Traveling device and method for controlling the traveling device

Abstract

To provide a technique to allow a travel unit to stably ride on a step on the road surface.SOLUTION: A travel unit comprises: an acquisition section that acquires a map of the periphery of the travel unit; an estimation section that estimates the position of the travel unit on the map; a detection section that detects a step on the road surface on which the travel unit travels; and an addition section that, based on the position of the travel unit on the map when the detection section detects the step, generates step information on the step on the map, and adds the step information to the map.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a traveling device and a method for controlling the traveling device. [Background technology]

[0002] In recent years, self-propelled traveling devices that travel autonomously on road surfaces have been developed. Self-propelled traveling devices are capable of climbing over steps in the road surface. Patent Document 1 discloses an unmanned guided vehicle that can travel over steps. Auxiliary wheels (casters) are provided on the self-propelled traveling devices to assist the self-propelled traveling devices in climbing over steps in the road surface. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-91148 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a demand for a traveling device that can stably climb over bumps in the road surface. The present invention has been made in consideration of the above-mentioned circumstances, and an object of the present invention is to provide a technology that enables a traveling device to stably climb over bumps in the road surface. [Means for solving the problem]

[0005] A traveling device according to one aspect of the present invention comprises: an acquisition unit that acquires a map of the surroundings of the traveling device; an estimation unit that estimates a position of the traveling device on the map; a detection unit that detects a step on a road surface on which the traveling device travels; an adding unit that creates level difference information regarding the level difference in the map based on the position of the traveling device in the map when the detection unit detects the level difference, and adds the level difference information to the map; It is a running device equipped with:

[0006] Based on the position of the traveling device on the map when the detection unit detects a road surface step, step information regarding the road surface step on the map is created and added to the map. Because the step information has been added to the map, the traveling device can climb over the road surface step in a driving state suitable for climbing over the road surface step based on the step information. This allows the traveling device to stably climb over the road surface step.

[0007] The step information may include step coordinates indicating the position of the step on the map. The step information may include first predetermined coordinates indicating a position a predetermined distance away from the position of the step on the map. The step information may include second predetermined coordinates indicating a position a predetermined distance away from the position of the step on the map in a direction opposite to the direction in which the traveling device moves toward the step. The step information may include an area having a plurality of step coordinates indicating the position of the step on the map.

[0008] The step information may include an approach angle of the traveling device to the step, and the addition unit may determine the approach angle based on the orientation of the traveling device on the map when the detection unit detects the step.

[0009] The traveling device may include auxiliary wheels that assist the traveling device in climbing up the step, and the detection unit may detect the step by the auxiliary wheels climbing up the step. The detection unit may have a sensor that detects the height of an object, and the detection unit may detect the step based on the height of the road surface. The detection unit may measure the height of the step, and the step information may include the height of the step.

[0010] A control method for a traveling device according to one aspect of the present invention includes: an acquisition step of acquiring a map of the surroundings of the traveling device; an estimation step of estimating a position of the traveling device on the map; a detection step of detecting a step on a road surface on which the traveling device travels; an adding step of creating step information regarding the step in the map based on the position of the traveling device in the map when the step is detected in the detecting step, and adding the step information to the map; The present invention relates to a control method for a traveling device including the above. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a technology that enables a traveling device to stably climb over bumps in the road surface. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing the configuration of a mobile robot according to the first embodiment. [Figure 2] FIG. 2 is a diagram illustrating the configuration of the integrated control unit. [Figure 3] FIG. 3 is a top view of the mobile robot. [Figure 4] 4(A) to 4(C) are schematic diagrams showing an example of an auxiliary wheel. [Figure 5] FIG. 5 is a flowchart showing the flow of the process in which the integrated control unit creates a map. [Figure 6] FIG. 6 is a schematic diagram illustrating an example of a control system according to the first embodiment. [Figure 7] FIG. 7 is a flowchart illustrating an example of the operation of the mobile robot. [Figure 8] FIG. 8 is a diagram showing an example of a map to which step information has been added. [Figure 9] 9A and 9B are diagrams showing an example of a process for interpolating step coordinates. [Figure 10]10A and 10B are diagrams showing an example of a process for interpolating step coordinates. [Figure 11] 11(A) and 11(B) are diagrams showing examples of the map. [Figure 12] FIG. 12 is a block diagram showing the configuration of a mobile robot according to the second embodiment. [Figure 13] FIG. 13 is a block diagram showing the configuration of a mobile robot according to the third embodiment. [Figure 14] FIG. 14 is a diagram showing an example of the arrangement of the climbing state acquisition device on the auxiliary wheel. [Figure 15] FIG. 15 is a block diagram showing the configuration of a mobile robot according to the fourth embodiment. [Figure 16] FIG. 16 is a top view of the mobile robot. [Figure 17] FIG. 17(A) is a diagram showing two-dimensional shape data, and FIG. 17(B) is a schematic diagram of a two-dimensional shape measuring device. [Figure 18] FIG. 18 is a top view of the mobile robot. [Figure 19] FIG. 19 is a diagram showing an example of image data. [Figure 20] FIG. 20 is a perspective view of a mobile robot according to the sixth embodiment. [Figure 21] FIG. 21 is a block diagram showing the configuration of a mobile robot according to the seventh embodiment. [Figure 22] FIG. 22 is a block diagram showing the configuration of a mobile robot according to the eighth embodiment. [Figure 23] FIG. 23 is a diagram showing the configuration of the gimbal control unit, the gimbal unit, and the loading unit. [Figure 24] FIG. 24 is a diagram showing the configuration of the gimbal control unit, the gimbal unit, and the loading unit. [Figure 25] FIG. 25 is a diagram showing the configuration of the gimbal control unit, the gimbal unit, and the loading unit. [Figure 26] FIG. 26 is a block diagram showing the configuration of a mobile robot according to the ninth embodiment. [Figure 27] FIG. 27 is a top view of the measurement unit. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments will be described with reference to the drawings. The embodiment described below is one aspect of the present application and does not limit the scope of the present application. <Application example> An example of a situation in which the present invention is applied will be described.

[0014] First Embodiment <Overall configuration of the mobile robot> FIG. 1 is a block diagram showing the configuration of a mobile robot 1 according to a first embodiment. The mobile robot 1 is a device that functions as a self-propelled unmanned vehicle (self-propelled traveling device) or a device that functions as a self-propelled unmanned guided vehicle (self-propelled transport device). The mobile robot 1 includes a main body unit 2, an integrated control unit 11, a communication unit 12, a two-dimensional scanner 13, a measurement sensor 14, a travel behavior determination unit 15, a travel control unit 16, a traveling unit 17, a climbing detection unit 18, and a memory unit 19.

[0015] The host device 200 can communicate with the mobile robots 1 and issues driving and transport instructions to specific mobile robots 1 in the system it manages. The host device 200 includes a storage device 201 and an input device 202. The storage device 201 stores various types of information and data. The input device 202 accepts input of various types of information and data. The host device 200 may be configured as a server, workstation, personal computer, or the like.

[0016] The integrated control unit 11 performs integrated control of the mobile robot 1, such as overall control of the mobile robot 1 and management of communications with the host device 200. The integrated control unit 11 also creates a map (map data) of the surroundings of the mobile robot 1 and estimates the self-position of the mobile robot 1 simultaneously or separately. For example, the integrated control unit 11 uses SLAM (Simultaneous Localization and Mapping) technology to create the map and estimate the location of the map. The integrated control unit 11 may estimate its own position in the vicinity of the vehicle. The integrated control unit 11 may be configured by a computer having, for example, a processor such as a CPU, RAM, a non-volatile storage device (for example, a ROM, a flash memory, etc.). The form of the computer is not important. All or part of the functions provided by the integrated control unit 11 may be configured by a circuit such as an ASIC or FPGA.

[0017] The communication unit 12 is a communication interface that communicates with the host device 200. The integrated control unit 11 receives instructions from the host device 200 via the communication unit 12 and controls the traveling unit 17 according to the instructions to move (travel) the mobile robot 1. The two-dimensional scanner 13 detects objects located around the mobile robot 1 as point cloud data of positions (x, y) on a two-dimensional coordinate system. The two-dimensional scanner 13 may be, for example, a LiDAR (Light Detecting and Ranging) scanner. Alternatively, the two-dimensional scanner 13 may be a scanner that calculates positions (x, y, z) on a three-dimensional coordinate system. A three-dimensional scanner may be mounted on the mobile robot 1 to enable measurement.

[0018] The measurement sensor 14 outputs measurement data for estimating the posture of the mobile robot 1. The measurement sensor 14 is an acceleration sensor, a gyro sensor (angular velocity sensor), or an IMU (Inertial Measurement Unit). The IMU may be a sensor unit that combines a 3-axis acceleration sensor and a gyro sensor (angular velocity sensor). The IMU has, for example, a 3-axis acceleration sensor and a 3-axis gyro sensor, and can measure three-dimensional angular velocity and acceleration.

[0019] 2 is a diagram showing the configuration of the integrated control unit 11. The integrated control unit 11 includes a map acquisition unit 111 that acquires a map of the area around where the mobile robot 1 travels, an estimation unit 112 that estimates the position of the mobile robot 1 on the map, and an addition unit 113 that creates step information regarding road surface steps on the map and adds the step information to the map.

[0020] The map acquisition unit 111 creates a map of the area around the mobile robot 1 based on obstacles detected around the mobile robot 1. Specifically, the map acquisition unit 111 creates a map corresponding to the location of the mobile robot 1 based on point cloud data detected by the 2D scanner 13 and measurement data output by the measurement sensor 14, right encoder 28, and left encoder 29. The map acquisition unit 111 sequentially creates a map of the area around the mobile robot 1. The map acquisition unit 111 acquires the map of the area around the mobile robot 1 by creating a map of the area around the mobile robot 1. The map acquisition unit 111 may also acquire the map of the area around the mobile robot 1 from the host device 200. The map acquisition unit 111 stores the created map or the map acquired from the host device 200 in the memory unit 19. The memory unit 19 stores data required for the integrated control unit 11 to perform processing. The memory unit 19 may be a RAM, a non-volatile storage device, or the like.

[0021] The estimation unit 112 estimates the position of the mobile robot 1 on the map based on the measurement data output by the measurement sensors 14, the right encoder 28, and the left encoder 29. The position of the mobile robot 1 on the map is expressed as coordinates (Xn, Yn) in a Cartesian coordinate system, for example. The addition unit 113 creates step information regarding road surface steps on the map and adds the step information to the map.

