unit 205 may be modeled and stored as a field of view based on a deemed horizontal plane that changes according to the inclination angle θ. For example, when the mobile robot 2 is located on a horizontal plane (inclination angle θ=0°), an external recognition sensor such as a camera is also disposed in the mobile robot 2 in a properly vertically standing state, and the visual field is also horizontal. However, when the mobile robot 2 is located on an inclined plane with an angle θ, due to the presence of bending of the mechanical mechanisms from the moving mechanism (tires, etc.) of the mobile robot 2 to the camera, etc., when the inclined plane is taken as the deemed horizontal plane, the visual field is not horizontal and faces slightly downward (closer to the ground) or upward. In this case, the visual field according to the angle θ may be stored by prior measurement.

[0106] For example, if it has been confirmed in advance for a certain mobile robot 2 that the upper limit H1 (=H1(d)) and lower limit H2 (=H2(d)) or height H (see Figure 8) of the vertical field of view when θ=0° will be 10% lower when the inclination angle θ=-10° (negative inclination angle, downhill), the upper limit H1 (=H1(d)) and lower limit H2 (=H2(d)) or height H (see Figure 8) may be stored as 0.9*H1(d) and 0.9*H2(d) or height 0.9*H for the inclination angle θ=-10°, and if it has been confirmed in advance for a mobile robot 2 that may be 10% higher when the inclination angle θ=+10° (positive inclination angle, uphill), the upper limit H1 (=H1(d) and lower limit H2(d) or height 1.1*H for the inclination angle θ=+10° may be stored as 1.1*H1(d) and 1.1*H2(d) or height 1.1*H for the inclination angle θ=+10°.

[0107] (4) The path search unit 305 searches for and determines a path for the mobile robot 2. The mobile robot 2 may move directly along this path, or may adopt this path as only a global path (higher-level path) and determine an actual local path (lower-level path) by itself.

[0108] That is, the mobile robot 2 may obtain a plurality of local routes L_k (k=1, 2, ..., K) with their start points S_k and end points G_k on a two-dimensional map by dividing the route obtained by the route search unit 305 (route corresponding to the upper side). Here, the end point G_k of the k-th route L_k becomes the start point S_k+1 of the next k+1-th route L_k+1. The start point S_k and end point G_k may use nodes of a discrete graph when the route search is performed by the route search unit 305, or may be determined separately by dividing the route on the mobile robot 2 side.

[0109] When the mobile robot 2 actually moves autonomously, it follows multiple local routes L_k in sequence, with the constraint that it must pass through the starting point S_k and the ending point G_k. The robot is then responsible for determining the specific local route from the starting point S_k to the ending point G_k and for autonomous movement.

[0110] In this case, the 2D map synthesis unit 300 takes into consideration the slope (slope according to the expected direction of path movement) of each specific candidate local path from the starting point S_k to the end point G_k (it is possible that the candidate path will not be used as a result of the local path determination by the mobile robot 2) and synthesizes a 2D map in the same manner as described above.

[0111] (5) Fig. 10 is a diagram showing an example of the hardware configuration of a general computer device 70. Each of the user terminal 1, the mobile robot 2, and the map usage device 3 constituting the map usage system 4 can be realized as one or more computer devices 70 having such a configuration. When a partial configuration of the map usage system 4 is realized by two or more computer devices 70, information required for processing may be transmitted and received via a network. The computer device 70 comprises a CPU (central processing unit) 71 that executes predetermined instructions, a GPU (graphics processing unit) 72 as a dedicated processor that executes some or all of the instructions executed by the CPU 71 in place of or in cooperation with the CPU 71, a RAM 73 as a main memory device that provides a work area for the CPU 71 (and GPU 72), a ROM 74 as an auxiliary memory device, a communications interface 75, a display 76, an input interface 77 that accepts user input via a mouse, keyboard, touch panel, etc., a camera 81 and a sensor 82 used for the self-position estimation function of the mobile robot 2, an actuator 83 such as a motor and a moving mechanism 84 such as wheels (including a transmission mechanism such as axles and gears) driven by this actuator 83 that provide the autonomous moving function of the mobile robot 2, and a bus BS for exchanging data between these.

