Mapping vehicle

Abstract

To provide a technology capable of easily creating accurate map data for a mobile robot even without having an actual machine of the mobile robot.SOLUTION: A map creation vehicle includes a vehicle body to be run by being hand-pushed or hand-guided by a person, a sensor for map creation for measuring a peripheral environment, and a processing unit for creating map data of the peripheral environment by using data measured by the sensor for map creation while making the vehicle body run. The sensor for map creation is arranged in the vehicle body with such an arrangement to be able to acquire the same measurement field as the sensor mounted on the robot.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for creating map data to be used by an autonomously traveling robot. [Background technology]

[0002] In recent years, there has been an increase in the number of autonomous robots being introduced into manufacturing and logistics sites. This type of robot is called an AMR (Autonomous Mobile Robot) or simply a mobile robot. These mobile robots, called "mobile robots," are capable of automatically selecting appropriate routes and traveling autonomously by estimating their own position on a map using sensors that measure the surrounding environment. By replacing tasks that were previously performed by humans with mobile robots, it is expected that productivity and safety will be improved and labor-saving will be achieved.

[0003] When introducing a new mobile robot, the first task required is to create map data of the environment in which the mobile robot will operate. Typically, a trainer will push the mobile robot by hand and walk around the environment, covering all areas in which it can operate, allowing the mobile robot to learn about its surroundings (i.e., measuring the surrounding environment with sensors and creating an environmental map based on the measurement results). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2015 / 151770 Summary of the Invention [Problem to be solved by the invention]

[0005] While using an actual mobile robot to learn about an unknown environment has the advantage of allowing map data to be created under the same conditions as actual operation, it also has the following challenges:

[0006] Because a mobile robot is required, users cannot begin creating map data until they receive the actual device. This can result in a time loss when introducing a mobile robot. Recently, tools have been developed that can verify the behavior and operation of mobile robots through computer simulation, but without the actual device, map data cannot be prepared, making it impossible to conduct simulations that are tailored to the real environment. Furthermore, if the layout of a part of the operating environment is changed, one of the mobile robots in operation must be assigned to creating map data in order to update the map, resulting in a decrease in utilization rate.

[0007] In the field of indoor mapping, a cart equipped with a 3D laser scanner or a camera is used to perform 3D measurements of the surrounding environment and create point cloud data of 3D information (also called a 3D map) (see Patent Document 1). However, the 3D map data created by this type of system cannot be used as is for a mobile robot. Even if the 3D map data could be converted into map data for a mobile robot, there is no guarantee that sufficient accuracy would be achieved.

[0008] The present invention has been made in consideration of the above-mentioned circumstances, and its object is to provide a technology that makes it possible to easily create high-precision map data for a mobile robot, even if an actual mobile robot is not available. [Means for solving the problem]

[0009] The present disclosure includes a mapping vehicle that creates map data for an autonomously moving robot by estimating its own position on a map using a sensor that measures the surrounding environment, the mapping vehicle having a vehicle body that is driven by a person by pushing or pulling it, a mapping sensor for measuring the surrounding environment, and a processing unit that creates map data of the surrounding environment using data measured by the mapping sensor while the vehicle body is driven, wherein the mapping sensor is installed on the vehicle body in a position that provides a measurement field of view equivalent to that of the sensor mounted on the robot.

[0010] The sensor of the robot may be a laser scanner that scans a horizontal plane at a predetermined height from the floor, and the map creation sensor may be a laser scanner installed to scan a horizontal plane at the same height as the sensor of the robot.

[0011] The robot has a pair of differential drive wheels and an encoder provided on each differential drive wheel, and uses the output of the encoder to estimate its own position; the vehicle body has a pair of differential wheels and a map creation encoder provided on each differential wheel; the processing unit uses the output of the map creation encoder to create the map data; and the diameter of the differential wheels may be equal to the diameter of the differential drive wheels of the robot.

[0012] The wheel spacing of the pair of differential wheels may be equal to the wheel spacing of the pair of differential drive wheels of the robot.

[0013] The angular resolution of the cartographic encoder may be equal to the angular resolution of the robot's encoder.

[0014] The positional relationship of the zero point of the map creation encoder may be equal to the positional relationship of the zero point of the encoder of the robot.

[0015] The robot may have an inertial measurement unit and use the output of the inertial measurement unit to estimate its own position, the vehicle body may have an inertial measurement unit for map creation, the processing unit may use the output of the inertial measurement unit for map creation to create the map data, and the inertial measurement unit for map creation may be installed on the vehicle body in an arrangement such that the relative positional relationship between the inertial measurement unit for map creation and the pair of differential wheels is equal to the relative positional relationship between the inertial measurement unit and the pair of differential drive wheels on the robot.

[0016] The vehicle may include a power generation device that generates electricity by the rotation of the differential wheels, and a power storage device that stores the electricity generated by the power generation device, and at least one of the map creation sensor and the processing unit may be supplied with power from the power storage device.

[0017] The device may include an illuminance sensor that measures the illuminance of the surrounding environment, and the processing unit may determine a position where the illuminance does not fall within the appropriate condition based on the output of the illuminance sensor.

[0018] The processing unit may embed information about positions where the illuminance does not fall within the appropriate conditions into the map data.