[0022] The running action determination unit 15 determines the action of the running unit 17 and creates action information regarding the action of the running unit 17. The running control unit 16 controls the action of the running unit 17 based on the action information. The running action determination unit 15 may be omitted, and the integrated control unit 11 may determine the action of the running unit 17 and create the action information. The running control unit 16 may be omitted, and the integrated control unit 11 may control the action of the running unit 17. Furthermore, the integrated control unit 11 may control the action of the running unit 17 based on the action information. The integrated control unit 11 and the running action determination unit 15 may be integrated. The integrated control unit 11 and the running control unit 16 may be integrated. The running action determination unit 15 and the running control unit 16 may be integrated. The integrated control unit 11, the running action determination unit 15, and the running control unit 16 may be integrated.

[0023] The running unit 17 runs on a road surface. The running unit 17 runs on a road surface, causing the mobile robot 1 to run on the road surface. The running unit 17 has multiple drive wheels (rotating bodies) 21, and can run by controlling the forward and reverse rotation of the multiple drive wheels 21. The drive wheels 21 have tires. The running control unit 16 controls a right motor drive unit 24 and a left motor drive unit 25 based on a running instruction signal from the integrated control unit 11. The right motor drive unit 24 controls the drive of the right motor 26, thereby rotating the drive wheel 21 located on the right side of the mobile robot 1. The left motor drive unit 25 controls the drive of the left motor 27, thereby rotating the drive wheel 21 located on the left side of the mobile robot 1. The running unit 17 controls the rotation angle of the right motor 26. The mobile robot 1 has a right encoder 28 that measures the rotation angle of the left motor 27, and a left encoder 29 that measures the rotation angle of the left motor 27. The data measured by the right encoder 28 and the left encoder 29 is sent to the integrated control unit 11 and the driving control unit 16. The integrated control unit 11 or the driving control unit 16 calculates the distance traveled and the angle of rotation of the mobile robot 1 based on the data measured by the right encoder 28 and the left encoder 29.

[0024] The running unit 17 has multiple auxiliary wheels 22 and multiple auxiliary wheels 23. The auxiliary wheels 22 and 23 have tires. FIG. 3 is a top view of the mobile robot 1, showing the arrangement of the drive wheel 21, auxiliary wheels 22 and 23, right motor 26, and left motor 27. The arrow R1 in FIG. 3 indicates the forward direction of the mobile robot 1. The auxiliary wheel 22 is a wheel attached to the front of the main body (housing) of the mobile robot 1. The auxiliary wheel 23 is a wheel attached to the rear of the main body of the mobile robot 1. The auxiliary wheels 22 and 23 are, for example, casters. The diameter of the drive wheel 21 is larger than the diameters of the auxiliary wheels 22 and 23. It is preferable that the suspension of the drive wheel 21 has a stroke that allows the drive wheel 21 to contact the road surface even when the auxiliary wheel 22 climbs over the maximum possible step.

[0025] In FIG. 3, the mobile robot 1 is provided with two auxiliary wheels 22, but the number of auxiliary wheels 22 is not limited to two. The mobile robot 1 may be provided with one auxiliary wheel 22, or three or more auxiliary wheels 22. In FIG. 3, the mobile robot 1 is provided with two auxiliary wheels 23, but the number of auxiliary wheels 23 is not limited to two. The mobile robot 1 may be provided with one auxiliary wheel 23, or three or more auxiliary wheels 23.

[0026] 4(A) to 4(C) are schematic diagrams showing an example of an auxiliary wheel 22. The auxiliary wheel 22 has an assisting mechanism that assists the mobile robot 1 in climbing up bumps in the road surface while it is moving. The bumps in the road surface are located higher than the road surface. The auxiliary wheel 22 has a main body 221, a main wheel (first wheel) 222, a sub-wheel (second wheel) 223, and an attachment member 224. The auxiliary wheel 22 is attached to the bottom surface of the main body 2 via the attachment member 224. The main body 221 has a support portion 225 that supports the main wheel 222, a support portion 226 that supports the sub-wheel 223, and an arm portion 227 that connects the main wheel 222 and the sub-wheel 223. The main wheel 222 rotates around a rotation axis provided on the support portion 225. The sub-wheel 223 rotates around a rotation axis provided on the support portion 226. As shown in Figures 4(A) to 4(C), when the mobile robot 1 is moving forward and the main wheel 222 comes into contact with a bump in the road surface, the force of the bump pushing back against the main wheel 222 is converted by the sub-wheel 223 into a force pushing against the road surface, causing the auxiliary wheel 22 to climb over the bump.

[0027] The climbing-up detection unit 18 detects when the mobile robot 1 climbs over a step in the road surface. Specifically, the climbing-up detection unit 18 detects when the auxiliary wheel 22 climbs over a step in the road surface. As shown in FIGS. 4(A) and 4(B), the distance D1 between the sub-wheel 223 and the mounting member 224 is different before and after the auxiliary wheel 22 climbs over the step in the road surface. A limit switch or proximity switch may be provided on the mobile robot 1 or the auxiliary wheel 22. The limit switch or proximity switch may detect a change in the distance D1 between the sub-wheel 223 and the mounting member 224 and send a signal to the climbing-up detection unit 18. Furthermore, the distance between the main body unit 221 and the arm unit 227 is different before and after the auxiliary wheel 22 climbs over the step in the road surface. A limit switch or a proximity switch may detect a change in the distance between the main body 221 and the arm 227 and send a signal to the climbing detection unit 18. The climbing detection unit 18 receives a signal from the limit switch or the proximity switch to detect that the mobile robot 1 has climbed over a step in the road surface. In this way, the climbing detection unit 18 detects a step in the road surface. do.

[0028] The climbing-up detector 18 sends a detection signal (first detection signal) indicating that the mobile robot 1 has climbed over a step in the road surface to the integrated controller 11. The integrated controller 11 receives the first detection signal from the climbing-up detector 18. The integrated controller 11 creates step information regarding the step in the road surface based on the position of the mobile robot 1 on the map when the climbing-up detector 18 receives the first detection signal. In this way, the integrated controller 11 creates step information based on the position of the mobile robot 1 on the map when the climbing-up detector 18 detects the step.

[0029] The integrated control unit 11 may set coordinates indicating the position of the road step on the map as coordinates indicating the location of the mobile robot 1 on the map when the first detection signal is received from the climbing detection unit 18. The step information may include coordinates indicating the position of the road step on the map (hereinafter referred to as step coordinates). The step coordinates are coordinates (Xn, Yn) in a Cartesian coordinate system. The step information may include one step coordinate or multiple step coordinates.

[0030] The integrated control unit 11 associates the map with the step information and stores them in the storage unit 19. For example, the integrated control unit 11 may add (set) step coordinates to the map. The integrated control unit 11 may send the map and step information to the higher-level device 200. The higher-level device 200 associates the map with the step information and stores them in the storage device 201. For example, the higher-level device 200 may add step coordinates to the map.

[0031] Figure 5 is a flowchart showing the process flow of the integrated control unit 11 for creating a map. When the mobile robot 1 receives a command to create a map from the host device 200, it starts collecting point cloud data and measurement data. The mobile robot 1 then starts moving based on an operator's operation, and the process of the flowchart shown in Figure 5 begins. The operator may instruct the mobile robot 1 to start moving using an external device, such as a terminal device or information processing device (e.g., a personal computer), that can communicate with the mobile robot 1.

[0032] When the mobile robot 1 starts moving, the integrated control unit 11 acquires point cloud data from the 2D scanner 13 and measurement data from the measurement sensor 14, and stores the point cloud data and measurement data (S1). The integrated control unit 11 may store the point cloud data and measurement data in its own storage unit, or may store the point cloud data and measurement data in the storage unit 19. The integrated control unit 11 sequentially acquires the point cloud data and measurement data.

[0033] If the mobile robot 1 receives an instruction to complete map creation (S2; YES), the process proceeds to S3. The mobile robot 1 may receive the instruction from the host device 200. Alternatively, an operator may use an external device to instruct the mobile robot 1 to complete map creation, and the mobile robot 1 may receive the instruction. The integrated control unit 11 creates a map and stores it in the memory unit 19 (S3).

[0034] If the mobile robot 1 has not received an instruction to complete map creation (S2; NO), the process proceeds to S4. If the climbing detection unit 18 detects that the mobile robot 1 has climbed over a bump in the road surface (S4; YES), the process proceeds to S5. If the climbing detection unit 18 has not detected that the mobile robot 1 has climbed over a bump in the road surface (S4; NO), the process proceeds to S1. The integrated control unit 11 creates a map and bump information, and stores the map and bump information in the memory unit 19 (S5).

[0035] The integrated control unit 11 may create step information while creating the map, and sequentially associate the map with the step information and store it in the storage unit 19. That is, each time the mobile robot 1 runs over a step in the road surface, the integrated control unit 11 may associate the map with the step information and store it in the storage unit 19. Alternatively, the integrated control unit 11 may store the timing (e.g., time) when the mobile robot 1 runs over a step in the road surface, and after receiving an instruction to complete map creation, store the map with the step information in the storage unit 19 in association with each other.

[0036] The step information may include step coordinates and the approach angle (θ) of the mobile robot 1 or the main unit 2 toward the step on the road surface. The approach angle (θ) included in the step information is an example of a first approach angle. For example, the approach angle (θ) is the angle between the center line of the mobile robot 1 and the side of the step on the road surface. The integrated control unit 11 calculates the orientation (θ) of the mobile robot 1 based on the results of self-localization. The integrated control unit 11 may determine the approach angle (θ) based on the orientation (θ) of the mobile robot 1 upon receiving the first detection signal from the climbing-up detection unit 18. The integrated control unit 11 creates the step information based on the position and orientation (θ) of the mobile robot 1 on the map upon receiving the first detection signal from the climbing-up detection unit 18.

[0037] A tolerance for the approach angle (θ) included in the step information may be set based on the durability and stability of the mobile robot 1. Examples of the durability of the mobile robot 1 include damage to the drive wheels 21 and auxiliary wheels 22, 23, and damage to the main body (housing) of the mobile robot 1. Examples of the stability of the mobile robot 1 include the ability of the mobile robot 1 to travel without tipping over.

[0038] The level difference information may include coordinates (hereinafter referred to as "first predetermined coordinates") indicating a position that is a predetermined distance away from the position of the road level difference on the map. The first predetermined coordinates may be coordinates (Xm, Ym) in a Cartesian coordinate system. The position that is a predetermined distance away from the position of the road level difference on the map may be a position near the road level difference on the map. The integrated control unit 11 may create level difference information that includes the first predetermined coordinates instead of creating level difference information that includes level difference coordinates. The level difference information may include level difference coordinates and the first predetermined coordinates. The level difference information may include level difference coordinates, the first predetermined coordinates, and an approach angle (θ). The level difference information may include the first predetermined coordinates and an approach angle (θ).

