Map utilization device and program

Abstract

To provide a map utilization device that effectively utilizes map information in relation to a mobile robot and a map utilization environment.SOLUTION: A map utilization device 3 that distributes map information along a designated route 305 for self-position estimation when a mobile robot 2 moves along the designated route, acquires three-dimensional map information along a route as three-dimensional map information around the route from an entire three-dimensional map information 304 constructed for a field in which the mobile robot 2 can move; and converts 310 the three-dimensional map information along the route into two-dimensional map information, and distributes 313 the converted two-dimensional map information to the mobile robot in the three-dimensional map information along the route, if there is no location determined to have a large slope change 309.SELECTED DRAWING: Figure 2

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 above-mentioned conventional technologies, for a robot as an autonomous mobile device, no consideration was given to efficiently utilizing map information in a situation where there may be a wide variety of computing resources for each robot and environments in which the map is referenced, and the like.

[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 targeted at robots, the computational load of the maps that each robot can handle is not considered, so there is a problem in that it is not possible to appropriately determine whether a 2D map or a 3D map should be used and download it depending on the computational resources and usage environment of each robot.

[0011] In view of the above problems in the prior art, an object of the present invention is to provide a map utilization device and a program that can effectively utilize map information in relation to a mobile robot and a map utilization environment. [Means for solving the problem]

[0012] In order to achieve the above-mentioned object, the present invention has a first feature of being a map utilization device that distributes map information along a specified route to a mobile robot in order to move the mobile robot along the route, and that acquires 3D map information along the route from the entire 3D map information constructed for a field in which the mobile robot can move, as information that is located in the vicinity of the route, and if there is no point in the 3D map information along the route that is determined to have a large change in slope, converts the 3D map information along the route into 2D map information and distributes it to the mobile robot, or is a program that causes a computer to function as the device.

[0013] A second feature of the present invention is that when there is a location in the 3D map information along the route where a change in inclination is determined to be large, the 3D map information along the route is delivered as is to the mobile robot. Effect of the Invention

[0014] According to the first feature, while using 3D map information that can reflect the latest field conditions, if the route along which the mobile robot is to move does not contain any locations that are determined to have a large change in slope, the 3D map information is converted into 2D map information and delivered to the mobile robot. Therefore, even if the computational resources for the mobile robot to move along a route are limited, by providing a lightweight 2D map, route movement can be achieved with low load and map information can be used efficiently.

[0015] According to the second feature, furthermore, when the route along which the mobile robot is to be moved includes a location determined to have a large change in inclination, the three-dimensional map information is delivered as is, so that the mobile robot can be caused to move along the route appropriately using the three-dimensional map information, even if the route includes a location with a large change in altitude, thereby enabling efficient use of map information. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram illustrating a configuration of a map using system according to an embodiment. [Diagram 2] 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 3] 10 is a flowchart showing information management of each mobile robot by a map using device according to an embodiment. [Figure 4] 11 is a flowchart showing how a map using device according to an embodiment arranges for product delivery and updates map information. [Diagram 5] 1A to 1C are diagrams showing schematic examples of sensing ranges when a mobile robot moves using a three-dimensional map and when a mobile robot moves using a two-dimensional map. [Figure 6] FIG. 13 is a diagram showing a schematic example of whether a two-dimensional map or a three-dimensional map is required for a route. [Figure 7]FIG. 1 is a diagram illustrating an example of a hardware configuration of a typical computer. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] 1 is a diagram showing the 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.

[0018] The map utilization system 4 includes a plurality of (n) user terminals 1-1, 1-2, ..., 1-n used to determine a destination, a plurality of (m) 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, determines whether to use the 3D map or a map converted into 2D for each of the mobile robots 2-1 to 2-m, and transmits the determined map, 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.

[0019] Fig. 2 is a functional block diagram of a user terminal 1, a mobile robot 2, and a map utilization device 3 in a map utilization system 4 according to an embodiment. Note that the user terminal 1 and the mobile robot 2 in Fig. 2 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. 1, and represent a functional configuration common to these multiple user terminals 1-1 to 1-n and mobile robots 2-1 to 2-m.

