Self-propelled transport device

Abstract

To easily estimate a self position when a self-propelled carrier is restarted.SOLUTION: A self-propelled carrier that can travel includes: a generation unit that generates position estimation information for estimating a position of the self-propelled carrier based on measurement data output by a sensor: a storage unit for storing a map and the position estimation information; an estimation unit that estimates the position of the self-propelled carrier on the map based on the position estimation information: and a battery that outputs power. When the power of the self-propelled carrier is turned off, power is not supplied to the estimation unit, and power is supplied from the battery to the sensor, generation unit, and storage unit. When a predetermined condition is satisfied after the power of the self-propelled carrier is turned off, the generation unit generates position estimation information and stores it in the storage unit. When the power of the self-propelled carrier is turned on and the power is supplied to the estimation unit and the storage unit, the estimation unit estimates a position of the self-propelled carrier on the map based on the position estimation information stored in the storage unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a self-propelled transport device. [Background technology]

[0002] In recent years, self-propelled transport devices that move autonomously within a given range have been developed. A self-propelled transport device equipped with a sensor senses the surrounding environment while traveling, creates a map corresponding to its own position, and estimates its own position on the map by successively estimating its own movement amount.

[0003] Patent document 1 discloses a technology in which an autonomous robot measures the distance to a wall when it stops, and then turns a predetermined amount away from the wall, moves a predetermined amount, or rotates in the opposite direction from the wall to grasp characteristic points of the path it is traveling, estimates its own position, and automatically returns to the path it is traveling. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2008-59218 A Summary of the Invention [Problem to be solved by the invention]

[0005] When the power supply of a self-propelled transport device such as an autonomous transport robot is turned off, all functions of the self-propelled transport device are stopped. If the self-propelled transport device is moved in a state where all functions of the self-propelled transport device are stopped, an inconsistency occurs between the self-position estimation information on the map recognized by the self-propelled transport device and the actual position information of the self-propelled transport device. If the self-propelled transport device is restarted in a state where such an inconsistency occurs, there is a possibility that the self-position estimation by the self-propelled transport device will not be performed normally. In this case, the self-propelled transport device needs to sense the surrounding environment by traveling and estimate its own position on the map.

[0006] The present invention has been made in consideration of the above-mentioned situation, and its purpose is to provide a technology that can easily perform self-position estimation when a self-propelled conveying device is restarted. [Means for solving the problem]

[0007] A self-propelled conveying device according to one aspect of the present invention is a self-propelled conveying device capable of traveling, and includes a generation unit that generates position estimation information for estimating a position of the self-propelled conveying device based on measurement data output by a sensor, a memory unit that stores a map and the position estimation information, an estimation unit that estimates the position of the self-propelled conveying device on the map based on the position estimation information, and a battery that outputs power, wherein when the power supply of the self-propelled conveying device is turned off, power is not supplied to the estimation unit, and power is supplied from the battery to the sensor, the generation unit, and the memory unit, and when a predetermined condition is satisfied after the power supply of the self-propelled conveying device is turned off, the generation unit generates the position estimation information and stores it in the memory unit, and when the power supply of the self-propelled conveying device is turned on and power is supplied to the estimation unit and the memory unit, the estimation unit estimates the position of the self-propelled conveying device on the map based on the position estimation information stored in the memory unit.

[0008] The position estimation information while the power supply of the self-propelled transport device is off is stored in the storage unit. The estimation unit estimates the position of the self-propelled transport device on the map based on the position estimation information stored in the storage unit, so that self-position estimation can be easily performed. By preventing the loss of position estimation information while the power supply of the self-propelled transport device is turned off, it is possible to prevent the self-propelled transport device from losing its own position.

[0009] The battery may be a first battery and may include a second battery that outputs power, and when the first battery is in a state where it cannot output power, power is supplied from the second battery to the sensor, the generation unit, and the memory unit, and when power is supplied from the second battery, the generation unit generates the position estimation information and stores it in the memory unit, and when the first battery is in a state where it can output power and the self-propelled conveying device is powered on and power is supplied to the estimation unit and the memory unit, the estimation unit may estimate the position of the self-propelled conveying device on the map based on the position estimation information stored in the memory unit.

[0010] The generation unit may generate the position estimation information from after the first battery is in a state where it cannot output power until the first battery is in a state where it can output power.

[0011] The generation unit may generate the position estimation information from after the first battery is unable to output power until the self-propelled transport device is powered on.

[0012] The predetermined condition may include that the generation unit detects movement of the self-propelled transport device based on the measurement data.

[0013] The specified condition may include the generation unit detecting movement of the self-propelled conveying device based on the measurement data, and the generation unit may generate the position estimation information from the time when the movement of the self-propelled conveying device is detected until the first battery is in a state where it can output power.

[0014] The self-propelled conveying device may include a first generation unit that generates the position estimation information based on measurement data of a first sensor, and a first storage unit that stores the map and the position estimation information, wherein the sensor is a second sensor, the generation unit is a second generation unit that generates the position estimation information based on measurement data of the second sensor, and the storage unit is a second storage unit that stores the map and the position estimation information, wherein when a power supply to the self-propelled conveying device is turned off, power is not supplied to the estimation unit, the first sensor, the first generation unit, and the first storage unit, and power is supplied from the battery to the second sensor, the second generation unit, and the second storage unit, and when the predetermined condition is satisfied after the power supply to the self-propelled conveying device is turned off, the second generation unit generates the position estimation information and stores it in the second storage unit, and when the power supply to the self-propelled conveying device is turned on and power is supplied to the estimator and the second storage unit, the estimator may estimate the position of the self-propelled conveying device on the map based on the position estimation information stored in the second storage unit.

[0015] The battery may be a first battery and include a second battery that outputs power, and when the first battery is in a state where it cannot output power, the second battery supplies power to the second sensor, the second generation unit, and the second memory unit, and when power is supplied from the second battery, the second generation unit generates the position estimation information and stores it in the memory unit, and when the first battery is in a state where it can output power and the self-propelled conveying device is powered on and power is supplied to the estimation unit and the second memory unit, the estimation unit may estimate the position of the self-propelled conveying device on the map based on the position estimation information stored in the second memory unit.

[0016] The first generation unit may generate the position estimation information after the first battery is unable to output power until the first battery is able to output power.

[0017] The first generating unit may generate the position estimation information from after the first battery becomes unable to output power until the self-propelled transport device is powered on.

[0018] The predetermined condition may include that the first generating unit detects movement of the self-propelled conveying apparatus based on the measurement data.

[0019] The specified condition may include the first generation unit detecting movement of the self-propelled transport device based on the measurement data, and the first generation unit may generate the position estimation information from the time when the movement of the self-propelled transport device is detected until the first battery is in a state where it can output power.

[0020] The predetermined condition may include a brake for a motor for driving the self-propelled transport device being in a released state.

[0021] The position estimation information generated after the power supply of the self-propelled transport device is turned off may be generated from after the brake is released to when the brake is activated. Effect of the Invention

[0022] According to the present invention, it is possible to provide a technique that can easily estimate the self-position when a self-propelled transport device is put into operation again. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a block diagram showing the configuration of a mobile robot according to a first embodiment. [Diagram 2] FIG. 2 is a diagram illustrating a schematic configuration of a brake device. [Diagram 3] FIG. 2 is a diagram showing a configuration of a processing unit. [Figure 4] FIG. 2 illustrates the location of a mobile robot on a two-dimensional map. [Diagram 5] 13 is a flowchart of a process for determining a brake state of a carry motor. [Figure 6] 11 is a flowchart of a process for storing position estimation information in a memory circuit. [Figure 7] 11 is a flowchart illustrating the operation of a SLAM unit. [Figure 8] 11 is a flowchart of a process for storing position estimation information in a memory circuit. [Figure 9] FIG. 11 is a block diagram showing the configuration of a mobile robot according to a second embodiment. [Figure 10] FIG. 13 is a block diagram showing the configuration of a mobile robot according to a third embodiment. [Figure 11] 11 is a flowchart of a process for storing position estimation information in a memory circuit. [Figure 12] 11 is a flowchart of a process for storing position estimation information in a memory circuit. [Figure 13] 11 is a flowchart of a process for storing position estimation information in a memory circuit. [Figure 14] FIG. 13 is a block diagram showing the configuration of a mobile robot according to a fourth embodiment. [Figure 15] FIG. 2 is a diagram illustrating a configuration of a positioning unit. [Figure 16] FIG. 13 is a block diagram showing the configuration of a mobile robot according to a fifth embodiment. [Figure 17] FIG. 13 is a block diagram showing the configuration of a mobile robot according to a sixth embodiment. [Figure 18] FIG. 4 is a diagram illustrating an example of an installation position of a positioning unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] <Application Examples> An example of a situation in which the present invention is applied will now be described.

[0025] First Embodiment <Overall configuration of the mobile robot> 1 is a block diagram showing the configuration of a mobile robot 1 according to a first embodiment. The mobile robot 1 is a device (self-propelled transport device) that functions as a self-propelled unmanned guided vehicle.

[0026] The mobile robot 1 includes a processing unit 11, a laser sensor 12, a measurement sensor 13, a power supply control circuit 14, a battery 15, internal circuits 16 and 17, a transport motor 18, a braking device 19, and a brake release switch 20. The measurement sensor 13 is an example of a first sensor. The battery 15 is an example of a first battery.

[0027] The processing unit 11 controls the overall operation of the mobile robot 1. The laser sensor 12 detects objects around the mobile robot 1 by emitting a laser around the mobile robot 1 and receiving the reflected laser light. For example, the laser sensor 12 detects objects around the mobile robot 1 as point cloud data of positions (x, y) on a two-dimensional coordinate system or positions (x, y, z) on a three-dimensional coordinate system. The laser sensor 12 may be, for example, a LiDAR (Light Detecting And Ranging) sensor.