[0039] The step information may include coordinates (hereinafter referred to as "second predetermined coordinates") indicating a position on the map that is a predetermined distance away from the location of the road step in the opposite direction to the direction in which the mobile robot 1 moves toward the road step. Instead of creating step information including step coordinates, the integrated control unit 11 may create step information including second predetermined coordinates. The second predetermined coordinates may be coordinates (X1, Y1) in a Cartesian coordinate system. The step information may include the step coordinates and the second predetermined coordinates. The step information may include the step coordinates, the second predetermined coordinates, and an approach angle (θ). The step information may include the first predetermined coordinates, the second predetermined coordinates, and an approach angle (θ).

[0040] When the mobile robot 1 reaches a position a predetermined distance away from the step in the road surface, the mobile robot 1 transitions to a step-climbing state, allowing the mobile robot 1 to climb the step more stably. The integrated control unit 11 may generate step information including at least one of the step coordinate, the first predetermined coordinate, the second predetermined coordinate, and the approach angle (θ). The higher-level device 200 may generate step information including at least one of the step coordinate, the first predetermined coordinate, the second predetermined coordinate, and the approach angle (θ).

[0041] The running behavior determination unit 15 determines the behavior of the running unit 17 when the mobile robot 1 runs over a step on the road surface based on the step information. The running behavior determination unit 15 also determines the behavior of the running unit 17 when the mobile robot 1 runs over a step on the road surface based on the step information. The running operation determination unit 15 may generate operation information. The running operation determination unit 15 determines the operation of the running unit 17 so that the mobile robot 1 can stably climb over bumps in the road surface. The operation information regarding the operation of the running unit 17 includes information regarding the drive control of the right motor 26 and the drive control of the left motor 27. The drive control of the right motor 26 involves changing and adjusting the rotation speed, torque, gear ratio, etc. of the right motor 26. The drive control of the left motor 27 involves changing and adjusting the rotation speed, torque, gear ratio, etc. of the left motor 27.

[0042] The driving control unit 16 may adjust the orientation (θ) of the mobile robot 1 by controlling the operation of the running unit 17 based on the operation information regarding the operation of the running unit 17. The driving control unit 16 may adjust the orientation (θ) of the mobile robot 1 by controlling the operation of the running unit 17 based on the approach angle (θ) included in the step coordinates. The motion of the running unit 17 includes turning and pivot turning of the mobile robot 1. A pivot turn is a circular motion in which the center of the mobile robot 1 does not move. The driving control unit 16 may adjust the orientation (θ) of the mobile robot 1 by controlling the operation of the running unit 17 so that the approach angle (θ) of the mobile robot 1 while running matches or approximates the approach angle (θ) included in the step information. Matching or approximating the approach angle (θ) of the mobile robot 1 while running matches or approximates the approach angle (θ) included in the step information, allowing the mobile robot 1 to climb over road steps more reliably.

[0043] The mobile robot 1 acquires a map after starting its operation. The mobile robot 1 may acquire the map in accordance with instructions from the host device 200 or an operator. The mobile robot 1 may create step information while creating the map, or may create the step information after acquiring the map. The mobile robot 1 may send the map to the host device 200. The mobile robot 1 may send the step information to the host device 200. The mobile robot 1 may send the map with the step information added to it to the host device 200.

[0044] <Overall configuration of the control system> FIG. 6 is a schematic diagram illustrating an example of a control system according to the first embodiment. In FIG. 6, a host device 200 manages multiple mobile robots 1 (1A, 1B). The number of mobile robots 1 managed by the host device 200 can be set arbitrarily and is not limited to the number shown in FIG. 6. The host device 200 can communicate with the mobile robots 1A and 1B. The host device 200 may obtain a map from one of the multiple mobile robots 1 (e.g., mobile robot 1A) and send the map to another mobile robot 1 (e.g., mobile robot 1B). The host device 200 may obtain an updated map from one of the multiple mobile robots 1 (e.g., mobile robot 1A) and send the updated map to another mobile robot 1 (e.g., mobile robot 1B). The host device 200 may select one or more of the multiple mobile robots 1 and send the updated map to the selected one or more mobile robots 1.

[0045] The host device 200 may acquire step information from the mobile robot 1A and send the step information to the mobile robot 1B. In this case, the mobile robot 1B may update the map stored in the memory unit 19 by adding the step information acquired from the host device 200 to the map.

[0046] The host device 200 may manage the map by storing it in the storage device 201, update the map each time step information is received from the mobile robot 1, and send the updated map to the mobile robot 1. For example, when the host device 200 receives step information from the mobile robot 1A, it updates the map by adding the step information to the map. The host device 200 then sends the updated map to the mobile robot 1B.

[0047] When the mobile robot 1 receives an updated map from the host device 200, it stores the updated map in the memory unit 19. Maps and updated maps can be shared among multiple mobile robots 1. For example, information about road level differences detected by the mobile robot 1A can be shared between the mobile robot 1A and the mobile robot 1B.

[0048] The host device 200 may determine the operation of the running unit 17 based on the step information and generate operation information regarding the operation of the running unit 17. The host device 200 may send the operation information regarding the operation of the running unit 17 to multiple mobile robots 1. The host device 200 may select one or more of the multiple mobile robots 1 and send the operation information regarding the operation of the running unit 17 to the selected one or more mobile robots 1. When the mobile robot 1 receives the operation information regarding the operation of the running unit 17 from the host device 200, it stores the operation information regarding the operation of the running unit 17 in the memory unit 19.

[0049] After acquiring the map, the mobile robot 1 receives instructions from the host device 200 or an operator and starts traveling on a road surface to move to a predetermined location or to patrol a predetermined area. The mobile robot 1 creates a travel route and travels on the road. The travel route may be created by the integrated control unit 11. The host device 200 may send the travel route to the mobile robot 1. The travel route may be a route for the mobile robot 1 to travel from a first predetermined location to a second predetermined location. The travel route may be a route for the mobile robot 1 to patrol a predetermined area.

[0050] FIG. 7 is a flowchart showing an example of the operation of the mobile robot 1. The mobile robot 1 may start running and the process of the flowchart shown in FIG. 7 may begin when the mobile robot 1 receives an instruction to start running from the host device 200. Alternatively, an operator may use an external device to instruct the mobile robot 1 to start running, causing the mobile robot 1 to start running and the process of the flowchart shown in FIG. 7 to begin. The mobile robot 1 may be instructed to move to a predetermined location, or may be instructed to patrol a predetermined area.

[0051] The traveling control unit 16 controls the traveling unit 17 to cause the mobile robot 1 to travel (S11). The integrated control unit 11 determines whether the mobile robot 1 has reached the coordinates included in the step information (S12). Specifically, the integrated control unit 11 determines whether the mobile robot 1 has reached a position corresponding to the step coordinates, the first predetermined coordinates, or the second predetermined coordinates. If the mobile robot 1 has reached the coordinates included in the step information (S12; YES), the process proceeds to S13. The integrated control unit 11 sends a notification to the traveling control unit 16 indicating that the mobile robot 1 has reached the coordinates included in the step information. The traveling control unit 16 controls the operation of the traveling unit 17 based on the operation information regarding the operation of the traveling unit 17, causing the mobile robot 1 to travel over steps (S13).

[0052] The driving control unit 16 controls the driving unit 17 to climb up the road step when the mobile robot 1 reaches a position corresponding to the step coordinates, the first predetermined coordinates, or the second predetermined coordinates. That is, the driving control unit 16 switches the driving state of the driving unit 17 from normal driving to step driving and controls the operation of the driving unit 17. This causes the driving state of the mobile robot 1 to transition to the step driving state, and the mobile robot 1 climbs up the step. For example, the mobile robot 1 may pause just before the step and slowly climb up the step. If the mobile robot 1 is not carrying a workpiece, the mobile robot 1 may increase its driving speed to climb up the step. Note that while the mobile robot 1 is climbing up the road step, the mobile robot 1 may also perform obstacle avoidance actions. The mobile robot 1 pauses until the obstacle has left the road, and then begins climbing up the step on the road.

[0053] When the mobile robot 1 runs over a bump in the road, the mobile robot 1 begins normal running (S14). The running control unit 16 switches the running state of the running unit 17 from the bump-running state to the normal running state and controls the operation of the running unit 17. This causes the mobile robot 1 to transition to the normal running state, and the mobile robot 1 begins normal running. The running control unit 16 may switch the running state of the running unit 17 from the bump-running state to the normal running state and control the operation of the running unit 17 a predetermined time after the mobile robot 1 transitions to the bump-running state.

[0054] The integrated control unit 11 may determine whether the mobile robot 1 has climbed over a bump in the road surface. The integrated control unit 11 may acquire measurement data from the measurement sensors 14 and determine whether the mobile robot 1 has climbed over a bump in the road surface based on changes in the measurement data. The integrated control unit 11 may determine that the mobile robot 1 has climbed over a bump in the road surface when the drive wheels 21 have climbed over a bump in the road surface. When the mobile robot 1 has climbed over a bump in the road surface, the integrated control unit 11 may send a notification to the driving control unit 16 indicating that the mobile robot 1 has climbed over a bump in the road surface.

[0055] The integrated control unit 11 determines whether or not to terminate the movement of the mobile robot 1 (S15). If the movement of the mobile robot 1 is to be terminated (S15; YES), the process of the flowchart shown in FIG. 7 ends. If the mobile robot 1 reaches a predetermined location, the integrated control unit 11 may decide to terminate the movement of the mobile robot 1. If the mobile robot 1 receives an instruction to stop movement from the host device 200, the integrated control unit 11 may decide to terminate the movement of the mobile robot 1. If the mobile robot 1 receives an instruction to stop movement from an external device, the integrated control unit 11 may decide to terminate the movement of the mobile robot 1. If the movement of the mobile robot 1 is not to be terminated (S15; NO), the process proceeds to S11.