[0020] 2, the functional configuration of the multiple 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 the computational resources of the computers and the hardware specifications (performance parameters) of the moving mechanisms of the autonomous mobile robots, etc. In particular, even if the specifications of computational resources, etc. of the m mobile robots 2-1 to 2-m (each of the mobile robots 2) are different in many ways, the map utilization system 4 of this embodiment enables effective utilization of map information taking into account the computational resources, etc. of each mobile robot 2.

[0021] 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 .

[0022] 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 status storage unit 205, a route information storage unit 206, a map information storage unit 207, an operation plan unit 208, and an operation control unit 209.

[0023] The map utilization device 3 is, for example, a server device existing on the cloud, which stores 3D maps for the mobile robots 2, determines whether to use the 3D map or a map converted to 2D for each of the mobile robots 2-1 to 2-m, and transmits the determined map, as well as performs operational monitoring and navigation to the destination.

[0024] The map usage 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 map usage environment determination unit 307, a computational resource determination unit 308, a map usage determination unit 309, a 2D map conversion unit 310, a robot information storage unit 311, a robot allocation unit 312, and a map distribution unit 313.

[0025] FIG. 3 is a flowchart showing how the map using device 3 manages information about each of the mobile robots 2 according to an embodiment, and FIG. 4 is a flowchart showing how the map using device 3 arranges for product delivery and updates map information according to an embodiment. The flowcharts in FIG. 3 and FIG. 4 can be executed in parallel by the map using device 3. According to the flow in FIG. 3, the map using device 3 can periodically grasp and manage the position information, etc., of each of the mobile robots 2, and collect the latest map information measured by the mobile robots 2 in a field F such as a city. According to the flow in FIG. 4, the map using device 3 can update the map information to the latest state, and when a delivery request is received, can determine a delivery route, etc., and select one of the multiple mobile robots 2 to be in charge of delivery work, and instruct the mobile robots 2 to deliver the product along the delivery route.

[0026] Hereinafter, the details of the processing contents of each functional block of the map utilization system 4 shown in FIG. 2 will be described in the order of FIG. 3 and FIG. 4 while describing each step in the flow.

[0027] 3 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.

[0028] <Step S32...current position acquisition unit 202 (imaging unit 204), 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.

[0029] 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. Note that the position information may be acquired by the imaging unit 204 using a camera, LiDAR, or the like, in the same manner as in the self-position estimation process during product delivery, which will be described later.

[0030] 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, and moving speed from various sensors provided in the mobile robot 2.

[0031] 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.

[0032] 3 and 4, it is the wireless communication unit 201 that transmits and receives 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.

[0033] 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 3 and 4 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.

[0034] <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.

[0035] 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. 4 described later, and Fig. 2 does not show functional blocks for performing specific processes for these map updates. 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. Also, the mobile robots 2 to which the map information is transmitted may be limited to a certain number of mobile robots 2. For example, the mobile robot 2 may be limited to mobile robots 2 that have received a 3D map by a method described later and have performed 3D external sensing.

[0036] Each step in FIG. 3 has been described above. The flow in FIG. 3 is executed by each of the multiple mobile robots 2 (each of the m mobile robots 2-1 to 2-m in FIG. 1) 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 as the latest measurement results of the field F from the m mobile robots 2-1 to 2-m (or only a part of them). In this way, the map using device 3 can grasp all of the multiple mobile robots 2 in real time by the flow in FIG. 3, and while keeping the map information up to date, the map using device 3 can make arrangements for product delivery by the flow in FIG. 4.

[0037] <Step S41...3D map information storage unit 304, device status storage unit 205> 4 starts, 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 equipment information stored in the equipment status storage unit 205 of each mobile robot 2 is received and stored in the computational resource determination unit 308, and then the process proceeds to step S42. (Note that the computational resource determination unit 308 uses the information stored in step S41 to perform dynamic determination calculations according to the delivery route in step S43, which will be described later.)

[0038] The 3D map information storage unit 304 stores nationwide road map data and associated facility data of various facilities, stores, etc. 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, stores, etc. 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. The 3D map information may also 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.

