Map creation device and map creation system

Abstract

This map creation device (170) for creating a path map is provided with: a node detection unit (172) which detects a node; a node information acquisition unit (173) which acquires detected node information that includes detected node position information and path information indicating the positional relations of paths connected to the detected node; a node determination unit (174) which determines whether or not the detected node information and arrival node information match; a node information addition unit (176) which, if the node determination unit (174) determines that there is a mismatch, adds the detected node information to a path map as new arrival node information; and a map modification unit (178) which, if it is determined that there is a match, modifies the path map such that the nodes corresponding to the detected node information and the arrival node information are the same.

Description

[Technical Field]

[0001] The present disclosure relates to a map creation device and a map creation system that create a route map by traveling an unexplored route. [Background technology]

[0002] As a method for an autonomously moving robot to detect its own position, a method has been proposed in which markers are placed in the area in which the robot moves, and the robot detects the markers and detects its own position based on information on the absolute coordinates of the markers that has been stored in advance (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-346767 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in areas where markers cannot be seen, the robot's own position is acquired by an odometry sensor, etc. Therefore, even if the self-position is corrected once by the marker, depending on the condition of the floor, the robot's wheels may spin freely, causing an error (deviation) in the information acquired from the odometry sensor, and the error may accumulate.

[0005] In this way, when errors in the vehicle's own position accumulate, the vehicle may create a route map by recognizing different nodes even though it is passing through the same node, or by recognizing different nodes as the same node even though it is passing through different nodes, resulting in a route map that differs from reality.

[0006] The present disclosure provides a map creation device and a map creation system that can create an accurate route map even if an error occurs in the recognized self-position. [Means for solving the problem]

[0007] The map creation device of the present disclosure is a map creation device that creates a route map that shows multiple intersecting routes, and includes: a node detection unit that detects nodes where the routes intersect or end; a node information acquisition unit that acquires detection node information including location information of the detection node detected by the node detection unit and route information that indicates the location relationship of the routes connected to the detection node; a node determination unit that compares the detection node information with arrival node information that is already stored node information, and determines the identity of the detection node information and the arrival node information; a node information addition unit that, if the node determination unit determines that there is a mismatch, adds the detection node information to the route map as new arrival node information; and a map correction unit that, if the node determination unit determines that there is a match, corrects the route map by determining that the nodes corresponding to the detection node information and the arrival node information are the same.

[0008] The map creation system of the present disclosure comprises a map creation device, a mobile device capable of moving along the route, a route information acquisition device that acquires route information regarding the route around the mobile device, a self-location detection device that detects the position of the mobile device, and a marker detection device that detects a marker present at at least one location on the route, and the map creation device creates the route map based on the route information. [Effects of the Invention]

[0009] The present disclosure allows for the creation of topologically accurate route maps in unexplored areas. [Brief explanation of the drawings]

[0010] [Figure 1]1 is a side view showing the appearance of a moving device according to a first embodiment. [Figure 2] 2 is a bottom view showing the appearance of the moving device according to the first embodiment. FIG. [Figure 3] 1 is a block diagram showing each functional unit of a map creation device according to a first embodiment. [Figure 4] FIG. 2 is a diagram showing a route for which a route map is to be created in the first embodiment. [Figure 5] 3 shows a multigraph recognized by the map creation device in the first embodiment during map creation. [Figure 6] 4 is a flowchart showing the flow of operations of the map creation device in the first embodiment. [Figure 7] FIG. 3 is a diagram showing an initial state of a map creation operation in the first embodiment. [Figure 8] 4 is a multi-graph showing an initial state of a map creation operation in the first embodiment. [Figure 9] FIG. 1 is a diagram showing stage 1 of the map creation operation in the first embodiment. [Figure 10] FIG. 10 is a diagram showing stage 2 of the map creation operation in the first embodiment. [Figure 11] 10 is a multi-graph showing stage 2 of the map creation operation in the first embodiment. [Figure 12] FIG. 10 is a diagram showing stage 3 of the map creation operation in the first embodiment. [Figure 13] 10 is a multi-graph showing stage 3 of the map creation operation in the first embodiment. [Figure 14] 10 is a multigraph after correction in the first embodiment. [Figure 15] FIG. 10 is a side view showing the appearance of a moving device according to a second embodiment. [Figure 16] FIG. 10 is a block diagram showing each functional unit of a map creation device according to a second embodiment. [Figure 17] FIG. 10 is a diagram showing a route for which a route map is to be created in the second embodiment. [Figure 18]10 is a flowchart showing the flow of operations of the map creation device in the second embodiment. [Figure 19] FIG. 10 is a diagram showing an initial state of a map creation operation in the second embodiment. [Figure 20] FIG. 11 is a side view showing the appearance of a moving device according to a third embodiment. [Figure 21] FIG. 11 is a bottom view showing the appearance of a moving device according to a third embodiment. [Figure 22] FIG. 11 is a block diagram showing each functional unit of a map creation device according to a third embodiment. [Figure 23] 11 is a flowchart showing the flow of operations of the map creation device in the third embodiment. [Figure 24] FIG. 11 is a diagram showing an initial state of a map creation operation in the third embodiment. [Figure 25] FIG. 11 is a diagram showing stage 1 of the map creation operation in the third embodiment. [Figure 26] FIG. 13 is a diagram showing stage 2 of the map creation operation in the third embodiment. [Figure 27] FIG. 13 is a diagram showing stage 3 of the map creation operation in the third embodiment. [Figure 28] FIG. 13 is a diagram showing stage 4 of the map creation operation in the third embodiment. [Figure 29] FIG. 1 illustrates an example of a map creation system. [Figure 30] FIG. 10 is a diagram illustrating another example of a marker placement device. [Figure 31] FIG. 1 illustrates an example of a map creation device. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of a map creation device and a map creation system according to the present disclosure will be described with reference to the drawings. Note that the following embodiments are presented as examples to explain the present disclosure and are not intended to limit the present disclosure. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical formulas, the content of each step in a method, and the order of each step shown in the following embodiments are examples and may include content not described below. Furthermore, while geometric expressions such as parallel and orthogonal may be used, these expressions do not indicate mathematical precision and include substantially acceptable errors, deviations, etc. Furthermore, expressions such as simultaneous and identical also include substantially acceptable ranges.