[0019] The map creation sensor is a sensor that captures reflected light from an object and measures the distance to the object, and the processing unit may detect an object whose reflectance does not fall within the appropriate conditions based on the intensity of the reflected light received by the map creation sensor.

[0020] The processing unit may embed information about the location of an object whose reflectance does not fall within the appropriate condition into the map data.

[0021] The processing unit may embed information about areas where it is difficult for the robot to travel in the map data.

[0022] The processing unit may embed information about floor unevenness in the map data.

[0023] The processing unit may embed information about the slope of a floor surface into the map data.

[0024] A magnetic tape used for positioning the robot may be laid on a floor surface, and the processing unit may embed information about the position where the magnetic tape is laid in the map data.

[0025] The processing unit may embed information about the position of the stopping goal of the robot into the map data.

[0026] The processing unit may embed information about the location of a charging dock for the robot into the map data.

[0027] The present invention may be understood as a mapping vehicle having at least some of the above-described means, or as a system having a mapping vehicle and a robot. The present invention may also be understood as a map creation method or a control method for a mapping vehicle that includes at least some of the above-described processing, or as a program for implementing such a method or a recording medium on which such a program is recorded. The above-described means and processing may be combined with each other to the greatest extent possible to constitute the present invention. [Effects of the Invention]

[0028] According to the present invention, it is possible to easily create highly accurate map data for a mobile robot even without an actual mobile robot. [Brief explanation of the drawings]

[0029] [Figure 1] FIG. 1 is a diagram showing a map creation method as an application example of the present invention. [Figure 2] FIG. 2A is a front view of the mobile robot, and FIG. 2B is a side view of the mobile robot. [Figure 3] FIG. 3 is a block diagram showing the configuration of the mobile robot. [Figure 4]FIG. 4A is a front view of the map creation vehicle of the first embodiment, and FIG. 4B is a side view of the map creation vehicle of the first embodiment. [Figure 5] FIG. 5 is a block diagram showing the configuration of the map creation vehicle of the first embodiment. [Figure 6] FIG. 6 is a diagram showing the flow of operations performed by an operator when creating map data and the flow of operations of a map creation vehicle. [Figure 7] FIG. 7 is a diagram showing an example of map data generated by the map creation vehicle of the first embodiment. [Figure 8] FIG. 8 is a block diagram showing the configuration of a map creation vehicle according to the second embodiment. [Figure 9] FIG. 9 is a block diagram showing the configuration of a map creation vehicle according to the third embodiment. [Figure 10] FIG. 10 is a diagram showing an example of map data generated by the map creation vehicle of the third embodiment. [Figure 11] FIG. 11 is a block diagram showing the configuration of a map creation vehicle according to the fourth embodiment. [Figure 12] FIG. 12 is a diagram showing an example of map data generated by the map creation vehicle of the fourth embodiment. [Figure 13] FIG. 13 is a block diagram showing the configuration of a map creation vehicle according to the fifth embodiment. [Figure 14] FIG. 14 is a diagram showing an example of map data generated by the map creation vehicle of the fifth embodiment. [Figure 15] FIG. 15 is a block diagram showing the configuration of a map creation vehicle according to the sixth embodiment. [Figure 16] FIG. 16 is a diagram showing an example of map data generated by the map creation vehicle of the seventh embodiment. [Figure 17] FIG. 17 is a diagram showing the configuration of a map creation vehicle according to the eighth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0030] <Application example> A map creation method as an application example of the present invention will be described with reference to FIG.

[0031] Mobile Robot 2 uses a technology called SLAM (Simultaneous Localization and Mapping). SLAM is a robot capable of autonomous driving using technology developed by the company. SLAM uses map data stored in advance in the mobile robot 2 and information on the surrounding environment measured in real time by sensors to estimate the mobile robot 2's position on the map (its own position) and determine the optimal route from its own position to the destination (goal). Therefore, before the mobile robot 2 can begin operating, map data to be used for self-position estimation must be created and provided to the mobile robot 2 as a preliminary preparation. Conventionally, the typical method has been to create map data using an actual mobile robot 2, but in reality, it is often difficult to prepare an actual mobile robot 2 for creating map data. The mapping vehicle 1 is a device that solves this problem.

[0032] The map creation vehicle 1 is a dedicated vehicle for creating map data used by the mobile robot 2. In other words, the map creation vehicle 1 is a device that can create map data equivalent to that created by the mobile robot 2, without using the actual mobile robot 2. The map creation vehicle 1 only needs to have the functions and equipment necessary to create map data, so it can have a simpler configuration than the mobile robot 2. Therefore, it can be provided at a low cost to users who need to create map data.

[0033] As shown in Fig. 1, the map creation vehicle 1 may have a simple configuration in which various devices such as a map creation sensor 11 and a processing unit 12 are mounted on a frame-structured vehicle body 10. The map creation vehicle 1 itself does not need to have a driving force; a person can simply hold the handle of the vehicle body 10 and push or pull the map creation vehicle 1 by hand.

[0034] The mapping sensor 11 is a sensor for measuring the surrounding environment. This mapping sensor 11 corresponds to the SLAM (single-node localization and mapping) sensor mounted on the mobile robot 2, and typically the same sensor mounted on the mobile robot 2 is also mounted on the mapping vehicle 1. However, it is not necessary for the sensors to be exactly the same model; they must have at least substantially the same measurement capabilities. For example, sensors mounted on industrial mobile robots are so-called safety devices that have special configurations and performance to meet required safety standards (such as ISO 13849-1 and IEC 61508), but the sensors mounted on the mapping vehicle 1 may be non-safety devices.

