Traveling map creation device, self-propelled robot system, traveling map creation method, and program

Abstract

To provide a traveling-map creating device that is able to easily set a traveling area on a traveling map for a self-propelled robot.SOLUTION: A traveling-map creating device 100 includes: a sensor data acquisition unit 131 that acquires a positional relation and a moving locus relative to an object around a position sensor 120; a floor map acquisition unit 132 that acquires a floor map; a self-position estimation unit 133 that estimates a self-position of the position sensor 120 on the floor map; a traveling-area setting unit 134 that sets a traveling area for a self-propelled robot 200; and a traveling-map creation unit 135 that creates a traveling map including the traveling area. After calculating a first direction D1 in a first area 1, the traveling-area setting unit 134 calculates a second direction D2 in the second area 2 and, based on whether or not an angle θ of the second direction D2 relative to the first direction D1 is equal to or larger than a predetermined value, sets the traveling area.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a traveling map creation device, a self-propelled robot system, a traveling map creation method, and a program. [Background technology]

[0002] For example, Patent Document 1 discloses a method of recognizing repeating shapes on the driving route of an autonomous driving device as landmarks that separate driving areas, and setting the area surrounded by a pair of landmarks and a wall surface as the driving area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-145517 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology described in Patent Document 1 requires the user to place landmarks on the travel route of the autonomous mobile device in advance to divide the travel area, which is time-consuming.

[0005] Therefore, the present disclosure provides a driving map creation device etc. that can easily set a driving area on a map for driving a self-propelled robot. [Means for solving the problem]

[0006] In order to achieve the above object, a driving map creation device according to an embodiment of the present disclosure is provided. This is a map creation device for creating a map for a self-propelled robot that travels autonomously within the facility. The position sensor moves on the predetermined floor and detects objects around the sensor. The positional relationship and the corresponding object are measured from a position sensor that measures the positional relationship of the object with respect to itself. A sensor data acquisition unit that acquires a movement trajectory of the position sensor, and a floor indicating the predetermined floor. A floor map acquisition unit that acquires a floor map, and a previous data acquired by the sensor data acquisition unit. Based on the positional relationship, a self-position, which is the position of the position sensor on the floor map, is calculated. and a self-position estimation unit that estimates the position based on the positional relationship, the self-position, and the floor map. Based on the above, a travel area for setting a travel area of ​​the self-propelled robot on the floor map is determined. a travel area setting unit, and a travel area setting unit for setting the travel area including the travel area set by the travel area setting unit; a driving map creation unit that creates a map, and the driving area setting unit At regular time intervals, an arrangement direction of objects that determines an outline of the floor is calculated based on the positional relationship, and when an angle between a first direction, which is the arrangement direction calculated first, and a second direction, which is the arrangement direction calculated later, is equal to or greater than a predetermined value, an area whose outline is determined by the objects whose arrangement directions are calculated during the period from when the first direction is calculated to when the second direction is calculated is set as a first area of ​​a travel area for the self-propelled robot. .

[0007] In addition, the self-propelled robot system according to one aspect of the present disclosure is configured to autonomously run within a predetermined floor. A self-propelled robot that travels around the area, and a map creation system that creates a map for the self-propelled robot to travel around the area. and a device for generating a map for travelling, the device being configured to generate a map for travelling by a position sensor that moves on the predetermined floor. The present invention is directed to a method for detecting a position of a vehicle that detects an object around the vehicle and measures the positional relationship of the detected object with respect to the vehicle. A sensor data acquisition method for acquiring the positional relationship and a movement trajectory of the position sensor from a position sensor a floor map acquisition unit for acquiring a floor map showing the predetermined floor; Based on the positional relationship acquired by the sensor data acquisition unit, A self-position estimating unit that estimates a self-position, which is a position of the position sensor, Based on the self-location and the floor map, the self-propelled robot on the floor map a travel area setting unit that sets a travel area of ​​the vehicle; a driving map creation unit that creates a driving map including the driving area, and the driving area setting unit At regular time intervals, an arrangement direction of objects that determines an outline of the floor is calculated based on the positional relationship, and when an angle between a first direction, which is the arrangement direction calculated first, and a second direction, which is the arrangement direction calculated later, is equal to or greater than a predetermined value, an area whose outline is determined by the objects whose arrangement directions are calculated during the period from when the first direction is calculated to when the second direction is calculated is set as a first area of ​​a travel area for the self-propelled robot. .

[0008] In addition, the method for creating a map for driving according to one aspect of the present disclosure is a method for creating a map for driving that autonomously drives a vehicle on a predetermined floor. A method for creating a map for driving a self-propelled robot, comprising the steps of: A position sensor that moves the lower part detects objects around the vehicle and automatically detects the detected objects. A position sensor measures the positional relationship with respect to the user and the movement trajectory of the position sensor. A sensor data acquisition step for acquiring a trace, and acquiring a floor map showing the predetermined floor. a floor map acquisition step for acquiring a floor map of the location acquired in the sensor data acquisition step; Based on the relationship, a self-location, which is a position of the position sensor on the floor map, is estimated. and estimating a position based on the positional relationship, the self-position, and the floor map. Based on the above, a travel area for setting a travel area of ​​the self-propelled robot on the floor map is determined. a setting step of setting the travel area including the travel area set in the travel area setting step; A driving map creating step of creating a driving map, In the past, At regular time intervals, an arrangement direction of objects that determines an outline of the floor is calculated based on the positional relationship, and when an angle between a first direction, which is the arrangement direction calculated first, and a second direction, which is the arrangement direction calculated later, is equal to or greater than a predetermined value, an area whose outline is determined by the objects whose arrangement directions are calculated during the period from when the first direction is calculated to when the second direction is calculated is set as a first area of ​​a travel area for the self-propelled robot. .

[0009] The present disclosure may be realized as a program for causing a computer to execute the driving map creation method. Also, the present disclosure may be realized as a non-transitory recording medium such as a CD-ROM having the program recorded thereon and readable by a computer. Also, the present disclosure may be realized as information, data, or signals indicating the program. And, the program, information, data, and signals may be distributed via a communication network such as the Internet. Effect of the Invention

