Traveling map creation device, autonomous traveling robot, travel control system for autonomous traveling robot, travel control method for autonomous traveling robot, and program

Abstract

A travel map creation device (100) comprises a sensor information acquisition unit (141) that acquires positional relationships of nearby objects with respect to the travel map creation device (100) itself, a floor map creation unit (142) that creates a floor map of a certain floor on the basis of the positional relationships, an own position calculation unit (143) that calculates an own position on the floor map, an image acquisition unit (144) that acquires an image including reflected light obtained as a result of light being emitted from a light-emitting device (1) and reflected on the certain floor, a light position calculation unit (145) that calculates coordinate information corresponding to the position of the reflected light in the floor map from the position of the reflected light in the image, a no-entry information generation unit (146) that generates, on the basis of the coordinate information, no-entry information indicating a no-entry area that an autonomous travel robot (300) is forbidden to enter, and a travel map creation unit (147) that creates a map for traveling in which the no-entry area has been set on the basis of the no-entry information.

Description

[Technical Field]

[0001] The present disclosure relates to a traveling map creation device, an autonomous traveling robot, a traveling control system for an autonomous traveling robot, a traveling control method for an autonomous traveling robot, and a program. [Background technology]

[0002] For example, Patent Document 1 discloses a method of installing or attaching a marker indicating the presence of a restricted area in which the free movement of an autonomous mobile body is restricted in the area in which the autonomous mobile body travels, and controlling the movement of the autonomous mobile body based on the results of the autonomous mobile body detecting the optical marker. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-046372 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technology described in Patent Document 1, it is necessary to install or attach optical markers in advance within the area in which the autonomous moving body will move, making it difficult to easily set the restricted area.

[0005] Therefore, the present disclosure provides a driving map creation device, etc., that can easily set no-entry areas on a map for driving an autonomous robot, where entry of the autonomous robot is prohibited. [Means for solving the problem]

[0006] In order to achieve the above object, a traveling map creation device according to one aspect of the present disclosure is a traveling map creation device that creates a map for traveling of an autonomous traveling robot that travels autonomously within a predetermined floor, and includes a sensor information acquisition unit that detects objects around itself and acquires the positional relationship from a position sensor that measures the positional relationship of the object relative to itself, a floor map creation unit that creates a floor map showing the predetermined floor based on the positional relationship acquired by the sensor information acquisition unit, a self-position calculation unit that calculates the position of itself on the floor map created by the floor map creation unit, and a light irradiation device operated by a user that reflects light on the predetermined floor. an image acquisition unit that acquires an image including the reflected light that has been irradiated onto the autonomous robot; a light position calculation unit that calculates coordinate information corresponding to the position of the reflected light on the floor map from the position of the reflected light in the image acquired by the image acquisition unit based on the self-position calculated by the self-position calculation unit; an entry prohibition information generation unit that generates entry prohibition information indicating entry prohibition areas on the floor map that prohibit entry of the autonomous robot based on the coordinate information calculated by the light position calculation unit; and a driving map creation unit that creates the driving map in which the entry prohibition areas are set based on the entry prohibition information generated by the entry prohibition information generation unit.

[0007] In addition, an autonomous driving robot according to one embodiment of the present disclosure is an autonomous driving robot that autonomously drives within a specified floor, and includes: a main body; a driving unit that is disposed on the main body and enables the main body to drive; a driving map acquisition unit that acquires the driving map created by the driving map creation device described in any one of claims 1 to 6; a position sensor that detects objects around the main body and measures the positional relationship of the object relative to the main body; a self-position calculation unit that calculates the self-position, which is the position of the main body on the driving map, based on the driving map and the positional relationship; a driving plan creation unit that creates a driving plan for the specified floor based on the driving map and the self-position; and a driving control unit that controls the driving unit based on the driving plan.

[0008] Furthermore, a driving control system for an autonomous mobile robot according to one aspect of the present disclosure is a driving control system for controlling the driving of an autonomous mobile robot that autonomously drives within a predetermined floor, and includes a sensor information acquisition unit that detects objects around the autonomous robot and acquires a positional relationship from a position sensor that measures a positional relationship of the object relative to the autonomous robot, a floor map creation unit that creates a floor map showing the predetermined floor based on the positional relationship acquired by the sensor information acquisition unit, a first self-position calculation unit that calculates a first self-position that indicates the self-position on the floor map created by the floor map creation unit, an image acquisition unit that acquires an image including light that is irradiated by a light irradiation device operated by a user and reflected on the predetermined floor, and an image acquisition unit that acquires an image based on the first self-position calculated by the first self-position calculation unit. a light position calculation unit that calculates coordinate information indicating the light position on the floor map from the light position of the reflected light in the image acquired by the unit; an entry prohibition information generation unit that generates entry prohibition information indicating entry prohibition areas that prohibit entry of the autonomous mobile robot on a specified floor based on the floor map created by the floor map creation unit and the coordinate information calculated by the light position calculation unit; a driving map creation unit that creates a driving map for the autonomous mobile robot in which entry prohibition areas are set based on the entry prohibition information generated by the entry prohibition information generation unit; a second self-position calculation unit that calculates a second self-position indicating the self-position on the driving map created by the driving map creation unit; and a driving plan creation unit that creates a driving plan for the specified floor based on the driving map and the second self-position.

[0009] In addition, a driving control method for an autonomous driving robot according to one embodiment of the present disclosure is a driving control method for controlling the driving of an autonomous driving robot that drives autonomously within a specified floor, the method comprising: detecting objects around the autonomous driving robot, acquiring a positional relationship from a position sensor that measures the positional relationship of the object relative to the autonomous driving robot; creating a floor map showing the specified floor based on the acquired positional relationship; calculating a first self-position that indicates the robot's position on the created floor map; acquiring an image including reflected light from a light irradiation device operated by a user that is reflected on the specified floor; calculating coordinate information that indicates the light position on the floor map from the optical position of the reflected light in the acquired image based on the calculated first self-position; generating no-entry information that indicates no-entry areas on the specified floor that prohibit the autonomous driving robot from entering based on the created floor map and the calculated coordinate information; creating a driving map for the autonomous driving robot in which no-entry areas are set based on the generated no-entry information; calculating a second self-position that indicates the robot's position on the created driving map; and creating a driving plan for the specified floor based on the driving map and the second self-position.

[0010] The present disclosure may be realized as a program for causing a computer to execute the driving control method. It may also be realized as a non-transitory recording medium, such as a CD-ROM, on which the program is recorded and which can be read by a computer. The present disclosure may also be realized as information, data, or signals representing the program. These programs, information, data, and signals may be distributed via a communication network, such as the Internet. [Effects of the Invention]

[0011] The navigation map creation device of the present disclosure makes it possible to easily set no-entry areas on a navigation map for the autonomous mobile robot, prohibiting the entry of the autonomous mobile robot. Furthermore, the autonomous mobile robot of the present disclosure can navigate appropriately based on the navigation map. Furthermore, the navigation control system and navigation control method for the autonomous mobile robot of the present disclosure make it possible to appropriately control the navigation of the autonomous mobile robot. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram illustrating an overview of a driving control system for an autonomous driving robot according to an embodiment. [Figure 2] FIG. 2 is a block diagram illustrating an example of the configuration of a driving control system for an autonomous driving robot according to an embodiment. [Figure 3] FIG. 3 is a perspective view of the navigation map creation device according to the embodiment, seen from diagonally above. [Figure 4] FIG. 4 is a front view of the driving map creation device according to the embodiment, as seen from the front side. [Figure 5] FIG. 5 is a perspective view showing the external appearance of the autonomous mobile robot according to the embodiment as seen from the side. [Figure 6] FIG. 6 is a perspective view showing the appearance of the autonomous mobile robot according to the embodiment as viewed from the front. [Figure 7] FIG. 7 is a bottom view showing the appearance of the autonomous mobile robot according to the embodiment as seen from the rear side. [Figure 8] FIG. 8 is a flowchart illustrating a first example of the operation of the driving control system for the autonomous driving robot according to the embodiment. [Figure 9] FIG. 9 is a flowchart showing the detailed flow of step S04 in the first example. [Figure 10] FIG. 10 is a diagram illustrating an example of the operation of generating no-entry information. [Figure 11A] FIG. 11A is a diagram for explaining the operation of the no-entry information generating unit for determining the light position. [Figure 11B] FIG. 11B is a diagram for explaining an example of a determination method for determining the position of reflected light. [Figure 12] FIG. 12 is a flowchart illustrating a second example of the operation of the driving control system for the autonomous driving robot according to the embodiment. [Figure 13] FIG. 13 is a flowchart showing an example of the operation of the terminal device in the second example. [Figure 14] FIG. 14 is a diagram illustrating an example of presentation information. [Figure 15] FIG. 15 is a diagram showing an example of a screen for accepting corrections to no-entry information. [Figure 16] FIG. 16 is a diagram showing an example of a screen for accepting confirmation of the corrected no-entry information. [Figure 17] FIG. 17 is a flowchart showing a third example of the operation of the driving control system for the autonomous driving robot according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of a driving map creation device and the like according to the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below represents a preferred specific example of the present disclosure. Therefore, the numerical values, shapes, materials, components, component arrangements and connection forms, steps, step order, and the like shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components not recited in independent claims will be described as optional components.

[0014] The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0015] Furthermore, each drawing is a schematic diagram and is not necessarily an exact illustration. In addition, in each drawing, substantially the same components are assigned the same reference numerals, and duplicated explanations may be omitted or simplified.