[0012] Furthermore, the drawings are schematic diagrams in which emphasis, omission, or adjustment of proportions has been appropriately made in order to explain the present disclosure, and the shapes, positional relationships, and proportions may differ from the actual shapes, positional relationships, and proportions.

[0013] In addition, multiple inventions may be collectively described below as one embodiment, and some of the content described below may be described as optional components related to the present disclosure.

[0014] (Embodiment 1) FIG. 1 is a side view showing the appearance of a mobile device 130 equipped with a map creation device 170 according to the first embodiment. FIG. 2 is a bottom view showing the appearance of the mobile device 130 equipped with a map creation device 170 according to the first embodiment. In the case of the first embodiment, the mobile device 130 is a robotic vacuum cleaner that performs cleaning while traveling autonomously. The mobile device 130 is also a device that can create a route map while traveling autonomously in an unexplored area, such as a floor that is being cleaned for the first time, and includes a driving device 132, a route information acquisition device 136, a self-location detection device 144, and a map creation device 170.

[0015] According to the first embodiment, the moving device 130 further includes a body 131 on which various components are mounted, a cleaning unit 134 that collects dust, and a control unit 135.

[0016] Body 131 is a housing that houses drive device 132, path information acquisition device 136, self-location detection device 144, map creation device 170, cleaning unit 134, and control unit 135. A bumper 139 that is displaceable in the radial direction relative to body 131 is attached to the outer periphery of body 131. In addition, as shown in Fig. 2, a suction port 138 for sucking dust into body 131 is provided on the bottom surface of body 131.

[0017] The drive device 132 is a device that causes the moving device 130 to travel based on instructions from the control unit 135. The drive device 132 has wheels 140 that travel along a route, a travel motor (not shown) that applies torque to the wheels 140, and a housing 141 that houses the travel motor. Casters 142 are provided on the bottom surface of the body 131 as training wheels. By independently controlling the rotation of the two wheels 140, the moving device 130 can travel freely in directions such as going straight ahead, backward, turning left, and turning right.

[0018] The cleaning unit 134 is a unit for sweeping up dust and sucking the dirt through the suction port 138, and is equipped with a rotating brush 146 arranged near the suction port 138, a brush drive motor 147 for rotating the rotating brush 146, a suction unit 133, etc.

[0019] Suction unit 133 is a unit that sucks in dust from suction port 138 and holds the dust inside body 131, and is equipped with an electric fan (not shown) and dust holding section 143. The electric fan sucks in air from inside dust holding section 143 and expels the air out of body 131, thereby sucking in dust from suction port 138 and storing the dust in dust holding section 143.

[0020] The route information acquisition device 136 is attached to the body 131 to move in cooperation with the mobile device 130 and detects a route around the mobile device 130 that the mobile device 130 can travel. The route information acquisition device 136 detects the direction and distance of obstacles such as walls and furniture that exist around the body 131 and acquires 2.5-dimensional information. It is also possible to determine the self-position of the mobile device 130 from the direction and distance information detected by the route information acquisition device 136. The type of the route information acquisition device 136 is not particularly limited, and examples include a LiDAR (Light Detection and Ranging) camera and a ToF (Time of Flight) camera that detect position and distance based on the light that is emitted and reflected by an obstacle. Other examples of the route information acquisition device 136 include a compound eye camera that acquires an image of illumination light or natural light reflected by an obstacle and acquires position and distance based on parallax.

[0021] The self-position detection device 144 is attached to the body 131 to move in cooperation with the mobile device 130, and detects its own position relative to a predetermined position based on the movement of the mobile device 130 by the drive device 132. The type of self-position detection device 144 is not particularly limited, and an example is an odometry sensor such as an encoder that is provided in the drive device 132 and detects the rotation angle of each of the pair of wheels 140 that are rotated by a traveling motor. The self-position detection device 144 may also be an inertial sensor such as an acceleration sensor that detects the acceleration when the mobile device 130 travels, or an angular velocity sensor that detects the angular velocity when the mobile device 130 turns. The self-position detection device 144 may also be equipped with a GPS (Global Positioning System).

[0022] The moving device 130 may be provided with sensors other than the route information acquisition device 136. For example, the moving device 130 may be provided with floor sensors that are arranged at multiple locations on the bottom surface of the body 131 and detect whether a floor exists. The moving device 130 may also be provided with a dust amount sensor that measures the amount of dust accumulated on the floor. The moving device 130 may also be provided with a contact sensor that detects the displacement of the bumper 139 to detect a collision with an obstacle. The moving device 130 may also be provided with an obstacle sensor, such as an ultrasonic sensor, other than the route information acquisition device 136 that detects an obstacle present in front of the body 131.

[0023] 3 is a block diagram showing each functional unit of the map creation device 170 in the first embodiment. The map creation device 170 is a device that creates a route map showing the route traveled based on the travel history of the mobile device 130, and includes a node detection unit 172, a node information acquisition unit 173, a node determination unit 174, a travel instruction unit 175, a node information addition unit 176, and a map correction unit 178 as processing units that are realized by causing a processor to execute a program. Each processing unit will be described below, but the order of description does not match the processing flow of the map creation device 170. The processing flow of the map creation device 170 will be described later.

