Map data generating device and autonomous mobile system

Abstract

To provide a map data generation device capable of moving different moving objects on the same movement route while using the same map-purpose data.SOLUTION: A map data generation device 90 of the present invention comprises: a storage unit 93 for storing map-purpose data corresponding to a movement route; and a control unit 95 that receives a request from an autonomous moving body 10 scheduled to move along the movement route, adjusts the map-purpose data according to the request to generate map data, and controls transmission of the map data.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to a device for storing map data necessary for an autonomous moving body to move autonomously, and an autonomous moving system including this map data. [Background technology]

[0002] In recent years, a wide variety of robots have been used in a variety of situations. Among them, robots that can move autonomously while recognizing their own position while moving are expected to be useful to humans in factories, offices, hospitals, etc., and research into such robots is being actively conducted. One of the known guidance methods for autonomous movement is to use magnetism as a landmark. As an example, the present inventors propose in Patent Documents 1, 2, 3, and 4 that magnetic data that depends on the environment in which a moving body moves and geometric position data where the magnetic data is measured are stored in association with each other. Patent Document 1 and others propose that the self-location is recognized by collating map data including magnetic-position information, which is the associated information, with the magnetic field measured when recognizing the self-location. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-107924 A [Patent Document 2] JP 2011-129049 A [Patent Document 3] JP 2011-129072 A [Patent Document 4] JP 2012-003298 A Summary of the Invention [Problem to be solved by the invention]

[0004] According to the magnetic navigation method disclosed in Patent Document 1 and the like, the self-location can be recognized by utilizing magnetism that is generated originally depending on the environment, and therefore there is an advantage that the work of newly installing magnetic markers is not required.

[0005] In an autonomous mobile system, different types of mobile bodies, such as mobile body A, mobile body B, ..., and mobile body N, may move along the same moving route. If the positions at which the magnetic sensors are installed in these multiple mobile bodies A ..., and N, particularly the heights from the ground, are different, the magnetic strengths measured by the respective magnetic sensors at positions along the same moving route may differ. This makes it difficult for mobile bodies A ..., and N to move autonomously using the same common map data. SUMMARY OF THE PRESENT EMBODIMENTS An object of the present invention is to provide a map data generating device that is capable of causing different moving objects to travel the same route even if the moving objects are provided with only the same map data. [Means for solving the problem]

[0006] The map data generation device of the present invention includes a memory unit that stores map data corresponding to a travel route, and a control unit that adjusts the map data based on a request from an autonomous moving body that is scheduled to move along the travel route to generate map data and control transmission to the autonomous moving body.

[0007] The memory unit in the present invention preferably stores map data corresponding to each of the multiple travel routes, and the control unit generates map data by adjusting the map data relating to a specific travel route among the multiple travel routes included in the request.

[0008] The map data stored in the memory unit in the present invention is preferably measured by a map data measuring device different from the autonomous moving body, and provided to the map data generating device from the map data measuring device.

[0009] The map data in the present invention preferably includes first map data relating to visible objects and second map data relating to invisible objects, and the control unit then adjusts one or both of the first map data and the second map data to generate one or both of the first map data and the second map data.

[0010] In the present invention, the first map data preferably includes geometric map data, and the second map data preferably includes magnetic map data and radio wave map data.

[0011] The autonomous moving body in the present invention preferably includes a first sensor for acquiring data for a first map and a second sensor for acquiring data for a second map. In this case, the request from the autonomous moving body includes the specifications of the first sensor and the second sensor.

[0012] The control unit in the present invention preferably generates map data by adjusting the map data based on the specifications of the first sensor and the second sensor.

[0013] The present invention provides an autonomous mobile system comprising an autonomous mobile body that moves based on map data corresponding to a movement route, and a map data generation device that transmits the map data to the autonomous mobile body in response to a request from the autonomous mobile body that is scheduled to move along the movement route. In this autonomous mobile system, the map data generating device includes a storage unit that stores map data, and a control unit that controls transmission of the map data to the autonomous mobile body based on a request from the autonomous mobile body that is scheduled to move along a travel route. The control unit in the present invention adjusts the map data based on the request and then transmits it to the autonomous mobile body. Effect of the Invention

[0014] According to the map data generating device of the present invention, the map data is adjusted based on a request from an autonomous moving body that is scheduled to move along a travel route, and the map data is generated and transmitted to the autonomous moving body. Therefore, according to the map data generating device of the present invention, even if different moving bodies are provided with only the same map data, it is possible to move different moving bodies along the same travel route. [Brief description of the drawings]

[0015] [Figure 1] 1 is a diagram showing a main configuration of an autonomous mobile system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram illustrating a configuration of a control unit of an autonomous moving body according to the present embodiment. [Diagram 3] 4 is a table showing an example of map data according to the embodiment; [Figure 4] FIG. 2 is a diagram illustrating an example of a movement path of an autonomous moving body according to the present embodiment. [Diagram 5] FIG. 2 is a diagram showing the configuration of a multi-navigator according to the present embodiment. [Figure 6] 5A to 5C are diagrams illustrating the operation of a multi-navigator according to the present embodiment. [Figure 7] 10 is a diagram for explaining an example in which the multi-navigator according to the embodiment acquires geometric map data; [Figure 8] 4 is a diagram showing a method for controlling the orientation (posture) of an autonomous moving body in the present embodiment. FIG. [Figure 9] 1 is a diagram illustrating a configuration of a map data measuring device according to an embodiment of the present invention. [Figure 10] 1 is a diagram illustrating a configuration of a map data generating device according to an embodiment of the present invention. [Figure 11] FIG. 4 is a diagram showing an example of map data according to the embodiment; [Figure 12] 2 is a diagram showing an exchange between an autonomous moving body and a map data generating device according to the embodiment; FIG. [Figure 13] 5A and 5B are diagrams illustrating an example of the contents of a request from an autonomous moving body to a map data generating device according to the embodiment. [Figure 14]FIG. 2 is a diagram showing an example of geometric map data generated by the map data generating device according to the embodiment; [Figure 15] FIG. 2 is a diagram showing an example of magnetic map data generated by the map data generating device according to the embodiment; [Figure 16] 3 is a diagram showing an example of radio wave map data generated by the map data generating device according to the embodiment; FIG. [Figure 17] FIG. 2 is a diagram illustrating the operation of the autonomous mobile system according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. [Outline of Autonomous Mobile System 1: Figure 1] [Configuration of Autonomous Mobile System 1] As shown in FIG. 1, the autonomous mobile system 1 includes an autonomous mobile body 10 (10A, 10B), a map data generating device 90 that stores map data used when the autonomous mobile body 10 moves autonomously and transmits it to the autonomous mobile body 10, and a map data measuring device 70 that measures the map data stored in the map data generating device 90. In the autonomous mobile system 1, the autonomous mobile body 10 and the map data generating device 90 are connected via the Internet 100, and the map data measuring device 70 for the map data and the map data generating device 90 are connected. Note that two autonomous mobile bodies 10A and 10B are shown in FIG. 1, but this is merely an example, and the autonomous mobile system 1 can include more than two autonomous mobile bodies 10. Also, two autonomous mobile bodies 10A and 10B are shown in FIG. 1, but the two autonomous mobile bodies 10A and 10B may move along the same moving route at the same time, or may move at different times. Except when it is necessary to distinguish between the autonomous moving body 10A and the autonomous moving body 10B, they will be referred to as the autonomous moving body 10. The same applies to the LIDARs 21, 21A, and 21B described below.