[0016] Furthermore, in the following embodiments, expressions using the word "approximately" such as "approximately triangle" are used. For example, "approximately triangle" does not only mean a perfect triangle, but also means a substantially triangular shape, i.e., includes triangles with rounded corners, for example. The same applies to other expressions using "approximately".

[0017] In addition, in the following embodiments, an autonomous mobile robot traveling on the floor surface of a specified floor may be described as a top view when viewed from vertically above, and as a bottom view when viewed from vertically below.

[0018] (Embodiment) [Autonomous robot driving control system] [1. Overview] First, an overview of a driving control system for an autonomous mobile robot according to an embodiment will be described. Fig. 1 is a diagram for explaining an overview of a driving control system for an autonomous mobile robot according to an embodiment.

[0019] The travel control system for the autonomous mobile robot 300 is a system for controlling the travel of the autonomous mobile robot that travels autonomously on a predetermined floor. For example, this system sets no-entry areas on a predetermined floor that the autonomous mobile robot 300 is prohibited from entering, creates a travel map that includes information about the set no-entry areas (e.g., location, shape, size), and creates a travel plan for the autonomous mobile robot 300 based on the created travel map. This allows the autonomous mobile robot 300 to travel autonomously on a predetermined floor safely and appropriately.

[0020] The predetermined floor is, for example, a floor surrounded by walls within a building. The building may be, for example, a facility such as a hotel, a commercial facility, an office building, a hospital, a nursing home, an art museum, or a library, or may be an apartment building or other collective housing complex.

[0021] As shown in FIG. 1, the traveling control system for an autonomous traveling robot 300 according to the embodiment includes, for example, a traveling map creation device 100, a terminal device 200, and the autonomous traveling robot 300.

[0022] In the example of Fig. 1, the traveling map creation device 100 is mounted on a dolly 190, and the user pushes the dolly 190 to move around the floor, but this is not limiting. For example, the traveling map creation device 100 may be provided with a traveling unit including wheels and a motor for rotating the wheels on the main body 101 (see Fig. 3), and may be moved around the floor by operating a remote control or the like. Also, for example, the traveling map creation device 100 may further be provided with a steering wheel on the main body 101, in which case the user may operate the steering wheel to move the traveling map creation device 100.

[0023] The traveling map creation device 100 is equipped with a position sensor such as LiDAR (Light Detection and Ranging) and acquires the positional relationship of surrounding objects relative to itself while traveling on a floor. The traveling map creation device 100 acquires a floor map showing a specific floor and calculates its own position on the floor map based on the positional relationship of surrounding objects relative to itself. The traveling map creation device 100 acquires an image including light reflected from the floor surface of the floor by light emitted by a light irradiation device 1 (e.g., a laser pointer) operated by a user, and calculates coordinate information corresponding to the position of the reflected light on the floor map from the position of the reflected light in the acquired image based on the calculated self-position.

[0024] 1, the user may indicate the boundary between the no-entry area and the driving area (hereinafter also referred to as the driving-allowed area) by drawing a line L1 on the floor surface with light emitted by the light irradiation device 1. In this case, the driving map creation device 100 may calculate a plurality of pieces of coordinate information corresponding to each of the positions of the plurality of light points of the reflected light on the floor map from the positions of the plurality of light points of the reflected light included in the line L1 from the position S1 of the reflected light, which is the drawing start position of the line L1 in the image, to the position F1 of the reflected light, which is the drawing end position, and may determine the boundary based on the calculated plurality of pieces of coordinate information.

[0025] Furthermore, for example, the driving map creation device 100 may set the position S2 of the reflected light of light emitted in one color (e.g., red) by the light irradiation device 1 as the start position of the boundary, and the position F2 of the reflected light of light emitted in another color (e.g., green) as the end position of the boundary, and set the line segment L2 connecting these two positions as the boundary.

[0026] In this way, the traveling map creation device 100 may determine the boundaries between no-entry areas and drivable areas for the autonomous traveling robot 300 based on coordinate information indicating the position on the floor map corresponding to the position of reflected light in the image, and generate no-entry information indicating the no-entry areas on a specific floor. In this way, the traveling map creation device 100 creates a traveling map in which one or more no-entry areas are set for a specific floor.

[0027] The terminal device 200, for example, presents presentation information generated by the navigation map creation device 100, accepts instructions input by the user, and outputs the instructions to the navigation map creation device 100. For example, when the navigation map is created by the navigation map creation device 100, the user may check the presentation information presented on the terminal device 200 and input instructions. Alternatively, for example, after the navigation map is created, the user may check the navigation map and the presentation information associated with the navigation map and input instructions. The presentation information will be described later. The user may check the presentation information presented (hereinafter also referred to as displayed) on the terminal device 200 and input, for example, an instruction to correct the position or boundary of reflected light on the floor map or an instruction to set a candidate no-entry area to a no-entry area. Alternatively, for example, after the navigation map is created by the navigation map creation device 100, the user may check the navigation map displayed on the terminal device 200 and input, to the terminal device 200, an instruction to correct the no-entry information or an instruction to delete the no-entry information.

[0028] The autonomous mobile robot 300 creates a travel plan based on a travel map created by the travel map creation device 100, for example, and travels autonomously within a specified floor according to the created travel plan.

[0029] In this way, the driving control system for autonomous mobile robot 300 can calculate coordinates (also referred to as coordinate information) corresponding to the position of the reflected light on the floor map from an image including the reflected light of light emitted by the user onto the floor surface using light irradiation device 1, and can easily set no-entry areas based on these coordinates. As a result, the driving control system for autonomous mobile robot 300 can create a driving plan for autonomous mobile robot 300 based on a driving map in which no-entry areas are set, and can therefore appropriately control the driving of autonomous mobile robot 300.

[0030] [2. Configuration] Next, the configuration of the driving control system for the autonomous mobile robot according to the embodiment will be described. Fig. 2 is a block diagram showing an example of the configuration of the driving control system for the autonomous mobile robot according to the embodiment.

[0031] The driving control system 400 according to the embodiment includes, for example, a driving map creation device 100, a terminal device 200, and an autonomous driving robot 300. Each component will be described below.

[0032] [2-1. Driving map creation device] First, the navigation map creation device 100 will be described. Fig. 3 is a perspective view of the navigation map creation device 100 according to the embodiment, seen from diagonally above. Fig. 4 is a front view of the navigation map creation device 100 according to the embodiment, seen from the front.

[0033] The traveling map creation device 100 is a device that creates a map for traveling of an autonomous traveling robot 300 that travels autonomously on a predetermined floor. More specifically, while traveling on a predetermined floor in response to a user's operation, the traveling map creation device 100 sets no-entry areas based on an image that includes reflected light of light irradiated by a light irradiation device 1 (see FIG. 1 ), and creates a traveling map that includes the set no-entry areas.

[0034] 1 and 3, the traveling map creation device 100 is placed on, for example, a dolly 190 and travels on a predetermined floor by user operation. Here, the user pushes the dolly 190 to cause the traveling map creation device 100 to travel. For example, a stand 192 on which the terminal device 200 is placed may be attached to a handle 191 of the dolly 190, and a presentation unit (not shown) of the traveling map creation device 100 may be installed. The presentation unit may be a so-called display panel.

[0035] 2, the driving map creation device 100 includes, for example, a communication unit 110, a position sensor 120, an imaging unit 130, a control unit 140, and a storage unit 150. Each component will be described below.

[0036] [Communications Department] The communication unit 110 is a communication module (also referred to as a communication circuit) that enables the traveling map creation device 100 to communicate with the terminal device 200 and the autonomous traveling robot 300 via a wide area communication network 10 such as the Internet. The communication performed by the communication unit 110 may be wireless communication or wired communication. There are no particular limitations on the communication standard used for the communication.

[0037] [Position sensor] The position sensor 120 detects objects around the traveling map creation device 100 and measures the positional relationship of the objects relative to the traveling map creation device 100. For example, the position sensor 120 is disposed at the center of the top surface of the main body 101 and measures the positional relationship, including the distance and direction, between the traveling map creation device 100 and objects, including walls, that exist around the traveling map creation device 100. The position sensor 120 may be, for example, a LIDAR or a laser range finder that emits light and detects the positional relationship based on light reflected by obstacles. In particular, the position sensor 120 may be a LIDAR. The position sensor 120 may have one or two optical scanning axes to perform two-dimensional or three-dimensional measurement of a predetermined area around the traveling map creation device 100.

[0038] The traveling map creation device 100 may include other types of sensors in addition to the position sensor 120. For example, the traveling map creation device 100 may further include a floor sensor, an encoder, an acceleration sensor, an angular velocity sensor, a contact sensor, an ultrasonic sensor, a distance measurement sensor, etc.

[0039] [Image capture unit] The imaging unit 130 is an imaging device that captures images of the surroundings of the driving map creation device 100. For example, the imaging unit 130 captures an image including light reflected from a predetermined floor by light emitted by the light irradiation device 1 operated by a user. The imaging unit 130 may be disposed on the front surface of the main body 101 or may be rotatably disposed on the top surface. The imaging unit 130 may also be composed of multiple cameras. The imaging unit 130 may be, for example, a stereo camera or an RGB-D camera. The RGB-D camera acquires depth image data in addition to color image data (RGB). For example, when the imaging unit 130 is an RGB-D camera, the imaging unit 130 may include an RGB camera 131, an infrared sensor 132, and a projector 133.