[0028] The measurement sensor 13 is an acceleration sensor, a gyro sensor (angular velocity sensor), an IMU (Inertial Measurement Unit), a rotary encoder, or an optical tracker. The measurement sensor 13 is a sensor unit that combines at least two of the acceleration sensor, the gyro sensor (angular velocity sensor), the IMU, the rotary encoder, and the optical tracker. It may be an IC. Acceleration means the rate of change of speed per unit time, and by measuring acceleration, it is possible to measure information such as the inclination and vibration of an object. An IC that measures acceleration is called an acceleration sensor. Angular velocity is expressed as the angle of rotation per unit time (deg / s), and by integrating the angular velocity over time, the angular position is obtained and is used to detect changes in the device's attitude. An IMU, for example, has a 3-axis acceleration sensor and a 3-axis gyro sensor, and can measure three-dimensional angular velocity and acceleration. A rotary encoder is a sensor that converts the amount of mechanical displacement of rotation into an electrical signal, and processes the converted electrical signal to detect position, speed, etc. An optical tracker has a light projector and a two-dimensional light receiver, and can determine the position and speed of an object based on the relationship between the light projected and received. This is a sensor that optically reads the amount, direction and speed of movement.

[0029] The power supply control circuit 14 is a circuit that controls the power supplied to each component of the mobile robot 1. The battery 15 stores power and outputs the stored power. The power supply control circuit 14 supplies the power output from the battery 15 to the processing unit 11, the laser sensor 12, the measurement sensor 13, the internal circuits 16 and 17, the transport motor 18, the braking device 19, and the brake release switch 20. The power supply control circuit 14 also cuts off the power supplied from the battery 15 to the processing unit 11, the laser sensor 12, the measurement sensor 13, the internal circuits 16 and 17, the transport motor 18, the braking device 19, and the brake release switch 20.

[0030] The internal circuit 16 is a circuit that controls each operation of the mobile robot 1. The internal circuit 17 is a circuit that controls the operation of the transport motor 18, the braking device 19, and the brake release switch 20. The internal circuits 16 and 17 transmit and receive various types of data and information to and from the processing unit 11. The transport motor 18 is a motor for moving the mobile robot 1, and rotates a rotating body provided on the mobile robot 1. The rotating body has wheels and tires. The rotation of the rotating body enables the mobile robot 1 to move.

[0031] The brake device 19 is a non-excitation type electromagnetic brake device that brakes the rotating shaft of the conveyor motor 18 when not energized and releases the brake on the rotating shaft of the conveyor motor 18 when energized. FIG. 2 is a diagram showing a schematic configuration of the brake device 19. First, with reference to FIG. 2(A), the release of the brake on the rotating shaft of the conveyor motor 18 (brake release) will be described. When power is supplied to the brake device 19 and a voltage is applied to an excitation coil 32 provided in a stator 31, the excitation coil 32 forms an electric circuit and the stator 31 becomes an electromagnet. An armature 34 and a brake lining 35 provided on a rotating shaft 33 of the conveyor motor 18 are attracted to the stator 31 by the magnetic force of the stator 31, and a coil spring 36 is compressed. The brake lining 35 is a brake lining that is provided on a rotating shaft 33 of the conveyor motor 18 ... The brake lining 35 moves away from the brake spring 37, releasing the brake on the rotating shaft 33 of the transport motor 18 and allowing the rotating shaft 33 of the transport motor 18 to rotate freely. In other words, the brake on the transport motor 18 is released and the mobile robot 1 can move. While the mobile robot 1 is moving, the brake on the rotating shaft 33 of the transport motor 18 is released and the brake on the transport motor 18 is kept in the released state.

[0032] Next, with reference to FIG. 2(B), braking of the rotating shaft of the transport motor 18 (brake operation) will be described. When no voltage is applied to the excitation coil 32, the magnetic force of the stator 31 disappears and the coil spring 36 expands, causing the armature 34 to move toward the brake hub 37. The armature 34 presses the brake lining 35 against the brake hub 37, braking the rotating shaft 33 of the transport motor 18 and fixing the rotating shaft 33 of the transport motor 18. For example, if the brake device 19 is no longer supplied with power or becomes uncontrollable, the brake of the transport motor 18 is activated to prevent the mobile robot 1 from moving erroneously. The brake operation of the transport motor 18 is not used to slow down the running of the mobile robot 1, but is intended to keep the mobile robot 1 stationary.

[0033] The brake release switch 20 is a switch for releasing the brake of the transport motor 18. A user such as an operator can release the brake of the transport motor 18 by turning on the brake release switch 20 after powering off the mobile robot 1. For example, a user can turn off the power of the mobile robot 1 by turning off the main power button of the mobile robot 1. A user can also activate the brake of the transport motor 18 by turning off the brake release switch 20.

[0034] The processing unit 11 includes a SLAM (Simultaneous Localization and Mapping) unit 100, a positioning unit The SLAM unit 100 includes a SLAM section 200 and an interface circuit 300. The interface circuit 300 is provided between the SLAM unit 100 and the positioning unit 200, and is a circuit that connects the SLAM unit 100 and the positioning unit 200. Various types of data and information are transmitted and received between the SLAM unit 100 and the positioning unit 200 via the interface circuit 300.

[0035] The SLAM unit 100 simultaneously creates a map of the surroundings of the mobile robot 1 and estimates the self-position of the mobile robot 1. The SLAM unit 100 includes an arithmetic circuit 101, a sensor input circuit 102, a memory circuit 103, an I / O circuit 104, a communication circuit 105, and a power supply circuit 106.

[0036] The arithmetic circuit 101 controls the sensor input circuit 102, the memory circuit 103, the I / O circuit 104, the communication circuit 105, and the power supply circuit 106, and executes various calculations. The arithmetic circuit 101 is configured with a ROM (Read Only Memory) that stores programs and control data for the operation, a RAM (Random Access Memory) that functions as a work area for the processor, etc. The sensor input circuit 102 receives detection data (point cloud data) detected by the laser sensor 12 and transmits the detection data to the arithmetic circuit 101. The arithmetic circuit 101 acquires the detection data (point cloud data) output by the laser sensor 12 via the sensor input circuit 102. The arithmetic circuit 101 transmits and receives various data and information to and from the internal circuit 16 via the I / O circuit 104 and the communication circuit 105.

[0037] The memory circuit 103 stores the calculation data as the result of the calculation performed by the arithmetic circuit 101. The power supply circuit 106 supplies the power input from the battery 15 to the arithmetic circuit 101, the sensor input circuit 102, the memory circuit 103, the I / O circuit 104, and the communication circuit 105. Furthermore, the power supply circuit 106 supplies the power input from the battery 15 to the laser sensor 12. Power may be supplied directly from the battery 15 to the laser sensor 12 without going through the power supply circuit 106.

[0038] The positioning unit 200 generates position estimation information for estimating the position of the mobile robot 1 based on the measurement data output by the measurement sensor 13. The position estimation information may be the amount of movement (X, Y) and orientation (θ) of the mobile robot 1 on a map. The position estimation information may be the relative position (x, y) and orientation (θ) of the mobile robot 1 on the map. The map may be a two-dimensional map or a three-dimensional map. The positioning unit 200 includes an arithmetic circuit 201, a sensor input circuit 202, a memory circuit 203, an I / O circuit 204, and a power supply circuit 205.

[0039] The arithmetic circuit 201 controls the sensor input circuit 202, the memory circuit 203, the I / O circuit 204, and the power supply circuit 205, and executes various calculations. The arithmetic circuit 201 is composed of a processor such as a CPU, a ROM that stores programs and control data for the processor to operate, a RAM (Random Access Memory) that functions as a work area for the processor, and the like. The sensor input circuit 202 receives measurement data measured by the measurement sensor 13 and transmits the measurement data to the arithmetic circuit 201. The arithmetic circuit 201 acquires the measurement data output by the measurement sensor 13 via the sensor input circuit 202. The arithmetic circuit 201 transmits and receives various data and information to and from the internal circuit 17 via the I / O circuit 204.

[0040] When the brake release switch 20 is on, the brake release switch 20 transmits a signal indicating that the brake release switch 20 is on to the I / O circuit 204. When the brake release switch 20 is off, the brake release switch 20 transmits a signal indicating that the brake release switch 20 is off to the I / O circuit 204. When the I / O circuit 204 receives a signal indicating that the brake release switch 20 is on, it determines that the brake of the carry motor 18 is in a released state. In this case, the I / O circuit 204 transmits a signal indicating that the brake of the carry motor 18 is in a released state to the arithmetic circuit 201. When the I / O circuit 204 receives a signal indicating that the brake release switch 20 is off, it determines that the brake of the carry motor 18 is in an activated state. In this case, the I / O circuit 204 transmits a signal indicating that the brake of the carry motor 18 is in an activated state to the arithmetic circuit 201.

[0041] The memory circuit 203 stores the calculation data as a result of the calculation performed by the calculation circuit 201. The calculation circuit 201 reads out the calculation data stored in the memory circuit 203 and transmits the calculation data to the SLAM unit 100 via the interface circuit 300. The SLAM unit 100 receives the calculation data from the calculation circuit 201 via the interface circuit 300. The power supply circuit 205 supplies power input from the battery 15 to the calculation circuit 201, the sensor input circuit 202, the memory circuit 203, and the I / O circuit 204. The power supply circuit 205 also supplies power output from the battery 15 to the measurement sensor 13. Power may be supplied directly from the battery 15 to the measurement sensor 13 without going through the power supply circuit 205.

[0042] 3 is a diagram showing the configuration of the processing unit 11. The processing unit 11 has a map creation unit 111 that creates a map, a generation unit 112 that generates position estimation information for estimating the position of the mobile robot 1, a storage unit 113 that stores the map and the position estimation information, and an estimation unit 114 that estimates the position of the mobile robot 1 on the map based on the position estimation information. The map creation unit 111 is mainly composed of an arithmetic circuit 101, a sensor input circuit 102, and a memory circuit 103. The generation unit 112 is mainly composed of an arithmetic circuit 201, a sensor input circuit 202, and a memory circuit 203. The generation unit 112 is an example of a first generation unit. The storage unit 113 is mainly composed of a memory circuit 203. The storage unit 113 is an example of a first storage unit. The estimation unit 114 is mainly composed of a calculation circuit 101, a sensor input circuit 102, and a memory circuit 103.