[0035] The sensor for measuring the surrounding environment may be a sensor that measures the distance to an object in the surrounding environment with high accuracy and high resolution, and may be a two-dimensional sensor or a three-dimensional sensor. For example, a ToF LiDAR (Light Detection and Ranging), an FMCW LiDAR, a ToF camera, etc. may be used. Cut.

[0036] The mapping sensor 11 is mounted on the vehicle body 10 in a position that provides a measurement field of view equivalent to that of the sensor mounted on the mobile robot 2. This design allows the mapping sensor 11 to acquire information substantially equivalent to that obtained when the mobile robot 2 views its surroundings. Therefore, by creating map data from the data measured by the mapping sensor 11, it is possible to create highly accurate map data equivalent to that created using the actual mobile robot 2.

[0037] Below, specific configuration examples of the mobile robot 2 will be described, and then some specific embodiments of the map creation vehicle 1 for the mobile robot 2 will be described as examples.

[0038] <Mobile robot configuration example> 2A is a front view of the mobile robot 2, and FIG. 2B is a side view of the mobile robot 2. FIG. 3 is a block diagram showing the configuration of the mobile robot 2.

[0039] The mobile robot 2 is a vehicle-type robot and includes, as its driving-related components, a pair of left and right differential drive wheels 200L, 200R; motors 201L, 201R and reducers 202L, 202R for driving the differential drive wheels 200L, 200R; motor drivers 203L, 203R for controlling the motors 201L, 201R; multiple training wheels 204; and a driving control unit 205. The driving control unit 205 generates motor control signals, which are output from the motor drivers 203L, 203R. In response to these motor drive signals, the motors 201L, 201R rotate the differential drive wheels 200L, 200R, causing the mobile robot 2 to drive. Independent control of the rotational speed (amount of rotation) and direction of the left and right differential drive wheels 200L, 200R enables the robot to move forward, backward, turn left, turn right, and make pivot turns.

[0040] The mobile robot 2 also includes a 2D laser scanner 210, an inertial measurement unit (IMU) 211, and a differential drive wheel as components related to SLAM. The wheels 200L, 200R are equipped with angle encoders 212L, 212R and a SLAM unit 213, respectively. The two-dimensional laser scanner 210 is a sensor for measuring the distance to objects in the surrounding environment, and is mounted on the mobile robot 2 so as to scan a horizontal plane at a predetermined height h (e.g., h = approximately 150 to 300 mm) from the floor. The scanning range (measurement range) is, for example, a range of approximately 270 degrees centered forward. The two-dimensional laser scanner 210 outputs the measurement results as two-dimensional point cloud data. The inertial measurement unit 211 has, for example, a three-axis acceleration sensor and a three-axis gyroscope, and outputs three-dimensional acceleration and angular velocity as inertial measurement values. The angle encoders 212L, 212R measure rotation information (angle, rotation amount, speed, etc.) of the differential drive wheels 200L, 200R, respectively. The measurement results of the two-dimensional laser scanner 210, the inertial measurement unit 211, and the angle encoders 212L and 212R are input into the SLAM unit 213 and used for processing such as self-position estimation and map creation.

[0041] The mobile robot 2 also includes a large-capacity battery 220, an operation UI unit 221, a wired communication device 222, a wireless communication device 223, an emergency stop input device 224, and a surrounding obstacle detection device 225. The large-capacity battery 220 supplies power to each component of the mobile robot 2. The operation UI unit 221 includes an input unit for the user to input operations and a display unit for displaying information. The wired communication device 222 is a wired interface to which, for example, a teaching pendant or joystick is connected. The wireless communication device 223 is a wireless interface for wireless communication with an external computer or host system. The emergency stop input device 224 is a UI for bringing the mobile robot 2 to an emergency stop, and may be, for example, an emergency stop switch or a bumper switch. Surrounding obstacles The object detection device 225 is a sensor for detecting obstacles in the direction of travel of the mobile robot 2 and for avoiding collisions, and may be, for example, an ultrasonic sensor (sonar) or a laser sensor.

[0042] First Embodiment Fig. 4A is a front view of the map creation vehicle 1 according to the first embodiment, and Fig. 4B is a side view of the map creation vehicle 1 according to the first embodiment. Fig. 5 is a block diagram showing the configuration of the map creation vehicle 1 according to the first embodiment.

[0043] The map creation vehicle 1 is a vehicle with a structure similar to a push cart or a pull cart. The vehicle body 10 is a frame structure formed from metal, resin, or the like. The lower part of the vehicle body 10 is equipped with a pair of left and right differential wheels 100L, 100R and training wheels 104 as components related to driving. The differential wheels 100L, 100R are a pair of wheels that can rotate independently. The training wheels 104 are provided to prevent the vehicle body 10 from tilting and to stabilize the posture of the vehicle body 10. The number of training wheels 104 may be one or more. The map creation vehicle 1 is not equipped with a driving device such as a motor. A user holds a handle 101 of the vehicle body 10 and pushes or pulls the map creation vehicle 1 forward, backward, turns left, turns right, or makes a sharp turn.