[0040] [Control Unit] 2, the control unit 140 acquires sensor information, such as the positional relationship with surrounding objects, obtained by sensing the environment around the driving map creation device 100 using the position sensor 120, and images captured by the imaging unit 130, and performs various calculations. Specifically, the control unit 140 is realized by a processor, a microcomputer, or a dedicated circuit. Alternatively, the control unit 140 may be realized by a combination of two or more of the processor, the microcomputer, and the dedicated circuit. For example, the control unit 140 includes a sensor information acquisition unit 141, a self-position calculation unit 143, a floor map creation unit 142, an image acquisition unit 144, a light position calculation unit 145, a no-entry information generation unit 146, and a driving map creation unit 147.

[0041] The sensor information acquisition unit 141 acquires the positional relationship with surrounding objects measured by the position sensor 120. When the driving map creation device 100 includes other types of sensors in addition to the position sensor 120, the sensor information acquisition unit 141 may further acquire sensor information acquired by the other types of sensors.

[0042] The floor map creation unit 142 creates a floor map showing a specific floor. The floor map creation unit 142 creates the floor map based on information obtained by measuring the position and distance of an object by the position sensor 120 (i.e., positional relationship). The floor map creation unit 142 may create a floor map of the surrounding environment (walls, furniture, and other objects) of the traveling map creation device 100 using, for example, SLAM (Simultaneous Localization and Mapping) technology based on the information acquired from the position sensor 120. Note that the floor map creation unit 142 may add information from other sensors such as wheel odometry and gyro sensors in addition to the sensing information from the position sensor 120 (e.g., LIDAR). The floor map creation unit 142 may acquire the floor map from the terminal device 200 or a server (not shown), or may acquire the floor map by reading out a floor map stored in the storage unit 150.

[0043] The self-position calculation unit 143 calculates the self-position, which is the position of the traveling map creation device 100 on the floor map, using the relative positional relationship between the object and the position sensor 120 acquired from the position sensor 120 and the floor map. For example, the self-position calculation unit 143 calculates the self-position using SLAM technology. In other words, when SLAM technology is used, the floor map creation unit 142 and the self-position calculation unit 143 create the floor map while calculating the self-position, and successively update the self-position and the floor map.

[0044] The image acquisition unit 144 acquires an image captured by the imaging unit 130. More specifically, the image acquisition unit 144 acquires an image including light reflected from a specific floor after light is emitted by the light irradiation device 1 operated by the user. The image may be a still image or a moving image. The image includes information such as an identification number (e.g., pixel number) indicating the position of the reflected light in the image and the distance for each pixel.

[0045] The light position calculation unit 145 calculates coordinate information corresponding to the position of the reflected light on the floor map from the position of the reflected light in the image acquired by the image acquisition unit 144. For example, the light position calculation unit 145 may acquire distance (i.e., relative distance) information for each pixel of the image acquired from the imaging unit 130, and calculate coordinate information corresponding to the position of the reflected light on the floor map from the position of the reflected light in the image based on the relative positional relationship between the object and the position sensor 120 acquired from the position sensor 120, the floor map, and the distance information for each pixel in the image.

[0046] Furthermore, for example, the light position calculation unit 145 may determine the position of the reflected light in the image according to the shape of the reflected light, and calculate coordinate information corresponding to the position of the reflected light on the floor map from the determined position of the reflected light. The shape of the light emitted varies depending on the type of light irradiation device 1. Therefore, the shape of the reflected light of the light emitted by the light irradiation device 1 may vary depending on the type of light irradiation device 1. For example, if the light irradiation device 1 is a laser pointer, when pointing at a point with the laser pointer, the reflected light will be dot-shaped, and when drawing a line on the floor with the laser pointer, the reflected light will be linear. Furthermore, if the light irradiation device 1 is, for example, a flashlight, the reflected light will be approximately circular or approximately elliptical. If the light irradiation device 1 is, for example, a projector, the reflected light will be various shapes such as an arrow, a star, a cross, a heart, a circle, or a polygon. Therefore, if the shape of the reflected light is other than linear, the coordinates indicating the optical position of the reflected light may be coordinates indicating the center of the shape of the reflected light, or if the shape of the reflected light is linear, they may be multiple coordinates indicating consecutive points (i.e., a line) located at the center of the width of the line. Furthermore, if the reflected light is arrow-shaped, the coordinates indicating the optical position of the reflected light may be coordinates indicated by the tip of the arrow. These positions are not limited to the above example and may be determined appropriately depending on the type of light irradiation device 1 used and the shape of the reflected light.

[0047] Furthermore, the light position calculation unit 145 may calculate a plurality of pieces of coordinate information corresponding to each of a plurality of positions of reflected light on the floor map from a plurality of positions of reflected light in the image. For example, the light position calculation unit 145 may calculate first coordinate information from a first position that is a position in the image of reflected light of light irradiated in one color by the light irradiation device 1, and may calculate second coordinate information from a second position that is a position in the image of reflected light of light irradiated in another color by the light irradiation device 1. In this case, the light position calculation unit 145 may distinguish between the one color and the other colors from RGB information for each pixel in the image, or may distinguish between the one color and the other colors from brightness values.

[0048] The no-entry information generating unit 146 generates no-entry information indicating a no-entry area based on the coordinate information calculated by the light position calculating unit 145. For example, the no-entry information generating unit 146 determines whether the light position of the reflected light in the image is on the floor surface of a predetermined floor, and if it is determined that the light position is on the floor surface, generates no-entry information using the light position. The above determination may be made based on three-dimensional coordinate information in the image, or may be made by identifying the floor surface or the like by image recognition.

[0049] Furthermore, the no-entry information generating unit 146 may generate no-entry information including boundary information indicating the boundary between the no-entry area and the travel area (travelable area) of the autonomous mobile robot based on multiple pieces of coordinate information. Note that the no-entry information generating unit 146 may determine the boundary so that an area surrounded by a wall and multiple light positions is the no-entry area, for example. Specific processing details will be described in Section "3. Operation."

[0050] Furthermore, for example, the no-entry information generating unit 146 may determine a line segment connecting the first position and the second position as the boundary based on the first coordinate information and the second coordinate information. Note that, for example, when the first position is close to a wall and the second position is close to a wall, the no-entry information generating unit 146 may include the line segment connecting the first position to the wall and the line segment connecting the second position to the wall in the boundary.

[0051] Furthermore, for example, the no-entry information generating unit 146 may modify the no-entry information based on an instruction from the user. In this case, the no-entry information generating unit 146 may generate presentation information to be presented to the user and present it to the user. The presentation information is information to be presented to the user, and includes, for example, information such as the light position of reflected light on a floor map, boundaries, or no-entry areas or candidates thereof. Specific examples of the presentation information will be described in the second example of operation.

[0052] The driving map creation unit 147 creates a driving map in which no-entry areas are set that prohibit the autonomous mobile robot 300 from entering, based on the no-entry information generated by the no-entry information generation unit 146. Furthermore, the driving map creation unit 147 may modify the driving map based on the no-entry information modified by the no-entry information generation unit 146.

[0053] The driving map creation unit 147 outputs the created driving map to the terminal device 200 and the autonomous driving robot 300 via the communication unit 110.

[0054] [Storage] The storage unit 150 is a storage device that stores a floor map showing a predetermined floor, sensor information acquired by the position sensor 120, and image data captured by the imaging unit 130. The storage unit 150 may also store a floor map created by the floor map creation unit 142 and a driving map created by the driving map creation unit 147. The storage unit 150 also stores a computer program executed by the control unit 140 to perform the above-mentioned arithmetic processing. The storage unit 150 is realized by, for example, an HDD (Hard Disk Drive), a flash memory, or the like.

[0055] [2-2. Terminal Device] Next, the terminal device 200 will be described. The terminal device 200 is, for example, a portable information terminal such as a smartphone or tablet terminal owned by a user, but may also be a stationary information terminal such as a personal computer. The terminal device 200 may also be a dedicated terminal for the driving control system 400. The terminal device 200 includes a communication unit 210, a control unit 220, a presentation unit 230, a reception unit 240, and a storage unit 250. Each component will be described below.

[0056] [Communications Department] The communication unit 210 is a communication circuit that enables the terminal device 200 to communicate with the traveling map creation device 100 and the autonomous traveling robot 300 via a wide area communication network 10 such as the Internet. The communication unit 210 is, for example, a wireless communication circuit that performs wireless communication. There are no particular limitations on the communication standard of the communication performed by the communication unit 210.

[0057] [Control Unit] The control unit 220 controls the display of images on the reception unit 240, and performs processing to identify instructions input by the user (for example, voice recognition processing in the case of voice input), etc. The control unit 220 may be realized by, for example, a microcomputer or a processor.

[0058] [Presentation part] The presentation unit 230 presents the presentation information and the driving map output by the driving map creation device 100 to the user. The presentation unit 230 may be realized, for example, by a display panel, or may be realized by a display panel and a speaker. The display panel is, for example, a liquid crystal panel or an organic EL panel. The speaker outputs sound or audio.

[0059] [Reception] The reception unit 240 receives instructions from the user. More specifically, the reception unit 240 receives an input operation performed to transmit the user's instructions to the driving map creation device 100. The reception unit 240 may be realized by, for example, a touch panel, a display panel, hardware buttons, or a microphone. The touch panel may be, for example, a capacitive touch panel or a resistive touch panel. The display panel has a function of displaying images and a function of receiving manual input from the user, and receives input operations to a numeric keypad image or the like displayed on a display panel such as a liquid crystal panel or an organic EL (Electro Luminescence) panel. The microphone receives voice input from the user.