[0043] The map creation unit 111 creates a map corresponding to the position of the mobile robot 1 based on the point cloud data detected by the laser sensor 12. In other words, the map creation unit 111 creates a map of the surroundings of the mobile robot 1. Each time point cloud data is detected by the laser sensor 12 while the mobile robot 1 is moving, the map creation unit 111 sequentially creates a map of the surroundings of the mobile robot 1.

[0044] The generation unit 112 generates position estimation information based on the measurement data output by the measurement sensor 13. The position estimation information includes the movement amount (X, Y) and orientation (θ) of the mobile robot 1 on the map. The movement amount (X) of the mobile robot 1 on the map is the movement amount of the mobile robot 1 in the X direction on the map. The movement amount (Y) of the mobile robot 1 on the map is the movement amount of the mobile robot 1 in the Y direction on the map. The position estimation information may include the relative position (x, y) and orientation (θ) of the mobile robot 1 on the map.

[0045] The memory unit 113 stores the map created by the map creation unit 111 and the position estimation information generated by the generation unit 112. If a map of the surroundings of the mobile robot 1 can be obtained from a host system that controls the traveling of the mobile robot 1, the map obtained from the host system may be stored in the memory unit 113. The estimation unit 114 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory unit 113.

[0046] The behavior of the mobile robot 1 when the power of the mobile robot 1 is turned on and the behavior of the mobile robot 1 when the power of the mobile robot 1 is turned off will be described. First, the case where the mobile robot 1 is turned on when it is operated for the first time or when it is turned on when the mobile robot 1 does not recognize the surrounding environment will be described. For example, a user may turn on the mobile robot 1 by turning on the main power button of the mobile robot 1. When the mobile robot 1 is turned on, power is supplied from the battery 15 to the processing unit 11, the laser sensor 12, the measurement sensor 13, the internal circuits 16 and 17, the transport motor 18, the brake device 19, and the brake release switch 20. The brake of the transport motor 18 is released, and the mobile robot 1 starts running. The mobile robot 1 runs while simultaneously creating a map of the surroundings of the mobile robot 1 and estimating its own position. The created map is stored in the memory circuit 103 or the memory circuit 203. When the mobile robot 1 acquires a map from a host system, the acquired map is stored in the memory circuit 103 or the memory circuit 203.

[0047] Next, the behavior of the mobile robot 1 when the power supply of the mobile robot 1 is turned off will be described. When the power supply of the mobile robot 1 is turned off, power is not supplied to the laser sensor 12 and the SLAM unit 100, and power is supplied from the battery 15 to the measurement sensor 13 and the positioning unit 200. Power is supplied from the battery 15 to the measurement sensor 13, the arithmetic circuit 201, the sensor input circuit 202, the memory circuit 203, and the I / O circuit 204 via the power supply circuit 205. Power may be supplied directly from the battery 15 to the measurement sensor 13. Power is also supplied from the battery 15 to the internal circuit 17 and the brake release switch 20. Since power is not supplied to the SLAM unit 100, power is not supplied to the arithmetic circuit 101, the sensor input circuit 102, the memory circuit 103, the I / O circuit 104, and the communication circuit 105.

[0048] After the power supply of the mobile robot 1 is turned off, the user presses the brake release switch 20. The brake release switch 20 is turned on. When the brake release switch 20 is turned on, the internal circuit 17 sends an on signal to the power supply control circuit 14. When the power supply control circuit 14 receives the on signal from the internal circuit 17, it controls the supply of power from the battery 15 to the brake device 19. The internal circuit 17 releases the brake on the transport motor 18. The user can then push the mobile robot 1 to rotate the rotating body of the mobile robot 1, thereby moving the mobile robot 1.

[0049] When the brake release switch 20 is turned on, the arithmetic circuit 201 receives a signal via the I / O circuit 204 indicating that the brake of the transport motor 18 is in a released state. The arithmetic circuit 201 generates position estimation information based on the measurement data output by the measurement sensor 13. The arithmetic circuit 201 stores the generated position estimation information in the memory circuit 203. In this manner, when a predetermined condition is satisfied after the mobile robot 1 is powered off (when the brake of the transport motor 18 is in a released state), the arithmetic circuit 201 generates and stores the position estimation information in the memory circuit 203. In this manner, the predetermined condition includes the brake of the transport motor 18 being in a released state.

[0050] Next, the behavior of the mobile robot 1 when it is powered on after being powered off will be described. When the mobile robot 1 is powered on, power is supplied from the battery 15 to the processing unit 11, laser sensor 12, measurement sensor 13, internal circuits 16, 17, transport motor 18, braking device 19, and brake release switch 20. The arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203. In this manner, when the mobile robot 1 is powered on and power is supplied from the battery 15 to the arithmetic circuit 101 and memory circuit 203, the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203.

[0051] FIG. 4 is a diagram illustrating the location of the mobile robot 1 on a two-dimensional map. Point A in FIG. 4 is the location where the mobile robot 1 is turned off, and the location estimation information at point A includes the amount of movement (X1, Y1) and orientation (θ1) of the mobile robot 1. Point B in FIG. 4 is the location where the mobile robot 1 is turned on and started up, and the location estimation information at point B includes the amount of movement (X2, Y2) and orientation (θ2) of the mobile robot 1. If the mobile robot 1 is turned off at point A, then moved from point A to point B and started up at point B, if the mobile robot 1 attempts to estimate its own location using the location estimation information at point A (X1, Y1, θ1), the mobile robot 1 will not be able to estimate its own location correctly, and there is a possibility that the mobile robot 1 will lose its own location.

[0052] The position estimation information obtained while the mobile robot 1 is powered off is stored in the memory circuit 203. The arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203, which allows the mobile robot 1 to easily estimate its own position. In this way, by preventing the loss of position estimation information while the mobile robot 1 is powered off, the mobile robot 1 can be prevented from losing its own position.

[0053] 1, the mobile robot 1 is provided with a path for supplying power from the battery 15 to the SLAM unit 100, and a path for supplying power from the battery 15 to the positioning unit 200. In addition, the battery 15 can supply power independently to the SLAM unit 100 and the positioning unit 200. This allows the battery 15 to supply power to the measurement sensor 13 and the positioning unit 200 when the power supply of the mobile robot 1 is turned off, without supplying power from the battery 15 to the SLAM unit 100. The SLAM unit 100 is To simultaneously create a map of the surroundings of the mobile robot 1 and estimate the mobile robot's own position, the arithmetic circuit 101 must perform advanced calculations at high speed, which consumes a lot of power. The measurement sensor 13 and positioning unit 200 can be realized with power consumption of less than 1 W. About 10 W is required to supply power to the laser sensor 12 and SLAM unit 100. While the mobile robot 1 is powered off, no power is supplied to the SLAM unit 100, so the power consumption required for the SLAM unit 100 to operate can be reduced.

[0054] 5 to 8 are flowcharts illustrating the operation of the mobile robot 1 according to the first embodiment. FIG. 5 is a flowchart of a process for determining the state of the brake of the transport motor 18. When the mobile robot 1 is powered off, the I / O circuit 204 determines whether the brake release switch 20 is on or not (S1). When the I / O circuit 204 receives a signal from the brake release switch 20 indicating that the brake release switch 20 is on, the I / O circuit 204 determines that the brake release switch 20 is on. In this case, the I / O circuit 204 determines that the brake of the transport motor 18 is in the released state, and the I / O circuit 204 sends a signal indicating that the brake of the transport motor 18 is in the released state to the arithmetic circuit 201 (S2).

[0055] On the other hand, when the I / O circuit 204 receives a signal indicating that the brake release switch 20 is off from the brake release switch 20, it determines that the brake release switch 20 is off. In this case, the I / O circuit 204 determines that the brake of the carry motor 18 is in an actuated state, and the I / O circuit 204 transmits a signal indicating that the brake of the carry motor 18 is in an actuated state to the arithmetic circuit 201 (S3).

[0056] 6 is a flowchart of a process for storing position estimation information in the memory circuit 203, triggered by the brake of the transport motor 18 being released. When the mobile robot 1 is powered off, the arithmetic circuit 201 determines whether the brake of the transport motor 18 is released (S11). If the brake of the transport motor 18 is released (S11; YES), the arithmetic circuit 201 acquires measurement data output by the measurement sensor 13 via the sensor input circuit 202 (S12). If the brake of the transport motor 18 is engaged (S11; NO), the arithmetic circuit 201 performs the process of S11 after a predetermined time has elapsed.

[0057] The arithmetic circuit 201 generates position estimation information for estimating the position of the mobile robot 1 based on the measurement data output by the measurement sensor 13 (S13). The arithmetic circuit 201 determines whether the brake of the transport motor 18 is released (S14). If the brake of the transport motor 18 is engaged (S14; NO), the arithmetic circuit 201 stores the position estimation information in the memory circuit 203 (S15). In this manner, the arithmetic circuit 201 generates position estimation information from when the brake of the transport motor 18 is released until when it is engaged, and stores the generated position estimation information in the memory circuit 203. Specifically, the amount of movement (X, Y) and direction (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time when the mobile robot 1 was powered off are generated as position estimation information and stored in the memory circuit 203. In addition, the relative position (x, y) and orientation (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time the mobile robot 1 was powered off may be generated as position estimation information and stored in the memory circuit 203.

[0058] After the process of S15 is performed, the process returns to S11 and the process of S11 is performed. If the brake of the carry motor 18 is released (S14; YES), the process returns to S11 and the process of S11 is performed. The processes of S11 to S15 are performed until the mobile robot 1 is powered on.

[0059] FIG. 7 illustrates the operation of the SLAM unit 100 when the mobile robot 1 is powered on. 1 is a flowchart showing a process for estimating the position of the mobile robot 1. When the mobile robot 1 is powered on, the arithmetic circuit 101 requests the arithmetic circuit 201 to transfer position estimation information (S21). In response to the request from the arithmetic circuit 101, the arithmetic circuit 201 transmits the position estimation information stored in the memory circuit 203 to the arithmetic circuit 101 (S22). The arithmetic circuit 201 transmits the amount of movement (X, Y) and orientation (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time the mobile robot 1 was powered off to the arithmetic circuit 101 as position estimation information. The arithmetic circuit 201 may also transmit the relative position (x, y) and orientation (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time the mobile robot 1 was powered off to the arithmetic circuit 101 as position estimation information.