[0039] The 3D map information storage unit 304 further links the stored 3D map information with 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 with point coordinates (3D spatial coordinates) of corresponding positions in the 3D map information, and similarly, the edges can be linked with 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.)

[0040] 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.

[0041] 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.

[0042] The device status storage unit 205 stores the status of various devices mounted on the mobile robot 2, such as a processor, memory, various sensors, etc. The device status storage unit 205 stores the performance and usage ratio during operation of processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microcomputer, an FPGA (Field Programmable Gate Array), and memories including a ROM (Read Only Memory), a RAM (Random Access Memory), and a hard disk, for example. (This usage ratio may be given in the form of a "computational resource RM" described later.) The device status storage unit 205 also stores the status of devices that affect the computational load, such as the performance and frame rate of a camera constituting the imaging unit 204 as a sensor, and the performance and scan cycle of a LiDAR (Light Detection and Ranging). (It is assumed that the higher the frame rate and scan cycle, and the greater the number of pixels and point clouds, the greater the amount of sensor input data and the higher the computational load, so the computational resource determination unit 308 described later can perform evaluation and determination processing based on such assumptions.)

[0043] As described above, the device status storage unit 205 stores the various information described above, which is the individual specifications of the computer and sensor of each of the m mobile robots 2-1 to 2-m (mobile robot 2), and some of the mobile robots 2 may have abundant computing resources, while others may have limited computing resources. The information stored in the device status storage unit 205 may be prepared manually or automatically, for example, by executing a command to obtain spec information provided in the robot OS (operating system).

[0044] <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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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 FIG. 2 omits the description of specific functional blocks for this update process.

[0051] In this way, according to the flow of FIG. 4, 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 is updated, thereby enabling delivery arrangements to be made in accordance with the latest map.

[0052] In the following, in regard to step S43, the details of which will be described later, a description will be given of the details of the delivery arrangements made by the map using device 3, as well as the details of the product delivery made by the mobile robot 2 in accordance with these delivery arrangements.

[0053] <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.

[0054] 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 cooperates with a purchasing system (not shown) to perform purchasing processing and develop a product delivery plan.

[0055] 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.

[0056] The destination acquisition unit 303 acquires destination information from the order information stored in the order information storage unit 302 .

[0057] 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).

[0058] 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.

[0059] 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.

[0060] This route guidance data is linked to two-dimensional or three-dimensional map information that is delivered to the mobile robot by a map delivery unit 313, which will be described later. The linked 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 delivered by the map delivery unit 313.)

[0061] The target of route distribution by the route distribution unit 306 (and map distribution by the map distribution unit 313 described later) is one of the multiple mobile robots 2-1 to 2-m that has been determined by the robot allocation unit 312 described later to be in charge of delivery operations.

[0062] The map usage environment determination unit 307 determines whether the ground slope of the environment in which the map is used is sufficient for a 2D map or requires a 3D map. Since the 2D map assumes a flat ground surface, it is suitable for use indoors, or outdoors where the ground may be considered almost flat or where the slope does not change even if the slope is large. On the other hand, since the 3D map holds the ground slope information, it can be used outdoors where the ground slope changes greatly, such as a slope or an uneven road. The map usage environment determination unit 307 narrows down the location range of the map to be used based on the route information stored in the route search unit 305. Then, depending on whether the change in the slope stored in the 3D map information storage unit 304 is within a predetermined range, it determines whether the location range is sufficient for a 2D map. The map usage environment determination unit 307 may, for example, count the number of changes in the slope that exceed a certain value within a certain distance (for example, 10 m), and determine that a 3D map is required if the change exceeds a predetermined threshold. (In the three-dimensional map information, a distinction may be made in advance between movable areas such as the ground and immovable areas such as walls, and the gradient may be evaluated for movable areas.)