[0017] [Map data for Autonomous Mobile System 1] In the autonomous mobile system 1 according to this embodiment, the autonomous mobile body 10 moves autonomously based on map data (Teaching Data). The map data includes visible map data and invisible map data. Here, visible map data refers to map data related to objects that can be recognized by human eyesight, and invisible refers to map data related to objects that cannot be recognized by human eyesight. A typical example of visible map data is geometric mapping data, and typical examples of invisible map data are magnetic map data and radio wave map data.

[0018] [Operation of Autonomous Mobile System 1] In the autonomous mobile system 1, visible data and invisible data are measured while moving the map data measuring device 70 along a route (movement route) along which the autonomous mobile body 10 is scheduled to move. Map data including the measured visible data and invisible data is transmitted from the map data measuring device 70 to the map data generating device 90 and stored in the map data generating device 90. The visible data relates to objects that can be seen by the human eye (visible objects), and the invisible data relates to objects that cannot be seen by the human eye (invisible objects). Before the autonomous mobile body 10 moves along a travel route, the autonomous mobile body 10 receives map data corresponding to the travel route from the map data generation device 90 and stores the map data in a first storage unit 51 provided in the autonomous mobile body 10. The autonomous mobile body 10 autonomously moves along the travel route using the map data (visible data and invisible data) stored in the first storage unit 51. Note that the autonomous mobile body 10 does not hold the map data before receiving the map data from the map data generation device 90. Below, the autonomous mobile system 1 will be described in more detail in the order of the autonomous mobile body 10, the map data measuring device 70, and the map data generating device 90, and then their operations will be mentioned.

[0019] [Structure of the autonomous mobile unit 10: Figs. 1 and 2] The configuration of the autonomous moving body 10 will be described with reference to Fig. 1. The autonomous moving body 10 moves in the direction of the white arrow in the figure, and the front (F) and rear (B) are defined as shown. The front (F) and rear (B) have a relative meaning. In addition, in the autonomous moving body 10, the longitudinal direction (L) and height direction (H) are defined as shown in Fig. 1, and the direction perpendicular to the paper surface is defined as the width direction (W). The autonomous moving body 10A includes a main body 11 having an internal space for accommodating equipment, a pair of drive wheels 13, 14 provided on both sides of the front (F) side of the main body 11 in the width direction (W), and a caster 17 provided on the rear (B) side of the main body 11 in the center of the width direction (W) of the main body 11. The drive wheels 13, 14 are provided inside the main body 11, and are driven by drive motors 15, 16 when power is supplied from a battery 20. The drive motors 15, 16 are driven and stopped according to instructions from a movement control unit 40 of the control unit 30. The drive motors 15, 16 and the drive wheels 13, 14 can be rotated via a reduction gear (not shown) between them. In addition, rotary encoders 18, 19 for detecting the rotation speed (number of rotations) of the drive wheels 13, 14 are attached to the drive motors 15, 16, respectively. The autonomous moving body 10A includes a control unit 30 inside the main body 11 that controls the movement of the autonomous moving body 10. The configuration of the control unit 30 will be described later. Here, an example is shown in which one each of the rotary encoders 18 and 19 are provided, but depending on the type of the autonomous moving body 10, the number of rotary encoders may increase.

[0020] The autonomous moving body 10A is equipped with multiple types of sensors that measure data (visible data and invisible data) necessary for the autonomous movement of the autonomous moving body 10. Autonomous movement is performed by collating data measured by these sensors with map data provided by the map data generation device 90. The data measured by the autonomous moving body 10A during autonomous movement is referred to as measurement data, and the data provided by the map data generation device 90 is referred to as map data, to distinguish between the two. Furthermore, the data that is the basis for generating the map data provided by the map data generation device 90 is referred to as map data. As these sensors, the autonomous moving body 10A is equipped with a LIDAR (Laser Imaging Detection and Ranging) 21 that acquires surrounding measured geometric data, a magnetic sensor 23 that acquires measured magnetic data on the moving path, and a radio wave sensor 25 that acquires surrounding measured radio wave data. The geometric measured data corresponds to visible data, and the magnetic measured data and the radio wave measured data correspond to invisible data. The LIDAR 21 corresponds to the first sensor in the present invention, and the magnetic sensor 23 and the radio wave sensor 25 correspond to the second sensor in the present invention. The LIDAR 21, the magnetic sensor 23, and the radio wave sensor 25 are electrically connected to the control unit 30. The positions of these sensors shown in Fig. 1 are merely an example, and they may be provided in other parts of the main body 11 as long as their purpose can be achieved. Also, while Fig. 2 shows only one each of the LIDAR 21, the magnetic sensor 23, and the radio wave sensor 25, this is merely an example, and for example, a plurality of LIDARs 21, the magnetic sensors 23, and the radio wave sensors 25 may be provided in the main body 11.

[0021] The autonomous mobile body 10B has the same basic components as the autonomous mobile body 10A, but the autonomous mobile body 10B includes two LIDARs, LIDAR 21A and LIDAR 21B. The LIDAR 21A scans the front of the autonomous mobile body 10B, and the LIDAR 21B scans the surface shape of the ground. The mounting position of the LIDAR 21 in the autonomous mobile body 10A and the mounting positions of the LIDARs 21A and 21B in the autonomous mobile body 10B are stored in, for example, the second storage unit 52 of the storage unit 50 of the control unit 30. When the autonomous mobile bodies 10A and 10B request the map data generation device 90 to transmit map data, information on the mounting positions of the LIDARs 21, 21A, and 21B is included in the request as specifications of the LIDAR 21, etc., and is notified to the map data generation device 90.

[0022] In addition, the autonomous mobile body 10A and the autonomous mobile body 10B have different positions of the magnetic sensor 23. Specifically, the position of the magnetic sensor 23 of the autonomous mobile body 10B is lower than that of the magnetic sensor 23 of the autonomous mobile body 10A. When the height from the ground changes, the magnetic strength may change. Therefore, even if the autonomous mobile body 10A and the autonomous mobile body 10B move along the same route, the magnetic strength obtained by the autonomous mobile body 10A and the autonomous mobile body 10B may be different. In this way, the positions of the magnetic sensor 23 may differ based on the design of the autonomous mobile body 10A and the autonomous mobile body 10B. The mounting position of the magnetic sensor 23 in the autonomous mobile body 10A and the mounting position of the magnetic sensor 23 in the autonomous mobile body 10B are stored in, for example, the second storage unit 52 of the storage unit 50 of the control unit 30. When the autonomous mobile bodies 10A and 10B request the map data generation device 90 to transmit map data, information regarding the mounting position of the magnetic sensor 23 is included in the request as the specifications of the magnetic sensor 23 and is notified to the map data generation device 90.

[0023] [LIDAR21] The LIDAR 21 emits laser light, measures the time it takes for the light to bounce back after hitting an object, and measures the distance and direction to the object. By using laser light with a higher luminous flux density and shorter wavelength than radio waves, it is possible to detect the position, shape, etc. with high accuracy. The geometric data acquired by the LIDAR 21 is sent to the control unit 30.