[0044] The map creation vehicle 1 also includes components related to map creation, such as a map creation sensor 110, a map creation inertial measurement unit (IMU) 111, map creation encoders 112L and 112R provided on the differential wheels 100L and 100R, respectively, and a processing unit 113.

[0045] The mapping sensor 110 is a sensor for measuring the surrounding environment, and is a 2D laser scanner with the same measurement capabilities as the 2D laser scanner 210 of the mobile robot 2. The mapping sensor 110 is installed on the vehicle body 10 in an arrangement that provides a measurement field of view equivalent to that of the 2D laser scanner 210 of the mobile robot 2. Specifically, as shown in FIGS. 2B and 4B , if the 2D laser scanner 210 of the mobile robot 2 is arranged to scan a horizontal plane at a height h from the floor, the mapping sensor 110 of the mapping vehicle 1 is also arranged to scan a horizontal plane at a height h from the floor. This design enables the mapping vehicle 1 to acquire 2D point cloud data that is substantially equivalent to the 2D point cloud data acquired from the surrounding environment by the mobile robot 2.

[0046] The cartography inertial measurement unit 111 is a device for measuring three-dimensional acceleration and angular velocity. It is equipped with the same measurement capabilities as the inertial measurement unit 211 on the mobile robot 2. The cartography inertial measurement unit 111 is designed so that the relative positional relationship between the cartography inertial measurement unit 111 and the differential wheels 100L, 100R is the same as the relative positional relationship between the inertial measurement unit 211 on the mobile robot 2 and the differential drive wheels 200L, 200R. This design enables the cartography vehicle 1 to obtain inertial measurement values that are substantially equivalent to those of the mobile robot 2.

[0047] The mapping encoders 112L, 112R are devices for measuring rotation information (angle, rotation amount, speed, etc.) of the differential wheels 100L, 100R. As shown in FIGS. 2B and 4B, the differential wheels 100L, 100R of the mapping vehicle 1 are designed so that their wheel diameter D is equal to the diameter of the differential drive wheels 200L, 200R of the mobile robot 2. As shown in FIGS. 2A and 4A, the distance L between the differential wheels 100L, 100R is also designed so that it is equal to the distance between the differential drive wheels 200L, 200R of the mobile robot 2. Furthermore, the mapping encoders 1 The map creation encoders 112L and 112R may be encoders with the same angular resolution as the angle encoders 212L and 212R of the mobile robot 2, and the relative positions of the zero points of the map creation encoders 112L and 112R may be set to be equivalent to the relative positions of the zero points of the angle encoders 212L and 212R of the mobile robot 2. This design allows the map creation vehicle 1 to obtain wheel rotation information that is substantially equivalent to that of the mobile robot 2.

[0048] The processing unit 113 is a device that creates map data of the surrounding environment using data measured by the map creation sensor 110, the map creation inertial measurement unit 111, the map creation encoders 112L and 112R, etc. The processing unit 113 may be configured, for example, as a computer including a CPU (processor), RAM (random access memory), and a non-transitory storage device (such as a non-volatile memory or storage). In this case, the map creation function is realized by loading a program stored in the non-transitory storage device into the RAM and executing it with the CPU. Alternatively, the processing unit 113 may be configured with circuits such as an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit). Here, the map creation function of the processing unit 113 is preferably equivalent to the map creation function of the SLAM unit 213 of the mobile robot 2 (i.e., the map creation algorithm and logic are the same or compatible). Typically, the program module of the SLAM unit 213 is implemented in its entirety in the processing unit 113. This design allows the map creation vehicle 1 to create map data that is substantially equivalent to that of the mobile robot 2.

[0049] Other components of the mapping vehicle 1 include a battery 120, an operation UI unit 121, and a map data output device 122. The battery 120 supplies power to each component of the mapping vehicle 1. Because the mapping vehicle 1 does not have a motor or its control unit, it consumes much less power than the mobile robot 2. Therefore, the battery 120 may be smaller and have a smaller capacity than the large-capacity battery 220 of the mobile robot 2. The operation UI unit 121 is a UI for inputting operations such as turning the power on and off and starting and stopping measurement. The map data output device 122 is an interface for outputting map data generated by the processing unit 113 to an external device. For example, it may be a wired interface such as USB or RS-232, a wireless interface such as Wi-Fi or Bluetooth, or a storage medium reader such as a flash memory or SD memory card.

[0050] The procedure for creating map data will be described with reference to Fig. 6. Fig. 6 shows the flow of operations performed by an operator and the flow of operations of the map creation vehicle 1.

[0051] When the operator powers on the mapping vehicle 1 using the operation UI unit 121 (step S60), the mapping vehicle 1 is powered on (step S61). Next, the operator issues a command to start map measurement using the operation UI unit 121 (step S62), and then pushes or pulls the handle 101 of the vehicle body 10 to move the mapping vehicle 1 (step S63). Measurement data is then sequentially acquired by the processing unit 113 from the mapping sensor 110, the mapping inertial measurement unit 111, and the mapping encoders 112L and 112R, and stored in the storage device (step S64). After the required measurement range (i.e., the range in which the mobile robot 2 is planned to travel) has been covered, the operator issues a command to end measurement using the operation UI unit 121 (steps S65 and S66). The processing unit 113 of the mapping vehicle 1 generates map data based on the data stored in the storage device (step S67). FIG. 7 shows an example of map data generated by the map creation vehicle 1. It is a two-dimensional map in which walls and obstacles are represented by a point cloud. The generated map data is output to the outside via the map data output device 122 (step S68). The map data obtained in this way is used by the mobile robot. This is used in the simulation and computer simulation (step S69).