[0056] FIG. 8 shows an example of a map with step information added. The area 400 shown in FIG. 8 is an area that the mobile robot 1 can enter by climbing over road steps, and includes road steps. However, because the area 400 is not included in the map, it is indicated by a dotted line. The map also includes multiple coordinates around the perimeter of the area 400. The mobile robot 1 navigates by referring to the map and recognizes the step coordinates added to the map to identify road steps. When the mobile robot 1 reaches the step coordinates, the driving control unit 16 controls the operation of the driving unit 17 by switching the driving state of the driving unit 17 from normal driving to step driving. The step coordinates indicate the location of the road step on the map. Therefore, when the mobile robot 1 reaches the road step, the driving state of the mobile robot 1 transitions to the step driving state. This allows the mobile robot 1 to climb over road steps in a driving state suitable for climbing over road steps. The mobile robot 1 can climb over road steps stably.

[0057] When the mobile robot 1 reaches the first or second predetermined coordinates, the driving control unit 16 switches the driving state of the driving unit 17 from normal driving to step driving, and controls the operation of the driving unit 17. The first predetermined coordinates indicate a position on the map that is a predetermined distance away from the position of the road step. The second step coordinates indicate a position on the map that is a predetermined distance away from the position of the road step in the opposite direction to the direction in which the mobile robot 1 moves toward the road step. Therefore, the driving state of the mobile robot 1 transitions to the step driving state just before the mobile robot 1 reaches the road step. Because there is sufficient time for the driving state of the mobile robot 1 to transition to the step driving state, the mobile robot 1 can climb over the road step in a driving state that is more suitable for climbing over the road step. The mobile robot Bot 1 is able to climb over bumps in the road more stably.

[0058] 9(A) and 9(B) show an example of the process for interpolating step coordinates. After the integrated control unit 11 acquires a map of the area around the mobile robot 1, it executes the process for interpolating step coordinates. FIGS. 9(A) and 9(B) show a portion of the map including an area 410. The area 410 is an area that the mobile robot 1 can enter by climbing over a road step, and includes the road step. In FIG. 9(A), two step coordinates are added to the map. Also, in FIG. 9(A), the approach angle (θ) in the step coordinates is added to the map. The white arrows in FIGS. 9(A) and 9(B) are illustrative diagrams that represent the approach angle (θ) in the step coordinates.

[0059] The integrated control unit 11 selects multiple step coordinates. In the example shown in FIG. 9(A), the integrated control unit 11 selects two step coordinates that overlap with the region 410. The integrated control unit 11 performs interpolation between the two selected step coordinates. The integrated control unit 11 may also perform linear interpolation between the two selected step coordinates. As shown in FIG. 9(B), the integrated control unit 11 performs linear interpolation between the two selected step coordinates to create multiple step coordinates between the two selected step coordinates. The integrated control unit 11 determines the approach angle (θ) at the multiple step coordinates created between the two selected step coordinates based on the approach angle (θ) at the two selected step coordinates. The integrated control unit 11 may set the approach angle (θ) at the two selected step coordinates to be the same as the approach angle (θ) at the multiple step coordinates created between the two selected step coordinates.

[0060] The integrated control unit 11 adds to the map a climbable area 411 including the two selected step coordinates and multiple step coordinates created between the two selected step coordinates. The integrated control unit 11 adds the approach angle (θ) at the multiple step coordinates created to the map. In this way, the integrated control unit 11 creates step information including the climbable area 411 including multiple step coordinates and the approach angle (θ) at the multiple step coordinates, and adds the step information to the map. The integrated control unit 11 may also create step information including the climbable area 411 including multiple step coordinates and add the step information to the map. The mobile robot 1 performs a climbing operation on the area 410 by referring to the climbable area 411 added to the map.

[0061] FIGS. 10A and 10B show an example of the process for interpolating step coordinates. After acquiring a map of the area around the mobile robot 1, the integrated control unit 11 executes the process for interpolating step coordinates. FIGS. 10A and 10B show a portion of the map including an area 420. The area 420 is an area that the mobile robot 1 can enter by climbing over road steps, and includes road steps. In FIG. 10A, four step coordinates are added to the map. Also, in FIG. 10A, the approach angle (θ) in the step coordinates is added to the map. The outline arrows in FIGS. 10A and 10B are illustrative diagrams that represent the approach angle (θ) in the step coordinates.

[0062] The integrated control unit 11 selects a plurality of step coordinates. In the example shown in FIG. 10(A), the integrated control unit 11 selects four step coordinates that overlap with the area 420. The integrated control unit 11 performs interpolation between the selected four step coordinates. The integrated control unit 11 may perform spline interpolation between the selected four step coordinates. As shown in FIG. 10(B), the integrated control unit 11 performs spline interpolation between the selected four step coordinates to create a plurality of step coordinates between the selected four step coordinates. The integrated control unit 11 adds to the map a climbable area 421 having the selected four step coordinates and a plurality of step coordinates created between the selected four step coordinates. In this way, the integrated control unit 11 creates step information including the climbable area 421 having a plurality of step coordinates and the approach angle (θ) at the plurality of step coordinates. The integrated control unit 11 may create step information including a climbable area 421 having a plurality of step coordinates, and add the step information to the map.

[0063] The approach angle (θ) of the created step coordinates is set so that the direction indicated by the approach angle (θ) in the created step coordinates coincides with the normal direction of the area 420. This allows the mobile robot 1 to orient itself perpendicular to the sides of the area 420, allowing the mobile robot 1 to stably climb up the road steps in the area 420. The mobile robot 1 references the climbable area 421 added to the map and performs a climbing operation in the area 420.

[0064] The map is updated by the integrated control unit 11 performing a process of interpolating step coordinates. The integrated control unit 11 may retrieve the map from the storage unit 19, update the map, and store the updated map in the storage unit 19. The integrated control unit 11 may also update the map stored in the storage unit 19.

[0065] After the integrated control unit 11 acquires the map, if the climbing detection unit 18 detects a step on the road surface while the mobile robot 1 is actually operating and traveling on a road surface, the integrated control unit 11 may create step information and perform a map update process. The integrated control unit 11 may update the map by retrieving the map from the storage unit 19 and adding the step information to the map. The integrated control unit 11 stores the updated map in the storage unit 19. The integrated control unit 11 may update the map by adding the step information to the map stored in the storage unit 19.

[0066] The host device 200 may perform a process to interpolate step coordinates. After the host device 200 has performed the process to interpolate step coordinates, the host device 200 sends the updated map to the mobile robot 1. The worker may perform the process to interpolate step coordinates using an external device. The worker may also interpolate step coordinates on the map using a method other than the above. The worker may send the updated map to at least one of the mobile robot 1 and the host device 200 using an external device. When the host device 200 acquires the updated map from the external device, it sends the updated map to the mobile robot 1. When the mobile robot 1 acquires the updated map from at least one of the host device 200 and the external device, the integrated control unit 11 stores the updated map in the memory unit 19.

[0067] 11(A) and 11(B) are diagrams showing examples of maps. FIG. 11(A) shows a map with a no-passage line 430 set on it. In FIG. 11(A), a point 431 marked with an "S" indicates the start point of the travel route, and a mark 432 marked with a "G" indicates the finish point of the travel route. The no-passage line 430 is a line along which the mobile robot 1 is prohibited from passing, and is set so as to overlap with a step in the road surface. In FIG. 11(A), the step coordinates (X, Y) are set at one point on the no-passage line 430. The outline arrow in FIG. 11(A) is an image representing the approach angle (θ) at the step coordinates (X, Y).

[0068] For example, if the mobile robot 1 needs to negotiate a specific step on the road, the following condition may be set for the mobile robot 1: -No entry is permitted across line 430. The step coordinates set on the no-passage line 430 are passable. By setting the above conditions for the mobile robot 1, the mobile robot 1 travels along the travel path shown in Figure 11(A) and passes over the specific step on the road surface. In other words, the mobile robot 1 performs a climbing motion on the specific step on the road surface.

[0069] Examples of linear road surface steps include cable covers and room thresholds. When a linear no-passing line 430 is set based on step coordinates (X, Y) and an approach angle (θ), the no-passing line 430 is a straight line that passes through the step coordinates (X, Y) and is at an approach angle (θ) + 90°. The host device 200 may send the mobile robot 1 a map on which the step information and the no-passing line 430 are set. The host device 200 may send the mobile robot 1 step information and information related to the setting of the no-passing line 430. The integrated control unit 11 may set the step information and the no-passing line 430 on a map stored in the memory unit 19. A worker may access the mobile robot 1 using an external device and set the step information and the no-passing line 430 on a map stored in the memory unit 19.

[0070] Setting of the no-passage line 430 may be enabled only when it is possible to set the no-passage line 430 and step coordinates on the map so as to divide the area enclosed by the no-passage line 430 or wall. If this condition is not met, setting of the no-passage line 430 may be disabled. When an operator accesses the mobile robot 1 using an external device to edit the map stored in the memory unit 19, a warning message indicating that setting of the no-passage line 430 is disabled may be displayed on the display screen of the external device.

[0071] FIG. 11(B) is a diagram showing an example of a map. FIG. 11(B) shows a map in which a no-entry area 433 is set. In FIG. 11(B), the no-entry area 433 is set on the map with a width wider than the no-entry line 430 shown in FIG. 11(A). Taking into account the error in the self-localization estimation of the mobile robot 1, a wider no-entry area 433 may be set on the map. The other components in FIG. 11(B) are the same as those shown in FIG. 11(A).

[0072] When the no-passage area 433 is set based on the step coordinates (X, Y) and the approach angle (θ), the no-passage area 433 is a strip-shaped area that passes through the step coordinates (X, Y) and is an area at the approach angle (θ) + 90 degrees. The host device 200 may send the step information and a map on which the no-passage area 433 is set to the mobile robot 1. The host device 200 may send the step information and information related to the setting of the no-passage area 433 to the mobile robot 1. The integrated control unit 11 may set the step information and the no-passage area 433 on a map stored in the memory unit 19.

[0073] The width D of the no-entry area 433, with some margin added, may be automatically set by specifying the step coordinates on the map in accordance with the product specifications of the mobile robot 1. The no-entry area 433 is set on both the positive and negative sides of the step coordinates. For example, the width D of the no-entry area 433 may be set based on the following equation 1: D = ([Variation in stopping accuracy of mobile robot 1] + α) × 2 (Equation 1)

[0074] The setting of the no-passage area 433 may be enabled only when it is possible to set the no-passage area 433 and step coordinates on the map so as to divide the no-passage area 433 or the area enclosed by a wall. If this condition is not met, the setting of the no-passage area 433 may be disabled. When an operator accesses the mobile robot 1 using an external device to edit the map stored in the memory unit 19, a warning message indicating that the no-passage area 433 cannot be set may be displayed on the display screen of the external device.