[0060] Note that, although an example is shown in which the reception unit 240 is a component of the terminal device 200, the reception unit 240 may be integrated with at least one of the other components of the driving control system 400. For example, the reception unit 240 may be incorporated into the traveling map creation device 100, a remote controller (not shown), or the autonomous traveling robot 300.

[0061] [Storage] The storage unit 250 is a storage device that stores dedicated application programs and the like to be executed by the control unit 220. The storage unit 250 is realized by, for example, a semiconductor memory.

[0062] [2-3. Autonomous Robots] Next, the autonomous mobile robot 300 will be described. The autonomous mobile robot 300 is a robot that travels autonomously. For example, the autonomous mobile robot 300 acquires a map for travel created by the mobile map creation device 100, and travels autonomously on a predetermined floor corresponding to the map for travel. The autonomous mobile robot 300 is not particularly limited as long as it is a robot that travels autonomously, but may be, for example, a transport robot that transports luggage or the like, or a vacuum cleaner. Below, an example will be described in which the autonomous mobile robot 300 is a vacuum cleaner.

[0063] Fig. 5 is a perspective view showing the appearance of autonomous mobile robot 300 according to the embodiment as seen from the side. Fig. 6 is a perspective view showing the appearance of autonomous mobile robot 300 according to the embodiment as seen from the front. Fig. 7 is a bottom view showing the appearance of autonomous mobile robot 300 according to the embodiment as seen from the back.

[0064] As shown in FIGS. 5 to 7, the autonomous mobile robot 300 includes, for example, a main body 301, two side brushes 371, a main brush 372, two wheels 361, and a position sensor 320.

[0065] Main body 301 houses each of the components of autonomous mobile robot 300. In this embodiment, main body 301 has a substantially circular shape when viewed from above. The shape of main body 301 when viewed from above is not particularly limited. The shape of main body 301 when viewed from above may be, for example, a substantially rectangular shape, a substantially triangular shape, or a substantially polygonal shape. Main body 301 has a suction port 373 on the bottom surface.

[0066] Side brush 371 is a brush for cleaning the floor surface, and is provided on the underside of main body 301. In this embodiment, autonomous mobile robot 300 is provided with two side brushes 371. The number of side brushes 371 provided on autonomous mobile robot 300 may be one, or may be three or more, and is not particularly limited.

[0067] Main brush 372 is disposed in suction port 373, which is an opening provided on the bottom surface of main body 301, and is a brush for raking up dust on the floor surface into suction port 373.

[0068] The two wheels 361 are wheels for propelling the autonomous mobile robot 300.

[0069] 2, 5, and 6, the autonomous mobile robot 300 includes, for example, a main body 301, a position sensor 320, a traveling unit 360 disposed on the main body 301 and enabling the main body 301 to travel, and a cleaning unit 370 that cleans the floor surface. Furthermore, the autonomous mobile robot 300 may include an obstacle sensor 330 in addition to the position sensor 320. Details of the traveling unit 360 and the cleaning unit 370 will be described later.

[0070] [Position sensor] The position sensor 320 is a sensor that detects objects around the main body 301 of the autonomous mobile robot 300 and acquires the positional relationship of the objects with respect to the main body 301. The position sensor 320 may be, for example, a LIDAR or a laser range finder that emits light and detects the positional relationship (e.g., the distance and direction from the robot to an object) based on the light reflected by an obstacle. In particular, the position sensor 320 may be a LIDAR.

[0071] [Obstacle sensor] Obstacle sensor 330 is a sensor that detects obstacles that may hinder travel, such as surrounding walls and furniture that exist in front of main body 301 (specifically, in the direction of travel). In this embodiment, an ultrasonic sensor is used for obstacle sensor 330. Obstacle sensor 330 has a transmitter 331 that is placed in the center of the front side of main body 301, and receivers 332 that are placed on both sides of transmitter 331. The receivers 332 receive ultrasonic waves that are transmitted from transmitter 331 and reflected by obstacles, thereby enabling detection of the distance, position, etc. of the obstacle.

[0072] The autonomous mobile robot 300 may also be equipped with sensors other than those described above. For example, it may be equipped with floor sensors arranged at multiple locations on the bottom surface of the main body 301 to detect whether or not a floor surface is present. It may also be equipped with an encoder provided on the traveling unit 360 to detect the rotation angle of each of a pair of wheels 361 rotated by a traveling motor. It may also be equipped with an acceleration sensor that detects the acceleration when the autonomous mobile robot 300 travels, and an angular velocity sensor that detects the angular velocity when the autonomous mobile robot 300 turns. It may also be equipped with a distance measuring sensor that detects the distance between the autonomous mobile robot 300 and obstacles present around the autonomous mobile robot 300.

[0073] Next, the functional configuration of the autonomous mobile robot 300 will be described with reference to FIG.

[0074] The autonomous mobile robot 300 includes a communication unit 310, a position sensor 320, an obstacle sensor 330, a control unit 340, a memory unit 350, a traveling unit 360, and a cleaning unit 370. The position sensor 320 and the obstacle sensor 330 have been described above, so a description thereof will be omitted here.

[0075] [Communications Department] The communication unit 310 is a communication circuit that enables the autonomous mobile robot 300 to communicate with the mobile map creation device 100 and the terminal device 200 via a wide area communication network 10 such as the Internet. The communication unit 310 is, for example, a wireless communication circuit that performs wireless communication. There are no particular limitations on the communication standard of the communication performed by the communication unit 310.

[0076] [Control Unit] The control unit 340 performs various calculations based on sensor information obtained by sensing the environment around the autonomous mobile robot 300 using the position sensor 320 and the obstacle sensor 330, and on a driving map. Specifically, the control unit 340 is realized by a processor, a microcomputer, or a dedicated circuit. The control unit 340 may also be realized by a combination of two or more of a processor, a microcomputer, or a dedicated circuit. For example, the control unit 340 includes a driving map acquisition unit 341, a self-position calculation unit 342, a driving plan creation unit 343, an obstacle position calculation unit 344, a driving control unit 345, and a cleaning control unit 346.

[0077] The driving map acquisition unit 341 acquires a driving map created by the driving map creation device 100. The driving map acquisition unit 341 may acquire the driving map by reading it from the storage unit 350, or may acquire the driving map output by the driving map creation device 100 via communication.

[0078] The self-position calculation unit 342 calculates the self-position, which is the position of the main body 301 of the autonomous mobile robot 300 on the map for driving, based on, for example, the map for driving acquired by the map acquisition unit 341 for driving and the positional relationship of surrounding objects relative to the main body 301 of the autonomous mobile robot 300 acquired by the position sensor 320.

[0079] The travel plan creation unit 343 creates a travel plan based on the travel map and the autonomous robot's own position. For example, as shown in FIG. 2 and FIGS. 5 to 7, when the autonomous mobile robot 300 is a vacuum cleaner, the travel plan creation unit 343 may further create a cleaning plan. For example, when there are multiple cleaning areas (e.g., rooms or sections) to be cleaned by the autonomous mobile robot 300, the cleaning order for cleaning these cleaning areas, the travel path and cleaning mode for each area, etc. The cleaning mode is, for example, a combination of the travel speed of the autonomous mobile robot 300, the suction strength for sucking up dirt on the floor, the rotation speed of the brush, etc.

[0080] When the autonomous mobile robot 300 is traveling according to the travel plan and an obstacle is detected by the obstacle sensor 330, the travel plan creation unit 343 may change the travel plan based on the position of the obstacle calculated by the obstacle position calculation unit 344. At this time, the travel plan creation unit 343 may also change the cleaning plan.

[0081] The obstacle position calculation unit 344 acquires information about the obstacle detected by the obstacle sensor 330 (e.g., the distance and position of the obstacle, etc.), and calculates the position of the obstacle on the floor map based on the acquired information and the self-position calculated by the self-position calculation unit 342.

[0082] The driving control unit 345 controls the driving unit 360 so that the autonomous mobile robot 300 drives according to a driving plan. More specifically, the driving control unit 345 performs information processing to control the operation of the driving unit 360 based on the driving plan. For example, the driving control unit 345 derives control conditions for the driving unit 360 based on information such as a driving map and the robot's own position in addition to the driving plan, and generates a control signal for controlling the operation of the driving unit 360 based on the control conditions. The driving control unit 345 outputs the generated control signal to the driving unit 360. Note that the details of deriving the control conditions for the driving unit 360, etc., are the same as those of conventional autonomous mobile robots, and therefore will not be described here.

[0083] The cleaning control unit 346 controls the cleaning unit 370 so that the autonomous mobile robot 300 cleans according to a cleaning plan. More specifically, the cleaning control unit 346 performs information processing to control the operation of the cleaning unit 370 based on the cleaning plan. For example, the cleaning control unit 346 derives control conditions for the cleaning unit 370 based on information such as a navigation map and its own position in addition to the cleaning plan, and generates a control signal for controlling the operation of the cleaning unit 370 based on the control conditions. The cleaning control unit 346 outputs the generated control signal to the cleaning unit 370. Note that the details of deriving the control conditions for the cleaning unit 370, etc., are the same as those of conventional autonomous mobile vacuum cleaners, and therefore will not be described here.

[0084] [Storage] The storage unit 350 is a storage device that stores a driving map, sensor information sensed by the position sensor 320 and the obstacle sensor 330, and a computer program executed by the control unit 340. The storage unit 350 is realized by, for example, a semiconductor memory.