[0112] Each functional unit of the map utilization system 4 can be realized by a CPU 71 and / or a GPU 72 that reads a predetermined program corresponding to the function of each unit from a ROM 74 and executes it. Both the CPU 71 and the GPU 72 are a type of computing device (processor). Here, when display-related processing is performed, a display 76 configured as a monitor such as a liquid crystal display or a lighting device such as an LED also operates in conjunction with the CPU 71 and the GPU 72, and when communication-related processing related to data transmission and reception is performed, a communication interface 75 also operates in conjunction with the CPU 71 and the GPU 72.

[0113] In the mobile robot 2, the imaging unit 204 and current position acquisition unit 202 are realized using inputs from a camera 81 and a sensor 82, and an actuator 83 such as a motor is driven by a control output from an operation control unit 209, and a moving mechanism 84 such as wheels is operated, thereby enabling the mobile robot 2 to move. The wireless communication unit 201 of the mobile robot 2 and the communication functions of the user terminal 1 and the map utilization device 3 can be realized by a communication interface 75. [Explanation of symbols]

[0114] 4...map utilization system, 1...user terminal, 2...mobile robot, 3...map utilization device 101...Product ordering section, 102...Destination information input section 201: wireless communication unit, 202: current position acquisition unit, 203: status acquisition unit, 204: imaging unit, 205: device information storage unit, 206: route information storage unit, 207: map information storage unit, 208: operation planning unit, 209: operation control unit 301: operation monitoring unit, 302: order information storage unit, 303: destination acquisition unit, 304: 3D map information storage unit, 305: route search unit, 306: route distribution unit, 300: 2D map synthesis unit, 311: map distribution unit 307: tilt information acquisition unit, 308: visual field information acquisition unit, 309: 2D map creation unit, 310: multiple 2D map synthesis unit

Claims

1. A map utilization device that distributes map information along a specified route to a mobile robot so that the mobile robot can move along the specified route, acquiring three-dimensional map information along the route as information in the vicinity of the route from the entire three-dimensional map information constructed for a field in which the mobile robot can move; converting the three-dimensional map information along the route into two-dimensional map information corresponding to a field of view of the external environment recognition sensor based on a sensing range of the external environment recognition sensor when the mobile robot moves autonomously and an inclination of the route, and distributing the two-dimensional map information to the mobile robot; A map utilization device characterized in that the map utilization device is based at least on the height of an external environment recognition sensor in the mobile robot from the ground in order to convert the sensing range of the external environment recognition sensor into two-dimensional map information when the mobile robot moves autonomously.

2. A map utilization device that distributes map information along a specified route to a mobile robot so that the mobile robot can move along the specified route, acquiring three-dimensional map information along the route as information in the vicinity of the route from the entire three-dimensional map information constructed for a field in which the mobile robot can move; converting the three-dimensional map information along the route into two-dimensional map information corresponding to a field of view of the external environment recognition sensor based on a sensing range of the external environment recognition sensor when the mobile robot moves autonomously and an inclination of the route, and distributing the two-dimensional map information to the mobile robot; A map utilization device characterized in that, in order to convert into two-dimensional map information based on the inclination of the route, when treating the inclined portion as a deemed horizontal plane, an object that extends vertically at the inclined portion is treated as extending in a direction inclined from the vertical to the deemed horizontal plane.

3. 3. The map utilization device according to claim 1, wherein the conversion into two-dimensional map information based on the inclination of the route is performed for each range along the route where the inclination is determined to be constant.

4. A map utilization device according to any one of claims 1 to 3, characterized in that the conversion into two-dimensional map information based on the inclination of the route is performed for each range along the route in which the inclination is determined to be constant, and the two-dimensional map information converted for each range is synthesized to obtain two-dimensional map information along the entire route.

5. 5. The map utilization device according to claim 1, wherein the external environment recognition sensor is a camera or a LiDAR.

6. A map utilization device according to any one of claims 1 to 5, characterized in that when converting into two-dimensional map information based on the sensing range of an external environment recognition sensor when the mobile robot moves autonomously and the inclination of the route, the height of the sensing range is treated as changing according to the inclination of the ground along the route.

7. 7. A program for causing a computer to function as the map utilization device according to claim 1.

Images