[0075] By setting no-entry lines 430 and no-entry areas 433 on the map, the mobile robot 1 passes through the same point when climbing up a road step. Having the mobile robot 1 pass through the same point when climbing up a road step has the following advantages: (1) If measures such as chamfering road step edges are necessary, the measures can be limited to a specific area. (2) This allows for standardization of rules within the factory where the Mobile Robot 1 operates. (3) It also clarifies where the Mobile Robot 1 may climb over bumps in the road, improving safety.

[0076] Second Embodiment A second embodiment will now be described. In the second embodiment, the same components as those in the first embodiment will be assigned the same reference numerals, and their description will be omitted as appropriate. The mobile robots 1 according to the first and second embodiments may be combined as appropriate.

[0077] <Overall configuration of the mobile robot> FIG. 12 is a block diagram showing the configuration of a mobile robot 1 according to a second embodiment. In addition to the components of the mobile robot 1 according to the first embodiment, the mobile robot 1 according to the second embodiment includes a distance measurement device 181. Specifically, the climbing-up detector 18 includes the distance measurement device 181. In FIG. 12, components other than the integrated control unit 11, climbing-up detector 18, and auxiliary wheels 22 are not shown.

[0078] The distance measurement device 181 is a sensor that measures the distance to an object and detects the height of the object. The distance measurement device 181 may be a measurement device that uses laser light or a measurement device that uses non-laser light. The distance measurement device 181 may be a displacement sensor. The distance measurement device 181 may measure the distance to an object using a diffuse light source such as an LED. The distance measurement device 181 may measure the distance from the distance measurement device 181 to the object by irradiating the object with microwaves, millimeter waves, or the like. The distance measurement device 181 detects the height of the road surface. If the height of the road surface is equal to or greater than a threshold, the climbing detection unit 18 detects a step in the road surface and sends a detection signal (first detection signal) to the integrated control unit 11 indicating that the mobile robot 1 has climbed over the step in the road surface.

[0079] The climbing detection unit 18 measures the height (G) of the step on the road surface based on the following equation 2. Height of road surface step (G)=Distance from distance measurement device 181 to road surface (D2)−Distance from distance measurement device 181 to road surface step (D3) (Equation 2) The climbing detection unit 18 sends data relating to the height (G) of the step on the road surface to the integrated control unit 11.

[0080] The integrated control unit 11 generates step information including step coordinates and the height (G) of the step on the road surface. The running operation determination unit 15 determines the operation of the running unit 17 based on the step information including the step coordinates and the height (G) of the step on the road surface, and generates operation information related to the operation of the running unit 17. Because the operation of the running unit 17 is determined depending on the height of the step on the road surface, the mobile robot 1 can climb over the step on the road surface more stably.

[0081] The integrated control unit 11 may create step information including at least one of the step coordinates, the first predetermined coordinates, the second predetermined coordinates, the approach angle (θ), and the height (G) of the step on the road surface. The higher-level device 200 may create step information including at least one of the step coordinates, the first predetermined coordinates, the second predetermined coordinates, the approach angle (θ), and the height (G) of the step on the road surface.

[0082] <Third embodiment> A third embodiment will now be described. In the third embodiment, the same components as those in the first and second embodiments are designated by the same reference numerals as those in the first and second embodiments, and their description will be omitted as appropriate. The mobile robots 1 according to the first to third embodiments may be combined as appropriate.

[0083] <Overall configuration of the mobile robot> FIG. 13 is a block diagram showing the configuration of a mobile robot 1 according to a third embodiment. The mobile robot 1 according to the third embodiment has the same components as the mobile robot 1 according to the first embodiment. In addition to the above components, the mobile robot 1 includes a climbing state acquisition device 31. In Figure 13, components other than the integrated control unit 11, running motion determination unit 15, climbing detection unit 18, auxiliary wheels 22, and climbing state acquisition device 31 are not shown. The climbing state acquisition device 31 detects changes in the mobile robot 1's climbing over bumps in the road surface using analog values. The climbing state acquisition device 31 is, for example, an angle encoder or a single-axis tilt sensor.

[0084] 14 is a diagram showing an example of the arrangement of the climbing-up state acquisition device 31 on the auxiliary wheel 22. When an angle encoder is used as the climbing-up state acquisition device 31, the climbing-up state acquisition device 31 is arranged near a rotation shaft provided on the support unit 225. The climbing-up state acquisition device 31 measures the angle of the rotation shaft provided on the support unit 225, and sends angle information related to the angle of the rotation shaft provided on the support unit 225 to the traveling operation determination unit 15.

[0085] The running operation determination unit 15 determines the operation of the running unit 17 based on the angle of the rotation shaft provided on the support unit 225, and generates operation information related to the operation of the running unit 17. The running operation determination unit 15 determines the operation of the running unit 17 according to the angle of the rotation shaft provided on the support unit 225. That is, the running operation determination unit 15 determines the operation of the running unit 17 according to the state of the mobile robot 1 while climbing over a road step. This enables the mobile robot 1 to climb over road steps more stably. For example, when controlling the torque of the right motor 26 and the left motor 27, when the main wheel 222 comes into contact with a road step, the torque of the right motor 26 and the left motor 27 is increased. In this case, the sub-wheel 223 is in contact with the road step. Thereafter, when the sub-wheel 223 moves away from the road step, the torque of the right motor 26 and the left motor 27 is decreased.

[0086] When a one-axis tilt sensor is used as the climbing state acquisition device 31, the climbing state acquisition device 31 is placed at a position where it can measure the amount of tilt of a virtual straight line L1 that passes through a rotation axis provided on the support part 225 and a rotation axis provided on the support part 226. The climbing state acquisition device 31 measures the amount of tilt of the virtual straight line L1 and sends tilt information related to the amount of tilt of the virtual straight line L1 to the traveling operation determination unit 15.

[0087] The running movement determination unit 15 determines the movement of the running unit 17 based on the amount of tilt of the virtual straight line L1 and generates movement information related to the movement of the running unit 17. The running movement determination unit 15 determines the movement of the running unit 17 according to the amount of tilt of the virtual straight line L1. That is, the running movement determination unit 15 determines the movement of the running unit 17 according to the state of the mobile robot 1 while climbing over a bump in the road surface. This allows the mobile robot 1 to climb over bumps in the road surface more stably.

[0088] <Fourth embodiment> A fourth embodiment will now be described. In the fourth embodiment, the same components as those in the first to third embodiments are designated by the same reference numerals as those in the first to third embodiments, and their description will be omitted as appropriate. The mobile robots 1 according to the first to fourth embodiments may be combined as appropriate.

[0089] <Overall configuration of the mobile robot> Figure 15 is a block diagram showing the configuration of a mobile robot 1 according to a fourth embodiment. In addition to the components of the mobile robot 1 according to the first embodiment, the mobile robot 1 according to the fourth embodiment includes a 2D shape measurement device 32 that measures an object. In Figure 15, components other than the integrated control unit 11, climbing detection unit 18, auxiliary wheels 22, and 2D shape measurement device 32 are not shown.

[0090] The two-dimensional shape measuring device 32 is a measurement sensor that measures the two-dimensional shape of an object. The two-dimensional shape measuring device 32 is, for example, a two-dimensional displacement sensor or a laser scanner. Two-dimensional shape The measuring device 32 is provided in the main body 2. The two-dimensional shape measuring device 32 measures the two-dimensional shape of the object and outputs two-dimensional shape data (measurement data) of the object. The two-dimensional shape data output from the two-dimensional shape measuring device 32 is sent to the climbing detection unit 18.

[0091] The climbing-up detection unit 18 acquires the two-dimensional shape data and, based on the two-dimensional shape data, detects road bumps in front of the mobile robot 1. The measurement range of the two-dimensional shape measurement device 32 is set in front of the mobile robot 1. Therefore, the two-dimensional shape measurement device 32 can detect road bumps located in front of the auxiliary wheels 22. In other words, the climbing-up detection unit 18 can detect road bumps located in front of the auxiliary wheels 22 before the mobile robot 1 climbs over the road bump.

[0092] The climbing-up detection unit 18 sends a detection signal (second detection signal) indicating that a step in the road surface ahead of the mobile robot 1 has been detected to the integrated control unit 11. The climbing-up detection unit 18 also measures the distance (D4) from the auxiliary wheel 22 to the step in the road surface based on the two-dimensional shape data. The climbing-up detection unit 18 sends data relating to the distance (D4) from the auxiliary wheel 22 to the step in the road surface to the integrated control unit 11. The integrated control unit 11 receives the second detection signal and the data relating to the distance (D4) from the auxiliary wheel 22 to the step in the road surface.

[0093] The integrated control unit 11 sends a running speed adjustment instruction signal to the driving control unit 16 based on the distance (D4) from the auxiliary wheels 22 to the road step. The driving control unit 16 controls the operation of the running unit 17 based on the running speed adjustment instruction signal, adjusting the running speed of the running unit 17. For example, the driving control unit 16 may control the operation of the running unit 17 so as to slow down the running speed of the running unit 17. By adjusting the running speed of the running unit 17 when a road step ahead of the mobile robot 1 is detected, the running unit 17 can climb up the road step more reliably. This allows the mobile robot 1 to climb up the road step more reliably.

[0094] The climbing detection unit 18 may send the second detection signal and data relating to the distance (D4) from the auxiliary wheels 22 to the road step to the driving control unit 16. The driving control unit 16 receives the second detection signal and data relating to the distance (D4) from the auxiliary wheels 22 to the road step. The driving control unit 16 may control the operation of the running unit 17 and adjust the running speed of the mobile robot 1 based on the distance (D4) from the auxiliary wheels 22 to the road step. Adjusting the running speed of the mobile robot 1 when a road step ahead of the mobile robot 1 is detected allows the mobile robot 1 to climb over road steps more reliably.

[0095] The climbing detection unit 18 may analyze two-dimensional shape data of the road step to determine whether the mobile robot 1 can climb the road step. For example, if the road step is not chamfered as specified and the mobile robot 1 cannot climb the road step stably, the mobile robot 1 may be determined to be unable to climb the road step. For example, if the road step is too high for the mobile robot 1 to climb the road step, the mobile robot 1 may be determined to be unable to climb the road step. If the mobile robot 1 cannot climb the road step, the climbing detection unit 18 sends a signal to the integrated control unit 11 indicating that it is impossible or difficult for the mobile robot 1 to climb the road step. In this case, the mobile robot 1 sends a notification to the host device 200 indicating that it cannot climb the road step and stops moving. If the mobile robot 1 stops moving, an operator may move the mobile robot 1. The mobile robot 1 may also climb up different steps on the road surface without stopping its movement.