[0085] [Running part] The running unit 360 is disposed on the main body 301 of the autonomous mobile robot 300, and enables the main body 301 to move. The running unit 360 includes, for example, a pair of running units (not shown). The running units are disposed on the left and right sides of the center of the width of the autonomous mobile robot 300 in a plan view. The number of running units is not limited to two, and may be one, or three or more.

[0086] For example, the propulsion unit includes wheels 361 (see FIGS. 5 to 7) that move on the floor, a propulsion motor (not shown) that applies torque to the wheels 361, and a housing (not shown) that accommodates the propulsion motor. Each wheel 361 of the pair of propulsion units is accommodated in a recess (not shown) formed on the underside of the main body 301 and is attached so as to be rotatable relative to the main body 301. The autonomous mobile robot 300 may also be a two-wheeled, opposing wheel type equipped with casters (not shown) as auxiliary wheels. In this case, the propulsion unit 360 independently controls the rotation of each wheel 361 of the pair of propulsion units, thereby allowing the autonomous mobile robot 300 to move freely, for example, forward, backward, left, and right. When the autonomous mobile robot 300 rotates left or right while moving forward or backward, it turns left or right when moving forward or backward. On the other hand, when the autonomous mobile robot 300 rotates left or right without moving forward or backward, it turns at its current point. In this way, the traveling unit 360 independently controls the operation of the pair of traveling units to move or turn the main body 301. The traveling unit 360 operates the traveling motor and the like based on instructions from the traveling control unit 345 to cause the autonomous traveling robot 300 to travel.

[0087] [Cleaning Department] The cleaning unit 370 is disposed on the main body 301 of the autonomous mobile robot 300 and performs at least one cleaning operation of wiping, sweeping, and sucking up dust on the floor surface around the main body 301. For example, the cleaning unit 370 sucks up debris such as dust present on the floor surface through a suction port 373 (see FIG. 7). The suction port 373 is provided on the bottom of the main body 301 so that debris such as dust present on the floor surface can be sucked into the main body 301. Although not shown, the cleaning unit 370 includes a brush travel motor that rotates the side brushes 371 and the main brush 372, a suction motor that sucks up debris through the suction port 373, a power transmission unit that transmits power to these motors, and a dust collection unit that collects the sucked up debris. The cleaning unit 370 operates the brush travel motor, the suction motor, and the like based on a control signal output from the cleaning control unit 346. The side brushes 371 sweep up dirt on the floor surface around the main body 301 and guide the dirt toward the suction port 373 and the main brush 372. As shown in FIGS. 5 to 7, the autonomous mobile robot 300 has two side brushes 371. Each side brush 371 is disposed on the side of the front of the bottom surface of the main body 301 (i.e., in the forward direction). The rotation direction of the side brush 371 is a direction in which it can sweep up dirt from the front of the main body 301 toward the suction port 373. The number of side brushes 371 is not limited to two, and may be one, or three or more. The number of side brushes 371 may be selected arbitrarily by the user. Each side brush 371 may have a detachable structure.

[0088] [3. Operation] Next, the operation of the driving control system 400 of the autonomous mobile robot 300 according to the embodiment will be described with reference to the drawings.

[0089] [First example] First, a first example of the operation of the driving control system 400 for the autonomous mobile robot 300 according to the embodiment will be described. In the first example, an example will be described in which the driving control system 400 includes a driving map creation device 100 and the autonomous mobile robot 300. FIG. 8 is a flowchart showing the first example of the operation of the driving control system 400 for the autonomous mobile robot 300 according to the embodiment. FIG. 9 is a flowchart showing a detailed flow of step S04 in the first example. The following description will be made with reference to FIGS. 2, 8, and 9.

[0090] Although not shown, the driving map creation device 100 starts driving in response to a user operation. When driving starts, the driving control system 400 performs the following operations, for example. Note that the driving map creation device 100 may be driven by the user operating a steering wheel, or by operating a joystick or a remote control.

[0091] The sensor information acquisition unit 141 of the traveling map creation device 100 acquires a first positional relationship, which is a positional relationship between the device itself and surrounding objects, measured by the position sensor 120 (step S01). The position sensor 120 is, for example, a LIDAR. The LIDAR measures the distance to an object such as a wall at a predetermined angular interval, and acquires data indicating the positions of the measured measurement points.

[0092] Next, the floor map creation unit 142 of the traveling map creation device 100 creates a floor map showing a predetermined floor based on the first positional relationship acquired in step S01 (step S02). The predetermined floor is an area in which the autonomous traveling robot 300 travels autonomously, and is, for example, a floor surrounded by walls within a building. For example, the floor map creation unit 142 creates a floor map of the surrounding environment of the traveling map creation device 100 using, for example, SLAM technology, based on the information acquired from the position sensor 120 (i.e., the positional relationship).

[0093] Next, the self-position calculation unit 143 of the traveling map creation device 100 calculates the self-position (hereinafter also referred to as the first self-position) which is the position of the traveling map creation device 100 on the floor map created in step S02 (step S03). For example, the self-position calculation unit 143 calculates the first self-position which is the position of the traveling map creation device 100 on the floor map using the relative positional relationship between the object and the position sensor 120 acquired from the position sensor 120 and the floor map.

[0094] The traveling map creation device 100 repeats steps S01 to S03 while traveling. That is, the floor map creation unit 142 and the self-position calculation unit 143 create a floor map while calculating a first self-position using SLAM technology, and sequentially update the first self-position and floor map. However, the traveling map creation device 100 may perform step S01 while traveling, and then perform steps S02 and S03 after traveling a predetermined floor.

[0095] Next, the image acquisition unit 144 of the navigational map creation device 100 acquires an image including reflected light of the light irradiated by the light irradiation device 1 (step S04). More specifically, as shown in FIG. 9, in step S04, the image acquisition unit 144 acquires an image of the surroundings of the navigational map creation device 100 captured by the imaging unit 130 (step S11). Then, the image acquisition unit 144 determines whether the acquired image includes reflected light of the light irradiated by the light irradiation device 1 (step S12). Then, if the image acquisition unit 144 determines that the acquired image does not include reflected light (No in step S12), the process returns to step S11. On the other hand, if the image acquisition unit 144 determines that the acquired image includes reflected light, the image acquisition unit 144 outputs the image acquired in step S11 (i.e., the image including reflected light of the light irradiated by the light irradiation device 1) to the light position calculation unit 145 (step S13).

[0096] Referring again to FIG. 8, the light position calculation unit 145 then calculates coordinate information corresponding to the position of the reflected light on the floor map from the position of the reflected light in the image acquired in step S04 (step S05). In other words, the light position calculation unit 145 calculates coordinate information indicating a position on the floor map corresponding to the position of the reflected light from the position of the reflected light in the image acquired in step S04. The image has distance information (also referred to as depth information) for each pixel. For example, the light position calculation unit 145 acquires distance information for each pixel of the image acquired in step S04, and calculates coordinate information corresponding to the position of the reflected light on the floor map from the position of the reflected light in the image based on the first positional relationship acquired in step S01, the floor map created in step S02, and the distance information for each pixel in the image.

[0097] Next, the no-entry information generating unit 146 generates no-entry information indicating no-entry areas on a predetermined floor where the autonomous mobile robot is prohibited from entering, based on the coordinate information calculated in step S05 (step S06). At this time, the no-entry information generating unit 146 may generate the no-entry information based on the coordinate information and a floor map, as in the example shown in Fig. 10 .

[0098] 10 is a diagram illustrating an example of the operation of generating no-entry information. As shown in FIG. 10, when multiple reflected light positions P1, P2, P3, and P4 exist around an obstacle 12 located near a wall 11, the no-entry information generating unit 146 generates boundary information indicating a boundary L11 between the no-entry area and an area where the autonomous mobile robot 300 can travel, based on a floor map and multiple pieces of coordinate information corresponding to each of the reflected light positions P1 to P4 on the floor map. In this case, the no-entry information generating unit 146 may determine the boundary by deriving a line segment connecting the reflected light positions in the order in which light was emitted by the light irradiation device 1. For example, the boundary may be determined so as to include the multiple reflected light positions P1 to P4 and the obstacle 12, as shown in FIG. 10. At this time, the no-entry information generating unit 146 may, for example, use multiple light positions of reflected light of light irradiated within a certain period of time (for example, within one minute) to determine the boundary, or may determine whether the distance between the two closest light positions among the multiple light positions is within a predetermined value, and may use light positions within the predetermined value to set the no-entry area.

[0099] Also, in step S06, the no-entry information generation unit 146 determines, for example, whether the position of the reflected light in the image acquired in step S04 is on the floor surface of a specified floor, and if it is determined that the position is on the floor surface, generates no-entry information using the position.

[0100] FIG. 11A is a diagram illustrating the operation of the no-entry information generation unit 146 to determine the light position (i.e., determine the position of the reflected light). As shown in FIG. 11A, the image acquired in step S04 includes positions P11 to P14 of the reflected light. The no-entry information generation unit 146 determines that positions P11 and P12 of the reflected light of the light irradiated onto the wall 21 in the acquired image are not on the floor surface, and does not use these positions to set the no-entry area (i.e., generate the no-entry information). On the other hand, the no-entry information generation unit 146 determines that positions P13 and P14 of the reflected light are on the floor surface, and uses these positions to set the no-entry area. The determination of whether the reflected light is on the floor surface may be made based on three-dimensional coordinate information in the image, or may be made by identifying the wall, floor, etc. by image recognition.