[0010] According to the travel map creation device and the like of the present disclosure, a travel area can be easily set on a map for travel of a self-propelled robot. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram for explaining an overview of a self-propelled robot system according to an embodiment. [Diagram 2] FIG. 2 is a block diagram illustrating an example of the configuration of a self-propelled robot system according to an embodiment. [Diagram 3] FIG. 3 is a perspective view of the navigational map creation device according to the embodiment, seen from diagonally above. [Figure 4] FIG. 4 is a front view of the navigational map creation device according to the embodiment, as viewed from the front side. [Diagram 5] FIG. 5 is a perspective view showing the external appearance of the self-propelled robot according to the embodiment as viewed from the side. [Figure 6] FIG. 6 is a perspective view showing the external appearance of the self-propelled robot according to the embodiment as viewed from the front. [Figure 7] FIG. 7 is a bottom view showing the external appearance of the self-propelled robot according to the embodiment as viewed from the rear side. [Figure 8] FIG. 8 is a flowchart showing a first example of the operation of the self-propelled robot system according to the embodiment. [Figure 9] FIG. 9 is a flowchart showing a detailed flow of step S04 in the first example. [Figure 10] FIG. 10 is a diagram showing a schematic flow of the process shown in FIG. [Figure 11] FIG. 11 is a diagram showing an application example of the traveling area setting process shown in the first example of the operation. [Figure 12] FIG. 12 is a flowchart showing a second example of the operation of the self-propelled robot system according to the embodiment. [Figure 13] FIG. 13 is a diagram showing an application example of the traveling area setting process shown in the second example of the operation. [Figure 14]FIG. 14 is a flowchart showing an example of operation when the self-propelled robot system is a self-propelled robot equipped with a travel map creation function. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of a driving map creation device and the like according to the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below shows a preferred specific example of the present disclosure. Therefore, the numerical values, shapes, materials, components, arrangement and connection of the components, steps, order of steps, and the like shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components that are not described in the independent claims will be described as optional components.

[0013] The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0014] In addition, each drawing is a schematic diagram and is not necessarily a precise illustration. In addition, in each drawing, the same reference numerals are used for substantially the same configurations, and duplicated explanations may be omitted or simplified.

[0015] In the following embodiments, expressions using the word "approximately" are used, such as "approximately triangular." For example, "approximately triangular" does not only mean that it is a perfect triangle, but also means that it is essentially a triangle, that is, it includes, for example, a triangle with rounded corners. The same applies to other expressions using "approximately."

[0016] In addition, in the following embodiments, a self-propelled robot traveling on the floor surface of a particular floor may be described as a top view when viewed vertically from above, and as a bottom view when viewed vertically from below.

[0017] (Embodiment) [Self-propelled robot system] [1. Overview] First, an overview of a self-propelled robot system 300 according to an embodiment will be described. Fig. 1 is a diagram for explaining the overview of a self-propelled robot system according to an embodiment.

[0018] In self-propelled robot system 300, a plurality of driving areas in which self-propelled robot 200 travels are set on a driving map for self-propelled robot 200, which travels autonomously on a specified floor, and self-propelled robot 200 travels on a specified floor based on the driving map in which the plurality of driving areas are set.

[0019] The predetermined floor is, for example, a floor surrounded by walls in a building. The building may be, for example, a facility such as a hotel, a commercial facility, an office building, a hospital, a nursing home, an art museum, or a library, or may be an apartment building or other collective housing.

[0020] As shown in FIG. 1, a self-propelled robot system 300 according to an embodiment includes a traveling map creation device 100 and a self-propelled robot 200, for example.

[0021] In the example of Fig. 1, the traveling map creation device 100 is placed on a dolly 190, and the user pushes the dolly 190 to move around the floor, but this is not limited thereto. For example, the traveling map creation device 100 may be provided with a running unit including wheels and a motor for rotating the wheels on the main body 101 (see Fig. 3), and may be allowed to move around the floor by operating a remote control or the like. Also, for example, the traveling map creation device 100 may further include a handle on the main body 101, in which case the user may operate the handle to move the traveling map creation device 100.

[0022] The traveling map creation device 100 is equipped with a position sensor such as a LIDAR (Light Detection and Ranging) and acquires the positional relationship of surrounding objects relative to the traveling device while traveling on a specific floor. The traveling map creation device 100 acquires a floor map showing the specific floor and estimates its own position on the floor map based on the positional relationship of the surrounding objects relative to the traveling device. The traveling map creation device 100 determines a first area including a specific start point and calculates a first direction that is the arrangement direction of objects (e.g., walls and pillars) that determine the outline of the specific floor in the determined first area. Then, after calculating the first direction, the traveling map creation device 100 calculates, at regular intervals, a second direction which is the arrangement direction of objects (e.g., walls and pillars) which determine the outline of a specified floor in the second area including the movement trajectory of the position sensor (or the traveling map creation device 100 equipped with the position sensor) during the specified time, and if the angle of the second direction with respect to the first direction is equal to or greater than a specified value, sets the first area as the first traveling area, and if the angle is not equal to or greater than the specified value, extends the first area in the first direction and updates it to a new first area which includes the second area.

[0023] In addition, when it is difficult to specify the direction of the arrangement of walls and pillars in one direction, for example, at a point where the direction of the arrangement of walls and pillars is interrupted, the user may place two or more markers 5 on the floor or wall surface of that point to determine the outline of a specific floor on which the self-propelled robot 200 will travel.

[0024] The self-propelled robot 200 creates a driving plan based on a driving map including a driving area created by the driving map creation device 100, for example, and autonomously drives within a specified floor according to the created driving plan.

[0025] In this way, in self-propelled robot system 300, self-propelled robot 200 can create a driving plan based on a driving map, including a driving area, created by driving map creation device 100, and therefore the driving of self-propelled robot 200 can be appropriately controlled.

[0026] [2. Configuration] Next, a description will be given of the configuration of self-propelled robot system 300 according to an embodiment. Fig. 2 is a block diagram showing an example of the configuration of self-propelled robot system 300 according to an embodiment.

[0027] Self-propelled robot system 300 according to the embodiment includes, for example, a traveling map creation device 100 and a self-propelled robot 200. Each component will be described below.

[0028] [2-1. Driving map creation device] First, the traveling map creation device 100 will be described with reference to Fig. 1 to Fig. 4. Fig. 3 is a perspective view of the traveling map creation device 100 according to the embodiment, seen from diagonally above. Fig. 4 is a front view of the traveling map creation device 100 according to the embodiment, seen from the front.

[0029] The traveling map creation device 100 is a device that creates a map for traveling of the self-propelled robot 200 that autonomously travels on a predetermined floor. For example, the traveling map creation device 100 creates a map for traveling while traveling on a predetermined floor by operation of a user. The specific operation will be described later.

[0030] 1 and 3, the traveling map creation device 100 is placed on, for example, a dolly 190 and travels on a predetermined floor by a user's operation. Here, the user pushes the dolly 190 to cause the traveling map creation device 100 to travel. For example, a stand 192 for placing a terminal device (not shown) may be attached to a handle 191 of the dolly 190, or a presentation unit 160 of the traveling map creation device 100 may be installed. The presentation unit may be a so-called display panel.

[0031] 2, the driving map creation device 100 includes, for example, a communication unit 110, a position sensor 120, a control unit 130, a storage unit 140, a reception unit 150, and a presentation unit 160. Each component will be described below.

[0032] [Communications Department] The communication unit 110 is a wireless communication module (also called a communication circuit) that enables the traveling map creation device 100 to perform wireless communication with the self-propelled robot 200. The communication performed by the communication unit 110 is wireless communication, but may be wired communication. There is also no particular limitation on the communication standard used for the communication.