[0096] If the mobile robot 1 is able to climb over the road step, the climbing detection unit 18 sends a signal indicating that the mobile robot 1 is able to climb over the road step to the integrated control unit 11. In this case, the mobile robot 1 performs the climbing action over the road step.

[0097] The 2D shape measurement device 32 may perform measurements while the mobile robot 1 is moving. Alternatively, the 2D shape measurement device 32 may perform measurements for a certain period of time while the mobile robot 1 is moving. The 2D shape measurement device 32 may start measuring when the mobile robot 1 reaches a first or second predetermined coordinate included in the step information. In this case, the integrated control unit 11 sends a command signal to the 2D shape measurement device 32 to start measuring, and the 2D shape measurement device 32 starts measuring. If the mobile robot 1 runs over a step in the road surface, the 2D shape measurement device 32 stops measuring. By shortening the measurement time of the 2D shape measurement device 32, power consumption can be reduced.

[0098] Fifth Embodiment A fifth embodiment will now be described. In the fifth embodiment, the same components as those in the first to fourth embodiments are designated by the same reference numerals, and their description will be omitted where appropriate. The mobile robots 1 according to the first to fifth embodiments may be combined as appropriate. FIG. 16 is a top view of the mobile robot 1, showing the arrangement of the drive wheel 21, auxiliary wheels 22 and 23, right motor 26, left motor 27, and two-dimensional shape measurement devices 32A and 32B. The mobile robot 1 is equipped with two two-dimensional shape measurement devices 32 (32A and 32B). The two-dimensional shape measurement devices 32A and 32B are arranged parallel to the mobile robot 1. Area 440 shown in FIG. 16 is an area that the mobile robot 1 can enter by climbing over road steps, and includes road steps.

[0099] The integrated control unit 11 acquires two-dimensional shape data (measurement data) of the step on the road surface output from the two-dimensional shape measuring devices 32A and 32B. The integrated control unit 11 may acquire the two-dimensional shape data of the step on the road surface via the climbing detection unit 18. The integrated control unit 11 may acquire the two-dimensional shape data of the step on the road surface from the two-dimensional shape measuring devices 32A and 32B.

[0100] Fig. 17(A) shows two-dimensional shape data of road surface steps output from two-dimensional shape measurement devices 32A and 32B. Fig. 17(B) is a schematic diagram of two-dimensional shape measurement device 32A. Figs. 17(A) and 17(B) show the depth direction (d) and scanning direction (w). In Fig. 17(A), the two-dimensional shape data of road surface steps output from two-dimensional shape measurement device 32A is indicated by thick line 440A, and the two-dimensional shape data of road surface steps output from two-dimensional shape measurement device 32B is indicated by thick line 440B.

[0101] As shown in FIG. 16, when the distance between the two-dimensional shape measuring device 32A and the two-dimensional shape measuring device 32B is a distance L, the approach angle (θ) can be calculated by the following equation 3. tanθ=Δw / L (Equation 3) Δw is the difference in the scanning direction (w) between the two-dimensional shape data of road surface steps output from 2D shape measurement device 32A and the two-dimensional shape data of road surface steps output from 2D shape measurement device 32B. Therefore, by having the mobile robot 1 perform a pivot turn through an angle equivalent to "90[deg]-arctan(Δw / L)", the approach angle (θ) becomes equal to or approximates 90°. The closer the approach angle (θ) is to 90°, the more reliably the mobile robot 1 can climb over road surface steps.

[0102] The integrated control unit 11 acquires the two-dimensional shape data of the step on the road surface output by the two-dimensional shape measurement devices 32A and 32B, and calculates (determines) the approach angle (θ) based on the two-dimensional shape data of the step on the road surface. The traveling control unit 16 compares the calculated approach angle (θ) with the approach angle included in the step information. The operation of the traveling unit 17 may be controlled to adjust the orientation (θ) of the mobile robot 1 so that the approach angle (θ) matches or approximates the approach angle (θ). This allows the mobile robot 1 to climb over road bumps more stably. The calculated approach angle (θ) is an example of a second approach angle. The integrated control unit 11 may use the calculated approach angle (θ) to create step information.

[0103] <Modification> A modification of the fifth embodiment will now be described. Fig. 18 is a top view of the mobile robot 1, showing the arrangement of the drive wheels 21, auxiliary wheels 22, 23, right motor 26, left motor 27, and imaging device 33. The mobile robot 1 is equipped with the imaging device 33. The imaging device 33 is a camera that captures images of road bumps and generates captured images. The imaging device 33 captures images of road bumps at a predetermined frame rate and sequentially generates image data. The image data generated by the imaging device 33 is sent to the integrated control unit 11. The imaging device 33 has an optical system, such as a lens, and an imaging element, such as a complementary metal oxide semiconductor (CMOS) or a charge coupled device (CCD).

[0104] The area 450 shown in FIG. 18 is an area that the mobile robot 1 can enter by climbing over a road step, and includes the road step. A line 451 with a specific pattern and color is applied to the edge of the area 450, i.e., the edge of the road step. The imaging device 33 captures an image of the road step and creates image data of the road step. Specifically, the imaging device 33 captures the pattern and color applied to the edge of the road step and creates image data including the pattern and color applied to the edge of the road step. The integrated control unit 11 analyzes the image data including the pattern and color applied to the edge of the road step to determine the approach angle (θ). The driving control unit 16 may control the operation of the driving unit 17 to adjust the orientation (θ) of the mobile robot 1 so that the determined approach angle (θ) matches or is close to the approach angle (θ) included in the step information. This allows the mobile robot 1 to climb road steps more reliably. The determined approach angle (θ) is an example of a third approach angle. The integrated control unit 11 may create step information using the determined approach angle (θ).

[0105] 19 shows an example of image data created by the imaging device 33 by capturing an image of an area 450 and a line 451. The image data includes images of the area 450 and the line 451. For example, if the imaging device 33 is installed horizontally relative to the mobile robot 1, the traveling control unit 16 may control the traveling unit 17 to cause the mobile robot 1 to turn so that the line 451 included in the image data is horizontal.

[0106] Sixth Embodiment A sixth embodiment will now be described. In the sixth embodiment, the same components as those in the first to fifth embodiments are designated by the same reference numerals as those in the first to fifth embodiments, and their description will be omitted as appropriate. The mobile robots 1 according to the first to sixth embodiments may be combined as appropriate.

[0107] <Mobile robot status display> This section explains the status display of the mobile robot 1 while it is climbing up a road step (hereinafter referred to as "climbing up"). When the mobile robot 1 is climbing up a road step, there is a greater risk of the mobile robot 1 tipping over or of products, parts, or other workpieces carried by the mobile robot 1 falling than when the mobile robot 1 is moving normally. Therefore, it is preferable to display the status of the mobile robot 1 before it transitions to the climbing up operation to prevent workers from approaching the mobile robot 1.

[0108] <First example of mobile robot status display> FIG. 20 is a perspective view of a mobile robot 1 according to a sixth embodiment. As shown in FIG. 20, the main body 2 may be provided with an indicator 30 such as an LED. When the mobile robot 1 is climbing a road bump, the indicator 30 lights up, thereby notifying workers around the mobile robot 1 that the mobile robot 1 is climbing a road bump. The indicator 30 may also be switched on and off depending on the operating state of the mobile robot 1. When the mobile robot 1 is in the normal running state and the mobile robot 1 is running normally, the indicator 30 may be constantly lit. When the mobile robot 1 is in the step-climbing state and the mobile robot 1 is climbing a road bump, the indicator 30 may flash. The mobile robot 1 may also be equipped with an audio output device. When the mobile robot 1 is climbing a road bump, the audio output device outputs a sound, thereby notifying workers around the mobile robot 1 that the mobile robot 1 is climbing a road bump.

[0109] <Second example of mobile robot status display> Auxiliary wheels 22 may be mounted on the rear of the mobile robot 1's main body (chassis), and auxiliary wheels 23 may be mounted on the front. The running unit 17 performs reverse driving, causing the mobile robot 1 to climb over a bump in the road. By visually notifying workers around the mobile robot 1 that the mobile robot 1 is moving backward, the mobile robot 1 can be notified that the mobile robot 1 is climbing over a bump. For example, a factory rule may be established that workers should not approach the mobile robot 1 when it is moving backward.

[0110] Seventh Embodiment The seventh embodiment will now be described. In the seventh embodiment, the same components as those in the first to sixth embodiments are designated by the same reference numerals as those in the first to sixth embodiments, and their description will be omitted as appropriate. The mobile robots 1 according to the first to seventh embodiments may be combined as appropriate.

[0111] <Overall configuration of the mobile robot> FIG. 21 is a block diagram showing the configuration of a mobile robot 1 according to a seventh embodiment. In addition to the components of the mobile robot 1 according to the first embodiment, the mobile robot 1 according to the seventh embodiment includes a mass measuring device 41 and a loading unit 42. Workpieces can be loaded onto the loading unit 42. Examples of workpieces include final products, intermediate products, semi-finished products, parts, and materials. The loading unit 42 may also have a mechanism for gripping the workpieces. The mass measuring device 41 has a mass meter or load cell and measures the mass of the workpiece loaded on the loading unit 42. The mass measuring device 41 is disposed on the top surface of the main body 2, and the loading unit 42 is disposed on top of the mass measuring device 41. The mass measuring device 41 and the loading unit 42 may also be disposed above the main body 2. Power may be supplied to the mass measuring device 41 from the mobile robot 1.

[0112] The host device 200 sends a workpiece transport command to the mobile robot 1. The mobile robot 1 begins moving based on the workpiece transport command to transport the workpiece. The mass measuring device 41 measures the mass of the workpiece loaded on the loading unit 42 and sends the workpiece mass measurement data to the integrated control unit 11. Based on the workpiece mass measurement data, the integrated control unit 11 compares the workpiece mass with a workpiece mass threshold. The workpiece mass threshold is stored in the memory unit 19. If the workpiece mass is less than the workpiece mass threshold, the integrated control unit 11 determines that the mobile robot 1 is capable of climbing up the road step. In this case, the integrated control unit 11 controls the running unit 17 to climb up the road step, thereby causing the mobile robot 1 to climb up the road step. If the workpiece mass is equal to or greater than the workpiece mass threshold, the integrated control unit 11 determines that the mobile robot 1 is unable to climb up the road step. In this case, the integrated control unit 11 controls the traveling unit 17 so that the traveling unit 17 does not perform an operation of climbing up the step on the road surface. Therefore, the mobile robot 1 does not climb up the step on the road surface. The integrated control unit 11 may send a notification to the host device 200 indicating that the mobile robot 1 cannot climb up the step.