[0101] Here, a method for determining whether the position of reflected light is on the floor surface will be specifically described. FIG. 11B is a diagram illustrating an example of a method for determining the position of reflected light. For example, as shown in FIG. 11B, the no-entry information generation unit 146 may identify the type of object constituted by each pixel by using a semantic segmentation technique on each pixel of the image acquired in step S04. Furthermore, for example, the no-entry information generation unit 146 may assign an individual ID to each individual object of the same type by using an instance segmentation technique on the image acquired in step S04, thereby identifying each object as a different type. Specifically, when two objects identified as "walls" exist in an image, the no-entry information generation unit 146 may treat one "wall" and the other "wall" as different objects.

[0102] In this way, the no-entry information generating unit 146 may use an image recognition technique such as segmentation to determine whether the position of the reflected light is on the floor surface.

[0103] Furthermore, for example, a three-dimensional ToF (Time of Flight) camera and RGB camera, or an RGB-D camera, may be used to calculate a three-dimensional position (in other words, three-dimensional coordinates) corresponding to the pixel position of the reflected light on the RGB image, and if the calculated coordinates are at the height of the floor, it may be determined that the position of the reflected light is on the floor. Note that the RGB camera is not limited to a monocular camera, but may also be a stereo camera or an omnidirectional camera.

[0104] 8 again. Next, the driving map creation unit 147 of the driving map creation device 100 creates a driving map in which no-entry areas are set, based on the no-entry information created in step S06 (step S07). For example, the driving map creation unit 147 may link boundary information (i.e., coordinate information indicating boundaries), the positions and ranges of the no-entry areas, and information on obstacles included in the no-entry areas to the floor map created in step S02.

[0105] The driving map creation device 100 may perform steps S01 and S04 while driving, and after driving over a predetermined floor, perform steps other than steps S01 and S04 to create a driving map.

[0106] Next, the travel map acquisition unit 341 of the autonomous mobile robot 300 acquires the travel map created in step S07 (not shown).

[0107] Next, the sensor information acquisition unit 141 of the autonomous mobile robot 300 acquires a second positional relationship, which is a positional relationship of the object with respect to the autonomous mobile robot 300, measured by the position sensor 320 (step S08).

[0108] Next, the self-position calculation unit 342 of the autonomous mobile robot 300 calculates the self-position (hereinafter also referred to as the second self-position), which is the position of the autonomous mobile robot 300 on the map for driving, based on the second positional relationship acquired in step S08 (step S09).

[0109] Next, the driving plan creation unit 343 of the autonomous mobile robot 300 creates a driving plan based on the driving map and the second self-position (step S10).

[0110] Next, the traveling control unit 345 of the autonomous traveling robot 300 controls the traveling unit 360 (not shown) that is disposed on the main body 301 and enables the main body 301 to travel, based on the traveling plan created in step S10.

[0111] As described above, the driving control system 400 creates a driving map with no-entry areas set, and creates a driving plan based on the created driving map, thereby making it possible to appropriately control the driving of the autonomous driving robot 300.

[0112] In the first example, the case where the driving control system 400 includes the driving map creation device 100 and the autonomous driving robot 300 as separate entities has been described, but this is not limiting. For example, the driving control system 400 may include the autonomous driving robot 300 (referred to as an integrated robot) that has the functions of the driving map creation device 100. Such an integrated robot may, for example, drive in response to user operation when creating a driving map, and may drive autonomously according to a driving plan when driving based on the driving map.

[0113] Also, for example, if the driving control system 400 is the above-mentioned integrated robot, the above-mentioned first self-position and second self-position are the self-positions of the integrated robot, and the first self-position calculation unit and the second self-position calculation unit are a single self-position calculation unit.

[0114] Furthermore, for example, the integrated robot may include a notification unit (not shown) that notifies people in the vicinity that the no-entry area setting operation is being performed. The notification unit may notify people by sound or voice, by emitting light, or by a combination of these, for example.

[0115] In this way, by notifying people in the vicinity that the no-entry area is being set, the driving control system 400 makes it easier to smoothly set up the no-entry area.

[0116] [Second example] Next, a second example of the operation of the driving control system 400 of the autonomous mobile robot 300 according to the embodiment will be described. In the first example, no-entry information indicating a no-entry area including a boundary drawn by a user using light emitted from the light irradiation device 1 was generated, but in the second example, an example of operation when an instruction to modify the no-entry information is received from the user will be described. Note that in the second example, differences from the first example will be mainly described, and descriptions of similar processes will be omitted or simplified.

[0117] Fig. 12 is a flowchart showing a second example of the operation of the driving control system 400 of the autonomous driving robot 300 according to the embodiment. Fig. 12 shows only the processing that is different from the first example shown in Fig. 8. Fig. 13 is a flowchart showing an example of the operation of the terminal device in the second example.

[0118] Following step S06 in FIG. 8, the entry no-entry information generating unit 146 generates presentation information to be presented to the user, the presentation information including the entry no-entry information generated in step S06 (step S21).

[0119] Next, the entry no-entry information generating unit 146 outputs the presentation information generated in step S21 to the terminal device 200 used by the user (step S22).

[0120] 13, the terminal device 200 acquires the presentation information output in step S22 (step S31), and causes the presentation unit 230 to present the acquired presentation information (step S32). Upon receiving a user instruction (step S33), the reception unit 240 of the terminal device 200 outputs the user instruction to the traveling map creation device 100 (step S34).

[0121] The presentation unit 230 may be a display unit (for example, a display panel) that displays an image, or may include a display unit and an audio output unit (for example, a speaker). Here, an example will be described in which the presentation information is an image and the presentation unit 230 is a display unit. FIG. 14 is a diagram showing an example of the presentation information. In the description of FIG. 14, the contents described in FIG. 1 will be omitted.

[0122] 14, the presentation unit 230 of the terminal device 200 presents presentation information D1. The presentation information D1 indicates the positional relationship between a wall 31, an obstacle 32, light positions S1, F1, S2, and F2 of reflected light of light emitted by the light irradiation device 1, lines L1 and L2 indicating boundaries, and no-entry areas R1 and R2.

[0123] The user may check the presentation information D1 presented on the presentation unit 230 and input an instruction to modify the no-entry information, such as an instruction to modify at least one of the multiple light positions, or an instruction to delete unnecessary light positions. For example, when the user touches with a finger a part of the no-entry area R1 displayed on the presentation unit 230, the reception unit 240 displays an object A1 for receiving an instruction regarding modification of the no-entry information. When the user touches "Yes" in the object A1, the reception unit 240 switches to a screen for receiving the user's modification of the no-entry information.

[0124] 15 is a diagram showing an example of a screen for accepting a correction to the no-entry information. As shown in FIG. 15, the user may correct the position of the light position S1 by touching the light position S1 in the presentation information D1 displayed on the presentation unit 230 with a finger and dragging it in a desired direction (here, downward on the screen). By accepting the above input operation, the acceptance unit 240 outputs an instruction to the driving map creation device 100 to correct the light position S1 to S1', correct the line L1 indicating the boundary to line L1', and correct the no-entry area R1 to R1'.

[0125] The receiving unit 240 may further receive an instruction to confirm the revised no-entry information and output the confirmed correction instruction to the navigation map creation device 100 as a user instruction. FIG. 16 is a diagram showing an example of a screen for receiving the confirmation of the revised no-entry information. For example, as shown in FIG. 16, the receiving unit 240 may display an object A2 for receiving input related to the confirmation of the no-entry area. By confirming the correction instruction in this way, the user's instruction can be accurately received and output to the navigation map creation device 100.

[0126] Referring again to Figure 12, when the navigation map creation device 100 acquires the user's instruction (here, a correction instruction) output in step S34 of Figure 13 (Yes in step S23), the no-entry information generation unit 146 corrects the no-entry information based on the acquired correction instruction (step S24). On the other hand, if the navigation map creation device 100 does not acquire a correction instruction (No in step S23), that is, if the user does not issue a correction instruction, the navigation map creation unit 147 of the navigation map creation device 100 performs the process of step S07 in Figure 8.

[0127] As described above, the driving control system 400 can receive instructions from the user to modify the no-entry information, thereby appropriately setting no-entry areas. Therefore, the driving control system 400 creates a driving plan based on a driving map in which no-entry areas are appropriately set, making it possible to more appropriately control the driving of the autonomous mobile robot 300.

[0128] In the second example, the no-entry information is modified in response to a user instruction while the driving map is being created, but the no-entry information may also be modified in response to a user instruction after the driving map has been created.

[0129] [Third example] Next, a third example of the operation of the driving control system 400 of the autonomous mobile robot 300 according to the embodiment will be described. In the third example, an example of the operation when the autonomous mobile robot 300 detects an obstacle on the driving route while driving according to a driving plan created based on a driving map will be described.

[0130] 17 is a flowchart showing a third example of the operation of the traveling control system 400 of the autonomous traveling robot 300 according to the embodiment. In FIG. 17, the processing from step S10 shown in FIG.

[0131] 8, the traveling control unit 345 of the autonomous mobile robot 300 controls the operation of the traveling unit 360 based on the traveling plan, so that the autonomous mobile robot 300 travels according to the traveling plan (step S41).

[0132] When an obstacle is detected ahead of the autonomous mobile robot 300 (i.e., in the traveling direction) by the obstacle sensor 330 of the autonomous mobile robot 300 (Yes in step S42), the obstacle position calculation unit 344 changes the traveling plan to avoid the obstacle based on information such as the position and distance of the obstacle acquired from the obstacle sensor 330 (step S43). Then, the traveling control unit 345 controls the operation of the traveling unit 360 based on the changed traveling plan. As a result, the autonomous mobile robot 300 travels to avoid the obstacle in accordance with the changed traveling plan (step S44).