[0024] The node detection unit 172 detects nodes where routes intersect or end based on data acquired from the route information acquisition device 136 of the mobile device 130 that has reached the node. As a specific example, the route information acquisition device 136, such as a LiDAR, detects the distance and direction of obstacles around the mobile device 130. The node detection unit 172 detects routes that the mobile device 130 may travel based on the position information of the detected obstacles, and when multiple intersecting routes are detected, detects the intersection of the routes as a node. In addition, dead-end sections (ends of the road) may also be detected as nodes by recognizing corners as intersections where two routes intersect.

[0025] 4 shows the entire route for which a route map is to be created. In the figure, the capital letters A, B, C, and D represent nodes, and the lowercase letters a, b, c, and d represent routes.

[0026] In the first embodiment, corners are not included in the nodes. By not including corners in the nodes, the time required to create a route map can be shortened. Furthermore, the topological accuracy of the created route map is not impaired.

[0027] The node information acquisition unit 173 acquires node information including location information of the detected node and route information indicating the positional relationship of the route connected to the node. The node information acquisition unit 173 stores the acquired node information in the storage device 145. The node location information is acquired based on location information obtained from the self-location detection device 144. The route information is acquired based on route information obtained from the route information acquisition device 136. The node information includes, for example, information identifying nodes including unknown candidate nodes connected at the end of the route connected to the detected node, and, if there are multiple nodes connected at the end, information indicating an arrangement of candidate nodes, for example, counterclockwise, centered on the detected node.

[0028] For example, suppose that the mobile device 130 has reached node B shown in FIG. 4. The node detected based on the route information acquisition device 136 is node B. At this stage, as shown in the multigraph of FIG. 5, the route information acquisition device 136 acquires, as node information, information indicating route a heading toward node A, route b connecting unknown candidate node C in a counterclockwise direction, and route c connecting unknown candidate node C'. Note that the underscores attached to capital letters in the figure indicate that the mobile device 130 has arrived. In graph theory, a multigraph is a graph that can have multiple edges, that is, edges with the same end node.

[0029] The node determination unit 174 compares the detected node information, which is node information corresponding to the node detected by the node detection unit 172 when the mobile device 130 reaches the node, with the reached node information, which is node information stored when the mobile device 130 has already reached the node, and determines whether the detected node information matches the reached node information.

[0030] Although the specific determination method is not limited, in the case of the first embodiment, the node determination unit 174 extracts the arrival node information closest to the detected node. Then, if the distance between these two nodes is equal to or less than a predetermined distance threshold, the node determination unit 174 compares the path information included in the extracted arrival node information with the path information of the detection node information, and if the number of multiple paths connected to the node matches, it determines that the detection node information matches the arrival node information.

[0031] If there is no corresponding reached node, the node determination unit 174 determines that there is no match. The distance threshold may also be variable, for example, proportional to the distance traveled by the mobile device 130.

[0032] When the node determination unit 174 determines that the node is a candidate node, the movement instruction unit 175 controls the driving device 132 to move to the next candidate node.

[0033] If the node determination unit 174 determines that there is a mismatch, the node information addition unit 176 adds the detected node information to the route map as new arrival node information and stores it in the storage device 145. Specifically, the information to be added to the route map is node information. The node information addition unit 176 may also include information such as the distance between the detected node and the node that was reached just before reaching the detected node, and the angle of the direction line from the reached node toward the detected node with respect to a predetermined reference line. The map creation device 170 creates a route map based on this information.

[0034] If the node determination unit 174 determines that they match, the map correction unit 178 determines that the nodes corresponding to the determined detected node information and reached node information are the same, and corrects the route map.

[0035] Next, a description will be given of the route map creation operation of the map creation device 170 provided in the mobile device 130. FIG.

[0036] As shown in Fig. 7, first, the mobile device 130 is placed at a start position (S101). In the case of the first embodiment, the start position is the position where the mobile device 130 is connected to the charging station. The node detection unit 172 detects the route around the mobile device 130 using the route information acquisition device 136 (S102). At this stage, the map creation device 170 recognizes the route as shown in the multigraph in Fig. 8.

[0037] Since a candidate node B exists at the end of the detected route (S104, Yes), the mobile device 130 moves along the unknown route a detected by the route information acquisition device 136 toward the next candidate node B based on the driving device 132 (S105).

[0038] 9, when moving to the next candidate node B, the node detection unit 172 detects node B, and the node determination unit 174 determines whether the detected node matches the destination node (S106). At this stage, the destination node does not exist, so it is determined that they do not match (S106, No), and the node information addition unit 176 adds the detected node information to the route map as new destination node information (S107).

[0039] At this stage, node B has two candidate nodes as shown in FIG. 5 (S104, Yes), so it moves to the next candidate node (S105). The existence of a candidate node means that there is a route that has not been traveled, and therefore there is a possibility that a node exists at the end of that route. Node B has two routes to the next candidate node, but the movement instruction unit 175 selects a route with fewer direction changes and moves the mobile device 130 to the unknown route. By suppressing direction changes of the mobile device 130, it is possible to suppress errors in the mobile device's own position. At this stage, the movement instruction unit 175 selects route b and moves the mobile device 130 to the next candidate node.

[0040] 10, when moving to the next candidate node C, the node detection unit 172 detects node C, and the node determination unit 174 determines whether the detected node matches the destination node (S106). At this stage, there is no destination node, so it is determined that there is no match (S106, No), and the node information addition unit 176 adds the detected node information to the route map as new destination node information (S107). At this stage, the map creation device 170 recognizes the multigraph as shown in FIG.