[0113] The integrated control unit 11 refers to the map and the travel route to determine whether the travel route includes a path that passes through a road step. If the travel route includes a path that passes through a road step, the integrated control unit 11 creates a travel route that detours around the road step. The travel route that detours around the road step may be a route for the mobile robot 1 to move from a first predetermined location to a second predetermined location, and may be a route that does not involve the mobile robot 1 traveling over the road step. The host device 200 may send the travel route that detours around the road step to the mobile robot 1. The mobile robot 1 starts traveling and travels along the travel route that detours around the road step. If there is no travel route that detours around the road step, the integrated control unit 11 sends a notification to the host device 200 indicating that there is no travel route that detours around the road step. The mobile robot 1 waits for instructions from the host device 200.

[0114] <Modification> A modification of the seventh embodiment will be described. The host device 200 sends a workpiece transport instruction and the workpiece mass to the mobile robot 1. The mobile robot 1 receives the workpiece transport instruction and the workpiece mass. The integrated control unit 11 compares the workpiece mass received from the host device 200 with a threshold value related to the workpiece mass. If the workpiece mass is less than the threshold value, the integrated control unit 11 determines that the mobile robot 1 is capable of climbing up a road step. If the workpiece mass is equal to or greater than the threshold value, the integrated control unit 11 determines that the mobile robot 1 is unable to climb up a road step. In this case, the mobile robot 1 does not attempt to climb up the road step. The integrated control unit 11 may send a notification to the host device 200 indicating that the mobile robot 1 is unable to climb up a road step.

[0115] The host device 200 may send the mobile robot 1 an instruction to transport a workpiece and an instruction to prohibit the mobile robot 1 from climbing up a road. The mobile robot 1 receives the instruction to transport a workpiece and an instruction to prohibit the mobile robot 1 from climbing up a road. In this case, the mobile robot 1 does not climb up a road step.

[0116] The integrated control unit 11 creates a travel route that bypasses the road step. The host device 200 may send the travel route that bypasses the road step to the mobile robot 1. The mobile robot 1 starts traveling and travels along the travel route that bypasses the road step. If there is no travel route that bypasses the road step, the integrated control unit 11 sends a notification to the host device 200 indicating that there is no travel route that bypasses the road step. The mobile robot 1 waits for instructions from the host device 200. In a variation of the seventh embodiment, the mobile robot 1 does not measure the mass of a workpiece, so installation of the mass measuring device 41 can be omitted.

[0117] Eighth Embodiment An eighth embodiment will now be described. In the eighth embodiment, the same components as those in the first to seventh embodiments will be assigned the same reference numerals as those in the first to seventh embodiments, and their description will be omitted as appropriate. The mobile robots 1 according to the first to eighth embodiments may be combined as appropriate.

[0118] <Overall configuration of the mobile robot> FIG. 22 is a block diagram showing the configuration of a mobile robot 1 according to an eighth embodiment. In addition to the components of the mobile robot 1 according to the first embodiment, the mobile robot 1 according to the eighth embodiment is equipped with a gimbal control unit 51, a gimbal unit 52, and a loading unit 53. A workpiece can be loaded onto the loading unit 53. The loading unit 53 has a mechanism for gripping the workpiece. It may have.

[0119] The gimbal control unit 51 and the gimbal unit 52 are disposed on the upper surface of the main body unit 2, and the loading unit 53 is disposed on the gimbal unit 52. The gimbal control unit 51, the gimbal unit 52, and the loading unit 53 may be disposed on the top of the main body unit 2. The gimbal control unit 51 may be disposed inside the main body unit 2. Power may be supplied from the mobile robot 1 to the gimbal control unit 51 and the gimbal unit 52.

[0120] The gimbal control unit 51 may be configured by a computer having, for example, a processor such as a CPU, RAM, a non-volatile storage device (e.g., ROM, flash memory, etc.). The form of the computer is not important. All or part of the functions provided by the gimbal control unit 51 may be configured by a circuit such as an ASIC or FPGA. The gimbal control unit 51 controls the operation of the gimbal unit 52. The gimbal control unit 51 is an example of an operation control unit. The integrated control unit 11 and the gimbal control unit 51 may be integrated. The gimbal unit 52 is a mechanism (gimbal mechanism) that adjusts the inclination of the loading unit 53. The gimbal unit 52 is an example of an adjustment unit.

[0121] When the mobile robot 1 climbs up a road, the loading unit 53 tilts as the main body 2 tilts. This tilting of the loading unit 53 can cause the workpieces on the loading unit 53 to shift or fall off the mobile robot 1. When the two auxiliary wheels 22 climb up a road step, the loading unit 53 tilts primarily in the pitch direction. Therefore, the mobile robot 1 is equipped with a single-axis gimbal unit 52 that can correct tilt about the pitch axis. The tilt of the loading unit 53 is adjusted while the mobile robot 1 is climbing up a road. This allows the tilt of the loading unit 53 to be corrected and compensate for the tilt of the main body 2. This prevents the workpieces on the loading unit 53 from shifting or falling off the mobile robot 1 while the mobile robot 1 is climbing up a road step.

[0122] 23 and 24 are diagrams showing the configurations of the gimbal control unit 51, the gimbal unit 52, and the loading unit 53. The gimbal control unit 51 has an inclination data acquisition unit 511, a target angle storage unit 512, a difference calculation unit 513, a calculation unit 514, a control coefficient storage unit 515, a determination unit 516, and a motor drive unit 517. The gimbal unit 52 has a support mechanism (stator) 521, a motor unit 522, a rotating shaft 523, and a support unit 524. The support mechanism 521 supports the motor unit 522 and the rotating shaft 523. The support unit 524 is attached to the rotating shaft 523 and supports the loading unit 53. The motor unit 522 has various motors. The motor unit 522 rotates the rotating shaft 523 to adjust the inclination of the loading unit 53.

[0123] As shown in FIG. 23 , the tilt measurement device 54 may be provided on the loading unit 53, or as shown in FIG. 24 , the tilt measurement device 54 may be provided on the support mechanism 521. The tilt measurement device 54 measures the pitch angle and sends tilt data including the pitch angle to the tilt data acquisition unit 511. For example, the tilt measurement device 54 is a one-axis tilt sensor. When the tilt measurement device 54 is provided on the loading unit 53, the tilt measurement device 54 measures the pitch angle of the loading unit 53 while the mobile robot 1 is climbing up a road step. That is, the tilt measurement device 54 measures the pitch angle of the loading unit 53 when the traveling unit 17 is climbing up a road step. When the tilt measurement device 54 is provided on the support mechanism 521, the tilt measurement device 54 measures the pitch angle of the main body 2 while the mobile robot 1 is climbing up a road step. That is, the tilt measurement device 54 measures the pitch angle of the main body 2 when the traveling unit 17 is climbing up a road step.

[0124] The tilt data acquisition unit 511 acquires tilt data including the pitch angle from the tilt measurement device 54, and sends the tilt data including the pitch angle to the difference calculation unit 513. The transmission rate (frequency) of the tilt data is When using a tilt measurement device 54 with a very high frequency (number of tilts), the tilt data acquisition unit 511 may average the tilt data to lower the frequency, thereby reducing the data reception load on the difference calculation unit 513.

[0125] The target angle storage unit 512 stores the target pitch angle. The target pitch angle may be set so that the loading unit 53 is horizontal, or may be set so that the loading unit 53 is inclined relative to the horizontal. Depending on the characteristics of the workpiece, it may be preferable to load the workpiece on the loading unit 53 in an inclined state.

[0126] A difference calculation unit 513 calculates the difference between the pitch angle of the tilt data and the target pitch angle, and sends the difference data to a calculation unit 514. The calculation unit 514 calculates drive torques of various motors in a motor unit 522 based on PID gains (control coefficients) and the difference data, and sends torque commands to a motor drive unit 517. A control coefficient storage unit 515 stores the PID gains.

[0127] The determination unit 516 determines whether a control signal has been received from the integrated control unit 11. When the mobile robot 1 reaches the coordinates included in the step information, the integrated control unit 11 sends a first control signal to the determination unit 516. The first control signal is a start signal for starting the operation of the gimbal unit 52. When the determination unit 516 receives the first control signal from the integrated control unit 11, it generates a start signal for the operation of the gimbal unit 52 and sends the start signal for the operation of the gimbal unit 52 to the calculation unit 514. When the mobile robot 1 runs over a step in the road surface, the integrated control unit 11 sends a second control signal to the determination unit 516. The second control signal is a stop signal for stopping the operation of the gimbal unit 52. When the determination unit 516 receives the second control signal from the integrated control unit 11, it generates a stop signal for the operation of the gimbal unit 52 and sends the stop signal for the operation of the gimbal unit 52 to the calculation unit 514.

[0128] When the calculation unit 514 receives a signal to start the operation of the gimbal unit 52, it may send a torque command to the motor driver 517. When the calculation unit 514 receives a signal to start the operation of the gimbal unit 52, it may start the supply of power from the mobile robot 1 to the gimbal unit 52 and send a torque command to the motor driver 517. Based on the torque command received from the calculation unit 514, the motor driver 517 generates a motor control signal to control the driving of the motor unit 522.

[0129] When the calculation unit 514 receives a signal to stop the operation of the gimbal unit 52, it may stop the operation of the gimbal unit 52 and cut off the supply of power from the mobile robot 1 to the gimbal unit 52. In this way, the gimbal unit 52 adjusts the tilt of the loading unit 53 while the traveling unit 17 is climbing up the step. By operating the gimbal unit 52 while the mobile robot 1 is climbing up the step, it is possible to reduce the power consumption of the mobile robot 1.

[0130] Fig. 25 is a configuration diagram of the gimbal control unit 51, the gimbal unit 52, and the loading unit 53. In Fig. 23, the loading unit 53 is provided with the inclination measurement device 54, and in Fig. 24, the inclination measurement device 54 is provided with the support mechanism 521. The configuration is not limited to the examples shown in Figs. 23 and 24, and the inclination measurement device 54 may be omitted as shown in Fig. 25.

[0131] In FIG. 25, an IMU or a three-axis gyro sensor is used as the measurement sensor 14. The measurement sensor 14 measures the pitch angle and sends tilt data including the pitch angle to the tilt data acquisition unit 511. The measurement sensor 14 measures the pitch angle of the main body 2 while the mobile robot 1 is climbing up a bump in the road surface. In other words, the measurement sensor 14 measures the pitch angle of the main body 2 when the traveling unit 17 is climbing up a bump in the road surface. The tilt data acquisition unit 511 acquires the tilt data including the pitch angle from the measurement sensor 14 and sends the pitch angle data to the difference calculation unit 513. 25 are the same as those shown in FIGS. 23 and 24. By omitting the installation of the tilt measurement device 54, the cost of the mobile robot 1 can be reduced.