[0133] On the other hand, if no obstacle is detected by the obstacle sensor 330 (No in step S42), or if the execution of the driving plan has not been completed (No in step S45), the autonomous mobile robot 300 returns to step S41. On the other hand, if the execution of the driving plan has been completed (Yes in step S45), the autonomous mobile robot 300 returns to, for example, a charging spot and ends its operation.

[0134] As described above, if the autonomous mobile robot 300 detects an obstacle on its travel path while traveling based on a travel plan, the travel control system 400 can change the travel plan to avoid the obstacle, thereby making it possible to appropriately control the travel of the autonomous mobile robot 300.

[0135] [4. Effects, etc.] The traveling map creation device 100 is a traveling map creation device that creates a traveling map for an autonomous traveling robot 300 that travels autonomously within a predetermined floor, and includes a sensor information acquisition unit 141 that detects objects around itself and acquires a positional relationship from a position sensor 120 that measures the positional relationship of the object relative to itself, a floor map creation unit 142 that creates a floor map showing the predetermined floor based on the positional relationship acquired by the sensor information acquisition unit 141, a self-position calculation unit 143 that calculates its own position on the floor map created by the floor map creation unit 142, and a light projection unit 144 that projects light irradiated by a light irradiation device 1 operated by a user and reflected on the predetermined floor. a light position calculation unit 145 that calculates coordinate information corresponding to the position of the reflected light on the floor map from the position of the reflected light in the image acquired by the image acquisition unit 144 based on the self-position calculated by the self-position calculation unit 143; an entry prohibition information generation unit 146 that generates entry prohibition information indicating entry prohibition areas on the floor map that prohibit entry of the autonomous mobile robot 300 based on the coordinate information calculated by the light position calculation unit 145; and a driving map creation unit 147 that creates a driving map in which entry prohibition areas are set based on the entry prohibition information generated by the entry prohibition information generation unit 146.

[0136] This allows the driving map creation device 100 to easily set no-entry areas on the driving map.

[0137] For example, in the driving map creation device 100, the no-entry information generation unit 146 may determine whether the position of reflected light in the image is on the floor surface of a specified floor, and if it is determined that the position is on the floor surface, may generate no-entry information using the position.

[0138] This allows the driving map creation device 100 to generate no-entry information using two-dimensional coordinate information, making it possible to easily set no-entry areas on a driving map.

[0139] For example, in the driving map creation device 100, the light position calculation unit 145 may determine the position of the reflected light in the image according to the shape of the reflected light, and calculate coordinate information corresponding to the position of the reflected light on the floor map from the determined position of the reflected light.

[0140] As a result, the driving map creation device 100 can calculate coordinate information corresponding to the position of the reflected light determined according to the shape of the reflected light, and can therefore calculate coordinate information indicating the light position of the reflected light according to the type of light irradiation device 1, such as a laser pointer, a flashlight, or a projector.

[0141] For example, in the driving map creation device 100, the light position calculation unit 145 calculates multiple coordinate information corresponding to each of the multiple positions of the reflected light on the floor map from multiple positions of the reflected light in the image, and the no-entry information generation unit 146 may generate no-entry information including boundary information indicating the boundary between the no-entry area and the driving area of ​​the autonomous driving robot 300 based on the multiple coordinate information.

[0142] This allows the driving map creation device 100 to appropriately determine the boundaries of the no-travel area based on the object information in the floor map and the plurality of pieces of coordinate information.

[0143] For example, in the driving map creation device 100, the light position calculation unit 145 calculates first coordinate information from a first position, which is the position in an image of reflected light of light emitted in one color by the light irradiation device 1, and calculates second coordinate information from a second position, which is the position in an image of reflected light of light emitted in another color by the light irradiation device 1, and the no-entry information generation unit 146 may determine a line segment connecting the first position and the second position as the boundary based on the first coordinate information and the second coordinate information.

[0144] This allows the driving map creation device 100 to determine boundaries, for example, by using the positions of reflected light of two colors of light as the start and end points of the boundaries, making it easy to set no-entry areas on a driving map.

[0145] For example, in the driving map creation device 100, the no-entry information generation unit 146 may modify the no-entry information based on a user instruction, and the driving map creation unit 147 may modify the driving map based on the no-entry information modified by the no-entry information generation unit 146.

[0146] This allows the driving map creation device 100 to appropriately set no-entry areas as desired by the user.

[0147] Furthermore, the autonomous mobile robot 300 is an autonomous mobile robot that travels autonomously within a specified floor, and includes a main body 301, a travel unit 360 that is arranged on the main body 301 and enables the main body 301 to travel, a travel map acquisition unit 341 that acquires a travel map created by the travel map creation device 100, a position sensor 320 that detects objects around the main body 301 and measures the positional relationship of the object relative to the main body 301, a self-position calculation unit 342 that calculates the self-position, which is the position of the main body 301 on the travel map, based on the travel map and the positional relationship, a travel plan creation unit 343 that creates a travel plan for a specified floor based on the travel map and the self-position, and a travel control unit 345 that controls the travel unit 360 based on the travel plan.

[0148] As a result, the autonomous mobile robot 300 creates a travel plan based on a travel map in which no-entry areas are set, and is therefore able to travel safely and appropriately.

[0149] For example, the autonomous mobile robot 300 may further include a cleaning unit 370 that cleans the floor surface by performing at least one of sweeping, wiping, and vacuuming dust, and a cleaning control unit 346 that controls the cleaning unit 370, and the travel plan creation unit 343 may further create a cleaning plan, and the cleaning control unit 346 may control the cleaning unit 370 based on the cleaning plan.

[0150] This allows the autonomous mobile robot 300 to clean safely and appropriately.

[0151] The traveling control system 400 is a traveling control system for controlling the traveling of the autonomous traveling robot 300 that travels autonomously within a predetermined floor, and includes a sensor information acquisition unit 141 that acquires a positional relationship from a position sensor 120 that detects objects around the robot and measures a positional relationship of the object relative to the robot, a floor map creation unit 142 that creates a floor map that shows the predetermined floor based on the positional relationship acquired by the sensor information acquisition unit 141, a first self-position calculation unit (for example, a self-position calculation unit 143) that calculates a first self-position that shows the self-position on the floor map created by the floor map creation unit 142, an image acquisition unit 144 that acquires an image including light that is irradiated by a light irradiation device 1 operated by a user and reflected on the predetermined floor, and an image acquisition unit 145 that acquires an image including light that is irradiated by the light irradiation device 1 operated by a user and reflected on the predetermined floor based on the first self-position calculated by the first self-position calculation unit. the light position calculation unit 145 that calculates coordinate information corresponding to the position of the reflected light on the floor map from the position of the reflected light in the image acquired by the light position calculation unit 145; an entry prohibition information generation unit 146 that generates entry prohibition information indicating entry prohibition areas on the floor map where entry of the autonomous mobile robot 300 is prohibited based on the coordinate information calculated by the light position calculation unit 145; a driving map creation unit 147 that creates a driving map for the autonomous mobile robot 300 in which the entry prohibition areas are set based on the entry prohibition information generated by the entry prohibition information generation unit 146; a second self-position calculation unit (e.g., self-position calculation unit 342) that calculates a second self-position indicating the self-position on the driving map created by the driving map creation unit 147; and a driving plan creation unit 343 that creates a driving plan for a specified floor based on the driving map and the second self-position.

[0152] This allows the driving control system 400 of the autonomous driving robot 300 to create a driving plan using a driving map that has no-entry areas set up, allowing the autonomous driving robot 300 to drive safely and appropriately.

[0153] For example, the driving control system 400 may further include a reception unit 240 that receives user instructions, the no-entry information generation unit 146 may modify the no-entry information based on the instructions received by the reception unit 240, and the driving map creation unit 147 may modify the driving map based on the no-entry information modified by the no-entry information generation unit 146.

[0154] This allows the driving control system 400 of the autonomous mobile robot 300 to modify the no-entry information based on the user's instructions, and thus allows the driving plan to be created using a driving map with more appropriately set no-travel areas. As a result, the driving control system 400 can drive the autonomous mobile robot 300 safely and appropriately.

[0155] In addition, the driving control method for the autonomous driving robot 300 is a driving control method for controlling the driving of the autonomous driving robot 300 that drives autonomously within a specified floor, and includes the steps of: detecting objects around the autonomous driving robot 300, acquiring a positional relationship from a position sensor 120 that measures the positional relationship of the object relative to the autonomous driving robot; creating a floor map showing the specified floor based on the acquired positional relationship; calculating a first self-position that indicates the robot's position on the created floor map; acquiring an image including reflected light from light irradiated by a light irradiation device 1 operated by a user and reflected on the specified floor; calculating coordinate information corresponding to the position of the reflected light on the floor map from the position of the reflected light in the acquired image based on the calculated first self-position; generating no-entry information on the floor map that indicates no-entry areas that prohibit the autonomous driving robot 300 from entering based on the calculated coordinate information; creating a driving map for the autonomous driving robot 300 in which no-entry areas are set based on the generated no-entry information; calculating a second self-position that indicates the robot's position on the created driving map; and creating a driving plan for the specified floor based on the driving map and the second self-position.

[0156] As a result, the driving control method for the autonomously moving robot 300 can create a driving plan using a driving map in which no-entry areas are set, allowing the autonomously moving robot 300 to drive safely and appropriately.

[0157] For example, the driving control method may further include accepting a user instruction, modifying the no-entry information based on the accepted instruction, and modifying the driving map based on the modified no-entry information.