[0024] There are LIDARs 21 that acquire two-dimensional (2D) measurement geometric data and LIDARs that measure three-dimensional (3D) measurement geometric data. In this embodiment, at least one of 2D and 3D LIDARs 21 can be mounted. For collation with geometric map data, 2D geometric data is often used, but even if there is 3D data, it is possible to collate with the geometric map data by extracting only a specified height or synthesizing height data to convert it to 2D. Since the amount of 3D geometric data is huge, the purpose of converting it to 2D is to avoid high calculation processing costs.

[0025] The LIDAR 21 may not be able to obtain suitable measurement data for matching in an environment with, for example, people, bicycles and cargo trolleys, so measurements by the LIDAR 21 are preferably directed to areas with little human traffic. In contrast, the magnetic sensor 23 and the radio wave sensor 25 are hardly affected by people. Also, instead of the LIDAR 21 or together with the LIDAR 21, an imaging camera 29 (FIG. 2) using a CCD (Charge-Coupled Device) or a CMOS (Complementary MOS) as an image sensor can be used.

[0026] [Magnetic sensor 23] The magnetic sensor 23 measures direct current magnetism (hereinafter simply referred to as magnetism) along three mutually orthogonal axes (x-axis, y-axis, z-axis). Here, the magnetic sensor 23 is arranged so that the x-axis is along the longitudinal direction L of the autonomous mobile body 10, the y-axis is parallel to the width direction W and orthogonal to the x-axis, and the z-axis is parallel to the height direction H and orthogonal to the x-axis. The obtained magnetic measurement data is used for self-position estimation. The magnetic field measured by the magnetic sensor 23 may be a magnetic field generated by a magnetic marker, such as a permanent magnet, placed in the path of movement. The magnetic sensor 23 can measure the direction, and the measurement of this direction, that is, the attitude of the autonomous moving body 10, is shown as a direction sensor 27 in FIG. The magnetic sensor 23 can measure angular velocity in addition to magnetism. The angular velocity can be used for controlling the rectilinear movement of the autonomous mobile body 10.

[0027] [Radio wave sensor 25] For example, when radio waves based on WiFi exist in the environment in which the autonomous mobile body 10 moves, a WiFi router (slave) is used as the radio wave sensor 25. These radio waves are transmitted from a WiFi router that serves as a parent device, and the slave device of the WiFi router that constitutes the radio wave sensor 25 receives the transmitted radio waves to obtain radio wave measurement data.

[0028] The strength of the WiFi radio waves is not constant in a given environment, and the radio wave strength varies depending on the environment. Differences in the strength of the WiFi radio waves received by the WiFi router (slave) as the radio wave sensor 25 are used to estimate the self-position of the autonomous mobile body 10. The control unit 30 has a function of measuring the strength of the WiFi radio waves, and can measure the strength of the WiFi radio waves received by the radio wave sensor 25. The strength of the WiFi radio waves is also measured in three axes (x-axis, y-axis, and z-axis).

[0029] There are multiple channels for WiFi radio waves. For example, in the radio wave environment in Japan, 14 channels are assigned to the 2.4 GHz band and 56 channels are assigned to the 5 GHz band. However, the radio wave map in FIG. 6 was created based on the radio wave strength in the 2.4 GHz band detected outdoors, and the radio wave strength changes gradually, so self-location estimation can be performed based on this change. Note that, since the signal strength rapidly attenuates when the radio wave frequency becomes high, such as in the 5 GHz band, a frequency band lower than the 2.4 GHz band is more suitable for outdoors. However, even the 5 GHz band is useful indoors because the radio wave strength changes significantly. Therefore, when the control unit 30 is configured from the former computer device and outdoors, the radio wave measurement data and radio wave map data for the 2.4 GHz band are used.

[0030] Here, an example of using WiFi radio waves as radio wave data has been described, but this is merely one example in this embodiment, and other radio waves, such as radio waves from mobile phones, beacons, etc., can be used. In the case of mobile phone radio waves, for example, 4G (4th Generation) and 5G (5th Generation) can also be used with distinction in the same way as the 2.4 GHz band and 5 GHz band of WiFi radio waves.

[0031] Here, the autonomous mobile body 10A and the autonomous mobile body 10B can be equipped with different radio wave sensors 25. For example, the radio wave sensor 25 of the autonomous mobile body 10A can be compliant with the IEEE802.11g standard (channels 1 to 13), and the radio wave sensor 25 of the autonomous mobile body 10B can be compliant with the IEEE802.11g standard (channels 1 to 14). This standard information is stored in the second storage unit 52 of the storage unit 50. When the autonomous mobile bodies 10A and 10B request transmission of map data from the map data generation device 90, the standard information is notified to the map data generation device 90.

[0032] [Control unit 30: Figs. 1 and 2] As shown in FIG. 1, the autonomous moving body 10 includes a control unit 30 inside a main body 11 that controls the movement of the autonomous moving body 10. 2, the control unit 30 is configured from a computer device including a movement control unit 40, a storage unit 50, and an arithmetic processing unit 60, and includes a CPU, a ROM, a RAM, an input / output circuit, etc. The movement control unit 40, the storage unit 50, and the arithmetic processing unit 60 will be described below in order with reference to FIG.

[0033] [Movement control unit 40: Figure 2] The movement control unit 40 controls the driving of each of the drive motors 15, 16 independently to rotate the drive wheels 13, 14 at a required speed and move the autonomous moving body 10. The movement control unit 40 can change the direction in which the autonomous moving body 10 moves by rotating the drive motors 15, 16 at different rotation speeds.

[0034] [Memory unit 50: Figure 2] The storage unit 50 includes a first storage unit 51, a second storage unit 52, and a third storage unit 53. As each of these storage units, a known data storage means is adopted. [First storage unit 51] The first storage unit 51 stores map data used during autonomous movement. However, the first storage unit 51 does not store this map data permanently, but the autonomous mobile body 10 acquires map data stored in a map data generating device 90 (described later) before autonomous movement. This map data consists of geometric map data, magnetic map data, and radio map data, and information that associates these map data with the positions and attitudes at which these map data were measured. An example is shown in FIG. 3. In Fig. 3, the position is shown as the travel distance from the start point of the travel path. For example, travel distance d0 indicates that the distance is d0 away from the start point, and travel distance d1 indicates that the distance is d1 away from position d0. Also, in Fig. 3, the attitude indicates the direction, and this direction can be set to, for example, 0 (zero) deg for north in a horizontal state. In this way, by specifying the position based on the travel distance and direction, it is possible to reduce errors that occur during coordinate conversion.

[0035] It is preferable that the map data is stored continuously on the moving route of the autonomous moving body 10. However, this method may not be practical. When the moving distance of the autonomous moving body 10 becomes long, a considerable amount of time is required for the comparison process between the measured magnetic data and the measured orientation data, and the moving speed becomes significantly slow. Therefore, the map data can be stored intermittently at a predetermined interval, for example, every 0.01 m.

[0036] Here, it is assumed that the map data has already been stored in the first storage unit 51, which means that the autonomous moving body 10 is ready to move. In other words, the map data in this embodiment is data that has been measured by a map data measuring device 70 (described later) and then transmitted from the map data measuring device 70 to the map data generating device 90 and stored therein. Therefore, the map data stored in the first storage unit 51 has been read out by the autonomous moving body 10 from the map data generating device 90 before moving along a predetermined route, and thus stored in the first storage unit 51.

[0037] Here, it is desirable that the map information does not include elements that change over time, that is, noise. For example, if a person is present in the environment, the person may be included in the map information as noise, but this person should be deleted from the map information. However, depending on the type of sensor, it may not be possible to determine whether or not something is noise. For example, in the case of a person, the LIDAR 21 can only determine whether an object exists or not, so it is basically difficult to distinguish the person.