[0060] The arithmetic circuit 101 receives the position estimation information and estimates the position of the mobile robot 1 on the map based on the received position estimation information (S23).

[0061] 8 is a flowchart of a process for storing position estimation information in the memory circuit 203 when the detection of the movement of the mobile robot 1 is used as a trigger. When the power of the mobile robot 1 is turned off, the arithmetic circuit 201 acquires measurement data output by the measurement sensor 13 via the sensor input circuit 202 (S31). The measurement data acquired in the process of S31 is defined as measurement data (A). After a predetermined time has elapsed, the arithmetic circuit 201 acquires measurement data output by the measurement sensor 13 via the sensor input circuit 202 (S32). The measurement data acquired in the process of S32 is defined as measurement data (B).

[0062] The arithmetic circuit 201 compares the measured data (A) with the measured data (B) and determines whether there is a change between the measured data (A) and the measured data (B) (S33). If there is no change between the measured data (A) and the measured data (B) (S33; NO), the arithmetic circuit 201 changes the measured data (B) to the measured data (A) (S34) and performs the process of S32. If there is a change between the measured data (A) and the measured data (B) (S33; YES), the arithmetic circuit 201 detects that the mobile robot 1 has moved and generates position estimation information based on the measured data (A) and (B) (S35).

[0063] The arithmetic circuit 201 acquires the measurement data output by the measurement sensor 13 via the sensor input circuit 202 (S36). The measurement data acquired in the process of S36 is set as measurement data (C). The arithmetic circuit 201 generates position estimation information based on the measurement data (C) (S37). The arithmetic circuit 201 stores the generated position estimation information in the memory circuit 203 (S38).

[0064] The arithmetic circuit 201 determines whether the mobile robot 1 is powered on (S39). If the mobile robot 1 is powered on (S39; YES), the process of the flowchart shown in FIG. 8 ends. In this manner, the arithmetic circuit 201 generates position estimation information from the timing when the movement of the mobile robot 1 is detected until the mobile robot 1 is powered on, and stores the generated position estimation information in the memory circuit 203. Specifically, the amount of movement (X, Y) and the direction (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time when the mobile robot 1 is powered off are generated as position estimation information and stored in the memory circuit 203. In addition, the relative position (x, y) and direction (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time when the mobile robot 1 is powered off may be generated as position estimation information and stored in the memory circuit 203.

[0065] If the power supply of the mobile robot 1 is off (S39; NO), the process returns to S36 and the process of S36 is performed. If a predetermined condition is satisfied after the power supply of the mobile robot 1 is turned off (if the movement of the mobile robot 1 is detected), the arithmetic circuit 201 outputs the position estimation information The generated information is stored in the memory circuit 203. In this manner, the predetermined condition includes the fact that the arithmetic circuit 201 has detected the movement of the mobile robot 1 based on the measurement data.

[0066] <Second embodiment> A second embodiment will be described. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and the description thereof will be omitted. The processing of the flowcharts shown in Figs. 5 to 8 can be applied to the second embodiment. <Overall configuration of the mobile robot> 9 is a block diagram showing the configuration of a mobile robot 1 according to the second embodiment. The mobile robot 1 includes a processing unit 11, a laser sensor 12, a measurement sensor 13, a power supply control circuit 14, a battery 15, internal circuits 16 and 17, a transport motor 18, a braking device 19, a brake release switch 20, and a battery 21. The battery 21 is an example of a second battery.

[0067] The power supply control circuit 14 supplies power output from the battery 15 to the SLAM unit 100, the laser sensor 12, the measurement sensor 13, the internal circuits 16, 17, the transport motor 18, the braking device 19, and the brake release switch 20. The power supply control circuit 14 also cuts off the power supplied from the battery 15 to the SLAM unit 100, the laser sensor 12, the measurement sensor 13, the internal circuits 16, 17, the transport motor 18, the braking device 19, and the brake release switch 20.

[0068] The battery 21 stores power and outputs the stored power. The power supply control circuit 14 supplies the power output from the battery 21 to the positioning unit 200 and the measurement sensor 13. The power supply control circuit 14 also cuts off the power supplied from the battery 21 to the positioning unit 200 and the measurement sensor 13.

[0069] First, a case where the mobile robot 1 is powered on when it is operated for the first time, or when the mobile robot 1 is powered on when it does not yet understand its surroundings, will be described. When the mobile robot 1 is powered on, power is supplied from the battery 15 to the SLAM unit 100, the laser sensor 12, the internal circuits 16 and 17, the transport motor 18, the brake device 19, and the brake release switch 20. When the mobile robot 1 is powered on, power is supplied from the battery 21 to the positioning unit 200 and the measurement sensor 13. The brake of the transport motor 18 is released, and the mobile robot 1 starts to run. The mobile robot 1 runs while simultaneously creating a map of its surroundings and estimating its own position. The created map is stored in the memory circuit 103 or the memory circuit 203. When the mobile robot 1 acquires a map from a host system, the acquired map is stored in the memory circuit 103 or the memory circuit 203.

[0070] Next, the behavior of the mobile robot 1 when the power supply of the mobile robot 1 is turned off will be described. When the power supply of the mobile robot 1 is turned off, power is not supplied to the laser sensor 12 and the SLAM unit 100, and power is supplied from the battery 21 to the measurement sensor 13 and the positioning unit 200. Power is supplied from the battery 21 to the measurement sensor 13, the arithmetic circuit 201, the sensor input circuit 202, the memory circuit 203, and the I / O circuit 204 via the power supply circuit 205. Power may be supplied directly from the battery 21 to the measurement sensor 13. Power is also supplied from the battery 15 or the battery 21 to the internal circuit 17 and the brake release switch 20. Since power is not supplied to the SLAM unit 100, power is not supplied to the arithmetic circuit 101, the sensor input circuit 102, the memory circuit 103, the I / O circuit 104, and the communication circuit 105.

[0071] After the power supply of the mobile robot 1 is turned off, the user presses the brake release switch 20. When the brake release switch 20 is turned on, the internal circuit 17 sends an ON signal to the power supply control circuit 14. When the power supply control circuit 14 receives the ON signal from the internal circuit 17, it controls the supply of power from the battery 15 or the battery 21 to the braking device 19. The internal circuit 17 releases the brake of the transport motor 18. The user can then push the mobile robot 1 to rotate the rotating body of the mobile robot 1, thereby moving the mobile robot 1.

[0072] When the brake release switch 20 is turned on, the arithmetic circuit 201 receives a signal indicating that the brake of the transport motor 18 is in a released state. The arithmetic circuit 201 generates position estimation information based on the measurement data output by the measurement sensor 13. The arithmetic circuit 201 stores the generated position estimation information in the memory circuit 203. In this way, the arithmetic circuit 201 generates and stores the position estimation information in the memory circuit 203 when a predetermined condition is satisfied after the mobile robot 1 is powered off (when the brake of the transport motor 18 is in a released state).

[0073] Next, we will explain the behavior of the mobile robot 1 when the mobile robot 1 is powered on after being powered off. When the mobile robot 1 is powered on, power is supplied from the battery 15 to the SLAM unit 100, laser sensor 12, internal circuits 16, 17, transport motor 18, braking device 19, and brake release switch 20, and power is supplied from the battery 21 to the measurement sensor 13 and positioning unit 200.

[0074] The arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203. In this manner, when the mobile robot 1 is turned on and power is supplied from the battery 15 to the arithmetic circuit 101 and power is supplied from the battery 21 to the memory circuit 203, the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203.

[0075] The position estimation information obtained while the mobile robot 1 is powered off is stored in the memory circuit 203. The arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203, which allows the mobile robot 1 to easily estimate its own position. In this way, by preventing the loss of position estimation information while the mobile robot 1 is powered off, the mobile robot 1 can be prevented from losing its own position.

[0076] 9, the mobile robot 1 is provided with a path for supplying power from the battery 15 to the SLAM unit 100 and a path for supplying power from the battery 21 to the positioning unit 200. Furthermore, the supply of power from the battery 15 to the SLAM unit 100 and the supply of power from the battery 21 to the positioning unit 200 are performed independently of each other. This allows power to be supplied from the battery 21 to the measurement sensor 13 and the positioning unit 200 when the mobile robot 1 is powered off, without supplying power from the battery 15 to the SLAM unit 100.

[0077] <Third embodiment> A third embodiment will be described. In the third embodiment, the same components as those in the first and second embodiments are denoted by the same reference numerals as those in the first and second embodiments, and the description thereof will be omitted. The processing of the flowcharts shown in Figs. 5 to 8 can be applied to the third embodiment. <Overall configuration of the mobile robot> 10 is a block diagram showing the configuration of a mobile robot 1 according to the third embodiment. The mobile robot 1 includes a processing unit 11, a laser sensor 12, a measurement sensor 13, a power supply control circuit 14, a battery 15, internal circuits 16 and 17, a transport motor 18, and a brake device 19, a brake release switch 20, and a battery 21.

[0078] The power supply control circuit 14 supplies power output from the battery 15 to the SLAM unit 100, the positioning unit 200, the laser sensor 12, the measurement sensor 13, the internal circuits 16, 17, the transport motor 18, the braking device 19, and the brake release switch 20. The power supply control circuit 14 also cuts off the power supplied from the battery 15 to the SLAM unit 100, the positioning unit 200, the laser sensor 12, the measurement sensor 13, the internal circuits 16, 17, the transport motor 18, the braking device 19, and the brake release switch 20.

[0079] The battery 21 stores power and outputs the stored power. The power supply control circuit 14 supplies the power output from the battery 21 to the positioning unit 200. In addition, the power supply control circuit 14 cuts off the power supplied from the battery 21 to the positioning unit 200.

[0080] The following describes the behavior of the mobile robot 1 when the mobile robot 1 is powered on, and when the mobile robot 1 is powered off. When the mobile robot 1 is powered on for the first time it is put into operation, or when the mobile robot 1 is powered on when it is not yet aware of its surroundings, the behavior is the same as in the first embodiment.