[0052] By using the map creation vehicle 1 of this embodiment, it is possible to easily create highly accurate map data equivalent to that created by a mobile robot 2. Therefore, since map data can be created even in situations where an actual mobile robot 2 is not available, this is useful, for example, when introducing a new mobile robot or when updating a partial map of the operating environment.

[0053] Moreover, as is clear from a comparison of FIG. 3 and FIG. 5, the map creation vehicle 1 can be provided at a much lower cost than the mobile robot 2 because it only requires a simple configuration.

[0054] The configuration of the above embodiment is merely an example. For example, sensors other than 2D laser scanners may be used to measure the surrounding environment. Furthermore, multiple sensors for measuring the surrounding environment may be installed, or multiple types of sensors may be combined. Furthermore, the measurement field of view of the sensor for measuring the surrounding environment may not be a horizontal plane parallel to the floor, but may be at a predetermined elevation or depression angle. Furthermore, the measurement field of view may be three-dimensional rather than two-dimensional. In any case, it is sufficient that the sensor on the mobile robot 2 and the sensor on the mapping vehicle 1 have equivalent measurement capabilities and are installed so as to have equivalent measurement fields of view.

[0055] In the above embodiment, the inertial measurement units, wheel diameters, wheel spacing, and encoders are configured identically on the mobile robot 2 and the mapping vehicle 1, but this is not essential. For example, if the inertial measurement units are positioned differently on the mobile robot 2 and the mapping vehicle 1, the processing unit 113 can make corrections to cancel out the differences in inertial measurement unit placement when using the inertial measurement values. The processing unit 113 can also make corrections for differences in wheel diameters, wheel spacing, and encoder angular resolution in a similar manner.

[0056] Also, an assist motor may be provided on the differential wheels so that the map creation vehicle 1 can be driven with less force.

[0057] Second Embodiment 8 is a block diagram showing the configuration of a map creation vehicle 1 according to the second embodiment. The map creation vehicle 1 according to the second embodiment is characterized in that it has a power generation device that generates electricity through the rotation of the differential wheels.

[0058] Specifically, power generators (dynamos) 130L, 130R are provided on the differential wheels 100L, 100R of the map creation vehicle 1, respectively. When an operator drives the map creation vehicle 1 to create a map, the power generated by the power generators 130L, 130R is stored in the battery (power storage device) 120 by the charging device 131. With this mechanism, at least a portion of the power required for the map creation sensor 110, the map creation inertial measurement unit 111, the map creation encoders 112L, 112R, the processing unit 113, etc. can be provided by private power generation. This makes it possible to reduce the power consumption of the battery 120, reduce the frequency of charging the battery 120, and extend its lifespan.

[0059] In this embodiment, the generators are provided on both the differential wheels 100L, 100R, but a configuration in which a generator is provided on only one of the wheels may also be used.

[0060] Third Embodiment 9 is a block diagram showing the configuration of a map creation vehicle 1 according to the third embodiment. The map creation vehicle 1 according to the third embodiment detects positions where the illuminance is out of the appropriate condition and where the reflectance is out of the appropriate condition. Its distinctive feature is that it has the ability to detect stray objects and embed that information into map data.

[0061] Specifically, the map creation vehicle 1 is equipped with an illuminance sensor 140 that measures the illuminance of the surrounding environment. When measurement for map creation begins, illuminance information output from the illuminance sensor 140 is sequentially captured by the processing unit 113. At this time, by associating the illuminance information with measurement data captured at the same time from other sensors, it is possible to link the illuminance information to coordinates on the map at the map data creation process stage.

[0062] Furthermore, the mapping sensor 110 of this embodiment outputs information on the intensity of received light along with the 2D point cloud value. The intensity of received light is the intensity of reflected light that is reflected by objects (walls, obstacles, etc.) in the surrounding environment and returns to the mapping sensor 110.

[0063] During the map data creation process, the processing unit 113 determines locations where the illuminance does not meet the appropriate conditions based on the illuminance information. For example, in locations where external light shines in through a window or where strong lighting directly hits the area, the external light or lighting can act as a disturbance and significantly reduce the accuracy of distance measurements taken by optical sensors such as laser scanners. A reduction in distance measurement accuracy can lead to a reduction in the accuracy of the mobile robot 2's self-location estimation, which can result in increased errors in its route and stopping position, or operational disruption. Therefore, the processing unit 113 determines locations where the illuminance measured by the illuminance sensor 140 is greater than a predetermined threshold as "high illuminance areas" and embeds information about the high illuminance areas in the map data.

[0064] Furthermore, in the map data creation process, the processing unit 113 detects objects whose reflectance does not meet the appropriate conditions based on information about the received light intensity of reflected light. For example, if an object with low reflectance is present in the surrounding environment, the received light intensity of the reflected light may be reduced, significantly reducing the accuracy of distance measurements made by optical sensors such as laser scanners. As mentioned above, a reduction in distance measurement accuracy reduces the accuracy of the mobile robot 2's self-location estimation. Therefore, the processing unit 113 determines that an object whose reflectance, estimated from the received light intensity, is below a predetermined threshold value as a "low-reflectance structure" and embeds information about the low-reflectance structure in the map data.