[0038] As described later, the autonomous mobile body 10 estimates its own position by checking whether the map data and the measurement data match. Therefore, the map data and the measurement data cannot be compared unless they are characteristic data. For example, even if the autonomous mobile body 10 attempts to move autonomously in a wide area such as a desert where there is no geometric data around, the map data and the measurement data from the LIDAR 21 do not have characteristic values ​​indicating the presence of an object, so comparison is not possible. However, if permanent magnets are scattered in the desert sand, both the magnetic map data and the magnetic measurement data contain characteristic values ​​indicating the presence of magnetism, so comparison is possible.

[0039] From the above, the presence or absence of characteristic values ​​is a prerequisite for matching map data with measurement data. The usefulness of the map data and measurement data can be determined by whether an object is present in the case of the LIDAR 21, and by whether there is an area that changes with each position in the case of the magnetic sensor 23 and the radio wave sensor 25. For example, the results (priority) of matching the map data and measurement data in three navigators described below can be obtained, and the vehicle can move autonomously while switching between the appropriate navigators based on the priority.

[0040] [Second storage unit 52] The second storage unit 52 stores programs related to various controls performed by the movement control unit 40 and the calculation processing unit 60. As described above, the second storage unit 52 stores information about the mounting positions of the LIDARs 21, 21A, and 21B, the mounting position of the magnetic sensor 23, and the standard of the radio wave sensor 25. In this embodiment, the information about the mounting positions and the standard is referred to as the specifications of these sensors.

[0041] [Third storage unit 53] In addition, the third storage unit 53 stores route information in which the direction to proceed and the distance are associated with each of the moving routes divided into several blocks. For example, FIG. 4 is used as an example. This example is based on the premise that the autonomous moving body 10 starts moving from a starting point (not shown) and moves to an end point (not shown) via positions d1, d2, . . . d7, d8. When the autonomous moving body 10 moves to position d1, the autonomous moving body 10 switches the next goal to position d2 and moves there, and when the autonomous moving body 10 moves to position d2, the autonomous moving body 10 switches the next goal to position d3 and moves there, based on route information based on so-called waypoints. For example, when the autonomous moving body 10 moves to position d3, the autonomous moving body 10 changes its direction by θ2-θ3 clockwise and then moves toward position d4. 4, in addition to this, the autonomous moving body 10 corrects the positional deviation between, for example, position d1 and position d2 by comparing the magnetic map data with the magnetic measurement data. The same applies to positions d2 and after.

[0042] [Calculation processing unit 60: Figs. 2 and 5] Next, as shown in FIG. 2, the calculation processing unit 60 includes a multi-navigator 61, which is a control module that causes the autonomous moving body 10 to follow a path, and a navigator selection unit 63 that selects one of the navigators described below based on the comparison results by the multi-navigator 61.

[0043] [Multi-Navigator 61: Figure 5] As shown in Fig. 5, the multi-navigator 61 according to this embodiment includes four navigators, a first navigator 61A, a second navigator 61B, a third navigator 61C, and a fourth navigator 61D. Here, the navigators according to this embodiment refer to control modules that cause the autonomous mobile body 10 to perform route tracking. The first navigator 61A to the fourth navigator 61D have differences in the results of self-position estimation and control methods. In other words, the first navigator 61A to the fourth navigator 61D complement each other, thereby enabling the autonomous mobile body 10 incorporating them to demonstrate flexibility and robustness in its operation.

[0044] When the autonomous moving body 10 moves, all of the first navigator 61A to the fourth navigator 61D operate in parallel, and among them, the navigator with the highest priority is selected by the navigator selection unit 63, and the selected navigator tracks the path of the autonomous moving body 10. The contents of the first navigator 61A to the fourth navigator 61D are as follows. As for the priority, which will be described later, the lower the numerical value, the higher the priority. In this embodiment, the priority is based on 100, and 0 is a priority with absolute authority. Furthermore, when the priorities are the same, the one with the lower navigator number indicated by 1 to 4 is given priority.

[0045] [First Navigator 61A (Odometry)]: The first navigator 61A performs route tracking based on position estimation based on the amount of rotation of the drive wheels 13, 14. That is, the first navigator 61A performs route tracking while performing self-position estimation based on odometry. The first navigator 61A performs route tracking independently of any of the LIDAR 21, the magnetic sensor 23, and the radio wave sensor 25. As a result of the self-location estimation performed by the first navigator 61A at time t, the autonomous moving body 10 is located at the nth node and its attitude is θ t Assume that it is estimated that the angular velocity is 0. In this case, the first navigator 61A based on odometry controls the angular velocity so that the following deviation e0 becomes zero. In this manner, the first navigator 61A performs path tracking based on the result of the attitude estimation. Deviation e0=θ n-θ t

[0046] The priority of the first navigator 61A is set to 100-90, for example. While the other navigators, the second navigator 61B to the fourth navigator 61D, are running, the first navigator 61A's self-location estimation is normal and so its priority is set to 90. However, if the priority of the other navigators falls below 90, it is determined that the accuracy of the self-location estimation in the first navigator 61A has decreased, and the priority is eventually lowered to 100 depending on the travel distance, and the first navigator 61A is eventually stopped.

[0047] [Second Navigator 61B (using geometric data)]: The second navigator 61B performs path following based on position estimation based on geometric data (geometric map data and measured geometric data). An example of geometric data acquired by the second navigator 61B is shown in FIG. 7. The measurement ranges of distance r and angle α are set on the left and right for the LIDAR 21 mounted in front of the autonomous moving body 10. The minimum vertical distance to an obstacle present in this range is defined as g on the left and right, respectively. l ,g r The two values ​​are taken as the geometric data. The same measurement is performed when constructing the database, and the geometric data g stored in the nth node is n (g l ,g r ) T If there are no obstacles around and geometric data cannot be obtained, this information is not used. Now, at time t, the geometric data is g l , t , g r , t When measuring the deviation e, the second navigator 61B based on the geometric data g The angular velocity is controlled so as to make each component of zero. e g = (e o , -g l , n + g l , t, g r , n -g r , t ) T

[0048] The second navigator 61B based on geometric data performs movement control so as to correct the result of position estimation, and therefore can also include deviations related to the attitude of the autonomous moving body 10 as components.

[0049] The priority of the second navigator 61B is set to 100-70, for example. The second navigator 61B using the LIDAR 21 has higher self-location accuracy than the other navigators (the first navigator 61A, the third navigator 61C, and the fourth navigator 61D). In particular, when there are many landmarks in the vicinity and the evaluation value of matching with the map data is high, the priority is set to 70. This is set as the highest, and the priority is updated according to the evaluation criteria.

[0050] [Third Navigator 61C (using magnetic data)]: The third navigator 61C performs route tracking based on position estimation based on magnetic data (magnetic map data and magnetic measurement data). Assuming that the autonomous mobile unit 10 moves on a flat ground, the magnetic sensor 23 measures the angle m between the magnetic direction of the ground and the horizontal plane and the sensor. θ Now, at time t, the magnetic sensor is m θ , t When measuring, the magnetic data-based navigator will measure the deviation e m The angular velocity is controlled so as to make zero. e m =m θ,n -m θ,t

[0051] The third navigator 61C based on magnetic data performs movement control while only correcting the attitude using the magnetic direction, regardless of the result of the attitude estimation. Unlike the magnetic navigation method disclosed in Patent Document 1, in this embodiment, there is no magnetic data on the left and right of the specified route and no parameters to be used when performing movement control. Therefore, the autonomous moving body 10 is controlled using only the magnetic direction of the ground and the horizontal plane.