[0063] That is, for a certain mobile robot 2, the route searched for by the route search unit 305 is assumed to be nodes n_1→n_2→...n_M-1→n_M, and the route is assumed to be a route that sequentially traces M nodes from the start node n_1 to the end node n_M along M-1 edges E_k (k=1,2,...,M-1) connecting adjacent nodes n_k, n_k+1 (k=1,2,...,M-1). For each edge E_k, three-dimensional local map information LM_k (k=1,2,...,M-1) corresponding to the surrounding environment of the edge E_k is obtained from the three-dimensional map information stored in the three-dimensional map information storage unit 304, and this three-dimensional local map information LM_k is analyzed to determine whether the change in ground slope is large or not.

[0064] The three-dimensional local map information LM_k corresponding to edge E_k may be defined as three-dimensional map information whose three-dimensional spatial distance from edge E_k is within a threshold value, or an orthogonal grid (voxels) for dividing the entire three-dimensional map information may be defined in advance, and the three-dimensional map information that is within one or more voxels that include edge E_k (including at least a part of the straight line or curve corresponding to edge E_k) may be defined as the three-dimensional local map information LM_k.

[0065] In addition, the determination of whether the change in gradient is large at edge E_k may be performed, for example, by obtaining a three-dimensional curve corresponding to edge E_k as a curve tracing on the ground in the three-dimensional local map information LM_k from the start node n_k to the end node n_k+1 at edge E_k, and determining whether the rate of change in altitude with respect to the horizontal movement distance is large on this curve using a threshold value. Alternatively, without using the information on edge E_k, it may be possible to refer to all data constituting the ground in the three-dimensional local map information LM_k and determine whether the variation (dispersion, etc.) in altitude in the ground data is large using a threshold value. Note that the three-dimensional map information stored in the three-dimensional map information storage unit 304 may be given in advance a distinction as to whether the ground is movable or not (if it is not the ground, the wall of a building, etc., applies).

[0066] Moreover, as a simpler method, the determination of whether the change in slope in edge E_k is large may be made from only two spatial coordinates of the start node n_k and the end node n_k+1. For example, assume that the spatial coordinates of the 3D map information are given in (x, y, z) Cartesian coordinates, with the xy plane being the horizontal plane and the z axis being the altitude direction (vertical direction). (Note that this Cartesian coordinate system is used in the example of FIG. 5 described later.) In this case, the slope slope_k of edge E_k may be found as the gradient (absolute value of the tangent) between the start node n_k and the end node n_k+1 as follows, and a threshold determination may be made as to whether this slope slope_k is large or not. The three-dimensional coordinates of two points are n_k=(x k ,yk ,z k ), n_k+1=(x k+1 ,y k+1 ,z k+1 ) The horizontal distance between two points A_k={(x k -x k+1 ) 2 +(y k -y k+1 ) 2} 1 / 2 The perpendicular distance between two points B_k=|z k -z k+1 | The gradient between two points is slope_k=B_k÷A_k

[0067] Also, instead of the gradient between only two points, the start node n_k and the end node n_k+1, as described above, all data constituting the ground in the 3D local map information LM_k may be referenced, plane fitting may be performed on this ground data, and threshold judgment may be performed on the gradient of this plane. Also, instead of or in addition to judging the magnitude of the gradient change for each piece of 3D local map information LM_k, the magnitude of the gradient change may be judged for the entire 3D local map information {LM_k|k=1,2,...,M-1}. For example, for all the gradients slope_k between the above two points {LM_k|k=1,2,...,M-1}, it may be judged whether their variance is large or not by threshold judgment.

[0068] The computational resource determination unit 308 determines whether each of the mobile robots 2-1 to 2-m has computational resources capable of processing a three-dimensional map. The computational resource determination unit 308 determines whether each of the mobile robots 2-1 to 2-m can process a three-dimensional map by referring to computational resource information collected from the device status storage unit 205 of each of the mobile robots 2-1 to 2-m. As described above, the computational resource information is, for example, information related to computational processing capacity, such as the performance of the processor and memory (the higher the performance, the higher the processing capacity) and the usage ratio during operation (the usage ratio that can be evaluated by the "computational resource RM" described later), and information related to the amount of data to be computed, such as the performance of the camera equipped in the mobile robot 2 as a sensor input (such as the number of pixels captured in one image) and frame rate, the performance of LiDAR (such as the number of point clouds acquired at one time) and the scan cycle (the higher the number of pixels and number of point clouds as the spatial resolution and the rate and cycle as the time resolution, the larger the amount of data to be computed and the higher the computational processing load).