[0065] FIG. 10 shows an example of map data generated in this embodiment. High-illuminance areas and low-reflectance structures are superimposed on map data consisting of a two-dimensional point cloud. Providing such map data to a user enables the user to take measures to address high-illuminance areas and low-reflectance structures in the surrounding environment before the mobile robot begins operation. For example, measures to address high-illuminance areas include installing curtains or blinds on windows to block outside light, or changing or relocating lighting fixtures. For low-reflectance structures, measures to address low-reflectance structures include moving or removing the structures or installing highly reflective materials (e.g., reflective tape or white boards) on their surfaces.

[0066] <Fourth embodiment> 11 is a block diagram showing the configuration of a map creation vehicle 1 according to a fourth embodiment. The map creation vehicle 1 of the fourth embodiment is characterized by having a function to embed information about areas where it is difficult for a mobile robot to travel in map data.

[0067] The map creation vehicle 1 of this embodiment has a passage width data storage unit 150 that stores minimum passage width data that defines the minimum passage width that the mobile robot 2 can travel. During the map data creation process, the processing unit 113 reads the minimum passage width from the passage width data storage unit 150 and checks whether there are any locations in the surrounding environment that are narrower than the minimum passage width. If there is a location narrower than the minimum passage width, the processing unit 113 The area is designated as a "no entry area" and that information is embedded in the map data.

[0068] FIG. 12 shows an example of map data generated in this embodiment. No-entry areas are superimposed on the map data, which is a two-dimensional point cloud. Providing such map data to the user allows them to take appropriate measures, such as widening the passageways, before the mobile robot begins operating. Alternatively, such map data can be provided to the mobile robot 2, which can then control itself to avoid no-entry areas when selecting a route.

[0069] The width of the passageway through which the mobile robot 2 can move varies depending on the equipment installed on the mobile robot 2. Therefore, the minimum passageway width data set in the passageway width data storage unit 150 can be changed by the user.

[0070] In addition to information about no-entry areas, information about areas where it is difficult for the mobile robot to navigate may also be embedded in the map data, such as information about areas where the operating speed is restricted. For example, during the map data creation process, the processing unit 113 checks whether there are any corners in the passage where the angle is smaller than a predetermined threshold (i.e., sharp corners that are difficult to turn at normal speeds). If a sharp corner is found, the processing unit 113 designates the corner as a "speed-restricted area" and embeds that information in the map data.

[0071] By providing such map data to the user, measures such as widening corners can be taken before the mobile robot begins operating. Alternatively, such map data can be provided to the mobile robot 2, and the mobile robot 2 can be controlled to switch to a slower speed in areas with speed restrictions.

[0072] Fifth Embodiment 13 is a block diagram showing the configuration of a map creation vehicle 1 according to a fifth embodiment. The map creation vehicle 1 according to the fifth embodiment is characterized by having the ability to embed information about the unevenness and slope of the floor on which the mobile robot travels into map data.

[0073] The mapping vehicle 1 of this embodiment includes an allowable unevenness data storage unit 160 that stores allowable unevenness data, which defines the allowable unevenness for the mobile robot 2, and an allowable slope storage unit 161 that stores the allowable slope for the mobile robot 2. Unevenness refers to an uneven floor (travel surface), such as the presence of bumps, steps, or grooves. When the vehicle travels on an uneven surface, the acceleration measured by the inertial measurement unit exhibits sharp peaks and amplitude changes corresponding to the bumps and grooves. Therefore, the degree of unevenness can be evaluated using indicators such as the magnitude or frequency of the acceleration peak. The allowable unevenness data may be defined by the maximum value of the acceleration peak or the maximum frequency. The allowable slope is defined by the maximum gradient at which the mobile robot 2 can travel safely. If the allowable values vary depending on the equipment and load of the mobile robot 2, the allowable unevenness data and allowable slope may be set for each condition. It is also preferable that the set values of the allowable unevenness data and the allowable slope amount can be changed by the user.

[0074] In the process of creating map data, the processing unit 113 analyzes the time-series data of inertial measurement values sequentially received from the map creation inertial measurement unit 111, quantifies the degree of unevenness, and embeds the information on unevenness at each location on the map into the map data. Furthermore, the processing unit 113 may read the allowable unevenness data from the allowable unevenness data storage unit 160 and check whether there are any locations where the degree of unevenness exceeds an allowable value. If there is an uneven location where the degree of unevenness exceeds the allowable value, the processing unit 113 may designate that location as a "no entry area" and embed the information on that location into the map data.

[0075] The amount of tilt can also be measured using the acceleration sensor of the inertial measurement unit for mapping 111. However, to eliminate the influence of dynamic acceleration, it is preferable to measure static acceleration while the mapping vehicle 1 is stationary. For example, if an operator stops the mapping vehicle 1 at a position where the amount of tilt is to be measured and inputs an instruction to start tilt evaluation from the operation UI unit 121, the static acceleration value is acquired from the inertial measurement unit for mapping 111, and the processing unit 113 calculates the amount of tilt. This mechanism makes it possible to measure the amount of tilt with high accuracy. Note that if it is possible to separate the dynamic acceleration component and the static acceleration component from the measurement value of the inertial measurement unit for mapping 111, there is no need to stop the mapping vehicle 1 or for the operator to input a start instruction; the amount of tilt can be calculated from the inertial measurement value data acquired sequentially while the vehicle is traveling.