[0033] [Position sensor] The position sensor 120 detects objects around the traveling map creation device 100 and measures the positional relationship of the objects with respect to the traveling map creation device 100. For example, the position sensor 120 is disposed in the center of the upper surface of the main body 101, and measures the positional relationship including the distance and direction between the traveling map creation device 100 and objects including walls present around the traveling map creation device 100. The position sensor 120 may be, for example, a LIDAR or a laser range finder that emits light and detects the positional relationship based on the light reflected by an obstacle and returned. The position sensor 120 may have one or two optical scanning axes to perform two-dimensional or three-dimensional measurement of a predetermined area around the traveling map creation device 100.

[0034] The traveling map creation device 100 may include other types of sensors in addition to the position sensor 120. For example, the traveling map creation device 100 may further include a camera 122 (see FIG. 3 and FIG. 4), an obstacle sensor 124 (see FIG. 4), a floor sensor, an encoder, an acceleration sensor, an angular velocity sensor, a contact sensor, an ultrasonic sensor, a distance sensor, etc. The obstacle sensor 124 has a transmitter 124a arranged in the center of the front of the main body 101 and receivers 124b arranged on both sides of the transmitter 124a, and the receivers 124b receive ultrasonic waves transmitted from the transmitter 124a and reflected by the obstacle, thereby detecting the distance and position of the obstacle.

[0035] [Control Unit] The control unit 130 acquires sensor data such as a positional relationship between the main body 101 and objects around the main body 101 obtained by sensing the environment around the main body 101 of the traveling map creation device 100 using the position sensor 120, and performs various calculations. Specifically, the control unit 130 is realized by a processor, a microcomputer, or a dedicated circuit. The control unit 130 may also be realized by a combination of two or more of a processor, a microcomputer, or a dedicated circuit. For example, the control unit 130 includes a sensor data acquisition unit 131, a floor map acquisition unit 132, a self-position estimation unit 133, a traveling area setting unit 134, and a traveling map creation unit 135.

[0036] The sensor data acquisition unit 131 acquires the positional relationship between the main body 101 and objects around the main body 101, and the movement trajectory of the main body 101 (i.e., the traveling map creation device 100), measured by the position sensor 120. When the traveling map creation device 100 includes other types of sensors in addition to the position sensor 120, the sensor data acquisition unit 131 may further acquire sensor data acquired by the other types of sensors.

[0037] The floor map acquisition unit 132 acquires a floor map showing a specific floor. The floor map acquisition unit 132 may create a floor map showing a specific floor by a map creation technology such as SLAM (Simultaneous Localization and Mapping), or may acquire a floor map input from an external device (not shown) via a network. The floor map may be stored in advance in the storage unit 140, and in this case, the floor map acquisition unit 132 may read and acquire the floor map from the storage unit 140.

[0038] The self-position estimation unit 133 estimates a self-position, which is the position of the traveling map creation device 100 on the floor map, by using the relative positional relationship between the object and the position sensor 120 acquired from the position sensor 120 and the floor map. For example, the self-position estimation unit 133 estimates the self-position by using the SLAM technology.

[0039] In addition, the driving area setting unit 134 sets a driving area for the self-propelled robot 200 on the floor map based on the positional relationship acquired by the sensor data acquisition unit 131, the self-position estimated by the self-position estimation unit 133, and a floor map showing a specified floor.

[0040] For example, the driving area setting unit 134 determines a first area including a predetermined starting point based on the positional relationship, the self-position, and the floor map, and calculates a first direction, which is the arrangement direction of objects (e.g., walls and pillars) that determine the outline of a predetermined floor in the determined first area. The first direction is a reference direction of the driving area. After calculating the first direction, the driving area setting unit 134 calculates a second direction, which is the arrangement direction of objects (e.g., walls and pillars) that determine the outline of a predetermined floor in a second area including a movement trajectory of the position sensor 120 (more specifically, the main body 101 of the driving map creation device 100 equipped with the position sensor 120) during the certain period of time. The driving area setting unit 134 sets the driving area based on the magnitude of the angle of the second direction with respect to the first direction. The specific operation of the driving area setting unit 134 will be described later.

[0041] The driving map creation unit 135 creates a driving map that includes the driving area set by the driving area setting unit 134. Furthermore, the driving map creation unit 135 may create a driving map that includes no-entry areas where the entry of the self-propelled robot 200 is prohibited.

[0042] The driving map creation unit 135 outputs the created driving map to the self-propelled robot 200 via the communication unit 110.

[0043] [Storage] The storage unit 140 is a storage device that stores a floor map indicating a specific floor, sensor information acquired by the position sensor 120, and the like. Furthermore, the storage unit 140 may store a floor map acquired by the floor map acquisition unit 132 and a map for driving created by the map for driving creation unit 135. The storage unit 140 also stores a computer program executed by the control unit 130 to perform the above-mentioned arithmetic processing. The storage unit 140 is realized by, for example, an HDD (Hard Disk Drive), a flash memory, or the like.

[0044] [Reception] The reception unit 150 receives an input operation by a user. The reception unit 150 may be realized by, for example, a touch panel, a display panel, a hardware button, or a microphone. The touch panel may be, for example, a capacitive touch panel or a resistive touch panel. The display panel has a function of displaying images and a function of receiving manual input by a user, and receives input operations to a numeric keypad image or the like displayed on a display panel such as a liquid crystal panel or an organic EL (Electro Luminescence) panel. The microphone receives voice input by a user.

[0045] Note that, while an example is shown here in which the reception unit 150 is a component of the traveling map creation device 100, the reception unit 150 may be incorporated into the self-propelled robot 200, a remote controller (not shown), or a terminal device (not shown).

[0046] [Presentation part] The presentation unit 160 presents notification information to the user. The notification information may be an object detection result, a driving map, etc. The presentation unit 160 may be realized, for example, by a display panel, a display panel and a speaker, or a hardware button, a lamp, or the like.

[0047] [2-2. Self-propelled robot] Next, self-propelled robot 200 will be described. Self-propelled robot 200 is a robot that travels autonomously. For example, self-propelled robot 200 acquires a map for travel created by travel map creation device 100, and travels autonomously on a predetermined floor that corresponds to the map for travel. Self-propelled robot 200 is not particularly limited as long as it is a robot that travels autonomously, but may be, for example, a transport robot that transports luggage or the like, or a vacuum cleaner. An example in which self-propelled robot 200 is a vacuum cleaner will be described below.

[0048] Fig. 5 is a perspective view showing the exterior of self-propelled robot 200 according to the embodiment as seen from the side. Fig. 6 is a perspective view showing the exterior of self-propelled robot 200 according to the embodiment as seen from the front. Fig. 7 is a bottom view showing the exterior of self-propelled robot 200 according to the embodiment as seen from the back.