[0081] Next, the behavior of the mobile robot 1 when the power supply of the mobile robot 1 is turned off will be described. When the power supply of the mobile robot 1 is turned off, power is not supplied to the laser sensor 12 and the SLAM unit 100, and power is supplied from the battery 15 or 21 to the measurement sensor 13 and the positioning unit 200. Power is supplied from the battery 15 or 21 to the measurement sensor 13, the arithmetic circuit 201, the sensor input circuit 202, the memory circuit 203, and the I / O circuit 204 via the power supply circuit 205. Power may be supplied directly from the battery 15 or 21 to the measurement sensor 13. Power is also supplied from the battery 15 or 21 to the internal circuit 17 and the brake release switch 20. Since power is not supplied to the SLAM unit 100, power is not supplied to the arithmetic circuit 101, the sensor input circuit 102, the memory circuit 103, the I / O circuit 104, and the communication circuit 105.

[0082] After the mobile robot 1 is powered off, the user turns on the brake release switch 20. When the brake release switch 20 is turned on, the internal circuit 17 sends an ON signal to the power supply control circuit 14. When the power supply control circuit 14 receives the ON signal from the internal circuit 17, it controls the supply of power from the battery 21 to the brake device 19. The internal circuit 17 releases the brake of the transport motor 18. The user pushes the mobile robot 1 to rotate the rotating body of the mobile robot 1, which allows the mobile robot 1 to move.

[0083] When the brake release switch 20 is turned on, the arithmetic circuit 201 receives a signal indicating that the brake of the transport motor 18 is in a released state. The arithmetic circuit 201 generates position estimation information based on the measurement data output by the measurement sensor 13. The arithmetic circuit 201 stores the generated position estimation information in the memory circuit 203. In this way, the arithmetic circuit 201 generates and stores the position estimation information in the memory circuit 203 when a predetermined condition is satisfied after the mobile robot 1 is powered off (when the brake of the transport motor 18 is in a released state).

[0084] Next, we will explain the behavior of the mobile robot 1 when it is powered on after being powered off. When the mobile robot 1 is powered on, electricity is supplied from the battery 15 to the processing unit 11, laser sensor 12, measurement sensor 13, internal circuits 16 and 17, transport motor 18, brake device 19, and brake release switch 20. Power is supplied.

[0085] The arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203. In this manner, when the mobile robot 1 is turned on and power is supplied from the battery 15 to the arithmetic circuit 101 and the memory circuit 203, the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203.

[0086] The position estimation information obtained while the mobile robot 1 is powered off is stored in the memory circuit 203. The arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203, which allows the mobile robot 1 to easily estimate its own position. In this way, by preventing the loss of position estimation information while the mobile robot 1 is powered off, the mobile robot 1 can be prevented from losing its own position.

[0087] 10, the mobile robot 1 is provided with a path for supplying power from the battery 15 to the SLAM unit 100, a path for supplying power from the battery 15 to the positioning unit 200, and a path for supplying power from the battery 21 to the positioning unit 200. The battery 15 and the battery 21 can supply power independently of each other. Also, the battery 15 can supply power independently to the SLAM unit 100 and the positioning unit 400. This allows the battery 21 to supply power to the measurement sensor 13 and the positioning unit 200 when the mobile robot 1 is powered off, without supplying power from the battery 15 to the SLAM unit 100.

[0088] The behavior of the mobile robot 1 when the battery 15 is in a state where it cannot output power will be described below. The state where the battery 15 is in a state where it cannot output power includes, for example, when the battery 15 is detached from the mobile robot 1 or when the capacity of the battery 15 is insufficient. When the power or amount of power stored in the battery 15 is equal to or less than a threshold, it may be determined that the capacity of the battery 15 is insufficient. Furthermore, when the battery 15 is in a state where it cannot output power, the power of the mobile robot 1 may be turned off.

[0089] When the battery 15 is in a state where it cannot output power, the battery 21 supplies power to the measurement sensor 13 and the positioning unit 200. Power is supplied from the battery 21 to the measurement sensor 13, the arithmetic circuit 201, the sensor input circuit 202, the memory circuit 203, and the I / O circuit 204 via the power supply circuit 205. Power may be supplied directly from the battery 21 to the measurement sensor 13. Power is also supplied from the battery 21 to the internal circuit 17 and the brake release switch 20. When power is supplied from the battery 21, the arithmetic circuit 201 generates position estimation information and stores it in the memory circuit 203.

[0090] When the battery 15 is in a state where it can output power, and when the mobile robot 1 is powered on to supply power to the processing unit 11, the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203. The battery 15 may supply power to the SLAM unit 100 and the positioning unit 200. The battery 15 may supply power to the SLAM unit 100, and the battery 21 may supply power to the positioning unit 200. The processing unit 11 may determine that the battery 15 is in a state where it can output power when, for example, the battery 15 is attached to the mobile robot 1 and the capacity of the battery 15 is sufficient. The capacity of the battery 15 may be determined to be sufficient when the power or amount of power stored in the battery 15 exceeds a threshold value. In this way, when the battery 15 is in a state where it can output power, and when the mobile robot 1 is powered on to supply power to the arithmetic circuit 101 and the memory circuit 203, the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 203. Based on the estimated information, the location of the mobile robot 1 on the map is estimated.

[0091] FIG. 11 is a flowchart of a process for storing position estimation information in the memory circuit 203 when the battery 15 is in a state where it cannot output power is used as a trigger. The arithmetic circuit 201 or the I / O circuit 204 determines whether or not the battery state of the battery 15 is valid (S41). That is, the arithmetic circuit 201 or the I / O circuit 204 determines whether or not the battery 15 is in a state where it can output power. The arithmetic circuit 201 or the I / O circuit 204 may determine that the battery 15 is in a state where it cannot output power when the battery 15 is detached from the mobile robot 1. The arithmetic circuit 201 or the I / O circuit 204 may determine that the battery 15 is in a state where it cannot output power when the capacity of the battery 15 is insufficient. When the battery 15 is in a state where it can output power, the arithmetic circuit 201 or the I / O circuit 204 determines that the battery state of the battery 15 is valid.

[0092] If the battery state of the battery 15 is valid (S41; YES), the process of the flowchart shown in Fig. 11 ends. When the process of the flowchart shown in Fig. 11 ends, the process of the flowchart shown in Fig. 5 may be performed. Furthermore, after a predetermined time has elapsed, the process of the flowchart shown in Fig. 11 may be performed again.

[0093] When the battery 15 is in a state where it cannot output power, the arithmetic circuit 201 or the I / O circuit 204 determines that the battery state of the battery 15 is invalid. When the battery state of the battery 15 is invalid (S41; NO), the arithmetic circuit 201 acquires measurement data output by the measurement sensor 13 via the sensor input circuit 202 (S42). The arithmetic circuit 201 generates position estimation information based on the measurement data output by the measurement sensor 13 (S43). The arithmetic circuit 201 or the I / O circuit 204 determines whether the battery state of the battery 15 is valid (S44). When the battery state of the battery 15 is invalid (S44; NO), the process returns to S42, and the process of S42 is performed.

[0094] If the battery state of the battery 15 is valid (S44; YES), the arithmetic circuit 201 stores the position estimation information in the memory circuit 203 (S45). In this manner, the arithmetic circuit 201 generates position estimation information from when the battery 15 becomes unable to output power until when the battery 15 becomes able to output power, and stores the generated position estimation information in the memory circuit 203. Specifically, the amount of movement (X, Y) and orientation (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time when the battery 15 becomes unable to output power are generated as position estimation information and stored in the memory circuit 203. Also, the relative position (x, y) and orientation (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time when the battery 15 becomes unable to output power may be generated as position estimation information and stored in the memory circuit 203.

[0095] When the process of S45 is performed, the process of the flowchart shown in Fig. 11 ends. When the process of the flowchart shown in Fig. 11 ends, the process of the flowchart shown in Fig. 5 may be performed. After a predetermined time has elapsed since the process of the flowchart shown in Fig. 11 ends, the process of the flowchart shown in Fig. 11 may be performed again.

[0096] Fig. 12 is a flowchart of a process that is triggered by the battery 15 being in a state where it cannot output power, and stores position estimation information in the memory circuit 203. The processes of S51 to S54 shown in Fig. 12 are similar to the processes of S51 to S54 shown in Fig. 11, and therefore description thereof will be omitted.

[0097] The arithmetic circuit 201 determines whether the power of the mobile robot 1 is on (S55). If the power of the mobile robot 1 is on (S55; YES), the arithmetic circuit 201 , and stores the position estimation information in the memory circuit 203 (S56). In this manner, the arithmetic circuit 201 generates position estimation information from when the battery 15 becomes unable to output power until the mobile robot 1 is powered on, and stores the generated position estimation information in the memory circuit 203. Specifically, the amount of movement (X, Y) and orientation (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time when the battery 15 becomes unable to output power are generated as position estimation information and stored in the memory circuit 203. Also, the relative position (x, y) and orientation (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time when the battery 15 becomes unable to output power may be generated as position estimation information and stored in the memory circuit 203.

[0098] If the power supply of the mobile robot 1 is on (S55; YES), the process returns to S51 and the process of S51 is performed.

[0099] 13 is a flowchart of a process for storing position estimation information in the memory circuit 203 when the detection of the movement of the mobile robot 1 is used as a trigger. The processes of S61 to S68 shown in FIG. 13 are similar to the processes of S31 to S38 shown in FIG. 8, and therefore a description thereof will be omitted.

[0100] The arithmetic circuit 201 or the I / O circuit 204 determines whether the battery state of the battery 15 is valid (S69). That is, the arithmetic circuit 201 or the I / O circuit 204 determines whether the battery 15 is in a state in which it can output power. The arithmetic circuit 201 or the I / O circuit 204 may determine that the battery 15 is in a state in which it cannot output power when the battery 15 is detached from the mobile robot 1. The arithmetic circuit 201 or the I / O circuit 204 may determine that the battery 15 is in a state in which it cannot output power when the capacity of the battery 15 is insufficient. The arithmetic circuit 201 or the I / O circuit 204 determines that the battery state of the battery 15 is valid when the battery 15 is in a state in which it can output power. When the battery state of the battery 15 is not valid (S69; NO), the process returns to S66 and the process of S66 is performed.