[0052] The priority of the third navigator 61C is set to 100-80, for example. The third navigator 61C estimates its own position from changes in magnetic strength due to movement, and its position accuracy is not high. Therefore, the highest priority value is set to 80, which does not exceed that of the second navigator 61B. The same applies to the next fourth navigator 61D.

[0053] The second navigator 61B and the third navigator 61C can be combined. In this case, the deviation e gm The angular velocity is controlled so as to make zero. e gm = (e m -g l,n + g l,t , g r,n -g r,t ) T

[0054] [4th Navigator 61D (using radio wave data)]: The fourth navigator 61D performs route tracking based on position estimation using radio wave data (radio wave map data and radio wave measurement data). The third navigator 61C uses magnetic measurement data, but in terms of handling signals, it is possible to perform self-location estimation and autonomous movement control using the same method for both magnetic measurement data and radio wave measurement data. Therefore, since the tendency of signal strength and the location of changes are different from those of magnetic data, by providing a fourth navigator 61D that uses radio wave measurement data in addition to the third navigator 61C that uses magnetic measurement data, it is possible to complement each other's lacking situations. In the fourth navigator 61D, a navigator can be defined for each channel measured as radio wave measurement data. For example, in addition to a navigator that operates with changes in a certain radio wave channel, the existence of a navigator that operates with other channels is permitted.

[0055] [Navigator selection section 63: Figures 2, 5, and 6] The navigator selection unit 63 selects the navigator with the highest priority among the first navigator 61A, the second navigator 61B, the third navigator 61C, and the fourth navigator 61D. If the first navigator 61A has the highest priority, the autonomous moving body 10 moves autonomously using the first navigator 61A. The navigator selection unit 63 continuously evaluates the priority, and if the accuracy of, for example, the second navigator 61B is higher than that of the first navigator 61A, the navigator selection unit 63 selects the second navigator 61B, and thereafter, the autonomous moving body 10 moves autonomously using the second navigator 61B. Furthermore, if the accuracy of, for example, the third navigator 61C is higher than that of the second navigator 61B, the navigator selection unit 63 selects the third navigator 61C, and thereafter, the autonomous moving body 10 moves autonomously using the third navigator 61C.

[0056] Here, the self-position estimation for the autonomous movement is also continuously performed by the navigator not selected by the navigator selection unit 63. That is, as shown in FIG. 6, the second navigator 61B performs self-position estimation of the autonomous moving body 10 using the measurement geometric data and geometric map data (first map data) acquired by the LIDAR 21. The third navigator 61C performs self-position estimation of the autonomous moving body 10 using the magnetic measurement data and magnetic map data (second map data) acquired by the magnetic sensor 23. Furthermore, the fourth navigator 61D performs self-position estimation of the autonomous moving body 10 using the radio wave measurement data and radio wave map data (second map data) acquired by the radio wave sensor 25. In this way, the self-position estimation by each of the second navigator 61B to the fourth navigator 61D, which is performed simultaneously and continuously, is continuously performed regardless of the selection or not. Although the description of the first navigator 61A is omitted here, the self-position estimation in the first navigator 61A is also continuously performed in the same manner as in the second to fourth navigators 61B to 61D. In FIG. 6, a plurality of pieces of radio wave map data are shown because, as described above, radio wave map data is provided for each access point.

[0057] In addition, multiple navigators can select the map appropriate for the sensor they are using and create a route plan. In the concept of the navigator, there may be multiple position calculation units (self-location recognition calculation units). Also, it is not assumed that they use the same data. That is, each of the self-location recognition calculation units (programs), which are also navigators, allows the self-location recognition to be performed by each method. The results of self-location estimation by each navigator may differ, as shown in FIG. Actions are executed based on the recognition data, but when appropriate calculations cannot be performed in self-location recognition, a process to lower the priority is performed. As a result, the navigator selection unit does not select an action with a higher priority, and the action with a higher priority is applied. This is because the only basis for this high-priority action is that the self-location estimation is performed correctly.

[0058] The multi-navigator 61 is provided with a first navigator 61A to a fourth navigator 61D, and is also provided with a movement distance calculation function and a position calculation function, which will be described below. These two functions are described here as being included in the multi-navigator 61, but they may be independent of the multi-navigator 61, or may be provided in the movement control unit 40, which will be described later. The movement distance calculation function counts the pulses input from the rotary encoders 18 and 19 separately, and calculates the movement distance up to that point by multiplying the counted value by the movement amount per pulse. Here, two movement distances are calculated, and their average value is output to the position calculation unit 67 as the movement distance S.

[0059] The position calculation function obtains position information of the autonomous moving body 10. As described above, this position information is expressed in polar coordinates of θ (direction) and l (distance). The position calculation function reads out route information from the third storage unit 53. As described above, this route information is associated with direction information and travel distance information (for example, (-φ1°, DA-B)). The position calculation function calculates the remaining travel distance to reach the end point of the route from the travel distance S acquired from the travel distance calculation function and the travel distance information. This remaining travel distance is output to the movement control unit 40.

[0060] The position calculation function obtains an angle (rotation angle) at which the autonomous mobile body 10 turns so that the magnetic deviation (ΔGx, ΔGy, ΔGz) and the azimuth deviation (Δθ) acquired from the third navigator 61C of the multi-navigator 61 become 0 (zero) and the deviation is eliminated, as shown in Fig. 8. This rotation angle is output to the mobile control unit 40. This adjustment of the direction can be performed by feedback control.

[0061] When the autonomous mobile body 10 reaches the end point of the route, the position calculation function calculates the angle (rotation angle) at which the autonomous mobile body 10 turns at the waypoint from the direction (angle θ) information with respect to the route acquired from the multi-navigator 61 and the direction information in the route information. This rotation angle is output to the movement control unit 40.

[0062] Although an example of comparing the measured magnetic data with the magnetic map data has been described above, the autonomous moving body 10 can also move along each route by comparing the measured radio wave data with the radio wave map data. In this case, the deviations related to magnetism (ΔGx, ΔGy, ΔGz) are replaced with deviations related to radio waves (ΔRx, ΔRy, ΔRz).

[0063] [Movement Control] When the autonomous moving body 10 moves along each route, the movement of the autonomous moving body 10 is controlled as follows. This control is performed by using any one of the first navigator 61A, the second navigator 61B, the third navigator 61C, and the fourth navigator 61D. In the following, a case will be described in which magnetic map data is used as the map data. The multi-navigator 61 reads the magnetic map data stored in the first storage unit 51. Then, it compares the measured magnetic data measured by the magnetic sensor 23 including the orientation sensor 27 with the magnetic map data to obtain a deviation. The magnetic deviation (ΔGx, ΔGy, ΔGz) and the orientation deviation (Δθ) occur because there is a deviation in the direction of the autonomous moving body 10 with respect to the normal route, as shown in FIG. 8. The multi-navigator 61 calculates a command value for the motor based on the magnetic deviation (ΔGx, ΔGy, ΔGz) and the orientation deviation (Δθ) and sends it to the navigator selection unit 63.