[0049] As shown in FIGS. 5 to 7, the self-propelled robot 200 includes a main body 201, two side brushes 271, a main brush 272, two wheels 261, and a position sensor 220, for example.

[0050] Main body 201 houses each of the components of self-propelled robot 200. In the present embodiment, main body 201 is substantially circular in top view. The shape of main body 201 in top view is not particularly limited. The shape of main body 201 in top view may be, for example, substantially rectangular, substantially triangular, or substantially polygonal. Main body 201 has suction port 273 on the bottom surface.

[0051] Side brush 271 is a brush for cleaning the floor surface, and is provided on the underside of main body 201. In the present embodiment, self-propelled robot 200 is equipped with two side brushes 271. The number of side brushes 271 equipped on self-propelled robot 200 may be one, or may be three or more, and is not particularly limited.

[0052] The main brush 272 is disposed in a suction port 273, which is an opening provided on the bottom surface of the main body 201, and is a brush for raking up dust on the floor surface into the suction port 273.

[0053] The two wheels 261 are used to propel the self-propelled robot 200.

[0054] 2, 5, and 6, self-propelled robot 200 includes, for example, main body 201, position sensor 220, running unit 250 arranged on main body 201 to enable main body 201 to run, and cleaning unit 260 that cleans a floor surface. Furthermore, self-propelled robot 200 may include an obstacle sensor (not shown), a floor surface sensor, a collision sensor, an encoder, an acceleration sensor, an angular velocity sensor, a distance sensor, and the like, in addition to position sensor 220. Details of running unit 250 and cleaning unit 260 will be described later.

[0055] [Position sensor] Position sensor 220 is a sensor that detects objects around main body 201 of self-propelled robot 200 and acquires the positional relationship of the object with respect to main body 201. Position sensor 220 may be, for example, a LIDAR that emits light and detects the positional relationship (e.g., the distance and direction from the self to an object) based on the light reflected by an obstacle and returned. Among others, position sensor 220 may be a LIDAR.

[0056] Next, the functional configuration of the self-propelled robot 200 will be described with reference to FIG.

[0057] Self-propelled robot 200 includes a communication unit 210, a position sensor 220, a control unit 230, a memory unit 240, a traveling unit 250, and a cleaning unit 260.

[0058] [Communications Department] The communication unit 210 is a wireless communication circuit that enables the self-propelled robot 200 to perform wireless communication with the traveling map creation device 100. There are no particular limitations on the communication standard used for communication by the communication unit 210.

[0059] [Control Unit] Control unit 230 performs various calculations based on sensor information obtained by sensing the environment around self-propelled robot 200 using position sensor 220 and an obstacle sensor (not shown) and on a map for driving. Specifically, control unit 230 is realized by a processor, a microcomputer, or a dedicated circuit. Control unit 230 may also be realized by a combination of two or more of a processor, a microcomputer, or a dedicated circuit. For example, control unit 230 includes a map for driving acquisition unit 231, a self-position estimation unit 232, a driving plan creation unit 233, a driving control unit 234, and a cleaning control unit 235.

[0060] The driving map acquisition unit 231 acquires a driving map created by the driving map creation device 100. The driving map acquisition unit 231 may acquire the driving map by reading it from the storage unit 240, or may acquire the driving map output by the driving map creation device 100 through communication.

[0061] The self-position estimation unit 232 estimates its own position, which is the position of the main body 201 of the self-propelled robot 200 on the map for driving, based on, for example, the map for driving acquired by the map for driving acquisition unit 231 and the positional relationship of surrounding objects to the main body 201 of the self-propelled robot 200 acquired by the position sensor 220.

[0062] Travel plan creation unit 233 creates a travel plan based on a map for travel and the self-location. For example, as shown in FIG. 2 and FIG. 5 to FIG. 7, in the case where self-propelled robot 200 is a vacuum cleaner, travel plan creation unit 233 may further create a cleaning plan. The cleaning plan includes a cleaning order for cleaning cleaning areas, a travel path and a cleaning mode in each area, and the like. The cleaning mode is, for example, a combination of the travel speed of self-propelled robot 200, the suction strength for sucking up dirt on the floor surface, and the rotation speed of the brush.

[0063] Travel control unit 234 causes the vacuum cleaner to travel using a cleaning route based on the self-position estimated by self-position estimation unit 232. When travel control unit 234 acquires from a sensor that an object or the like is present on the travel route, it may control travel unit 250 to cause self-propelled robot 200 to travel while avoiding the object.

[0064] Cleaning control unit 235 causes cleaning unit 260 to perform cleaning that corresponds to its own position based on the cleaning schedule. For example, cleaning control unit 235 changes the suction power and whether or not the brush rotates based on its own position.

[0065] [Storage] The storage unit 140 is a storage device that stores a map for driving, sensor information sensed by the position sensor 220 and an obstacle sensor (not shown), and a computer program executed by the control unit 230. The storage unit 240 is realized by, for example, a semiconductor memory.

[0066] [Running part] Running unit 250 is disposed on main body 201 of self-propelled robot 200, and enables main body 201 to move. Running unit 250 includes, for example, a pair of running units (not shown). One running unit is disposed on each of the left and right sides of the center in the width direction of self-propelled robot 200 in a plan view. The number of running units is not limited to two, and may be one, or three or more.

[0067] For example, the traveling unit has wheels 261 (see FIGS. 5 to 7) that travel on a floor surface, a traveling motor (not shown) that applies torque to wheels 261, and a housing (not shown) that accommodates the traveling motor. Each wheel 261 of the pair of traveling units is accommodated in a recess (not shown) formed in the lower surface of main body 201, and is attached so as to be rotatable relative to main body 201. Self-propelled robot 200 may also be of an opposed two-wheel type that includes casters (not shown) as auxiliary wheels. In this case, traveling unit 250 can independently control the rotation of each wheel 261 of the pair of traveling units, thereby allowing self-propelled robot 200 to travel freely in directions such as forward, backward, left turn, and right turn. Traveling unit 250 operates the traveling motor and the like based on instructions from travel control unit 234 to cause self-propelled robot 200 to travel.

[0068] [Cleaning Department] Cleaning unit 260 is disposed in main body 201 of self-propelled robot 200, and performs at least one cleaning operation of wiping, sweeping, and sucking dust on the floor surface around main body 201. For example, cleaning unit 260 sucks up debris such as dust present on the floor surface through suction port 273 (see FIG. 7). Suction port 273 is provided at the bottom of main body 201 so that debris such as dust present on the floor surface can be sucked into main body 201. Although not shown, cleaning unit 260 includes a brush travel motor that rotates side brush 271 and main brush 272, a suction motor that sucks up debris from suction port 273, a power transmission unit that transmits power to these motors, a dirt storage unit that stores the sucked up debris, and the like. Cleaning unit 260 operates the brush travel motor, the suction motor, and the like based on a control signal output from cleaning control unit 235. Side brushes 271 sweep up dirt on the floor surface around main body 201, and guide the dirt to suction port 273 and main brush 272. As shown in FIGS. 5 to 7, self-propelled robot 200 includes two side brushes 271. Each side brush 271 is disposed on the side of the front of the bottom surface of main body 201 (i.e., the forward direction). Side brush 271 rotates in a direction capable of collecting dirt from the front of main body 201 toward suction port 273. The number of side brushes 271 is not limited to two, and may be one, or three or more. The number of side brushes 271 may be arbitrarily selected by the user. Each side brush 271 may have a detachable structure.