[0101] The arithmetic circuit 201 generates position estimation information from the time when the movement of the mobile robot 1 is detected until the battery 15 is in a state where it can output power, and stores the generated position estimation information in the memory circuit 203. Specifically, the amount of movement (X, Y) and orientation (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time when the movement of the mobile robot 1 is detected are generated as position estimation information and stored in the memory circuit 203. In addition, the relative position (x, y) and orientation (θ) of the mobile robot 1 from the position of the mobile robot 1 on the map at the time when the movement of the mobile robot 1 is detected may also be generated as position estimation information and stored in the memory circuit 203.

[0102] If the battery state of the battery 15 is valid (S69; YES), the process of the flowchart shown in FIG. 13 ends.

[0103] <Fourth embodiment> A fourth embodiment will be described. In the fourth embodiment, the same components as those in the first to third embodiments are denoted by the same reference numerals as those in the first to third embodiments, and the description thereof will be omitted. The process of the flowcharts shown in Figs. 5 to 8 can be applied to the third embodiment. <Overall configuration of the mobile robot> 14 is a block diagram showing the configuration of a mobile robot 1 according to a fourth embodiment. The mobile robot 1 includes a processing unit 11, a laser sensor 12, a measurement sensor 13, a power supply control circuit 14, a battery 15, internal circuits 16 and 17, a transport motor 18, a braking device 19, a brake release switch 20, a measurement sensor 60, and a positioning unit 400. The measurement sensor 60 is an example of a second sensor.

[0104] The power supply control circuit 14 supplies power output from the battery 15 to the processing unit 11, the laser sensor 12, the measurement sensor 13, the internal circuits 16, 17, the transport motor 18, the braking device 19, the brake release switch 20, the measurement sensor 60, and the positioning unit 400. The power supply control circuit 14 also cuts off power supplied from the battery 15 to the processing unit 11, the laser sensor 12, the measurement sensor 13, the internal circuits 16, 17, the transport motor 18, the braking device 19, the brake release switch 20, the measurement sensor 60, and the positioning unit 400.

[0105] The measurement sensor 60 is an acceleration sensor, a gyro sensor, an IMU, a rotary encoder, or an optical tracker. A sensor that combines at least two of the following: a rotary encoder and an optical tracker. It may be a unit.

[0106] The positioning unit 400 includes an arithmetic circuit 401, a sensor input circuit 402, a memory circuit 403, an I / O circuit 404, a power supply circuit 405, and a communication circuit 406. The arithmetic circuit 401 controls the sensor input circuit 402, the memory circuit 403, the I / O circuit 404, the power supply circuit 405, and the communication circuit 406, and executes various calculations. The arithmetic circuit 401 is composed of a processor such as a CPU, a ROM that stores programs and control data for the processor to operate, and a RAM that functions as a work area for the processor. The sensor input circuit 402 receives measurement data measured by the measurement sensor 60 and transmits the measurement data to the arithmetic circuit 401. The arithmetic circuit 401 acquires the measurement data output by the measurement sensor 60 via the sensor input circuit 402. The arithmetic circuit 401 transmits and receives various data and information to and from the processing unit 11 via the I / O circuit 404 and the communication circuit 406.

[0107] The memory circuit 403 stores the calculation data as a result of the calculation performed by the calculation circuit 401. The calculation circuit 401 reads out the calculation data stored in the memory circuit 403, and transmits the calculation data to the processing unit 11 via the I / O circuit 404 and the communication circuit 406. The processing unit 11 receives the calculation data from the calculation circuit 401. The power supply circuit 405 supplies power input from the battery 15 to the calculation circuit 401, the sensor input circuit 402, the memory circuit 403, the I / O circuit 404, the power supply circuit 405, and the communication circuit 406. The power supply circuit 405 also supplies power output from the battery 15 to the measurement sensor 60. Power may be directly supplied from the battery 15 to the measurement sensor 60 without passing through the power supply circuit 405.

[0108] 15 is a diagram showing the configuration of the positioning unit 400. The positioning unit 400 has a generation unit 411 that generates position estimation information for estimating the position of the mobile robot 1, and a storage unit 412 that stores a map and the position estimation information. The generation unit 411 is mainly composed of an arithmetic circuit 401, a sensor input circuit 402, and a memory circuit 403. The generation unit 411 is an example of a second generation unit. The storage unit 412 is mainly composed of the memory circuit 403. The storage unit 412 is an example of a second storage unit.

[0109] The generation unit 411 generates position estimation information based on the measurement data output by the measurement sensor 60. The position estimation information includes the movement amount (X, Y) and orientation (θ) of the mobile robot 1 on the map. The position estimation information may also include the relative position (x, y) and orientation (θ) of the mobile robot 1 on the map.

[0110] The storage unit 412 stores the location estimation information generated by the generation unit 411. If a map of the surroundings of the mobile robot 1 can be obtained from a host system that controls the movement of the mobile robot 1, the map obtained from the host system may be stored in the storage unit 412.

[0111] The behavior of the mobile robot 1 when the power of the mobile robot 1 is turned on, and The behavior of the mobile robot 1 when the power is turned off will be described below. When the mobile robot 1 is turned on for the first time it is operated, or when the mobile robot 1 is turned on when it is not yet aware of its surroundings, the behavior is the same as in the first embodiment.

[0112] Next, the behavior of the mobile robot 1 when the power supply of the mobile robot 1 is turned off will be described. When the power supply of the mobile robot 1 is turned off, power is not supplied to the processing unit 11 and the laser sensor 12, and power is supplied from the battery 15 to the measurement sensor 60 and the positioning unit 400. Power is supplied from the battery 15 to the measurement sensor 60, the arithmetic circuit 401, the sensor input circuit 402, the memory circuit 403, the I / O circuit 404, and the communication circuit 406 via the power supply circuit 405. Power may be supplied directly from the battery 15 to the measurement sensor 60. Power is also supplied from the battery 15 to the internal circuit 17 and the brake release switch 20. Because power is not supplied to the processing unit 11, power is not supplied to the SLAM unit 100, each circuit included in the SLAM unit 100, the positioning unit 200, and each circuit included in the positioning unit 200.

[0113] After the mobile robot 1 is powered off, the user turns on the brake release switch 20. When the brake release switch 20 is turned on, the internal circuit 17 sends an ON signal to the power supply control circuit 14. When the power supply control circuit 14 receives the ON signal from the internal circuit 17, it controls the supply of power from the battery 15 to the brake device 19. The internal circuit 17 releases the brake of the transport motor 18. The user pushes the mobile robot 1 to rotate the rotating body of the mobile robot 1, which allows the mobile robot 1 to move.

[0114] When the brake release switch 20 is turned on, the arithmetic circuit 401 receives a signal via the I / O circuit 404 indicating that the brake of the transport motor 18 is in a released state. The arithmetic circuit 401 generates position estimation information based on the measurement data output by the measurement sensor 60. The arithmetic circuit 401 stores the generated position estimation information in the memory circuit 403. In this manner, when a predetermined condition is satisfied after the mobile robot 1 is powered off (when the brake of the transport motor 18 is in a released state), the arithmetic circuit 401 generates and stores the position estimation information in the memory circuit 403. In this manner, the predetermined condition includes the brake of the transport motor 18 being in a released state.

[0115] Next, we will explain the behavior of the mobile robot 1 when the mobile robot 1 is powered on after being powered off. When the mobile robot 1 is powered on, power is supplied from the battery 15 to the processing unit 11, laser sensor 12, measurement sensor 13, internal circuits 16, 17, transport motor 18, braking device 19, brake release switch 20, and positioning unit 400.

[0116] The arithmetic circuit 101 of the processing unit 11 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 403 of the positioning unit 400. In this manner, when the mobile robot 1 is turned on and power is supplied from the battery 15 to the arithmetic circuit 101 and the memory circuit 403, the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 403.

[0117] The position estimation information obtained while the mobile robot 1 is powered off is stored in the memory circuit 403. The arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 403, which allows the mobile robot 1 to easily estimate its own position. In this way, by preventing the loss of position estimation information while the mobile robot 1 is powered off, the mobile robot 1 can be prevented from losing its own position.

[0118] 14, the mobile robot 1 is provided with a path for supplying power from the battery 15 to the processing unit 11, and a path for supplying power from the battery 15 to the positioning unit 400. In addition, the battery 15 can supply power independently to the processing unit 11 and the positioning unit 400. This allows the battery 15 to supply power to the measurement sensor 60 and the positioning unit 400 when the mobile robot 1 is powered off, without supplying power to the processing unit 11.

[0119] <Fifth embodiment> A fifth embodiment will be described. In the fifth embodiment, the same components as those in the first to fourth embodiments are denoted by the same reference numerals as those in the first to fourth embodiments, and the description thereof will be omitted. The processing of the flowcharts shown in Figs. 5 to 8 can be applied to the fifth embodiment. <Overall configuration of the mobile robot> 16 is a block diagram showing the configuration of a mobile robot 1 according to the fifth embodiment. The mobile robot 1 includes a processing unit 11, a laser sensor 12, a measurement sensor 13, a power supply control circuit 14, a battery 15, internal circuits 16 and 17, a transport motor 18, a braking device 19, a brake release switch 20, a battery 21, a measurement sensor 60, and a positioning unit 400.

[0120] The power supply control circuit 14 supplies power output from the battery 15 to the processing unit 11, the laser sensor 12, the measurement sensor 13, the internal circuits 16, 17, the transport motor 18, the braking device 19, and the brake release switch 20. In addition, the power supply control circuit 14 cuts off the power supplied from the battery 15 to the processing unit 11, the laser sensor 12, the measurement sensor 13, the internal circuits 16, 17, the transport motor 18, the braking device 19, and the brake release switch 20.

[0121] The power supply control circuit 14 supplies the power output from the battery 21 to the measurement sensor 60 and the positioning unit 400. In addition, the power supply control circuit 14 cuts off the power supplied from the battery 21 to the measurement sensor 60 and the positioning unit 400.

[0122] First, a case where the mobile robot 1 is powered on when it is operated for the first time, or when the mobile robot 1 is powered on when it is not aware of its surroundings, will be described. When the mobile robot 1 is powered on, power is supplied from the battery 15 to the processor 11, laser sensor 12, internal circuits 16, 17, transport motor 18, braking device 19, and brake release switch 20. The brake of the transport motor 18 is released, and the mobile robot 1 starts to move. The mobile robot 1 moves while simultaneously creating a map of its surroundings and estimating its own position. The created map is stored in the memory circuit 103 or memory circuit 203. When the mobile robot 1 acquires a map from a host system, the acquired map is stored in the memory circuit 103 or memory circuit 203.