[0132] Ninth Embodiment The ninth embodiment will now be described. In the ninth embodiment, the same components as those in the first to eighth embodiments are designated by the same reference numerals, and their description will be omitted where appropriate. The mobile robots 1 according to the first to ninth embodiments may be combined as appropriate. FIG. 26 is a block diagram showing the configuration of the mobile robot 1 according to the ninth embodiment. In addition to the components of the mobile robot 1 according to the eighth embodiment, the mobile robot 1 according to the ninth embodiment includes a measurement unit 55.

[0133] The gimbal control unit 51 and the gimbal unit 52 are disposed on the upper surface of the main body unit 2, and the measurement unit 55 is disposed on the gimbal unit 52. The loading unit 53 is disposed on the measurement unit 55. The gimbal control unit 51, the gimbal unit 52, the loading unit 53, and the measurement unit 55 may be disposed on top of the main body unit 2. The gimbal control unit 51 may be disposed inside the main body unit 2. Power may be supplied from the mobile robot 1 to the gimbal control unit 51, the gimbal unit 52, and the measurement unit 55.

[0134] Fig. 27 is a top view of measurement unit 55. In one example of measurement unit 55 shown in Fig. 27, load sensors 56A to 56D are arranged on the top surface of measurement unit 55. The number of load sensors 56 (56A to 56D) is not limited to the example shown in Fig. 27, and three load sensors 56 may be arranged on the top surface of measurement unit 55, or five or more load sensors 56 may be arranged on the top surface of measurement unit 55.

[0135] The load sensor 56A measures the load (F1) applied to the load sensor 56A. The load sensor 56B measures the load (F2) applied to the load sensor 56B. The load sensor 56C measures the load (F3) applied to the load sensor 56C. The load sensor 56D measures the load (F4) applied to the load sensor 56D. The load data measured by the load sensors 56A to 56D is sent to the gimbal control unit 51. The gimbal control unit 51 acquires the load data measured by the load sensors 56A to 56D.

[0136] The calculation unit 514 measures the mass of the workpieces loaded on the loading unit 53 based on the load data from the load sensors 56A to 56D. The calculation unit 514 calculates (measures) the position of the center of gravity (load center of gravity position) of the workpieces loaded on the loading unit 53 based on the load data from the load sensors 56A to 56D. The measurement unit 55 may measure the mass of the workpieces loaded on the loading unit 53 based on the load data from the load sensors 56A to 56D, and send the measured mass of the workpieces to the calculation unit 514. The measurement unit 55 may calculate the position of the center of gravity of the workpieces loaded on the loading unit 53 based on the load data from the load sensors 56A to 56D, and send the calculated position of the center of gravity of the workpieces to the calculation unit 514.

[0137] 27 shows, in a plan view (top view), a center line CL1 in the front-to-rear direction of the measurement unit 55, a center line CL2 in the left-to-right direction of the measurement unit 55, and an intersection P1 between the center line CL1 and the center line CL2. Load sensors 56A and 56D are installed on a line L2 that passes through the intersection P1. Load sensors 56B and 56C are installed on a line L3 that passes through the intersection P1. The installation positions of the load sensors 56A to 56D on the top surface of the measurement unit 55 are not limited to the positions shown in FIG. 27. The origin of the coordinates [X1, Y1] of the installation position of the load sensor 56A, the coordinates [X2, Y2] of the installation position of the load sensor 56B, the coordinates [X3, Y3] of the installation position of the load sensor 56C, and the coordinates [X4, Y4] of the installation position of the load sensor 56D may be the intersection P1.

[0138] FIG. 27 shows the distance E1 from the intersection P1 to the installation position of the load sensor 56A and the distance E2 from the intersection P1 to the installation position of the load sensor 56A. Illustrated are a distance E2 from intersection P1 to the installation position of load sensor 56B, a distance E3 from intersection P1 to the installation position of load sensor 56C, and a distance E4 from intersection P1 to the installation position of load sensor 56D. Distances E1 to E4 may be the same, or may be different from one another. Two of distances E1 to E4 (e.g., distances E1 and E2) may be the same, and two other of distances E1 to E4 (e.g., distances E3 and E4) may be the same (in this case, distance E1 ≠ distance E3). Three of distances E1 to E4 (e.g., distances E1, E2, and E3) may be the same (in this case, distance E1 ≠ distance E4).

[0139] The calculation unit 514 may calculate the center of gravity position (coordinates of the center of gravity) of the workpiece loaded on the loading unit 53 using XY coordinates with the origin being the intersection point P1 of the center lines CL1 and CL2 in the measurement unit 55. The calculation unit 514 calculates the center of gravity (Xg) in the X-axis direction of the gimbal unit 52 based on the following (Equation 4), and calculates the center of gravity (Yg) in the Y-axis direction of the gimbal unit 52 based on the following (Equation 5), thereby calculating the center of gravity position (Xg, Yg) of the workpiece loaded on the loading unit 53. Center of gravity position (Xg) of the workpiece loaded on the loading section 53=(F1×X1+F2×X2+F3×X3+F4×X4) / (F1+F2+F3+F4) (Equation 4) Center of gravity position (Yg) of the workpiece loaded on the loading section 53=(F1×Y1+F2×Y2+F3×Y3+F4×Y4) / (F1+F2+F3+F4) (Equation 5) F1 to F4: Loads applied to the load sensors 56A to 56D X1, Y1: Coordinates of the installation position of the load sensor 56A X2, Y2: Coordinates of the installation position of the load sensor 56B X3, Y3: Coordinates of the installation position of the load sensor 56C X4, Y4: Coordinates of the installation position of the load sensor 56B

[0140] The calculation unit 514 adjusts the PID gains based on at least one of the mass of the workpieces loaded on the loading unit 53 and the center of gravity position of the workpieces loaded on the loading unit 53. The calculation unit 514 calculates the drive torques of the various motors in the motor unit 522 based on the adjusted PID gains and the difference data, and sends torque commands to the motor drive unit 517. The calculation unit 514 may store the adjusted PID gains in the control coefficient storage unit 515.

[0141] The measuring unit 55 may have a mass meter or a load cell instead of the load sensors 56A to 56D, and may measure the mass of the workpieces loaded on the loading unit 53. The calculating unit 514 may adjust the PID gain based on the mass of the workpieces loaded on the loading unit 53.

[0142] <Modification> A modification of the ninth embodiment will be described. The host device 200 sends a workpiece transport command, the workpiece mass, and the workpiece center of gravity position to the mobile robot 1. The mobile robot 1 receives the workpiece transport command, the workpiece mass, and the workpiece center of gravity position. The calculation unit 514 adjusts PID gains based on at least one of the workpiece mass and the workpiece center of gravity position received from the host device 200. The calculation unit 514 calculates drive torques for various motors in the motor unit 522 based on the adjusted PID gains and difference data, and sends torque commands to the motor drive unit 517. The calculation unit 514 may store the adjusted PID gains in the control coefficient storage unit 515.

[0143] Each of the processes described above may be considered as a method executed by a computer. Furthermore, a program for causing a computer to execute each of the processes described above may be provided to the computer via a network or from a computer-readable recording medium that non-temporarily stores data.

[0144] <Additional Notes> A running device (1), an acquisition unit (111) that acquires a map of the surroundings of the traveling device (1); an estimation unit (112) that estimates a position of the traveling device on the map; a detection unit (18) that detects a step on a road surface on which the traveling device (1) travels; an adding unit (113) that creates step information regarding the step in the map based on the position of the traveling device (1) in the map when the detection unit (18) detects the step, and adds the step information to the map; A running device (1) equipped with: [Explanation of symbols]

[0145] 1: Mobile robot 11; Integrated control unit 12;Communications Department 13: 2D scanner 14. Measurement sensor 15: Running motion decision unit 16: Travel control unit 17; running part 18: Climbing detection unit 19;Memory part 21; driving wheel 22,23;Auxiliary wheels 30; indicator 31: Mounting status acquisition device 32: 2D shape measurement device 33. Imaging device 41; Mass measuring device 42, 53; Loading section 51: Gimbal control unit 52: Gimbal section 54; Tilt measurement device 200; Upper device

Claims

1. A running device, an acquisition unit that acquires a map of the surroundings of the traveling device; an estimation unit that estimates a position of the traveling device on the map; a detection unit that detects a step on a road surface on which the traveling device travels; an adding unit that creates level difference information regarding the level difference in the map based on the position of the traveling device in the map when the detection unit detects the level difference, and adds the level difference information to the map; an auxiliary wheel that assists the traveling device in climbing up the step; Equipped with the detection unit detects the step when the auxiliary wheel rides over the step; Running gear.

2. the level difference information includes level difference coordinates indicating the position of the level difference on the map; The traveling device according to claim 1 .

3. the step information includes first predetermined coordinates indicating a position on the map that is a predetermined distance away from the position of the step; The traveling device according to claim 1 or 2.

4. the step information includes second predetermined coordinates indicating a position on the map that is a predetermined distance away from the position of the step in a direction opposite to a direction in which the traveling device moves toward the step, The traveling device according to claim 1 or 2.

5. the step information includes an area having a plurality of step coordinates indicating the position of the step on the map; A traveling device according to any one of claims 1 to 4.

6. the step information includes an approach angle of the traveling device to the step, the adding unit determines the entry angle based on the orientation of the traveling device in the map when the detection unit detects the step. The traveling device according to any one of claims 2 to 4.

7. the detection unit has a sensor that detects the height of an object, The detection unit detects the step based on the height of the road surface. A traveling device according to any one of claims 1 to 6.

8. The detection unit measures the height of the step, The step information includes a height of the step. The traveling device according to claim 7.

9. A method for controlling a traveling device having auxiliary wheels that assist the traveling device in climbing over steps on a road surface on which the traveling device is traveling, comprising: an acquisition step of acquiring a map of the surroundings of the traveling device; an estimation step of estimating a position of the traveling device on the map; a detection step of detecting the step; an adding step of creating step information regarding the step in the map based on the position of the traveling device in the map when the step is detected in the detecting step, and adding the step information to the map; Equipped with In the detecting step, the step is detected by the auxiliary wheel riding on the step. A method for controlling a running device.

Images