[0069] [3. Operation] Next, the operation of self-propelled robot system 300 according to the embodiment will be described with reference to the drawings.

[0070] [First example] First, a first example of the operation of self-propelled robot system 300 according to the embodiment will be described. Fig. 8 is a flowchart showing the first example of the operation of self-propelled robot system 300 according to the embodiment. Fig. 9 is a flowchart showing a detailed flow of step S04 in the first example. The following description will be given with reference to Figs. 2, 8 and 9.

[0071] Although not shown, the traveling map creation device 100 starts traveling in response to a user operation. When traveling starts, the self-propelled robot system 300 performs, for example, the following operations. Note that the traveling map creation device 100 may be caused to travel by the user operating a handle, or may be caused to travel by operating a joystick or a remote control, etc.

[0072] The sensor data acquisition unit 131 of the driving map creation device 100 acquires the positional relationship of surrounding objects with respect to the vehicle itself measured by the position sensor 120, and the movement trajectory of the position sensor (step S01).

[0073] Next, the floor map acquisition unit 132 of the traveling map creation device 100 acquires a floor map of a predetermined floor (step S02). More specifically, the floor map acquisition unit 132 may read and acquire the floor map from the storage unit 140. The floor map acquisition unit 132 may create a floor map based on the positional relationship acquired in step S01 using a map creation technique such as SLAM, or may acquire a floor map input from an external device (not shown) via a network.

[0074] Next, the self-position estimation unit 133 of the traveling map creation device 100 estimates its own position, which is the position of the position sensor 120 (in other words, the traveling map creation device 100 equipped with the position sensor 120) on the floor map acquired in step S02 (step S03). For example, the self-position estimation unit 133 estimates the self-position, which is the position of the traveling map creation device 100 on the floor map, by using the relative positional relationship between the object and the position sensor 120 acquired from the position sensor 120 and the floor map.

[0075] The traveling map creation device 100 may repeat steps S01 to S03 while traveling. For example, the floor map acquisition unit 132 and the self-position estimation unit 133 may create a floor map while estimating the self-position by SLAM technology, and may successively update the self-position and the floor map.

[0076] The traveling map creation device 100 may perform step S01 while traveling, and may perform steps S02 and S03 after traveling a predetermined floor.

[0077] Next, the travel area setting unit 134 of the travel map creation device 100 sets the travel area for the self-propelled robot 200 on the floor map (step S04). Here, a more specific description will be given with reference to Fig. 9 and Fig. 10. Fig. 10 is a diagram that illustrates the flow of Fig. 9.

[0078] In step S04, the travel area setting unit 134 determines a first area 1 including a predetermined starting point SP1 based on the positional relationship, the vehicle's own position, and the floor map (step S11). As shown in (a) of FIG. 10, the first area 1 is an area including the predetermined starting point SP1.

[0079] Next, the travel area setting unit 134 calculates a first direction D1, which is the arrangement direction of objects (e.g., walls and pillars) that determine the outline of a predetermined floor in the first area 1 determined in step S11 (step S12). After step S12, the travel area setting unit 134 determines a second area 2 (see FIG. 10(a)) that includes the movement trajectory of the position sensor 120 within a certain time period (step S13). The travel area setting unit 134 calculates a second direction D1, which is the arrangement direction of objects (e.g., walls and pillars) that determine the outline of a predetermined floor in the second area 2 determined in step S13 (step S14).

[0080] Next, the traveling area setting unit 134 determines whether the angle θ of the second direction D2 with respect to the first direction D1 is equal to or greater than a predetermined value (step S15). If the traveling area setting unit 134 determines that the angle θ is equal to or greater than a predetermined value (Yes in step S15), it sets the second area 2 as a new first area 1' (see FIG. 10(c)), and sets the second direction D2 (see FIG. 10(a2)) as a new first direction D1' (see FIG. 10(c)) (step S16).

[0081] On the other hand, if the driving area setting unit 134 determines that the angle θ is not greater than or equal to the predetermined value (No in step S15), it extends the first area 1 in the first direction D1 to set a new first area 1' (see (b) of Figure 10) including the second area 2, and sets the first direction D1 (see (a1) of Figure 10) as the new first direction D1' (see (b) of Figure 10) (step S17).

[0082] Next, the driving area setting unit 134 sets a new second area 2' (see (d) and (e) of Figure 10) that includes the movement trajectory of the position sensor 120 within a certain period of time, and calculates the second direction (new second direction) in the new first area 1' (step S18).

[0083] Next, if the driving area setting unit 134 determines that the self-location information has ended (Yes in step S19), it ends the driving area setting process. On the other hand, if the driving area setting unit 134 determines that the self-location information has not ended (No in step S19), it returns to the process of step S15.

[0084] In step S18, for example, when the traveling area setting unit 134 detects a wall in the first direction on a predetermined floor, the traveling area setting unit 134 may set the area up to the detected wall as one traveling area.

[0085] An application example of the travel area setting process shown in the first example of the operation will be described below. Fig. 11 is a diagram showing an application example of the travel area setting process shown in the first example of the operation.

[0086] 11, the traveling map creation device 100 divides two adjacent traveling areas (for example, a first traveling area RA1 and a second traveling area RA2) by determining whether the magnitude of the angle of the second direction with respect to the first direction (for example, θ1) is equal to or greater than a threshold value. According to the traveling map creation device 100 according to the first embodiment and the traveling map creation method executed by the traveling map creation device 100, even if the direction of the walls and pillars that determine the outline of a predetermined floor on which the self-propelled robot 200 travels is curved, a rectangular traveling area can be set along the direction of the arrangement of the walls and pillars.

[0087] [Second example] Next, a second example of the operation of self-propelled robot system 300 according to an embodiment will be described. In the first example, an example was shown in which the objects that determine the contour of a given floor are walls and pillars, but in the second example, an example will be described in which, in addition to walls and pillars, marker 5 is included as an object that determines the contour of a given floor. Note that since marker 5 has been described above, a description thereof will be omitted here.

[0088] Fig. 12 is a flowchart showing a second example of the operation of self-propelled robot system 300 according to an embodiment. In the second example, the processes from step S12 to step S15 in Fig. 9 differ from the first example. The following will be described with reference to Figs. 2, 9, 12, and 13. Fig. 13 is a diagram showing an application example of the traveling area setting process shown in the second example of operation.