[0069] The computational resource determination unit 308, for example, compares the remaining computational resource assuming that the mobile robot 2 is moving while sensing the outside world with a camera or LiDAR with the computational resource required to process a 3D map, and determines whether or not there is a surplus computational resource for processing a 3D map. Here, the computational resource assuming that the mobile robot 2 is moving while sensing the outside world with a camera or LiDAR may utilize past performance data, or may be measured by operating the mobile robot 2 on the spot. (Note that the measurement and acquisition are performed in advance in step S41 as a preparation.)

[0070] Furthermore, since the computational resources required to process the 3D map vary depending on the map complexity in the driving environment and the update cycle of the map according to the moving speed of the mobile robot 2, it is also possible to calculate the computational resources required to move at the maximum expected moving speed through the most complicated location on the driving route to the destination calculated by the route search unit 305. Here, the degree of complexity of the map may be quantified taking into consideration the complexity of the facility information, the number of obstacles, etc.

[0071] For example, when it is determined that the amount of data per grid (the amount of data when loaded into a RAM as a primary memory for processing the information by a processor such as a CPU) for the three-dimensional local map information LM_k corresponding to the edge E_k on the route described above exceeds a threshold, the information may be determined to be complex.

[0072] The computational resources required when the mobile robot 2 moves at the maximum expected moving speed in the place with the most complicated map may be stored as a statistical value.Also, the amount of computational resources required when the mobile robot 2 is stopped (the mobile robot 2 is powered on, the robot OS is running, and any task can be executed, but the mobile robot 2 is in a standby state in which no task is executed) is defined as RS, and the maximum amount of data of objects (obstacles and facilities) that need to be processed for self-position estimation by SLAM or the like within a certain period of time (for example, 1 second) is defined as RD.The computational resources RM required when the mobile robot 2 moves at the maximum expected moving speed in the place with the most complicated map may be calculated as follows: RM=RS+c×RD

[0073] Here, c is a positive number. RD may be calculated in advance for each grid by, for example, decomposing the data of the 3D map stored in the 3D map storage unit 304 for each of the grids described above, and may be stored in the 3D map storage unit 304 in association with the map information. Therefore, the computational resource RM may be calculated for each mobile robot 2 by finding a point (corresponding to a so-called bottleneck point) on the searched route where RD is maximum, and using this maximum value, according to the searched route and the computational resource of each mobile robot 2. As described above, for each edge constituting the searched route in the graph, the grid of the 3D map information including the edge may be referenced, and the value of RD may be examined to find the point where the maximum value is obtained.

[0074] The computing resource determination unit 308 determines whether the amount of computing resources calculated by the present implementation method (the performance of the processor and memory) exceeds the performance of the processor and memory (referred to as processing capacity Cap) provided by each mobile robot 2. If it does not exceed, it is determined that the computing resources required to process the 3D map are available. That is, the determination can be made as follows. When Cap≧RM, since it is within the range of processing capacity, the 3D map is used. When Cap<RM, since it exceeds the processing capacity, the 2D map is used.

[0075] Regarding the processing capacity Cap, using the information on various computing resources collected from the device status storage unit 205, the computing resource determination unit 308 can calculate it as information of the same type as the computing resource RM, for example, in the form of a weighted sum.

[0076] Note that when the maximum moving speed of the mobile robot 2 is high, the update frequency of the map updated following the movement increases, so the maximum data volume RD of the objects that need to be processed within a certain time increases. Therefore, in addition to preparing this maximum data volume RD as a fixed value for each grid of the 3D map data in advance as described above, it may also be defined in the form of RD = RD(v) as a function of the assumed maximum moving speed v, such as in the form of table-form information. Regarding the assumed maximum moving speed v, it may be given for each mobile robot 2 as the specification information of the mobile robot 2, or the physical distance of the path explored for the mobile robot 2 may be divided by the specified delivery required time in advance to determine the average speed during delivery, and a value obtained by adding a predetermined margin to this average speed may be set as the maximum moving speed v for each mobile robot 2 and path.