[0123] Next, the behavior of the mobile robot 1 when the power supply of the mobile robot 1 is turned off will be described. When the power supply of the mobile robot 1 is turned off, power is not supplied to the processing unit 11 and the laser sensor 12, and power is supplied from the battery 21 to the measurement sensor 60 and the positioning unit 400. Power is supplied from the battery 21 to the measurement sensor 60, the arithmetic circuit 401, the sensor input circuit 402, the memory circuit 403, the I / O circuit 404, and the communication circuit 406 via the power supply circuit 405. Power may be supplied directly from the battery 21 to the measurement sensor 60. Power is also supplied from the battery 15 or the battery 21 to the internal circuit 17 and the brake release switch 20. Because power is not supplied to the processing unit 11, power is not supplied to the SLAM unit 100, each circuit included in the SLAM unit 100, the positioning unit 200, and each circuit included in the positioning unit 200.

[0124] After the power of the mobile robot 1 is turned off, the user turns on the brake release switch 20. When the brake release switch 20 is turned on, the internal circuit 17 sends an ON signal to the power supply control circuit 14. When the power supply control circuit 14 receives the ON signal from the internal circuit 17, it controls the supply of power from the battery 15 or the battery 21 to the brake device 19. The internal circuit 17 releases the brake of the transport motor 18. The user pushes the mobile robot 1 to rotate the rotating body of the mobile robot 1, which allows the mobile robot 1 to move.

[0125] When the brake release switch 20 is turned on, the arithmetic circuit 401 receives a signal via the I / O circuit 404 indicating that the brake of the transport motor 18 is in a released state. The arithmetic circuit 401 generates position estimation information based on the measurement data output by the measurement sensor 60. The arithmetic circuit 401 stores the generated position estimation information in the memory circuit 403. In this way, when a predetermined condition is satisfied after the mobile robot 1 is powered off (when the brake of the transport motor 18 is in a released state), the arithmetic circuit 401 generates and stores the position estimation information in the memory circuit 403.

[0126] Next, we will explain the behavior of the mobile robot 1 when the mobile robot 1 is powered on after being powered off. When the mobile robot 1 is powered on, power is supplied from the battery 15 to the processing unit 11, laser sensor 12, measurement sensor 13, internal circuits 16, 17, transport motor 18, braking device 19, and brake release switch 20, and power is supplied from the battery 21 to the positioning unit 400.

[0127] The arithmetic circuit 101 of the processing unit 11 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 403 of the positioning unit 400. In this manner, when the mobile robot 1 is turned on and power is supplied from the battery 15 to the arithmetic circuit 101 and power is supplied from the battery 21 to the memory circuit 403, the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 403.

[0128] After the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map, the supply of power from the battery 21 to the positioning unit 400 may be stopped. This makes it possible to reduce consumption of the power stored in the battery 21.

[0129] The position estimation information obtained while the mobile robot 1 is powered off is stored in the storage unit 412. The estimation unit 114 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the storage unit 412, which allows the mobile robot 1 to easily estimate its own position. In this way, by preventing the loss of position estimation information while the mobile robot 1 is powered off, the mobile robot 1 can be prevented from losing its own position.

[0130] 16, the mobile robot 1 is provided with a path for supplying power from the battery 15 to the processing unit 11, and a path for supplying power from the battery 15 to the positioning unit 400. In addition, the battery 15 can supply power independently to the processing unit 11 and the positioning unit 400. This allows power to be supplied from the battery 21 to the measurement sensor 60 and the positioning unit 400 when the mobile robot 1 is powered off, without supplying power from the battery 15 to the processing unit 11.

[0131] Sixth embodiment A sixth embodiment will be described. In the sixth embodiment, the same The components are denoted by the same reference numerals as those in the first to fifth embodiments, and the description thereof will be omitted. The processes in the flowcharts shown in Figures 5 to 8 and 11 to 13 can be applied to the sixth embodiment. <Overall configuration of the mobile robot> 17 is a block diagram showing the configuration of a mobile robot 1 according to a sixth embodiment. The mobile robot 1 includes a processing unit 11, a laser sensor 12, a measurement sensor 13, a power supply control circuit 14, a battery 15, internal circuits 16 and 17, a transport motor 18, a braking device 19, a brake release switch 20, a battery 21, a measurement sensor 60, and a positioning unit 400.

[0132] Although not shown in Fig. 17, similar to the configuration shown in Fig. 1, processing unit 11 includes SLAM unit 100, positioning unit 200, and interface circuit 300. SLAM unit 100 includes arithmetic circuit 101, sensor input circuit 102, memory circuit 103, I / O circuit 104, communication circuit 105, and power supply circuit 106. Positioning unit 200 includes arithmetic circuit 201, sensor input circuit 202, memory circuit 203, I / O circuit 204, and power supply circuit 205.

[0133] The power supply control circuit 14 supplies power output from the battery 15 to the processing unit 11, the laser sensor 12, the measurement sensor 13, the internal circuits 16, 17, the transport motor 18, the braking device 19, the brake release switch 20, the measurement sensor 60, and the positioning unit 400. The power supply control circuit 14 also cuts off power supplied from the battery 15 to the processing unit 11, the laser sensor 12, the measurement sensor 13, the internal circuits 16, 17, the transport motor 18, the braking device 19, the brake release switch 20, the measurement sensor 60, and the positioning unit 400.

[0134] The power supply control circuit 14 supplies the power output from the battery 21 to the measurement sensor 60 and the positioning unit 400. In addition, the power supply control circuit 14 cuts off the power supplied from the battery 21 to the measurement sensor 60 and the positioning unit 400.

[0135] First, a case where the mobile robot 1 is powered on when it is operated for the first time, or when the mobile robot 1 is powered on when it is not aware of its surroundings, will be described. When the mobile robot 1 is powered on, power is supplied from the battery 15 to the processing unit 11, the laser sensor 12, the internal circuits 16 and 17, the transport motor 18, the brake device 19, the brake release switch 20, the measurement sensor 60, and the positioning unit 400. The brake of the transport motor 18 is released, and the mobile robot 1 starts to run. The mobile robot 1 runs while simultaneously creating a map of its surroundings and estimating its own position. The created map is stored in the memory circuit 103 or the memory circuit 203. When the mobile robot 1 acquires a map from a host system, the acquired map is stored in the memory circuit 103 or the memory circuit 203.

[0136] Next, the behavior of the mobile robot 1 when the power supply of the mobile robot 1 is turned off will be described. When the power supply of the mobile robot 1 is turned off, power is not supplied to the processing unit 11 and the laser sensor 12, and power is supplied from the battery 15 or the battery 21 to the positioning unit 400. Power is supplied from the battery 15 or the battery 21 to the measurement sensor 60, the arithmetic circuit 401, the sensor input circuit 402, the memory circuit 403, the I / O circuit 404, and the communication circuit 406 via the power supply circuit 405. Power may be supplied directly from the battery 15 or the battery 21 to the measurement sensor 60. Power is also supplied from the battery 15 or the battery 21 to the internal circuit 17 and the brake release switch 20. Since power is not supplied to the processing unit 11, power is not supplied to the SLAM unit 100, each circuit included in the SLAM unit 100, the positioning unit 200, and each circuit included in the positioning unit 200.

[0137] After the power of the mobile robot 1 is turned off, the user turns on the brake release switch 20. When the brake release switch 20 is turned on, the internal circuit 17 sends an ON signal to the power supply control circuit 14. When the power supply control circuit 14 receives the ON signal from the internal circuit 17, it controls the supply of power from the battery 15 or the battery 21 to the brake device 19. The internal circuit 17 releases the brake of the transport motor 18. The user pushes the mobile robot 1 to rotate the rotating body of the mobile robot 1, which allows the mobile robot 1 to move.

[0138] When the brake release switch 20 is turned on, the arithmetic circuit 401 receives a signal via the I / O circuit 404 indicating that the brake of the transport motor 18 is in a released state. The arithmetic circuit 401 generates position estimation information based on the measurement data output by the measurement sensor 60. The arithmetic circuit 401 stores the generated position estimation information in the memory circuit 403. In this way, when a predetermined condition is satisfied after the mobile robot 1 is powered off (when the brake of the transport motor 18 is in a released state), the arithmetic circuit 401 generates and stores the position estimation information in the memory circuit 403.

[0139] Next, we will explain the behavior of the mobile robot 1 when the mobile robot 1 is powered on after being powered off. When the mobile robot 1 is powered on, power is supplied from the battery 15 to the processing unit 11, laser sensor 12, measurement sensor 13, internal circuits 16, 17, transport motor 18, braking device 19, and brake release switch 20, and power is supplied from the battery 15 or battery 21 to the positioning unit 400.

[0140] The arithmetic circuit 101 of the processing unit 11 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 403 of the positioning unit 400. In this manner, when the mobile robot 1 is turned on and power is supplied from the battery 15 to the arithmetic circuit 101, and power is supplied from the battery 15 or the battery 21 to the memory circuit 403, the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 403.

[0141] When power is being supplied from the battery 21 to the positioning unit 400, after the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map, the supply of power from the battery 21 to the positioning unit 400 may be stopped. This makes it possible to reduce consumption of the power stored in the battery 21.

[0142] The position estimation information obtained while the mobile robot 1 is powered off is stored in the memory circuit 403. The arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 403, which allows the mobile robot 1 to easily estimate its own position. In this way, by preventing the loss of position estimation information while the mobile robot 1 is powered off, the mobile robot 1 can be prevented from losing its own position.

[0143] 17, the mobile robot 1 is provided with a path for supplying power from the battery 15 to the processing unit 11, a path for supplying power from the battery 15 to the positioning unit 400, and a path for supplying power from the battery 21 to the positioning unit 400. The battery 15 and the battery 21 can supply power independently of each other. Also, the battery 15 can supply power independently to the processing unit 11 and the positioning unit 400. This allows the battery 21 to supply power to the measurement sensor 60 and the positioning unit 400 when the mobile robot 1 is powered off, without supplying power from the battery 15 to the processing unit 11.