[0089] After step S12 shown in FIG. 9, the travel area setting unit 134 determines a second area including a movement trajectory of the position sensor within a certain time (step S14). Next, the travel area setting unit 134 determines whether the marker 5 is detected in the area (step S21). When the travel area setting unit 134 determines that the marker 5 is detected in the area (Yes in step S21), it sets a virtual wall (a so-called virtual wall) extending in the arrangement direction of the markers 5 (step S22). For example, as shown in FIG. 13(a), in a place where the wall is distortedly curved, such as an elevator hall, it is difficult to calculate the arrangement direction of the wall and the pillar, so the marker 5 may be installed on the floor surface, the wall surface, or the surface of the pillar. Also, for example, even if it is difficult for the position sensor 120 to detect an object on a glass surface or the like, the marker 5 may be installed on the glass surface or the floor surface in front of the glass surface.

[0090] Next, the travel area setting unit 134 calculates a second direction which is the arrangement direction of the walls, pillars, and virtual walls in the second area (step S23). For example, two or more markers 5 may be placed, and the arrangement direction of the virtual walls may be defined by the arrangement direction of the two or more markers 5. The travel area setting unit 134 calculates the arrangement direction of the virtual walls by calculating the arrangement direction of the two or more markers 5.

[0091] On the other hand, if the traveling area setting unit 134 determines that the marker 5 is not detected in the area (No in step S21), it calculates a second direction that is the arrangement direction of the walls and pillars in the second area (step S24).

[0092] After the processes of steps S23 and S24, the traveling area setting unit 134 performs the process of step S15 in FIG.

[0093] As described above, in the second example of the operation, even if it is difficult to calculate the arrangement direction of objects (walls and pillars) that determine the outline of a given floor, the arrangement direction of the markers 5 can be calculated as the arrangement direction of the virtual wall. As a result, for example, as shown in Fig. 13, a rectangular travel area can be set along the arrangement direction of the walls, pillars, and virtual walls even in a space without walls and pillars, a wall surface that is difficult to detect by the position sensor 120 such as glass, or a wall surface with a distorted shape.

[0094] [4. Effects, etc.] As described above, the traveling map creation device 100 is a traveling map creation device that creates a map for traveling of the self-propelled robot 200 that autonomously travels within a specified floor, and includes a position sensor (more specifically, a position sensor 120 mounted on the traveling map creation device 100) that moves within the specified floor, detects objects around the self and measures the positional relationship of the detected object with respect to the self, and a sensor data acquisition unit 131 that acquires the positional relationship and the movement trajectory of the position sensor 120 from the position sensor 120; The self-propelled robot 200 includes a top acquisition unit 132, a self-position estimation unit 133 that estimates a self-position, which is the position of the position sensor 120 on a floor map, based on the positional relationship acquired by the sensor data acquisition unit 131, a traveling area setting unit 134 that sets a traveling area for the self-propelled robot 200 on the floor map based on the positional relationship, the self-position, and the floor map, and a traveling map creation unit 135 that creates a map for traveling including the traveling area set by the traveling area setting unit 134. The traveling area setting unit 134 Based on the map, a first area 1 including a predetermined starting point is determined, a first direction D1 which is a direction of arrangement of objects that determines the outline of a predetermined floor in the determined first area 1 is calculated, and after the calculation of the first direction D1, a second direction D2 which is a direction of arrangement of objects that determines the outline of a predetermined floor in a second area 2 including a movement trajectory of a position sensor 120 within a certain time is calculated, and (i) if an angle θ of the second direction D1 with respect to the first direction D1 is equal to or greater than a predetermined value, the second direction D2 is set as a new first direction D1', and after the setting of the new first direction D1', (ii) if the angle θ of the second direction D2 with respect to the first direction D1 is not greater than or equal to a predetermined value, the first area 1 is extended in the first direction to update it to a new first area 1' including the second area 2, the first direction D1 is set to a new first direction D1' in the updated first area 1', and after setting the new first direction D1', a new second direction D2' in the new second area 2' including the movement trajectory of the position sensor 120 within a certain period of time is calculated, and the above (i) and (ii) are repeated.

[0095] This allows the traveling map creation device 100 to set a traveling area that is relatively aligned with the line-up direction of objects, based on the magnitude of the angle of the second direction, which is the line-up direction of objects that determines the outline of a given floor at each fixed time interval, with respect to the first direction as the initial value of the traveling area. Therefore, the traveling map creation device 100 allows the traveling area to be easily set on a map for traveling by a self-propelled robot, without manual effort.

[0096] For example, in the traveling map creation device 100, when the self-position acquired from the self-position estimation unit 133 is not updated, the traveling area setting unit 134 may end the repetition of the above (i) and (ii).

[0097] As a result, the travelling map creation device 100 ends the setting of the travelling area when the movement of the position sensor 120 on a specified floor is completed, so that the setting process can be ended without any special instructions from the user.

[0098] For example, the objects that define the contours of a given floor may be the walls and columns of the given floor.

[0099] This allows the travelling map creation device 100 to set a travelling area that follows the direction in which the walls and pillars of a given floor are arranged.

[0100] For example, the object that determines the outline of a given floor may be a marker 5 arranged on the surface of the floor, wall, or pillar of the given floor.

[0101] This allows the driving map creation device 100 to set a driving area that follows not only the arrangement direction of the walls and pillars on a specified floor, but also the arrangement direction of the markers 5 placed on a specified floor, making it possible to set a desired driving area.

[0102] For example, the position sensor 120 may be provided in the main body 101 of the traveling map creation device 100.

[0103] As a result, the traveling map creation device 100 can set a traveling area based on the positional relationship of an object detected around the device by the position sensor 120 with respect to an accident and the device's own movement trajectory, and therefore does not need to acquire information via communication. Therefore, the traveling map creation device 100 is less susceptible to the effects of, for example, communication failures, and can perform processing more smoothly compared to when acquiring information via communication.

[0104] For example, in the traveling map creation device 100, the traveling area setting unit 134 may calculate the first direction D1 and the second direction D2 based on the movement trajectory of the main body 101 of the traveling map creation device 100 when the positional relationship cannot be measured by the position sensor 120.

[0105] As a result, the driving map creation device 100 can calculate the first direction and the second direction even when the outline of a given floor is determined by walls or pillars made of a material that is difficult for the position sensor 120 to detect, such as glass.

[0106] Furthermore, in the traveling map creation device 100, the self-propelled robot 200 may be a self-propelled vacuum cleaner equipped with a cleaning function.

[0107] As a result, the driving map creation device 100 sets a driving area according to the outline of a specified floor, and the self-propelled robot 200 having a vacuum cleaner creates a cleaning driving plan based on the driving map in which the driving area is set, so that the self-propelled robot 200 can properly drive for cleaning.