[0041] Since there are still candidate nodes (S104, Yes), the mobile device 130 moves to the next node (S105). There are two routes to the next candidate node from node C, but the movement instruction unit 175 selects the route with fewer direction changes and moves the mobile device 130 to the unknown route. At this stage, the movement instruction unit 175 selects route d and moves the mobile device 130 to the next candidate node.

[0042] 12, when moving to the next node D, the node detection unit 172 detects node D, and the node determination unit 174 determines whether the detected node matches the destination node (S106). At this stage, there is no corresponding destination node information, so it is determined that there is no match (S106, No), and the node information addition unit 176 adds the detected node information to the route map as new destination node information (S107).

[0043] Since there are still candidate nodes (S104, Yes), the process moves to the next candidate node (S105). The method for moving to the next candidate node is not particularly limited, but the movement instruction unit 175 controls the driving device 132 so as to move to a destination node where a candidate node exists and which is connected to the destination node closest to the starting position. In the present embodiment, the movement instruction unit 175 controls the driving device 132 so as to move from node D to node C and node B, and then to node C' shown in FIG. 11.

[0044] When node C' is reached, the node detection unit 172 detects the node. At this stage, the map creation device 170 recognizes the multigraph as shown in FIG. 13. The node determination unit 174 determines whether the detected node matches the destination node (S106). At this stage, it is determined that the detected node C' matches the destination node C (S106, Yes). As a result, node B', which was a candidate node shown in FIG. 13, is presumed to match node B and is no longer a candidate node, and the diagram shown in FIG. 13 is corrected to FIG. 14. In other words, it is determined that the detected node and the destination node match, and the multigraph is updated (S108). Then, in the diagram shown in FIG. 14, there are no longer any candidate nodes (S104, No), and the route map creation operation ends.

[0045] According to the mobile device 130 of the above embodiment, by checking the identity of nodes reached via different routes, it is possible to accurately grasp the connection relationships of nodes and create a route map with an accurate topological representation of the route, even in an unexplored area where there is no floor map. In particular, when starting from a dead-end node, a more accurate route map can be created.

[0046] (Embodiment 2) Next, a second embodiment of the moving device 130 will be described. Note that parts (portions) having the same actions, functions, shapes, mechanisms, and structures as those of the first embodiment will be given the same reference numerals, and descriptions thereof may be omitted. Also, the following description will focus on differences from the first embodiment, and descriptions of the same contents may be omitted.

[0047] The map creation device 170 according to the second embodiment determines whether or not there is a destination node identical to the detection node, instead of the determination by the node determination unit 174 in the first embodiment as to whether the detection node and the destination node match. If the node determination unit 174 determines that there is a destination node identical to the detection node, the node determination unit 174 determines whether or not there is a destination node identical to the detection node by rechecking the markers placed at predetermined locations. In this way, the map creation device 170 according to the second embodiment aims to improve the accuracy of the route map to be created, and further includes a marker detection device 137, a marker information acquisition unit 171, and a marker determination unit 177 in addition to the configuration of the first embodiment.

[0048] A marker is an object that allows the mobile device 130 to recognize the presence of the marker and thereby recognize the position corresponding to the marker. The specific type of marker is not particularly limited. In this embodiment, a charging station that supplies power to the mobile device 130 is used as the marker. The position where the mobile device 130 connects to the charging station for charging is set as the home position (origin). Furthermore, in this second embodiment, the charging station that is the marker is located at only one location within the route. Note that there may be multiple charging stations that are markers.

[0049] The marker may be an object having identification information. The method of carrying the identification information is not particularly limited, and examples include a one-dimensional or two-dimensional code having identification information printed on its surface, or an element capable of electromagnetically carrying identification information, such as a so-called RF (Radio Frequency) tag having identification information. The marker may also be one whose shape, color, or a figure, character, pattern, or magnetic pattern attached to the marker functions as identification information. For example, a round, triangular, or square plate may be used. The marker may also be a shape formed by objects such as walls, ceilings, decorations, lighting fixtures, patterns, furniture, and electrical appliances present around the mobile device 130.

[0050] The marker may be a component that can be removed after the route map is created. The marker may be a component that can be attached to a wall, door, furniture, or the like around the route, or may be a pillar-shaped or cone-shaped marker that can be placed on the floor, or a rod-shaped marker with an L-shaped cross section that can be placed at a corner.

[0051] 15 is a side view showing the appearance of mobile device 130 according to embodiment 2. Marker detection device 137 is attached to body 131 to move in cooperation with mobile device 130 and detects a marker that is present at at least one location along the route. In the case of embodiment 2, marker detection device 137 detects a marker when mobile device 130 is connected to a charging station.

[0052] The marker detection device 137 may detect identification information for identifying the detected marker. The method by which the marker detection device 137 detects the identification information is set according to the type of marker and is not particularly limited. For example, if the marker carries and presents identification information as a symbol displayed on its surface, the marker detection device 137 may employ a digital camera capable of detecting the symbol displayed on the marker as image data. The marker detection device 137 may also read a code carried on the marker using laser light or the like. If the route information acquisition device 136 is capable of detecting identification information, the route information acquisition device 136 may function as the marker detection device 137.

[0053] 16 is a block diagram showing the functional units of a map creation device 170 according to Embodiment 2. The map creation device 170 according to Embodiment 2 includes a marker information acquisition unit 171 and a marker determination unit 177 in addition to the processing units shown in Embodiment 1.