[0077] The map-to-be-used determining unit 309 determines whether to use a 2D map or a 3D map for each of the mobile robots 2-1 to 2-m based on the results of the determination by the map-to-be-used environment determining unit 307 and the computational resource determining unit 308. When the map-to-be-used environment determining unit 307 determines that the route along which the mobile robot 2 travels has a large change in ground gradient, such as an uneven road, and a 3D map is needed, the map-to-be-used determining unit 309 determines that the 3D map will be used if the mobile robot 2 has computational resources capable of processing the 3D map. On the other hand, when the change in ground gradient is small, the unit 309 determines that the mobile robot 2 will use a 2D map.

[0078] If it is determined that a certain mobile robot 2 requires a 3D map because of a large change in ground gradient along its route, and that the mobile robot 2 lacks the computational resources to process the 3D map along its route, the robot allocation unit 312 described below may determine that the mobile robot 2 cannot handle the requested delivery task and may exclude the mobile robot 2 from targets for which the delivery task is to be allocated. Alternatively, the route search unit 305 may perform route search again for the mobile robot 2 to sequentially calculate alternative routes with the second, third, etc. costs other than the shortest route with the minimum cost, and among these alternative routes, a route with the minimum cost and along which the mobile robot 2 can make delivery using the 2D or 3D map may be found.

[0079] In addition, there are various formats for 3D maps, such as point clouds, occupancy grids, and 3D models, and the calculation load differs. In addition, efforts are being made to compress the data of 3D point cloud maps. Therefore, it is possible to determine the format and data size of the 3D map that can be handled by each of the mobile robots 2-1 to 2-m.

[0080] The 2D map conversion unit 310 reads map information located around the route from the 3D map stored in the 3D map information storage unit 304 for the mobile robot 2 and its route determined by the map usage determination unit 307 to use the 2D map, and converts it into a 2D map including information on whether the mobile robot 2 can move or cannot move at a position on the 2D coordinates, for example, according to the height of the mobile robot 2. As with the 3D map information, the format of the secondary map information may be any existing format, and the occupancy grid may be one that indicates whether the mobile robot 2 can move (passage location) or cannot move (obstacle location) for each 2D grid, or the boundary shape between the movable area and the non-movable area may be given by any 2D model (such as a curve model specified by parameters).

[0081] FIG. 5 shows a schematic example of a sensing range R3 when the mobile robot 2 moves using a three-dimensional map and a sensing range R2 when the mobile robot 2 moves using a two-dimensional map. In the case of a three-dimensional map, the three-dimensional range R3, such as the entire celestial sphere or the entire celestial periphery or a part thereof, centered on the mobile robot 2 is measured by LiDAR or the like and compared with the three-dimensional map to estimate the self-location, and although the calculation load is large, the mobile robot 2 can move along the route even in places with large changes in inclination. On the other hand, in the case of a two-dimensional map, the self-location is estimated by measuring only a two-dimensional range R2 (a range R2 that can be easily approximated to a two-dimensional range even if it is a three-dimensional range) limited only to the height of the mobile robot 2 by LiDAR or the like and comparing it with the two-dimensional map, so although the calculation load is low, the mobile robot 2 can move along the route only in places where the inclination is kept almost constant. Note that the range R2 in the case of a two-dimensional map may be the entire 360° circumference on a two-dimensional plane, or may be limited to a part, such as only the front of the mobile robot 2. (Note that when a two-dimensional map is used, the mobile robot 2 may acquire its position on the two-dimensional map by a method such as GPS or indoor GPS instead of or in addition to measuring the range R2 as shown in FIG. 5 by LiDAR or the like.)