[0076] The processing unit 113 embeds information about the amount of slope at each location on the map into the map data. Furthermore, the processing unit 113 may read the allowable slope from the allowable slope storage unit 161 and check whether there is any location where the amount of slope exceeds the allowable value. If there is any location where the slope exceeds the allowable value, the processing unit 113 may set that location as a "no entry area" and embed the information about that into the map data.

[0077] Figure 14 shows an example of map data generated in this embodiment. By providing the user with map data that includes information on unevenness and slope, it becomes possible to take appropriate measures, such as making the floor flat, before the mobile robot begins operating. Alternatively, this map data can be provided to the mobile robot 2, allowing the mobile robot 2 to control itself to avoid no-entry areas when selecting a route, or to change its speed and torque depending on the level of unevenness and slope.

[0078] Sixth Embodiment 15 is a block diagram showing the configuration of a map creation vehicle 1 according to a sixth embodiment. The map creation vehicle 1 of the sixth embodiment is characterized by having the function of embedding information about the locations of magnetic tapes used to position a mobile robot into map data.

[0079] Magnetic tape may be laid on the floor (travel surface) to position the mobile robot 2. The mobile robot 2 detects the magnetic tape using a magnetic induction sensor and corrects its own position based on the magnetic tape, achieving highly accurate positioning.

[0080] In this embodiment, the mapping vehicle 1 is equipped with a magnetic induction sensor 170 for detecting the magnetic tape. When the magnetic induction sensor 170 detects the magnetic tape, the information is input to the processing unit 113. The processing unit 113 then embeds the information about the location where the magnetic tape was detected into map data. By providing this map data to the mobile robot 2, the mobile robot 2 can use the magnetic tape's location information for self-localization and route selection.

[0081] Seventh Embodiment The mapping vehicle 1 of the seventh embodiment is characterized by having a function for embedding information about the mobile robot's stopping goal and the location of the charging dock into the map data.

[0082] A stopping goal is a location on a map where the mobile robot 2 can stop, such as a location where the mobile robot 2 waits or a location where the mobile robot 2 can stop to exchange goods with a worker or other device. A charging dock is a device for charging the mobile robot 2. While the location information of the stopping goal and the charging dock is necessary for operating the mobile robot 2, manually entering this information into the map data is too cumbersome. Therefore, the map creation vehicle 1 of this embodiment uses the stopping goal and Provides a function that allows you to easily create map data including the location information of charging docks.

[0083] Specifically, the operation UI unit 121 is provided with a UI for indicating the location of the stop goal and a UI for indicating the location of the charging dock. For example, a stop goal button and a charging dock button may be provided. To indicate the stop goal, the operator moves the mapping vehicle 1, stops it at the stop goal location, and then presses the stop goal button on the operation UI unit 121. This causes the processing unit 113 to recognize the stop goal location and set the stop goal at the current position coordinates on the map. Note that, when indicating not only the stop goal location coordinates but also the approach direction (the orientation of the mobile robot 2), a method may be used in which the operator presses the stop goal button once at a position where the approach to the stop goal begins (e.g., about 1 meter before), then moves the mapping vehicle 1 to the stop goal location and presses the stop goal button again. The charging dock can also be indicated in the same manner.

[0084] 16 shows an example of map data generated in this embodiment. The data includes information on the location of the stopping goal and the start point of approaching the stopping goal (the triangular protrusion represents the front of the mobile robot), as well as the location of the charging dock and the start point of approaching the charging dock.

[0085] Eighth Embodiment 17 shows a map creation vehicle 1 according to an eighth embodiment. The map creation vehicle 1 according to the eighth embodiment is characterized by having a function for projecting the footprint of a mobile robot 2.

[0086] The map creation vehicle 1 is equipped with a projection device 180. The projection device 180 projects a light image 181 representing the footprint of the mobile robot 2 onto the floor. This guide function allows the operator to recognize the external size of the mobile robot 2. Therefore, when creating map data using the map creation vehicle 1, operators can visually check areas where the mobile robot 2 has difficulty passing, improving work efficiency. Furthermore, when parking the map creation vehicle 1 at a stop goal or charging dock, as in the seventh embodiment, the operator can position the map creation vehicle 1 taking into account the size of the mobile robot 2.

[0087] The shape and size of the footprint may vary depending on the equipment and model of the mobile robot 2. Therefore, it is preferable that the settings for the footprint shape and size be user-configurable, and that the projection device 180 be able to project the optical image 181 of any shape and size according to the settings.

[0088] <Other> The above-described embodiment merely exemplifies an exemplary configuration of the present invention. The present invention is not limited to the specific embodiments described above, and various modifications are possible within the scope of the technical concept. For example, the structure of the mobile robot or cart is not limited to that shown in the drawings, and any shape or structure may be used. In the above-described embodiment, the processing unit 113 is mounted on the vehicle body 10, but some or all of the functions of the processing unit 113 may be performed by a device separate from the vehicle body 10. For example, the processes of measuring using the map creation sensor 110 and storing the measurement data in a storage device (steps S60 to S66 in FIG. 6) may be performed by a processing unit on the vehicle body 10, and the processes of creating and outputting map data (steps S67 to S68 in FIG. 6) may be performed by a processing unit separate from the vehicle body 10. The processing unit separate from the vehicle body 10 may be, for example, a computer resource such as a personal computer, a tablet terminal, or a cloud server.