[0054] The marker information acquisition unit 171 acquires marker information including information indicating whether or not a marker has been detected by the marker detection device 137. The marker information acquisition unit 171 stores the acquired marker information in the storage device 145. In this embodiment, the marker information includes information indicating whether or not a marker has been detected and the position where the marker has been detected.

[0055] In addition, if the marker has a shape such as a wall or furniture around the route, the shape of the surroundings of the mobile device 130 may be acquired from the route information acquisition device 136 and the marker detection device 137, and the marker information acquisition unit 171 may generate identification information that can distinguish the marker from other locations based on the acquired shape.

[0056] The marker determination unit 177 determines whether searched marker information, which is marker information obtained by the search, matches known marker information, which is marker information that has already been acquired. Although the determination method is not particularly limited, in the case of the second embodiment, since there is only one charging station as a marker, if the mobile device 130 is connected to the charging station again by the search, it is determined that the marker information matches. Note that if no marker information is obtained by the search, the marker determination unit 177 determines that the marker information does not match.

[0057] The marker determination unit 177 may obtain identification information contained in the searched marker information from the marker discovered by the search using the marker detection device 137, compare it with identification information contained in the known marker information corresponding to the reached node stored in the storage device 145, and if the two pieces of identification information match, determine that the marker information in the searched marker information and the known marker information match.

[0058] 17 is a diagram showing the entire route for which a route map is to be created, similar to FIG. 4 in the first embodiment. Furthermore, the Greek letter α enclosed in a circle in the figure indicates a marker.

[0059] When the node determination unit 174 determines that there is a destination node identical to the detected node, the movement instruction unit 175, which controls the driving unit 132 to move the moving device 130, outputs a search instruction to the driving unit 132 to move the moving device 130 so as to search for the marker. The trigger for the movement instruction unit 175 to output the search instruction may be the node determination unit 174 determining that there is a destination node identical to the detected node.

[0060] If the marker cannot be recognized by a search based on instructions from the movement instruction unit 175, or if the marker determination unit 177 determines that the search marker information and the known marker information do not match, the node information addition unit 176 adds the detected node information to the route map as new arrival node information.

[0061] If the marker determination unit 177 determines that they match, the map correction unit 178 determines that the nodes corresponding to the detected node information and the reached node information determined by the node determination unit 174 are the same, and corrects the route map.

[0062] Next, a description will be given of the route map creation operation of the map creation device 170 provided in the mobile device 130. Fig. 18 is a flowchart showing the flow of the operation of the map creation device 170 according to embodiment 2. Note that the description of processes that are almost the same as those in embodiment 1 may be omitted.

[0063] As shown in Fig. 19, first, the mobile device 130 is placed at a start position (S101). In the second embodiment, the start position is a position where the mobile device 130 is connected to a charging station that functions as a marker α. The marker information acquisition unit 171 recognizes the marker α and stores the position where the marker α is recognized as known marker information. In the present embodiment, the known marker information is stored with the position of the mobile device 130 connected to the charging station as a reference position (for example, the origin).

[0064] The node detection unit 172 detects routes around the mobile device 130 using the route information acquisition device 136 (S102). At this stage, the map creation device 170 recognizes the route as shown in the multigraph in Fig. 8. Since a candidate node B exists at the end of the detected route (S104, Yes), the mobile device 130 moves along the unknown route a detected by the route information acquisition device 136 toward the next candidate node B based on the driving device 132 (S105).

[0065] If the route information acquisition device 136 discovers a new branch during the movement (S201, Yes), it adds the discovered new node as an unvisited node and sets the new node as the detection node (S202). If there is no new branch during the movement (S201, No), it sets the candidate node as the detection node (S203).

[0066] When the mobile device 130 reaches the detection node, the node determination unit 174 determines whether or not there is a destination node identical to the detection node within the area based on the distance threshold (S204). If the self-location detection device 144 can calculate the standard deviation of the error in the robot's self-location detection, the self-location detection device 144 calculates the distance between the detection node and the destination node. If the distance between the detection node and the destination node does not exceed three times the standard deviation of the error in the robot's self-location detection, in step S204, the node determination unit 174 determines whether or not there is a destination node identical to the detection node. If there is no destination node identical to the detection node (No in S204), the node information addition unit 176 adds the detection node to a new destination node (S107). If there is a destination node identical to the detection node (Yes in S204), the node determination unit 174 selects one destination node from one or more destination nodes identical to the detection node (S205).

[0067] A destination node identical to a detection node is a destination node that stores the same node information as the node information of the detection node acquired by the node information acquisition unit 173. For example, a destination node identical to a detection node may have the same number of branching paths as the number of branching paths from the detection node, or may be the same destination node connected to the detection node by a route.

[0068] Next, assuming that the detected node matches the identical destination node, the movement instruction unit 175 outputs a search instruction to the node where the marker exists (hereinafter and in the figure, referred to as the "marker node") to search for the marker, and the mobile device 130 heads toward the marker node (S206). If a node is detected on the way toward the marker node, the node determination unit 174 determines whether the detected node matches the destination node between the identical destination node and the marker node selected in the route map (S207). If it is determined that they do not match (S207, No), the mobile device 130 returns to the detected node (S209) and again executes step S204 in which the node determination unit 174 determines whether there is a destination node that matches the detected node.

[0069] If the node determination unit 174 determines that the node detected on the way to the marker node matches the destination node between the destination node and the marker node selected in the route map (S207, Yes), the mobile device 130 reaches the node assumed to be the marker node and searches for the marker. If the marker is not present at the destination node (S208, No), the mobile device 130 returns to the detection node (S209) and executes step S204 again. Note that the absence of a marker includes a case where the marker detection device 137 fails to detect a marker, and a case where the marker detection device 137 detects a marker and the search marker information acquired by the marker information acquisition unit 171 does not match the known marker information already acquired. In this embodiment, the marker is one of the charging stations, so there is no case where the marker information does not match.