[0064] [Movement control unit 40] The movement control unit 40 outputs a drive command to the drive motors 15, 16 to move the autonomous moving body 10 along the route to the next waypoint based on the remaining travel distance calculated by the position calculation function. In addition, the movement control unit 40 outputs a drive command to the drive motors 15, 16 to change the orientation of the autonomous moving body 10 to match the next route when the autonomous moving body 10 reaches the waypoint based on the rotation angle calculated by the position calculation function.

[0065] [Map data measuring device 70: Figs. 1 and 9] Next, the map data measuring device 70 will be described. In the disclosure of Patent Document 1 and the like, an autonomous moving body measures map data (magnetic map data and radio wave map data) and stores the measured map data. In contrast, in this embodiment, the measurement of map data is performed by a map data measurement device 70 independent of the autonomous moving body 10. This is for the following reason. That is, in order to measure detailed map data, as many various sensors as possible are required, and a high-performance computer device is also required. If these sensors and computer devices are mounted on the autonomous moving body 10, the movement of the autonomous moving body 10 will become slow. Therefore, instead of mounting the minimum number of sensors and computer devices required for autonomous movement on the autonomous moving body 10, the map data measurement device 70 is mounted with sensors and computer devices required for measuring detailed map data. The map data measured by the map data measurement device 70 is stored in a map data generation device 90 described later. As described above, before moving along a predetermined moving route, the autonomous moving body 10 reads out map data corresponding to the moving route from the map data generation device 90 via the Internet 100.

[0066] The configuration of the map data measuring device 70 will be described with reference to FIG. 9. The map data measuring device 70 in this embodiment has something in common with the autonomous moving body 10 in that it can move by the drive motors 15 and 16. Therefore, in the map data measuring device 70 in FIG. 9, the same components as those of the autonomous moving body 10 may be given the same reference numerals as those of the autonomous moving body 10, and the description thereof may be omitted. However, this is for convenience of explanation, and does not necessarily limit the commonality between the actual autonomous moving body 10 and the map data measuring device 70. In addition, it is preferable that the map data measuring device 70 can be moved by being pushed by a person, in addition to being moved by the drive motors 15 and 16.

[0067] The map data measuring device 70 includes a control unit 77 inside the main body 11. The control unit 77 receives various data from various sensors described below, and generates map data from the received various data. The generated map data is transmitted to the map data generating device 90 and stored in the map data generating device 90. The map data will be described later.

[0068] As shown in Fig. 9, the map data measuring device 70 includes two LIDARs 71A and 71B on its front (F) side in order to acquire data for a geometric map. The LIDARs 71A and 71B are arranged at positions having different heights from the ground, for example. The geometric map data measured by the LIDARs 71A and 71B is sent to the map data generating device 90. The geometric map data corresponds to the first map data in the present invention. The reason for providing a plurality of LIDARs 71A and 71B in this manner is as follows: In other words, when a plurality of types of autonomous mobile bodies 10 exist in the autonomous mobile system 1, the position (height) at which the LIDAR 21 is provided may differ for each autonomous mobile body 10. The same applies to the magnetic sensors 73A, 73B, and 73C described next. Here, two LIDARs 71A and 71B are provided on the front (F) side of the main body 11, but further LIDARs may be added. The additional LIDARs may be added to both side surfaces in the width direction (W) of the main body 11, or to the rear (B) side of the main body 11. This also applies to the magnetic sensors 73A, 73B, and 73C described next.

[0069] As shown in Fig. 9, the map data measuring device 70 has three magnetic sensors 73A, 73B, and 73C on its front (F) side to acquire magnetic map data. The magnetic sensors 73A, 73B, and 73C are disposed at positions with different heights from the ground. The magnetic map data measured by the magnetic sensors 73A, 73B, and 73C is sent to the map data generating device 90. The magnetic map data corresponds to the second map data in the present invention.

[0070] Next, the map data measuring device 70 includes a radio wave sensor 75. The radio wave sensor 75 is provided for acquiring radio wave map data. The radio wave sensor 75 receives the WiFi signal and measures its strength. Radio wave map data relating to the measured WiFi signal is sent to the map data generating device 90. The radio wave map data and the magnetic map data correspond to the second map data in the present invention.

[0071] [Map data generating device 90: Figs. 1, 10 to 13] The map data generating device 90 stores map data. This map data is identical to that generated by the map data measuring device 70. However, the map data generated by the map data measuring device 70 can also be processed and stored in the map data generating device 90. 10, the map data generation device 90 includes a transmission / reception unit 91 that receives map data from the map data measurement device 70 and transmits the map data to the autonomous moving body 10 via the Internet 100, and a storage unit 93 that stores the map data. The map data generation device 90 also includes a control unit 95 that adjusts the map data to generate map data and controls the operations of the transmission / reception unit 91 and the storage unit 93. The storage unit 93 and the control unit 95, which are characteristic components of the map data generation device 90, will be described below in order.

[0072] [Map data stored in memory unit 93] The storage unit 93 stores geometric map data, magnetic map data, and radio wave map data. The geometric map data, magnetic map data, and radio wave map data are stored separately for each travel route.

[0073] FIG. 11 shows an example of map data stored in the storage unit 93. As shown in FIG. The map data shown in FIG. 11 shows three travel routes, the n1th travel route, the n2th travel route, and the n3th travel route. In reality, map data for a plurality of travel routes can be stored. The map data for each of the n1th travel route, the n2th travel route, and the n3th travel route includes geometric map data, magnetic map data, and radio wave map data. Each map data is classified by type and location. The type is classified into two dimensions (2D) and three dimensions (3D). Moreover, the positions correspond to the 2D map data, and the heights corresponding to the positions of the LIDARs 71A and 71B and the magnetic sensors 73A, 73B, and 73C of the map data measuring device 70 are described as H11, H21, and so on. Then, map data is stored corresponding to each position. For example, data measured by the LIDAR 71A is stored for the position of the geometric map data. Furthermore, data measured by the magnetic sensor 73B is stored for the position of the magnetic map data. This magnetic map data is data in which a plurality of measured positions are associated with the magnetic strength at each position. Furthermore, data measured by the radio wave sensor 75 is stored for the radio wave map data. This radio wave map data is data in which a plurality of measured positions are associated with the radio wave strength at each position.

[0074] The map data needs to be in a data format that is compatible with the various sensors mounted on the autonomous moving body 10. Therefore, various map data formats are required depending on the type and operation of the sensors. Therefore, it is preferable that the map data generation device 90 holds basic map data that can be converted into various formats, converts the data into a format that corresponds to the sensor of the autonomous moving body 10, and further provides map data according to the behavior and range of the autonomous moving body 10.

[0075] Here, the map data are stored in two formats: the geometric map data are stored in a first format, and the magnetic map data and the radio wave map data are stored in a second format.

[0076] First type: Information is stored in an occupancy grid map. Occupancy grid maps come in 2D and 3D. Second form: Memorizes landmark coordinates and associated information.

[0077] In the first mode, the amount of data does not increase or decrease as long as the behavioral area of ​​the autonomous mobile body 10 can be defined. However, the amount of data changes depending on the definition of the dimensions of the occupancy grid. The control resolution of the autonomous mobile unit 10 depends on the resolution of the map data. For example, if positioning is performed on the order of 10 cm, the volume of the occupied grid should be 10 cm. 3 The following is the case. It is technically easy to make map data coarse, so map data should be as detailed as possible. The second type stores the location of the transmission source or measurement source and the signal direction and strength. Therefore, the amount of data increases as the number of transmission sources or measurement sources increases. Since the change in signal strength due to coordinate movement is continuously expressed by a function, it is possible to express a map with high resolution. However, considering the realistic processing of the autonomous mobile body 10, it is more appropriate to convert to the occupancy grid of the first form.