[0108] Moreover, self-propelled robot system 300 includes self-propelled robot 200 that autonomously travels within a predetermined floor, and traveling map creation device 100 that creates a map for self-propelled robot 200 to travel on. Traveling map creation device 100 includes sensor data acquisition unit 131 that acquires the positional relationship and the movement trajectory of position sensor 120, which is a position sensor that moves within a predetermined floor and detects objects around the robot and measures the positional relationship of the detected object with respect to the robot itself, and floor map acquisition unit 132 that acquires a floor map showing the predetermined floor. a self-position estimation unit 133 that estimates a self-position, which is the position of the position sensor on a floor map, based on the positional relationship acquired by the sensor data acquisition unit 131; a travel area setting unit 134 that sets a travel area for the self-propelled robot 200 on the floor map based on the positional relationship, the self-position, and the floor map; and a travel map creation unit 135 that creates a map for travel including the travel area set by the travel area setting unit 134. The travel area setting unit 134 determines a desired travel area based on the positional relationship, the self-position, and the floor map. the step of (i) determining a first area 1 including a start point SP1 of a predetermined floor; (ii) calculating a first direction D1 which is a direction in which objects are arranged that determines the contour of a predetermined floor in the determined first area 1; (iii) calculating a second direction D2 which is a direction in which objects are arranged that determines the contour of a predetermined floor in the second area 2 including a movement trajectory of the position sensor 120 within a certain time period after the calculation of the first direction D1; (iv) if an angle θ of the second direction D2 with respect to the first direction D1 is equal to or greater than a certain value, setting the second direction D2 as a new first direction D1′; (ii) if the angle θ of the second direction D2 with respect to the first direction D1 is not greater than a predetermined value, the first area 1 is extended in the first direction D1 to update it to a new first area 1' including the second area 2, the first direction D1 is set as a new first direction D1' in the updated first area 1', and after setting the new first direction D1', a new second direction D2' in the new second area 2' including the movement trajectory of the position sensor 120 within a certain period of time is calculated, and (i) and (ii) are repeated.

[0109] This allows the self-propelled robot system 300 to properly navigate a specified area because the self-propelled robot 200 can create a driving plan based on a driving map that includes a driving area that is set along the outline of a specified floor.

[0110] The driving map creation method is a driving map creation method for creating a driving map for self-propelled robot 200 that autonomously travels within a specified floor, and includes a sensor data acquisition step of acquiring a positional relationship and a movement trajectory of position sensor 120 from position sensor 120, which is a position sensor that moves on the specified floor and detects objects around the robot and measures the positional relationship of the detected object relative to the robot itself, a floor map acquisition step of acquiring a floor map showing the specified floor, a self-position estimation step of estimating a self-position, which is the position of the position sensor on the floor map, based on the positional relationship acquired in the sensor data acquisition step, a driving area setting step of setting a driving area for the self-propelled robot on the floor map based on the positional relationship, the self-position, and the floor map, and a driving map creation step of creating a driving map including the driving area set in the driving area setting step, and in the driving area setting step, a first area 1 including a specified start point SP1 is determined based on the positional relationship, the self-position, and the floor map. a first direction D1 which is the arrangement direction of objects that determine the outline of a predetermined floor in the first area 1 that has been determined; after the calculation of the first direction D1, a second direction D2 which is the arrangement direction of objects that determine the outline of a predetermined floor in the second area 2, including a movement trajectory of the position sensor 120 within a certain time period, is calculated; (i) if an angle θ of the second direction D2 with respect to the first direction D1 is equal to or greater than a predetermined value, the second direction D2 is set as a new first direction D1'; after the setting of the new first direction D1', a new direction D2 which is the arrangement direction of objects that determine the outline of a predetermined floor in the second area 2, including a movement trajectory of the position sensor 120 within a certain time period is calculated; (ii) if the angle θ of the second direction D2 with respect to the first direction D1 is not greater than or equal to a predetermined value, the first area 1 is extended in the first direction D1 to update it to a new first area 1' including the second area 2, the first direction D1 is set as a new first direction D1' in the updated first area 1', and after setting the new first direction D1', a new second direction D2' in the new second area 2' including the movement trajectory of the position sensor 120 within a certain period of time is calculated, and (i) and (ii) are repeated.

[0111] As a result, according to the driving map creation method, the self-propelled robot 200 can create a driving plan based on a driving map that includes a driving area that is set along the outline of a specified floor, and therefore can properly drive through the specified area.

[0112] (Other embodiments) Although the embodiments have been described above, the present disclosure is not limited to the above embodiments. For example, self-propelled robot system 300 includes self-propelled robot 200 and traveling map creation device 100, but the self-propelled robot system may be a self-propelled robot equipped with a traveling map creation function. Fig. 14 is a flowchart showing an operation example when the self-propelled robot system is a self-propelled robot equipped with a traveling map creation function.

[0113] As shown in FIG. 14, when the control unit of the self-propelled robot system receives a command to start a cleaning plan for a specific floor (step S31), the control unit reads out a floor map for the specific floor from the storage unit, for example, to obtain the floor map (step S32). Next, when the control unit of the self-propelled robot system receives cleaning start position information for the specific floor (step S33), the control unit reflects the cleaning start position information in the floor map (not shown). Next, when the control unit of the self-propelled robot system receives entry prohibition information regarding areas on the specific floor where the entry of the self-propelled robot is prohibited (step S34), the control unit reflects the entry prohibition information in the floor map (not shown). Next, when the control unit of the self-propelled robot system receives self-position information calculated by the self-position calculation unit (step S35), the control unit of the self-propelled robot system starts setting the travel area (step S36). The setting of the travel area is the same as that described in the above embodiment, but the subject of the operation is different, so a description thereof will be omitted here. When the self-propelled robot system sets the travel area, steps S37 to S39 may be performed after all travel areas on a given floor have been set, or steps S37 to S39 may be performed in parallel while the travel areas are being set.

[0114] Next, when the control unit of the self-propelled robot system acquires cleaning start position information within the travel area (step S37), the travel plan creation unit creates a travel plan for the travel area (step S38). Next, the travel plan creation unit determines the cleaning order for the travel area (step S39).

[0115] Next, if the self-propelled robot system determines that planning for all travel areas has been completed (Yes in step S40), it ends creation of the cleaning plan. On the other hand, if the self-propelled robot system determines that planning for all travel areas has not been completed (Yes in step S40), it returns to the processing of step S36.

[0116] As described above, when the self-propelled robot system is a self-propelled robot (self-propelled vacuum cleaner) equipped with a driving map creation function, the creation of a cleaning plan for a given floor and the setting of a driving area can be performed in parallel.

[0117] Also, for example, in the embodiment, the traveling map creation device 100 includes the position sensor 120, but may not include the position sensor 120. For example, the traveling map creation device 100 may be an information processing device including components other than the position sensor 120. In this case, a sensor including the position sensor 120 may be placed on a dolly 190 and moved across a predetermined floor, and data acquired by the sensor may be output to the information processing device.