[0070] If a marker exists at the node assumed to be the marker node (S208, Yes), that is, if the marker information of the marker discovered by the search is acquired by the marker detection device 137 by the marker information acquisition unit 171, and the acquired marker information, i.e., searched marker information, matches with already acquired marker information, i.e., known marker information, the detection node and the arrival node are determined to match, and the multigraph is updated (S108). Then, the process returns to determining whether or not there is a candidate node (S104). By repeating the above process until there are no more candidate nodes, a more accurate multigraph can be obtained.

[0071] Depending on the condition of the floor surface on which the mobile device 130 is traveling, there may be a large error in the self-position detected by the self-position detection device 144. In the case of this embodiment, the presence or absence of an error is determined based on the markers, so the topology of the route map can be reproduced more accurately.

[0072] (Embodiment 3) Next, other embodiments of the mobile device 130 will be described. The mobile device 130 according to the third embodiment places markers at all nodes, thereby reducing the distance traveled to check the markers compared to the case shown in the second embodiment. Note that parts (portions) having the same actions, functions, shapes, mechanisms, and structures as those in the first and second embodiments will be given the same reference numerals, and descriptions thereof may be omitted. Furthermore, the following description will focus on differences from the first and second embodiments, and descriptions of the same contents may be omitted.

[0073] Fig. 20 is a side view showing the appearance of moving device 130 according to embodiment 3. Fig. 21 is a bottom view showing the appearance of moving device 130 according to embodiment 3. In this embodiment 3, moving device 130 includes marker placement device 180 in addition to moving device 130 described in embodiment 2.

[0074] Marker placement device 180 is a device that places markers at nodes. The structure of marker placement device 180 is not particularly limited. In this embodiment, marker placement device 180 holds multiple card-like markers, each carrying identification information, and upon acquiring placement instruction information, ejects one card from body 131 and places the marker on the floor surface.

[0075] The marker placement device 180 may cause the markers it ejects to carry position information related to their own position, etc. As a specific example, the marker placement device 180 may be equipped with a printing means, and may print a two-dimensional code including identification information and position information on the markers it ejects, thereby causing the markers to carry various information.

[0076] 22 is a block diagram showing the functional units of map creation device 170 according to embodiment 3. Map creation device 170 according to embodiment 3 includes, in addition to map creation device 170 according to embodiment 2, an arrangement instruction unit 179 as a processing unit.

[0077] When the node information adding unit 176 adds arrival node information to the route map, the placement instruction unit 179 outputs placement instruction information to the marker placement device 180 to place a marker at the corresponding node.

[0078] The placement instruction unit 179 may control the driving device 132 via the movement instruction unit 175 so that the marker is placed at a predetermined position (for example, as close to the center of the node as possible). The placement instruction unit 179 does not necessarily place a marker at all nodes for which the node information adding unit 176 adds reachable node information to the route map.

[0079] Next, a description will be given of the route map creation operation of the map creation device 170 provided in the mobile device 130 according to Embodiment 3. Fig. 23 is a flowchart showing the flow of the operation of the map creation device 170 according to Embodiment 3.

[0080] As shown in Fig. 24, first, the mobile device 130 is placed at a start position (S101). The node detection unit 172 detects the route around the mobile device 130 using the route information acquisition device 136 (S102). Since the start position is a dead-end node, the placement instruction unit 179 causes the marker placement device 180 to place a marker α at node A as shown in Fig. 25 (S301).

[0081] Since a candidate node B exists (S104, Yes), the mobile device 130 moves toward the next candidate node B detected by the route information acquisition device 136 based on the driving device 132 (S105).

[0082] As shown in Fig. 26, when moving to the next node B, the node detection unit 172 detects node B, and the node determination unit 174 determines whether the detected node matches the destination node (S106). At this stage, since there is no destination node, the node information adding unit 176 adds the detected node information to the route map as new destination node information (S107). Furthermore, the placement instruction unit 179 causes the marker placement device 180 to place a marker β at node B as shown in Fig. 26 (S302).

[0083] Since there are still candidate nodes (S104, Yes), the mobile device 130 moves to the next node (S105). The movement instruction unit 175 selects a route with fewer direction changes as a first priority and moves the mobile device 130 to an unknown route. By suppressing direction changes of the mobile device 130, it is possible to suppress errors in the mobile device's own position. At this stage, the movement instruction unit 175 selects route b and moves the mobile device 130 to the candidate node.

[0084] As shown in Fig. 27, when moving to the next node C, the node detection unit 172 detects node C, and the node determination unit 174 determines whether the detected node matches the destination node (S106). At this stage, there is no destination node information for node C, so the node information adding unit 176 adds the detected node information to the route map as new destination node information (S107). Furthermore, the placement instruction unit 179 causes the marker placement device 180 to place a marker γ as shown in Fig. 27 (S302).

[0085] Since there are still candidate nodes (S104, Yes), the mobile device 130 moves to the next node (S105). There are two routes from node C, where the marker γ is placed, to the next candidate node D, but the movement instruction unit 175 selects the route with fewer direction changes and moves the mobile device 130 to the unknown route. At this stage, the movement instruction unit 175 selects route d and moves the mobile device 130 to candidate node D.

[0086] As shown in Fig. 28, when moving to the next node D, the node detection unit 172 detects node D, and the node determination unit 174 determines whether the detected node matches the reached node (S106). At this stage, there is no reached node information, so the node information adding unit 176 adds the detected node information to the route map as new reached node information (S107). In addition, the placement instruction unit 179 causes the marker placement device 180 to place a marker δ as shown in Fig. 28 (S302).