[0089] <Additional Notes> 1. A map creation vehicle (1) that creates map data for an autonomously traveling robot (2) by estimating its own position on a map using a sensor (210) that measures the surrounding environment, A vehicle body (10) that is pushed or pulled by a person; a mapping sensor (110) for measuring the surrounding environment; a processing unit (113) that creates map data of the surrounding environment using data measured by the map creation sensor (110) while the vehicle body (10) is traveling; and The map-creation sensor (110) is installed on the vehicle body (10) in such a position that it can obtain a measurement field of view equivalent to that of the sensor (210) mounted on the robot (29). A mapping vehicle (1). [Explanation of symbols]

[0090] 1: Mapping vehicle 2: Mobile robot

Claims

1. A mapping vehicle that creates map data for an autonomously traveling robot by estimating its own position on a map using sensors that measure the surrounding environment, A vehicle body that does not have a drive device for autonomous traveling and is manually pushed or pulled by a person; a mapping sensor for measuring the surrounding environment; a processing unit that generates map data of the surrounding environment using data measured by the map generation sensor while the vehicle body is traveling; and The map-creation sensor is installed on the vehicle body in a position that provides a measurement field of view equivalent to that of the sensor mounted on the robot. A mapping vehicle characterized by:

2. the sensor of the robot is a laser scanner that scans a horizontal plane at a predetermined height from a floor surface, The mapping sensor is a laser scanner mounted to scan a horizontal plane at the same height as the sensor on the robot.

2. A mapping vehicle according to claim 1.

3. the robot has a pair of differentially driven wheels and an encoder provided on each differentially driven wheel, and uses an output of the encoder to estimate its own position; The vehicle body has a pair of differential wheels and a map creation encoder provided on each differential wheel, the processing unit uses an output of the map creation encoder to create the map data; The diameter of the differential wheel is equal to the diameter of the differential drive wheel of the robot.

3. A mapping vehicle according to claim 1 or 2.

4. The distance between the pair of differential wheels is equal to the wheel spacing 4. A mapping vehicle according to claim 3.

5. The angular resolution of the cartographic encoder is equal to the angular resolution of the robot's encoder.

5. A mapping vehicle according to claim 3 or 4.

6. The positional relationship of the zero point of the map-creation encoder is equal to the positional relationship of the zero point of the encoder of the robot.

6. A map creation vehicle according to claim 3, wherein the map creation vehicle is a vehicle having a plurality of sensors.

7. the robot has an inertial measurement unit and uses an output of the inertial measurement unit to estimate its own position; the vehicle body has an inertial measurement unit for map generation; the processing unit uses an output of the inertial measurement unit for map creation to create the map data; The inertial measurement unit for map creation is installed on the vehicle body in such a position that the relative positional relationship between the inertial measurement unit for map creation and the pair of differential wheels is equal to the relative positional relationship between the inertial measurement unit for the robot and the pair of differential drive wheels.

7. A map creation vehicle according to claim 3, wherein the map creation vehicle is a vehicle having a plurality of sensors.

8. a power generation device that generates electricity by rotation of the differential wheel; and a power storage device that stores the electricity generated by the power generation device, At least one of the map creation sensor and the processing unit is supplied with power from the power storage device.

8. A map creation vehicle according to claim 3, wherein the map creation vehicle is a vehicle having a plurality of sensors.

9. An illuminance sensor is provided to measure the illuminance of the surrounding environment. The processing unit determines a position where the illuminance deviates from an appropriate condition based on the output of the illuminance sensor. A mapping vehicle according to any one of claims 1 to 8.

10. The processing unit embeds information about positions where the illuminance is out of the appropriate condition into the map data.

10. A mapping vehicle according to claim 9.

11. the map creation sensor is a sensor that captures light reflected by an object and measures the distance to the object, The processing unit detects an object whose reflectance does not fall within an appropriate condition based on the intensity of the reflected light received by the map creation sensor. A mapping vehicle according to any one of claims 1 to 10.

12. The processing unit embeds information about the location of an object whose reflectance does not fall within the appropriate condition into the map data. A mapping vehicle according to claim 11.

13. The processing unit embeds information about areas where it is difficult for the robot to travel in the map data. A mapping vehicle according to any one of claims 1 to 12.

14. The processing unit embeds information about floor unevenness in the map data. A mapping vehicle according to any one of claims 1 to 13.

15. The processing unit embeds information about the slope of the floor surface into the map data. A mapping vehicle according to any one of claims 1 to 14.

16. a magnetic tape used for positioning the robot is laid on the floor; The processing unit embeds information about the location where the magnetic tape is laid in the map data. A mapping vehicle according to any one of claims 1 to 15.

17. The processing unit embeds information about the position of the stop goal of the robot into the map data. A mapping vehicle according to any one of claims 1 to 16.

18. The processing unit embeds information about the location of a charging dock for the robot into the map data. A mapping vehicle according to any one of claims 1 to 17.

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