[0082] Note that, even if the hardware of the multiple mobile robots 2 is capable of sensing a three-dimensional range R3 in which a three-dimensional map can be used, some of the mobile robots 2 may use only the sensing results of the two-dimensional range R2 in order to use the two-dimensional map (use the two-dimensional range R2 as part of the three-dimensional range R3). Also, due to limitations in sensing hardware, some of the multiple mobile robots 2 may be capable of sensing only the two-dimensional range R2 and not the three-dimensional range R3.

[0083] The robot information storage unit 311 stores information on whether each of the mobile robots 2-1 to 2-m (and the route searched for each robot) has the computational resources to handle a 3D map, in association with the ID unique to each mobile robot. This information is the determination result of the computational resource determination unit 308 described above, and is stored in the robot information storage unit 311 for reference by the robot allocation unit 312 described below.

[0084] The robot information storage unit 311 also manages the operating status of each mobile robot 2-1 to 2-m (whether it is currently performing a separate delivery task, etc.) to identify the mobile robots 2 that are not performing a separate delivery task, etc., and are waiting for a task request and can be assigned to a delivery service, and provides this information to the robot assignment unit 312 described later.

[0085] The robot allocation unit 312 allocates robots in the map-to-be-used environment determined by the map-to-be-used determination unit 309, based on the robot information stored in the robot information storage unit 311. When the route is in an environment where the ground slope changes significantly and a 3D map is required, it is preferable for the robot allocation unit 312 to allocate to the delivery service a mobile robot 2 (which is often large and expensive) that has the computational resources to process the 3D map. On the other hand, when the route is in an environment where a 2D map is sufficient, any mobile robot 2 may be allocated to the delivery service.

[0086] In this way, the robot allocation unit 312 assigns small, inexpensive mobile robots 2 that can only handle 2D maps in environments where 2D maps are sufficient, and assigns large, expensive mobile robots 2 in environments where 3D maps are necessary, which is expected to reduce the number of large, expensive mobile robots 2 required.

[0087] FIG. 6 shows a schematic example of whether a two-dimensional map or a three-dimensional map is required for a route. A field F to which three-dimensional map information is provided includes two nearly horizontal sections F1 and F3, and a section F2 with a steep gradient that connects these nearly horizontal sections F1 and F3. (The two nearly horizontal sections F1 and F3 are in a relationship in which section F3 is higher than section F1 by a height h on the altitude direction z axis as shown in the figure.) For example, if the start point of the searched route is P1 and the end point is P2, and the route is contained only in the nearly horizontal section F1, the change in altitude is small, and therefore the change in slope is small, so a two-dimensional map is sufficient. On the other hand, if the start point of the searched route is P1 and the end point is P3, and the route passes through sections F1, F2, and F3 in this order, it is necessary to pass through section F2, which has a large change in altitude, on the way to the route, and the change in slope becomes large when passing between sections F1 and F2 and between sections F2 and F3, so a three-dimensional map is required.

[0088] The robot allocation unit 312 may determine one mobile robot 2 to be assigned the delivery task on a rule-based basis for all of the mobile robots 2-1 to 2-m that are not assigned a separate task, with priority given to those that use the 2D map as described above. If there are multiple mobile robots 2 capable of delivery on the 2D map (or 3D map), the one with the shortest physical distance of the route may be automatically selected, or these multiple candidates may be shown to an administrator or the like in the form of a menu, and one of the multiple candidates may be manually selected by the administrator or the like.

[0089] The map distribution unit 313 transmits the 3D map stored in the 3D map information storage unit 304 or the 2D map converted by the 2D map conversion unit 310 to the mobile robot 2 assigned by the robot assignment unit 312 to be in charge of delivery work, in accordance with the determination result by the map to be used determination unit 309. (As described above, information on the delivery route is also transmitted from the route distribution unit 306 to the mobile robot 2 assigned by the robot assignment unit 312, in a form linked to the map distributed by the map distribution unit 313.)

[0090] As information required for enabling the mobile robot 2 to estimate its own position when moving along a route, the map distribution unit 313 only needs to distribute map information within a predetermined range from the route that is determined to be in the surrounding environment of the searched route, regardless of whether the map distribution unit 313 distributes a three-dimensional map or a two-dimensional map. In the case of a three-dimensional map, for an edge E_k constituting the above-mentioned route, three-dimensional local map information LM_k corresponding to this edge E_k may be used to constitute map information within a predetermined range from the route.