[0158] As a result, the driving control method for the autonomous mobile robot 300 can correct the no-entry information based on the user's instructions, and therefore can create a driving plan using a driving map in which no-driving areas are more appropriately set, thereby allowing the autonomous mobile robot 300 to drive safely and appropriately.

[0159] (Other embodiments) Although the embodiments have been described above, the present disclosure is not limited to the above-described embodiments.

[0160] For example, in the embodiment, the navigation map creation device 100 includes the position sensor 120 and the imaging unit 130, but it does not have to include the position sensor 120 and the imaging unit 130. For example, the navigation map creation device 100 may be an information processing device that includes components other than the position sensor 120 and the imaging unit 130. In this case, a sensor including the position sensor 120 and the imaging unit 130 may be placed on a cart 190 and moved across a predetermined floor, and data acquired by the sensor may be output to the information processing device.

[0161] For example, although cruise control system 400 is implemented by multiple devices in the embodiment, it may be implemented as a single device. Furthermore, when the system is implemented by multiple devices, the components of cruise control system 400 may be distributed among the multiple devices in any manner. Furthermore, for example, a server device capable of communicating with cruise control system 400 may include multiple components included in control units 140 and 340.

[0162] For example, the communication method between the devices in the above-described embodiment is not particularly limited, and a relay device (not shown) may be used in the communication between the devices.

[0163] In the above-described embodiment, the processing performed by a specific processing unit may be performed by another processing unit. The order of multiple processing operations may be changed, or multiple processing operations may be performed in parallel.

[0164] In the above-described embodiments, each component may be realized by executing a software program suitable for that component, or by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0165] Furthermore, each component may be realized by hardware. For example, each component may be a circuit (or integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit or a dedicated circuit.

[0166] Furthermore, the general or specific aspects of the present disclosure may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0167] For example, the present disclosure may be realized as a cruise control method executed by a computer such as cruise control system 400, or as a program for causing a computer to execute such a cruise control method. Furthermore, the present disclosure may be realized as a program for causing a general-purpose computer to operate as terminal device 200 of the above-described embodiment. The present disclosure may also be realized as a computer-readable non-transitory recording medium on which such a program is recorded.

[0168] In addition, this disclosure also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art would think of, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the intent of this disclosure. [Industrial Applicability]

[0169] The present disclosure is widely applicable to autonomously moving robots. [Explanation of symbols]

[0170] 1 Light irradiation device 10 Wide Area Communication Network 11, 21, 31 Wall 12, 32 Obstacles 100 Traveling map creation device 101, 301 main body 110, 210, 310 Communications Department 120, 320 position sensor 130 Imaging unit 131 RGB camera 132 Infrared sensor 133 Projector 140, 220, 340 control section 141 Sensor information acquisition unit 142 Floor Map Creation Department 143, 342 Self-position calculation unit 144 Image acquisition unit 145 Light position calculation section 146 Entry prohibited information generation unit 147 Driving Map Creation Unit 150, 250, 350 storage section 190 carts 191 Handle 192 Stand 200 Terminal Device 230 Presentation section 240 Reception 300 Autonomous Robot 330 Obstacle Sensor 331 Oscillator 332 Receiving unit 341 Driving map acquisition unit 343 Driving Plan Creation Department 344 Obstacle position calculation unit 345 Travel control unit 346 Cleaning control unit 360 Running part 361 wheels 370 Cleaning Department 371 Side Brush 372 Main Brush 373 Suction port 400 Driving Control System

Claims

1. A travel map creation device that creates a travel map for an autonomous travel robot that travels autonomously within a predetermined floor, a sensor information acquisition unit that detects objects around the vehicle and acquires a positional relationship of the objects with respect to the vehicle; a self-position calculation unit that calculates a self-position on a floor map that indicates the predetermined floor; an image acquisition unit that acquires an image including reflected light that is emitted from a light irradiation device operated by a user and reflected on the predetermined floor; an entry prohibition information generation unit that generates entry prohibition information indicating entry prohibition areas on the floor map where the autonomous mobile robot is prohibited from entering, based on the self-position calculated by the self-position calculation unit and the image acquired by the image acquisition unit; Equipped with Traveling map creation device.

2. A floor map creation unit that creates a floor map showing the specified floor based on the positional relationship acquired by the sensor information acquisition unit; a driving map creation unit that creates the driving map in which the no-entry areas are set based on the no-entry information generated by the no-entry information creation unit; and Further provided with The driving map generation device according to claim 1.

3. the no-entry information generation unit determines whether the position of the reflected light in the image is on the floor surface of the predetermined floor, and if it is determined that the position is on the floor surface, generates the no-entry information using the position.

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

4. The no-entry information generating unit further includes a light position calculating unit that calculates coordinate information corresponding to the position of the reflected light on the floor map from the position of the reflected light in the image acquired by the image acquiring unit based on the self-position calculated by the self-position calculating unit, generating the no-entry information based on the coordinate information calculated by the light position calculation unit; The driving map creation device according to any one of claims 1 to 3.

5. the light position calculation unit determines the position of the reflected light in the image according to the shape of the reflected light, and calculates the coordinate information corresponding to the position of the reflected light on the floor map from the determined position. The driving map generation device according to claim 4.

6. the light position calculation unit calculates a plurality of pieces of coordinate information corresponding to the plurality of positions of the reflected light on the floor map from the plurality of positions of the reflected light in the image, the no-entry information generation unit generates the no-entry information including boundary information indicating a boundary between the no-entry area and a travel area of ​​the autonomous mobile robot based on the plurality of pieces of coordinate information; 6. The driving map generation device according to claim 4 or 5.

7. The light position calculation unit calculating first coordinate information from a first position that is a position in the image of reflected light of light irradiated with one color by the light irradiation device; calculating second coordinate information from a second position that is a position in the image of reflected light of light irradiated with another color by the light irradiation device; the no-entry information generation unit determines, as the boundary, a line segment connecting the first position and the second position, based on the first coordinate information and the second coordinate information; The driving map generating device according to claim 6.

8. the no-entry information generating unit modifies the no-entry information based on an instruction from the user; the driving map creation unit modifies the driving map based on the no-entry information modified by the no-entry information generation unit; The driving map generation device according to claim 2.

9. An autonomous robot that autonomously travels within a predetermined floor, The main body and a running unit disposed on the main body and allowing the main body to run; a driving map acquisition unit that acquires the driving map created by the driving map creation device according to any one of claims 1 to 8; a position sensor that detects an object around the main body and measures a positional relationship of the object with respect to the main body; a self-position calculation unit that calculates a self-position, which is the position of the main body on the map for driving, based on the map for driving and the positional relationship; a driving plan creation unit that creates a driving plan for the predetermined floor based on the driving map and the vehicle's own location; a travel control unit that controls the travel unit based on the travel plan; Equipped with Autonomous driving robot.

10. The autonomous traveling robot further comprises: a cleaning unit that cleans the floor surface by performing at least one of sweeping, wiping, and dust suction; a cleaning control unit that controls the cleaning unit; Equipped with The travel plan creation unit further creates a cleaning plan, The cleaning control unit controls the cleaning unit based on the cleaning plan. The autonomous mobile robot according to claim 9.

11. A travel control system for controlling the travel of an autonomously traveling robot that travels autonomously within a predetermined floor, a sensor information acquisition unit that detects objects around the vehicle and acquires a positional relationship of the objects with respect to the vehicle; a first self-position calculation unit that calculates a first self-position indicating a self-position on a floor map that indicates a predetermined floor; an image acquisition unit that acquires an image including reflected light that is emitted from a light irradiation device operated by a user and reflected on the predetermined floor; an entry prohibition information generation unit that generates entry prohibition information indicating entry prohibition areas on the floor map where entry of the autonomous mobile robot is prohibited, based on the first self-position calculated by the first self-position calculation unit and the image acquired by the image acquisition unit; a driving map creation unit that creates a driving map for the autonomous mobile robot in which the no-entry areas are set based on the no-entry information generated by the no-entry information generation unit; and a second self-position calculation unit that calculates a second self-position indicating a self-position on the map for driving created by the map for driving creation unit; a driving plan creation unit that creates a driving plan for the predetermined floor based on the driving map and the second self-location; Equipped with Cruise control system.

12. The driving control system further includes a reception unit that receives an instruction from the user, the no-entry information generating unit modifies the no-entry information based on the instruction received by the receiving unit; the driving map creation unit modifies the driving map based on the no-entry information modified by the no-entry information generation unit; The cruise control system of claim 11.

13. A travel control method for controlling travel of an autonomously traveling robot that travels autonomously within a predetermined floor, comprising: Detecting objects around the user and acquiring a positional relationship of the objects with respect to the user; calculating a first self-location indicating a self-location on a floor map indicating the predetermined floor; acquiring an image including reflected light that is emitted from a light irradiation device operated by a user and reflected on the predetermined floor; generating no-entry information indicating no-entry areas on the floor map into which the autonomous mobile robot is prohibited from entering, based on the calculated first self-position and the acquired image; creating a map for the autonomous mobile robot in which the no-entry areas are set based on the generated no-entry information; calculating a second self-position indicating a self-position on the created driving map; creating a driving plan for the predetermined floor based on the driving map and the second self-location; Driving control method.

14. The driving control method further includes accepting an instruction from the user; modifying the no-entry information based on the received instruction; modifying the driving map based on the modified no-entry information; The cruise control method according to claim 13.

15. A method for causing a computer to execute the autonomous mobile robot traveling control method according to claim 13 or 14, program.

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