[0078] For example, if the autonomous mobile system 1 is applied to a large area such as a park, the autonomous mobile body 10 only needs to avoid colliding with obstacles, and the final destination position does not need to be accurate. In this case, it is more advantageous to have a map with a somewhat coarser resolution, for example, about 50 cm, and a wider range (in this example, covering an area 5 times larger in one direction and 25 times larger in area) than a map with a high resolution, for example, 10 cm or less. On the other hand, when it is meaningful to move, such as rice planting or cleaning work (when scanning by filling gaps in the grass), the range is probably limited. For example, when planting rice, the position accuracy of the autonomous moving body 10 may be required to be 10 cm or less. It may also differ depending on the dimensions of the autonomous mobile body 10. For a small autonomous mobile body 10 that moves indoors, a resolution of several centimeters is required, but for wide roads, deserts, and pastures, a resolution of several meters may be sufficient.

[0079] The geometric map data can also be stored in the second form. Storing clearly defined geometric data such as a straight line function in an occupied lattice space corresponds to storage in the second form. Therefore, it is preferable that the geometric map data is stored in both the first form and the second form. In other words, when plotting data in an occupied lattice space managed by the map data measuring device 70, the first form is more convenient. On the other hand, if the exact installation position and shape of an object are specified, such as a drawing of a building or a drawing of a road sign, the second form is more convenient.

[0080] Also, if the source of magnetic field and the changes in the diffusion state of magnetic field strength are identified, storing this in the occupied lattice space corresponds to the first form. Furthermore, storing a radio wave map of WiFi signals and radio wave strength in an occupied grid space corresponds to the first form.

[0081] [Map data request from the autonomous mobile unit 10: Figures 12 and 13] The map data generating device 90 has basic map data that can be converted into various formats, and the autonomous moving body 10 can request the data it needs from the map data generating device 90. The following will be described with reference to Figs. 12 and 13. 12, the autonomous moving body 10A and the autonomous moving body 10B request the map data generating device 90 to transmit data necessary for their respective autonomous movements. This request includes the travel route along which the autonomous moving body 10A and the autonomous moving body 10B will move and the specifications of various sensors. An example of the request is shown in Fig. 13. This request is for the n1th route. The request requests 2D geometric map data for the target location, 2D magnetic map data for the target location, and 2D radio map data. This request includes specifications for the LIDAR 21, the magnetic sensor 23, and the radio sensor 25.

[0082] [Map transmission from the map data generating device 90: Figure 12] Upon receiving the request from the autonomous moving body 10, the map data generating device 90 generates map data suited to the autonomous moving body 10 and transmits it to the autonomous moving body 10 according to the following procedure. Step A: The geometric occupancy grid map (high-resolution data) held is adjusted to match the position recognition resolution of the autonomous mobile body 10. Step B: Generate map data based on the data managed in the second form. B-1: Add the geometric map data (such as the exact dimensions of buildings) stored in the second form to the map data of step A. B-2: The magnetic map data stored in the second form is converted into data of the same size and occupied grid dimensions as in step A in terms of magnetic intensity, and the gap data is further interpolated based on the Gaussian distribution to generate magnetic map data. B-3: The magnetic strength of the data for the radio wave map stored in the second form is converted to data of the same size and dimensions of the occupied grid as in step A, and radio wave map data is generated by interpolating the gap data based on the Gaussian distribution. In this case, the distribution of the radio wave strength is calculated by model estimation rather than data interpolation. Also, radio wave map data is generated for each radio wave source.

[0083] 14, 15 and 16 show examples of the geometric map data, the magnetic map data and the radio map data generated by the map data generating device 90, respectively. The three magnetic map data shown in Fig. 15 are measured at different positions (heights), and the three radio wave map data shown in Fig. 16 are measured at different positions in the planar direction.

[0084] [Operation of autonomous mobile system 1: Figure 17] Next, the operation of the autonomous mobile system 1 will be described with reference to FIG. First, a description will be given of the overall operation of the autonomous mobile system 1 for the autonomous mobile body 10 to autonomously move along a predetermined moving route in the autonomous mobile system 1. As described above, it is assumed that the autonomous mobile body 10 does not hold map data for the moving route before moving along the moving route.

[0085] [Map data measurement, server transmission: Fig. 17 S101] To move autonomously along a travel route, first, map data is measured using the map data measuring device 70. The measurement is performed by operating the LIDAR 21, the magnetic sensor 23, and the radio wave sensor 25 while moving the map data measuring device 70 along the travel route. In this way, the map data measuring device 70 measures geometric map data, magnetic map data, and radio wave map data. The measured geometric map data, magnetic map data, and radio wave map data are transmitted to the map data generating device 90 via the control unit 77 of the map data measuring device 70.

[0086] If there are a plurality of different travel routes, the above measurement of map data and transmission to the map data generating device 90 are performed for each different travel route. For example, if N different travel routes, such as a first travel route, a second travel route, a third travel route, ..., an Nth travel route, are planned for the autonomous moving body 10, map data is measured for the N travel routes and transmitted to the map data generating device 90.

[0087] [Map data reception and storage: Fig. 17 S103] When the map data generating device 90 receives the map data, it stores the data in the storage unit 93. The map data stored in the storage unit 93 waits in the storage unit 93 until a request for the data is made. The storage is performed for each travel route separately. For example, in the case of a first travel route, a second travel route, a third travel route, ..., an Nth travel route, the first map data for the first travel route, the second map data for the second travel route, the third map data for the third travel route, ..., the Nth map data for the Nth travel route are each stored in the storage unit 93 as a different file.

[0088] [Map data request: Figure 17 S105] When the autonomous moving body 10 moves along a travel route, it requests map data corresponding to the travel route from the map data generating device 90 prior to the movement. If the autonomous moving body 10 is about to move along, for example, a first moving route, the autonomous moving body 10 requests the map data generating device 90 to transmit the first map data. The request from the autonomous moving body 10 also includes the data format of the map data corresponding to the moving route. The autonomous moving body 10 may request map data from the map data generation device 90 immediately after the map data is stored in the map data generation device 90, or after a considerable amount of time has passed.

[0089] [Request map data adjustment and transmission: Figure 17 S107] When a request for transmitting map data is received, the map data generating device 90 adjusts the map data in the above-described procedure to generate map data, and transmits the map data to the autonomous moving body 10.

[0090] [Autonomous movement: Figure 17 S109] The autonomous moving body 10 moves autonomously based on the map data received from the map data generating device 90.

[0091] [Effects of Autonomous Mobile System 1] The effects achieved by the autonomous mobile system 1 described above will now be described. According to the map data generating device 90 of this embodiment, map data is generated by adjusting data for map data based on a request from an autonomous moving body 10 that is scheduled to move along a travel route, and the map data is transmitted to the autonomous moving body. Therefore, according to the map data generating device 90 of this embodiment, even if the autonomous moving bodies 10A, 10B, etc. are provided with only the same map data, they can move along the same travel route. Each of the autonomous moving bodies 10A, 10B, etc. can move autonomously if it measures magnetism and the like along the movement route and generates map data. However, generating map data for each of the autonomous moving bodies 10A, 10B, etc. before the autonomous movement is an extremely heavy burden.