[0087] At this stage, the mobile device 130 can determine that it has reached all nodes on the map, but the map creation device 170 of the mobile device 130 recognizes that there are unexplored routes to nodes B and C, and that candidate nodes exist beyond them (S104, Yes), so it moves to the next node (S105). At this stage, the mobile device 130 has reached node D, which is a dead end, so the movement instruction unit 175 moves the mobile device 130 back along the route already traveled to node C. The node detection unit 172 detects the node, and the node determination unit 174 determines whether it is a candidate node or a reached node (S106). Because node C is a reached node, the movement instruction unit 175 moves the mobile device 130 to search for marker γ (S303). The marker determination unit 177 determines whether the information acquired from marker γ as a result of the search matches the marker of the reached node (S304). If the marker determination results match (S304, Yes), that is, the marker information of the marker discovered by the search is acquired by the marker detection device 137 by the marker information acquisition unit 171, and if the acquired marker information, i.e., searched marker information, matches the already acquired marker information, i.e., known marker information, the detected node and the reached node are determined to match, and the multigraph is updated (S108). Then, the process returns to determining whether or not there is a candidate node (S104). By repeating the above process until there are no more candidate nodes, a more accurate multigraph can be obtained. Note that there is no branch between node D and node C, so if the route map is not modified, it is possible not to search for a marker.

[0088] Similarly, since a candidate node remains (S104, Yes), the mobile device 130 moves to the next node (S105). At this stage, the mobile device 130 is located at node C to which an unexplored route is connected. However, since another node B' to which an unexplored route is connected exists, the movement instruction unit 175 moves the mobile device 130 back along the route already traveled (a route with destination nodes at both ends) to node B, which is the closest to the start position among the routes connected to the node and for which an unexplored route remains. At this stage, the movement instruction unit 175 selects route b and moves the mobile device 130 to node B. The node detection unit 172 detects the node, and the node determination unit 174 determines whether the detected node matches the destination node (S106). Since node B matches the destination node, the movement instruction unit 175 moves the mobile device 130 to search for marker β (S303). The marker determination unit 177 determines whether or not the information acquired from the marker β as a result of the search matches the marker of the reached node (S304), and if they match, updates the multigraph (S108).

[0089] Assuming that there is a candidate node at the end of the unexplored route of node B, which is closest to the start position (S104, Yes), the mobile device 130 moves to the next node (S105). At this stage, the unexplored route is connected to the mobile device 130, and the mobile device 130 has reached node B, which is closest to the start position. Therefore, the movement instruction unit 175 moves the mobile device 130 so that it passes through unexplored route c. Note that in this embodiment, the movement instruction unit 175 selects unexplored route c because only unexplored route c remains. However, if multiple unexplored routes remain, the movement instruction unit 175 preferentially selects an unexplored route that requires the mobile device 130 to change direction at a small angle in order to travel the unexplored route. The mobile device 130 turns two corners along the route and arrives at the node detected by the node detection unit 172. The node determination unit 174 determines whether the node is a candidate node or a destination node (S106). The node determination unit 174 determines that the destination node is destination node C. The movement instruction unit 175 moves the moving device 130 to search for the marker γ (S303). The marker determination unit 177 determines whether the marker γ matches the marker of the reached node based on the information acquired from the marker γ as a result of the search (S304), and if it determines that the marker matches (S304, No Yes), it updates the multigraph (S108).

[0090] If the marker determination unit 177 determines that there is no match (S304, No), the node information adding unit 176 adds the detected node information to the route map as arrival node information (S107). Also, the placement instruction unit 179 causes the marker placement device 180 to place a marker (S302).

[0091] By repeating the above flow, there will be no more candidate nodes (S104, No), and the flow will end.

[0092] If the node is reached from node B via unexplored route c and it is determined that the candidate node is not node C, then the candidate node exists, so the process returns to node B, reaches node C, and then reaches the node from node C via unexplored route c'. If it is determined that the candidate node is node B, the route map is corrected and the contradiction is resolved. If the candidate node is not determined to be node B, then a candidate node exists, so the same process is repeated.

[0093] According to the mobile device 130 according to the third embodiment, the identity of each node reached via different routes is confirmed based on the marker. As a result, even in an unexplored area where there is no floor map, a route map with an accurate topological representation of the route can be created by accurately understanding the connection relationships of the nodes and creating a route map.

[0094] Furthermore, by having the mobile device 130 grasp the nodes and place markers at the nodes it reaches, a route map can be created automatically and efficiently without the need for an operator to place markers at the nodes in advance.

[0095] In addition, by placing markers at nodes that have been reached, the identity of each node can be accurately confirmed using the marker, eliminating the need to return to the marker at the starting position, and allowing route maps to be created in a short time even for complex routes.

[0096] It should be noted that the present disclosure is not limited to the above-described embodiments. For example, the present disclosure may be embodied in another embodiment realized by any combination of the components described in this specification or by excluding some of the components. Furthermore, the present disclosure also includes modifications obtained by applying various modifications to the above-described embodiments that would occur to a person skilled in the art without departing from the spirit of the present disclosure, i.e., the meaning of the wording of the claims.

[0097] For example, although the mobile device 130 is illustrated as being equipped with the map creation device 170, the present disclosure can also be realized in other aspects. For example, some or all of the processing units of the map creation device 170 may be realized by a device separate from the mobile device 130. For example, as shown in FIG. 29 , the map creation device 170 may be realized in the terminal device 160 by causing a processor of the terminal device 160 capable of communicating with the mobile device 130 to execute a program. In this case, the mobile device 130 and the terminal device 160 form the map creation system 100.