[0144] The behavior of the mobile robot 1 when the battery 15 is in a state where it cannot output power will be described below. The state where the battery 15 is in a state where it cannot output power includes, for example, when the battery 15 is detached from the mobile robot 1 or when the capacity of the battery 15 is insufficient. When the power or amount of power stored in the battery 15 is equal to or less than a threshold, it may be determined that the capacity of the battery 15 is insufficient. Furthermore, when the battery 15 is in a state where it cannot output power, the power of the mobile robot 1 may be turned off.

[0145] When the battery 15 is in a state where it cannot output power, power is supplied from the battery 21 to the measurement sensor 60 and the positioning unit 400. Power is supplied from the battery 21 to the measurement sensor 60, the arithmetic circuit 401, the sensor input circuit 402, the memory circuit 403 and the I / O circuit 404 via the power supply circuit 405. Power may be supplied directly from the battery 21 to the measurement sensor 60. Power is also supplied from the battery 21 to the internal circuit 17 and the brake release switch 20. When power is supplied from the battery 21, the arithmetic circuit 401 generates position estimation information and stores it in the memory circuit 403.

[0146] When the battery 15 is in a state where it can output power, and when the mobile robot 1 is turned on to supply power to the processing unit 11 and the positioning unit 400, the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 403. Power may be supplied from the battery 15 to the processing unit 11 and the positioning unit 400. Power may be supplied from the battery 15 to the processing unit 11, and power may be supplied from the battery 21 to the positioning unit 400. An example of a state where the battery 15 is in a state where it is attached to the mobile robot 1 and the capacity of the battery 15 is sufficient, etc. A state where the power or amount of power stored in the battery 15 exceeds a threshold value may be determined to be a state where the capacity of the battery 15 is sufficient. In this way, when the battery 15 is in a state where it can output power and the mobile robot 1 is turned on to supply power to the arithmetic circuit 101 and the memory circuit 403, the arithmetic circuit 101 estimates the position of the mobile robot 1 on the map based on the position estimation information stored in the memory circuit 403.

[0147] The positioning unit 400 may be installed inside or on the exterior of the housing of the mobile robot 1. It is preferable to install the positioning unit 400 in a location where it can directly detect the behavior of the mobile robot 1 and where it will not affect the positioning of the sensor device, such as by subjecting the positioning function unit of the mobile robot 1 to unnecessary vibrations. By determining the installation location and installation method of the positioning unit 400 suitable for the mobile robot 1 in advance through positioning tests, etc., the positioning unit 400 can be installed on the mobile robot 1 both before and after the shipment of the mobile robot 1. Furthermore, the positioning unit 400 may be stored in a case for maintenance and safety reasons.

[0148] FIG. 18 is a diagram showing an example of the installation position of the positioning unit 400. In FIG. 18, the positioning unit 400 is installed outside the housing of the mobile robot 1. The positioning unit 400 is fixed to the case 430 by attaching a circuit board 420 of the positioning unit 400 to a board 431 of the case 430 with board attachment screws 421. Although not shown in FIG. 18, the circuit board 420 is provided with an arithmetic circuit 401, a sensor input circuit 402, a memory circuit 403, an I / O circuit 404, a power circuit 405, and a communication circuit 406. The case 430 is attached to the housing of the mobile robot 1 with the case attachment screws 431. By connecting a connector 422 of the positioning unit 400 to a connector 440 of the mobile robot 1, power can be supplied to the positioning unit 400 and communication can be performed between the positioning unit 400 and the processing unit 11.

[0149] <Additional Notes> A self-propelled transport device (1) capable of traveling, a generating unit (112, 201, 401, 411) that generates position estimation information for estimating a position of the self-propelled conveying device (1) based on measurement data output by a sensor (13, 60); A storage unit (113, 203, 403, 412) for storing a map and the position estimation information; an estimation unit (101, 114) that estimates a position of the self-propelled conveying device on the map based on the position estimation information; A battery (15, 21) that outputs power; Equipped with when the power supply of the self-propelled transport device (1) is turned off, power is not supplied to the estimation unit (101, 114), and power is supplied from the battery (15, 21) to the sensor (13, 60), the generation unit (112, 201, 401, 411), and the storage unit (203, 113, 403, 412); When a predetermined condition is satisfied after the power supply of the self-propelled transport device (1) is turned off, the generation unit (112, 201, 401, 411) generates the position estimation information and stores it in the storage unit (113, 203, 403, 412); When the power supply of the self-propelled conveying device (1) is turned on and power is supplied to the estimation unit (101, 114) and the memory unit (113, 203, 403, 412), the estimation unit (101, 114) estimates the position of the self-propelled conveying device (1) on the map based on the position estimation information stored in the memory unit (113, 203, 403, 412). Self-propelled transport device (1). [Explanation of symbols]

[0150] 1: Mobile robot 11: Processing section 12: Laser sensor 13: Measurement sensor 14: Power supply control circuit 15, 21: Battery 16, 17: Internal circuit 18: Transport motor 19: Brake device 20: Brake release switch 100:SLAM club 101, 201, 401: Arithmetic circuit 102, 202, 402: Sensor input circuit 103, 203, 403: Memory circuit 104, 204, 404: I / O circuit 105, 205, 405: Power supply circuit 106, 406: Communication circuits 111: Map Creation Department 112, 411: Generation section 113, 412: Storage section 114: Estimation part 200, 400: Positioning unit

Claims

1. A self-propelled transport device capable of traveling, a generating unit that generates position estimation information for estimating a position of the self-propelled conveying device based on measurement data output by a sensor; A storage unit that stores a map and the position estimation information; an estimation unit that estimates a position of the self-propelled conveying device on the map based on the position estimation information; A battery that outputs power Equipped with When the power supply of the self-propelled transport device is turned off, power is not supplied to the estimation unit, and power is supplied from the battery to the sensor, the generation unit, and the storage unit; the generating unit generates the position estimation information and stores it in the storage unit when a predetermined condition is satisfied after the power supply of the self-propelled transport device is turned off; When the power supply of the self-propelled conveying device is turned on and the power is supplied to the estimation unit and the storage unit, the estimation unit estimates the position of the self-propelled conveying device on the map based on the position estimation information stored in the storage unit. Self-propelled transport device.

2. The battery is a first battery, a second battery that outputs electric power; When the first battery is in a state in which it cannot output power, power is supplied from the second battery to the sensor, the generation unit, and the storage unit; the generation unit generates the position estimation information and stores the position estimation information in the storage unit when power is supplied from the second battery; When the first battery is in a state capable of outputting electric power and when the power supply to the self-propelled transport device is turned on and electric power is supplied to the estimation unit and the storage unit, the estimation unit estimates the position of the self-propelled transport device on the map based on the position estimation information stored in the storage unit. The self-propelled transport device according to claim 1.

3. the generation unit generates the position estimation information from after the first battery becomes unable to output power until the first battery becomes able to output power. The self-propelled transport device according to claim 2.

4. the generation unit generates the position estimation information from after the first battery becomes unable to output power until the self-propelled transport device is powered on. The self-propelled transport device according to claim 2.

5. The predetermined condition includes that the generation unit detects the movement of the self-propelled conveying device based on the measurement data. The self-propelled transport device according to any one of claims 1 to 4.

6. the predetermined condition includes that the generation unit detects movement of the self-propelled conveying device based on the measurement data, the generation unit generates the position estimation information from a timing when movement of the self-propelled transport device is detected until the first battery becomes capable of outputting power. The self-propelled transport device according to any one of claims 2 to 4.

7. a first generating unit that generates the position estimation information based on measurement data of a first sensor; a first storage unit that stores the map and the position estimation information; Equipped with The sensor is a second sensor, The generation unit is a second generation unit that generates the position estimation information based on measurement data of the second sensor, The storage unit is a second storage unit that stores the map and the position estimation information, When the power supply of the self-propelled transport device is turned off, power is not supplied to the estimation unit, the first sensor, the first generation unit, and the first storage unit, and power is supplied to the second sensor, the second generation unit, and the second storage unit from the battery; the second generation unit generates the position estimation information and stores it in the second storage unit when the predetermined condition is satisfied after the power supply of the self-propelled transport device is turned off; When the power supply of the self-propelled conveying device is turned on and power is supplied to the estimation unit and the second storage unit, the estimation unit estimates the position of the self-propelled conveying device on the map based on the position estimation information stored in the second storage unit. The self-propelled transport device according to claim 1.

8. The battery is a first battery, a second battery that outputs electric power; When the first battery is in a state in which it cannot output electric power, the second battery supplies electric power to the second sensor, the second generating unit, and the second storage unit; the second generating unit generates the position estimation information and stores the position estimation information in the storage unit when power is supplied from the second battery; When the first battery is in a state capable of outputting electric power and when the power source of the self-propelled transport device is turned on to supply electric power to the estimation unit and the second storage unit, the estimation unit estimates the position of the self-propelled transport device on the map based on the position estimation information stored in the second storage unit. The self-propelled transport device according to claim 7.

9. the first generating unit generates the position estimation information from after the first battery becomes unable to output power until the first battery becomes able to output power; The self-propelled transport device according to claim 8.

10. the first generation unit generates the position estimation information after the first battery becomes unable to output power until the self-propelled transport device is powered on. The self-propelled transport device according to claim 8.

11. the predetermined condition includes that the first generation unit detects the movement of the self-propelled conveying device based on the measurement data. The self-propelled transport device according to any one of claims 7 to 10.

12. the predetermined condition includes that the first generation unit detects movement of the self-propelled conveying device based on the measurement data, the first generation unit generates the position estimation information from a timing when movement of the self-propelled transport device is detected until the first battery becomes capable of outputting power. The self-propelled transport device according to any one of claims 8 to 10.

13. the predetermined condition includes a brake of a motor for driving the self-propelled transport device being in a released state; The self-propelled transport device according to any one of claims 1 to 12.

14. The position estimation information generated after the power supply of the self-propelled transport device is turned off is generated from when the brake is released to when the brake is activated. The self-propelled transport device according to claim 13.

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