[0118] For example, although in the embodiment, self-propelled robot system 300 is realized by multiple devices, it may also be realized as a single device. Also, when the system is realized by multiple devices, the components included in self-propelled robot system 300 may be distributed in any way among the multiple devices. Also, for example, a server device capable of communicating with self-propelled robot system 300 may include multiple components included in control units 130, 230.

[0119] For example, the method of communication between the devices in the above-described embodiment is not particularly limited. Also, a relay device (not shown) may be involved in the communication between the devices.

[0120] In the above embodiment, the process executed by a specific processing unit may be executed by another processing unit. The order of multiple processes may be changed, or multiple processes may be executed in parallel.

[0121] In the above embodiment, each component may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0122] Furthermore, each component may be realized by hardware. For example, each component may be a circuit (or an integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit, or a dedicated circuit.

[0123] In addition, the general or specific aspects of the present disclosure may be realized in a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized in any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0124] For example, the present disclosure may be realized as a navigation control method executed by a computer such as the self-propelled robot system 300, or as a program for causing a computer to execute such a navigation map creation method. The present disclosure may also be realized as a program for causing a general-purpose computer to operate as the navigation map creation device 100 of the above embodiment. The present disclosure may also be realized as a computer-readable non-transitory recording medium on which these programs are recorded.

[0125] In addition, the present disclosure also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art may conceive, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the spirit of the present disclosure. [Industrial Applicability]

[0126] The present disclosure is widely applicable to autonomously running robots. [Explanation of symbols]

[0127] 1. Area 1 1' New 1st Area 2. Area 2 2' New 2nd Area 5 Markers 100 Traveling map creation device 101 Main unit 110 Communications Department 120 Position Sensor 122 Camera 124 Obstacle Sensor 124a Oscillator 124b Receiver 130 Control section 131 Sensor data acquisition unit 132 Floor Map Acquisition Section 133 Self-position estimation part 134 Driving area setting unit 135 Driving Map Creation Department 140 Storage section 150 Reception 160 Presentation section 190 Cart 191 Handle 192 Stand 200 Self-propelled robot 201 Main unit 210 Communications Department 220 Position Sensor 230 Control Unit 231 Driving map acquisition unit 232 Self-position estimation part 233 Driving Plan Creation Department 234 Driving control unit 235 Cleaning control section 240 Storage section 250 Running part 260 Cleaning Department 261 Wheels 271 Side Brush 272 Main Brush 273 Suction port 300 Self-propelled Robot System

Claims

1. A travel map creation device that creates a travel map for a self-propelled robot that travels autonomously within a specified floor, a sensor data acquisition unit that acquires the positional relationship and a movement trajectory of the position sensor from the position sensor that moves on the predetermined floor and detects objects around the user and measures a positional relationship of the detected object with respect to the user; and A floor map acquisition unit that acquires a floor map showing the predetermined floor; a self-position estimation unit that estimates a self-position, which is a position of the position sensor on the floor map, based on the positional relationship acquired by the sensor data acquisition unit; a travel area setting unit that sets a travel area for the self-propelled robot on the floor map based on the positional relationship, the self-position, and the floor map; a driving map creation unit that creates a driving map including the driving area set by the driving area setting unit; Equipped with the travel area setting unit calculates, at regular time intervals, an arrangement direction of objects that determines an outline of the floor based on the positional relationship, and, when an angle formed between a first direction, which is the arrangement direction calculated first, and a second direction, which is the arrangement direction calculated later, is a predetermined value or more, sets an area whose outline is determined by objects whose arrangement directions are calculated during a period from when the first direction is calculated to when the second direction is calculated, as a first area of ​​a travel area for the self-propelled robot; Traveling map creation device.

2. the travel area setting unit ends setting of the travel area when the position sensor has not moved for a certain period of time. The driving map generating device according to claim 1.

3. The objects that define the contour of the given floor are the walls and columns of the given floor.

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

4. The object that determines the outline of the predetermined floor is a marker arranged on a surface of a floor, a wall, or a column of the predetermined floor. The traveling map creation device according to any one of claims 1 to 3.

5. The position sensor is provided in a main body of the traveling map creation device. The traveling map creation device according to any one of claims 1 to 4.

6. The travel area setting unit is when the positional relationship cannot be measured by the position sensor, the first direction and the second direction are calculated based on a movement trajectory of the main body.

6. The navigation map generating device according to claim 5.

7. The self-propelled robot is a self-propelled vacuum cleaner having a cleaning function. The traveling map creation device according to any one of claims 1 to 6.

8. A self-propelled robot that moves autonomously within a designated floor, a travel map creation device that creates a travel map for the self-propelled robot; Equipped with The driving map creation device includes: a sensor data acquisition unit that acquires the positional relationship and a movement trajectory of the position sensor from the position sensor that moves on the predetermined floor and detects objects around the user and measures a positional relationship of the detected object with respect to the user; and A floor map acquisition unit that acquires a floor map showing the predetermined floor; a self-position estimation unit that estimates a self-position, which is a position of the position sensor on the floor map, based on the positional relationship acquired by the sensor data acquisition unit; a travel area setting unit that sets a travel area for the self-propelled robot on the floor map based on the positional relationship, the self-position, and the floor map; a driving map creation unit that creates a driving map including the driving area set by the driving area setting unit; Equipped with the travel area setting unit calculates, at regular time intervals, an arrangement direction of objects that determines an outline of the floor based on the positional relationship, and, when an angle formed between a first direction, which is the arrangement direction calculated first, and a second direction, which is the arrangement direction calculated later, is a predetermined value or more, sets an area whose outline is determined by objects whose arrangement directions are calculated during a period from when the first direction is calculated to when the second direction is calculated, as a first area of ​​a travel area for the self-propelled robot; Self-propelled robot system.

9. A method for creating a map for a self-propelled robot that autonomously travels within a predetermined floor, comprising the steps of: a sensor data acquisition step of acquiring, from a position sensor that moves on the predetermined floor, detects objects around the user and measures a positional relationship of the detected object with respect to the user, the positional relationship and a movement trajectory of the position sensor; a floor map acquisition step of acquiring a floor map showing the predetermined floor; a self-location estimation step of estimating a self-location, which is a position of the position sensor on the floor map, based on the positional relationship acquired in the sensor data acquisition step; a travel area setting step of setting a travel area of ​​the self-propelled robot on the floor map based on the positional relationship, the self-position, and the floor map; a driving map creation step of creating a driving map including the driving area set in the driving area setting step; Including, In the travel area setting step, an arrangement direction of objects that determines an outline of the floor is calculated at regular time intervals based on the positional relationship, and when an angle between a first direction, which is the arrangement direction calculated first, and a second direction, which is the arrangement direction calculated later, is equal to or greater than a predetermined value, an area whose outline is determined by objects whose arrangement directions are calculated during a period from when the first direction is calculated to when the second direction is calculated is set as a first area of ​​the travel area of ​​the self-propelled robot. How to create a road map.

10. A method for causing a computer to execute the driving map creation method according to claim 9, program.

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