[0091] <Delivery process of the mobile robot 2 that has received the delivery instruction in step S43> The above has described in detail 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 2D or 3D 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 2D or 3D map.

[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 map use 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 either a 3D map or a 2D map, depending on the determination made by the map use determination unit 309 of the map use 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 207 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 207 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 capture 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] In the above, the map utilization system 4 of this embodiment has been described assuming that the mobile robot 2 is applied to a delivery service, but the embodiment of the present invention can also be applied to any other service involving movement on a route by the mobile robot 2. For example, the embodiment of the present invention may be applied to a service in which the mobile robot 2 inspects roads, etc.

[0100] Various supplementary examples, additional examples, alternative examples, etc. will be described below.

[0101] (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."

[0102] (2) When a 3D map is determined to be used for a certain mobile robot 2 and the 3D map is delivered to the mobile robot 2, a 2D map may also be delivered to the mobile robot 2. The mobile robot 2 may move along a route using the 3D map in places where the slope changes significantly and the 3D map is required, and using the 2D map in places where the slope changes little and the 2D map is sufficient.

[0103] (3) Fig. 7 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.

[0104] 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.

[0105] 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]

[0106] 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 status 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, 307: Map usage environment determination unit, 308: Computational resource determination unit, 309: Map usage determination unit, 310: 2D map conversion unit, 311: Robot information storage unit, 312: Robot allocation unit, 313: Map distribution 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, The distributed map information is referenced by the mobile robot when estimating its own position while moving, and there are a plurality of mobile robots, some of which have sufficient computational resources to process the three-dimensional map information and some of which do not; memorizing said distinction; Obtaining 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; When there is no location determined to have a large inclination change in the three-dimensional map information along the route, the three-dimensional map information along the route is converted into two-dimensional map information and then distributed to the mobile robot; A map utilization device characterized in that, when there is a location in the three-dimensional map information along the route where a large change in inclination is determined, the three-dimensional map information along the route is delivered as is to a mobile robot, and the mobile robot to which the information is delivered is selected to be one that has sufficient computational resources to process the three-dimensional map information based on the above distinction.

2. A map utilization device as described in claim 1, characterized in that if there are no locations in the three-dimensional map information along the route that are determined to have a large change in slope, the three-dimensional map information along the route is converted into two-dimensional map information and then distributed to a mobile robot that does not have sufficient computing resources to process the three-dimensional map information based on the distinction.

3. For each partial area obtained by dividing the entirety of the pre-constructed three-dimensional map information, evaluating the computational resources required by the mobile robot when moving through the partial area along the route by adding together the complexity (RD) of the three-dimensional map information included in the partial area and the computational resources (RS) required when the mobile robot is in a stopped state, which are preset for each of the plurality of mobile robots; When the required computational resources are within a range of a processing capacity (Cap) preset for each of the plurality of mobile robots, 3. The map utilization device according to claim 1, further comprising: storing said classification for a mobile robot within said range as a robot having sufficient computational resources to process said three-dimensional map information.

4. A map utilization device as described in Claim 3, characterized in that the processing capacity (Cap) pre-set for each of the multiple mobile robots depends on a performance evaluation of the processor and / or memory provided in the mobile robot as a computer.

5. A map utilization device as described in claim 3 or 4, characterized in that the processing capacity (Cap) pre-set for each of the multiple mobile robots depends on the performance of the sensors, such as a camera and / or LiDAR (Light Detection and Ranging) equipped on the mobile robot, when the mobile robot estimates its own position.

6. A map utilization device according to any one of claims 1 to 5, characterized in that the specified route is determined by searching for a route from a current position of the mobile robot as a starting point to a destination position of the mobile robot as an end point from a discrete graph that represents a route network on a field corresponding to the three-dimensional map information.

7. 7. The map utilization device according to claim 1, wherein the mobile robot is made to perform the delivery of goods by moving along a route specified for the mobile robot.

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

Images