[0098] 30, the marker placement device 180 may be a separate device from the moving device 130, and may include a drive device for moving the marker placement device 180 itself. In this case, each of the multiple marker placement devices 180 carries identification information. Based on placement instruction information from the placement instruction unit 179, one of the multiple marker placement devices 180 is moved by its drive device and stops on the floor of the node, functioning as a marker. A marker placement device 180 placed at a node to which no unexplored paths remain may move to another node and function as a marker. The marker placement device 180 may move autonomously by acquiring a route map in the process of being created from the map creation device 170. Alternatively, the marker placement device 180 may move based on instructions from the placement instruction unit 179 of the map creation device 170.

[0099] It is also possible to create a map by moving around without using the mobile device 130, with a worker carrying the map creation device 170 shown in FIG. 31. In this case, the worker who arrives at a node inputs route information connected to the node, and the node detection unit 172 acquires the route information. The node determination unit 174 determines whether the route information matches the destination node. If it matches, the movement instruction unit 175 displays the location of the marker on the screen and instructs the worker to move. The worker captures an image of a two-dimensional code or the like attached to the marker, and the marker information acquisition unit 171 acquires the marker's identification information from the image or the like. The worker also acquires his / her own position using a GPS or the like equipped in the mobile terminal device. The other processes are the same as those described above, and the route map is created while correcting the route map in the process of being created.

[0100] Furthermore, although the mobile device 130 that moves on the floor using wheels has been exemplified, the mobile device 130 may be a device that moves three-dimensionally in the air, underwater, etc., such as a drone. In this case, the paths connected to the nodes may intersect three-dimensionally. [Industrial Applicability]

[0101] The present disclosure can be used to create a route map for use with robots that move along predetermined routes, such as cleaning robots, guide robots, security robots, and transport robots. [Explanation of symbols]

[0102] 100 Map Creation System 130 Mobile Device 131 Body 132 Drive unit 133 Suction unit 134 Cleaning Unit 135 Control Unit 136 Route information acquisition device 137 Marker detection device 138 Intake port 139 Bumper 140 wheels 141 Housing 142 Caster 143 Dust holding part 144 Self-location detection device 145 Storage device 146 Rotating Brush 147 Brush Drive Motor 160 Terminal Equipment 170 Map Creation Device 171 Marker information acquisition unit 172 Node detection unit 173 Node Information Acquisition Unit 174 Node Determination Unit 175 Movement instruction section 176 Node information addition section 177 Marker determination unit 178 Map Correction Department 179 Placement instruction section 180 Marker placement device

Claims

1. A map creation device that creates a route map showing multiple intersecting routes, a node detection unit that detects nodes at which the paths intersect or end; a node information acquisition unit that acquires detected node information including location information of a detected node detected by the node detection unit and route information indicating a positional relationship of a route connected to the detected node; a node determination unit that compares the detected node information with arrived node information, which is already stored node information, and determines whether the detected node information matches the arrived node information; a marker information acquisition unit that acquires marker information regarding a marker that is present at at least one location on the route; a movement instruction unit that instructs to search for the marker when the node determination unit determines that there is a match; a marker determination unit that determines whether searched marker information, which is marker information obtained by the search, matches known marker information, which is marker information that has already been acquired; a node information adding unit that adds the detected node information to the route map as new arrival node information when the node determining unit or the marker determining unit determines that there is a mismatch; a map correcting unit that corrects the route map by determining that the nodes corresponding to the detected node information and the reached node information are the same when both the node determining unit and the marker determining unit determine that there is a match; A map creation device comprising:

2. The node information adding unit If the marker cannot be recognized by the search, the detected node information is added to the route map as new arrival node information. The map generating device according to claim 1 .

3. A map creation device according to claim 1 or 2; a moving device capable of moving along the path; a route information acquisition device that acquires route information regarding the route around the mobile device; a self-position detection device that detects a self-position, which is the position of the mobile device; a marker detection device that detects a marker present at at least one location on the route; The map creation device creates the route map based on the route information. Map creation system.

4. The route information acquisition device, the self-location detection device, and the marker detection device move in cooperation with the mobile device. The map generation system of claim 3 .

5. When the node information adding unit adds the new arrival node information to the route map, a marker placing device is provided to place a new marker at the corresponding node.

5. A map creation system according to claim 3 or 4.

6. A map creation device that creates a route map showing multiple intersecting routes; a moving device capable of moving along the path; a route information acquisition device that acquires route information regarding the route around the mobile device; a self-position detection device that detects a self-position, which is the position of the mobile device; a marker detection device that detects a marker present at at least one location on the route; a marker placement device for placing a new marker at a node; The map creation device a node detection unit that detects nodes at which the paths intersect or end; a node information acquisition unit that acquires detected node information including location information of a detected node detected by the node detection unit and route information indicating a positional relationship of a route connected to the detected node; a node determination unit that compares the detected node information with arrived node information, which is already stored node information, and determines whether the detected node information matches the arrived node information; a node information adding unit that adds the detected node information to the route map as new arrival node information when the node determining unit determines that there is a mismatch; a map correction unit that corrects the route map by determining that the nodes corresponding to the detected node information and the reached node information are the same when the node determination unit determines that they match, creating the route map based on the route information; The marker placement device When the node information adding unit adds the new arrival node information to the route map, it places a new marker at the corresponding node. Map creation system.

7. The marker placement device includes a drive device for moving the marker placement device itself.

7. A map creation system according to claim 5 or 6.

8. The marker placement device It moves according to the command of the map creation device and acts as a marker.

7. A map creation system according to claim 5 or 6.

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