[0092] According to the autonomous mobile system 1, the map data generation device 90 is provided with map data relating to the movement route of the autonomous mobile body 10, and when this map data generation device 90 receives a request from the autonomous mobile body 10 that is scheduled to move along the movement route, it transmits the map data to the autonomous mobile body 10 in response to the request. Therefore, the autonomous mobile body 10 according to this embodiment does not need to be provided with map data before starting to move, and therefore the amount of map data to be held can be reduced. Moreover, according to the present invention, the map data adjusted in response to a request from the autonomous moving body 10 is transmitted to the autonomous moving body 10, so that the autonomous moving body 10 can be moved appropriately.

[0093] Next, according to the autonomous mobile system 1, the map data measuring device 70 measures map data, and the map data generating device 90 generates map data based on the map data. This eliminates the need for the autonomous mobile body 10 to measure map data, and also eliminates the need to generate map data. Therefore, the autonomous mobile body 10 according to this embodiment requires only minimal equipment for movement.

[0094] Furthermore, the autonomous mobile system 1 uses invisible data in addition to visible data to move autonomously. If only geometric data, which is visible data, is used, for example, a person may block the field of view of the LIDAR 21, making it impossible to match the measured geometric data, which may result in an erroneous estimation of the self-location. In contrast, invisible data does not recognize people in the first place, so there is no risk of an erroneous estimation of the self-location due to people, and robust autonomous movement can be achieved in crowded environments.

[0095] Furthermore, the autonomous mobile system 1 uses magnetic data and radio wave data as invisible data. Therefore, when self-location estimation is difficult with magnetic data, radio wave data is used, and conversely, when self-location estimation is difficult with radio wave data, magnetic data is used, thereby making it possible to estimate the self-location.

[0096] Furthermore, in the autonomous mobile system 1, the map data measuring device 70 includes a plurality of LIDARs 71A, 71B and magnetic sensors 73A, 73B, 73C, each of which measures map data, and the map data generating device 90 stores each map data. Therefore, even if there are a plurality of autonomous mobile bodies 10 with different specifications, map data can be provided to the autonomous mobile bodies 10 using map data that matches each of the autonomous mobile bodies 10. As a result, the autonomous mobile system 1 of this embodiment can move the autonomous mobile bodies 10 with high accuracy.

[0097] Furthermore, the autonomous mobile system 1 includes a multi-navigator 61, and a navigator selection unit 63 selects a navigator with a high priority. Therefore, the map data and measurement data most suitable for autonomous movement are used, so that the accuracy of the movement of the autonomous mobile body 10 can be ensured.

[0098] Furthermore, in the real environment in which the autonomous mobile body 10 moves, the information is not limited to static information such as people coming and going, other autonomous mobile bodies, objects and structures installed temporarily, etc. Therefore, the self-position is calculated by detecting structures that do not change probabilistically through three-dimensional scanning measurement including the height direction and comparing the results with a three-dimensional map, which requires a huge amount of calculation. In response to this, if you have a two-dimensional map and a qualitatively different map expressed by magnetic data, it becomes easier to interpolate the discrepancies in the data due to the qualitative difference. Therefore, it becomes possible to calculate the self-position stably in an environment where people are allowed to pass by.

[0099] The above describes a preferred embodiment of the present invention. However, in addition to the above, the configurations described in the above embodiment can be selected or changed to other configurations as appropriate without departing from the spirit of the present invention.

[0100] For example, in the above embodiment, the map data measuring device 70 measures the map data, and the map data generating device 90 adjusts the map data to generate the map data. However, in the present invention, the map data measuring device 70 may measure the map data, adjust the measured map data to generate the map data, and then transmit the map data to the map data generating device 90.

[0101] Also, in the above embodiment, one autonomous moving body 10 corresponds to one map data generation device 90. However, in the present invention, a plurality of autonomous moving bodies 10 can correspond to one map data generation device 90. In this case, the plurality of autonomous moving bodies 10 can receive map data for the same travel route from the map data generation device 90, and can also receive map data for different travel routes.

[0102] In the above embodiment, one map data measuring device 70 corresponds to one map data generating device 90. However, in the present invention, a plurality of map data measuring devices 70 can correspond to one map data generating device 90. In this case, the plurality of measuring devices 70 can measure map data for different travel routes and transmit the map data to the map data generating device 90. [Explanation of symbols]

[0103] 1 Autonomous Mobile System 10 Autonomous Mobile Vehicles 11 Main unit 13,14 Drive wheels 15,16 Drive motor 17 Caster 18,19 Rotary Encoder 20 Battery 21 LIDAR 23 Magnetic Sensor 25 Radio wave sensor 30 Control section 40 Movement control section 50 Storage section 51 1st memory section 52 2nd memory section 53 Third memory section 60 Processing unit 61 Multi-Navigator 61A First Navigator 61B Second Navigator 61C 3rd Navigator 61D 4th Navigator 63 Navigator Selection 70 Map data measuring device 71A, 71B LIDAR 73A, 73B, 73C Magnetic Sensors 75 Radio wave sensor 77 Control Unit 90 Map data generator 91 Transmitter / receiver 92 Control section 93 Memory section 95 Control Unit

Claims

1. A storage unit that stores map data corresponding to a travel route; a control unit that adjusts the map data to generate map data based on a request from an autonomous moving body that is scheduled to move along the travel route, and controls transmission of the map data to the autonomous moving body; The map data is a first map data relating to visible objects and a second map data relating to invisible objects; The control unit is adjusting one or both of the first map data and the second map data to generate one or both of the first map data and the second map data; The autonomous moving body is a first sensor for acquiring the first map data and a second sensor for acquiring the second map data; The request is Specifications of the first sensor and the second sensor are included; The control unit is generating the map data by adjusting the map data based on the specifications of the first sensor and the second sensor; A map data generating device comprising:

2. The storage unit is storing the map data corresponding to each of the plurality of travel routes; The control unit is generating the map data by adjusting the map data relating to a specific one of the plurality of travel routes included in the request; 2. The map data generating device according to claim 1.

3. The map data stored in the storage unit is The data is measured by a map data measuring device different from the autonomous moving body, and is provided to the map data generating device from the map data measuring device.

3. The map data generating device according to claim 1 or 2.

4. the first map data includes geometric map data; The second map data includes magnetic map data and radio wave map data. The map data generating device according to any one of claims 1 to 3.

5. an autonomous moving body that moves based on map data corresponding to a moving route; a map data generating device configured to transmit the map data to the autonomous moving body in response to a request from the autonomous moving body that is scheduled to move along the travel route; The map data generating device includes: a storage unit that stores map data on which the map data is based, and a control unit that adjusts the map data based on a request from the autonomous moving body that is scheduled to move along the travel route to generate the map data and control transmission of the map data to the autonomous moving body, The map data is a first map data relating to visible objects and a second map data relating to invisible objects; The control unit is adjusting one or both of the first map data and the second map data to generate one or both of the first map data and the second map data; The autonomous moving body is a first sensor for acquiring the first map data and a second sensor for acquiring the second map data; The request is Specifications of the first sensor and the second sensor are included; The control unit is an autonomous mobile system that generates the map data by adjusting the map data based on the specifications of the first sensor and the second sensor,

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