Map creation systems and programs

Abstract

To reduce a load applied to map production for an autonomously travelable mobile body.SOLUTION: A system converts layout data showing a layout pattern of an area designed by computer support design into map data, sets route data showing a travel route on a map on the basis of a user's operation, checks scan data produced by scanning with a sensor for a mobile body against the map data, and estimates a position in the map of the mobile body on the basis of a check result. The system, while causing the mobile body to travel on the route, acquires the information including a position estimated during traveling and the scan data used for the estimation of each position and produces an environmental map for causing the mobile body to travel from the acquired information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a system and a program for creating a map for a mobile object. [Background technology]

[0002] In factories or warehouses, which are examples of production sites, transport vehicles are used that autonomously travel according to map data to transport parts or products. A method for creating such map data is disclosed, for example, in Japanese Patent Application Laid-Open No. 2019-175137 (Patent Document 1). In Patent Document 1, a mobile object capable of autonomous movement repeatedly scans the surrounding space and outputs sensor data for each scan, compares the sensor data with pre-prepared map data, sequentially outputs position information indicating the position and attitude of the mobile object based on the comparison results, controls a drive device while referring to the output position information to move the mobile object, generates partial map data for the space through which the mobile object is moving using the sensor data, and updates part of the map data with the partial map data (Abstract). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-175137 Summary of the Invention [Problem to be solved by the invention]

[0004] The pre-prepared map data as shown in Patent Document 1 is created manually, for example. More specifically, a user operates a remote control or an operation terminal to move a guided vehicle equipped with a sensor that scans the surroundings, such as a laser or a camera, around an area, causing the vehicle to perform a scanning operation. From the acquired scan data, an environmental map for the guided vehicle to travel on is prepared in advance. In this way, when creating a map in advance, the user uses the remote control or the operation terminal to move the guided vehicle and scan the surrounding space. Therefore, in large factories, warehouses, etc., there is a need to reduce the amount of work required for creating maps.

[0005] An object of the present disclosure is to provide a technology that reduces the burden of creating maps for autonomously traveling mobile bodies. [Means for solving the problem]

[0006] In the map creation system for an autonomously mobile body according to this disclosure, the mobile body has a sensor that scans its surroundings, and the map creation system includes: a conversion means that converts layout data indicating a layout diagram of a predetermined area designed by computer-aided design into map data; a route setting means that accepts user operations and sets route data indicating a route for the mobile body to travel on the map based on the accepted user operations; a position estimation means that compares scan data generated by scanning by the sensor with the map data and estimates the position of the mobile body on the map based on the comparison result; an acquisition means that, while causing the mobile body to travel along the route indicated by the route data, acquires information including a plurality of positions estimated during travel and the scan data used to estimate each of the plurality of positions; and an environmental map creation means that creates an environmental map for traveling along the mobile body from the acquired information.

[0007] According to this disclosure, an environmental map can be created using layout data designed by computer-aided design that shows the layout of a predetermined area, so there is no need to create an environmental map in advance, which reduces the amount of work required to create the environmental map and the burden on the user.

[0008] In the above disclosure, the route setting means displays a map image indicated by the map data on a screen and has a UI (user interface) means for accepting user operations on the screen, and sets route data indicating a route based on user operations on the map image displayed on the screen.

[0009] According to the above disclosure, the UI means can provide the user with an environment that supports setting route data indicating a route on a map.

[0010] In the above disclosure, the route setting means sets a travel route along which the mobile object is to travel as an arrow on the map based on a user operation on a map image displayed on the screen.

[0011] According to the above disclosure, the UI means can provide an environment that allows a route to be set by drawing an arrow on a map image.

[0012] In the above disclosure, the direction and length of the arrow indicate the direction and distance to travel, respectively. Therefore, the UI means can provide an environment that allows specifying the direction and distance of a route by the direction and length of the arrow.

[0013] In the above disclosure, the route setting means sets a plurality of destination points for travel, having an order in which the mobile object is to pass, on the map, based on a user's operation on the screen.

[0014] According to this disclosure, the UI means can provide an environment that enables route setting by setting a plurality of target points having an order relationship on a map image.

[0015] In the above disclosure, the UI means displays on the screen a UI image for accepting a user operation for causing the moving object to start traveling along the set route or a user operation for causing the moving object to stop traveling.

[0016] According to the above disclosure, in the above disclosure, the UI means can provide an environment on the screen for setting a route that enables a user to perform a user operation to cause a mobile object to start traveling along a route or to stop the traveling.

[0017] A program according to the present disclosure is a program for causing a processor to execute a method for creating a map for an autonomously moving object. The object has a sensor for scanning its surroundings. The method includes the steps of: converting layout data representing a layout of a predetermined area designed by computer-aided design into map data; accepting a user operation and setting route data representing a route along which the object will travel on the map based on the accepted user operation; comparing scan data generated by the sensor scan with the map data and estimating the position of the object on the map based on the comparison result; acquiring information including multiple positions estimated during the travel of the object and the scan data used to estimate each position while the object is traveling along the route indicated by the route data; and creating an environmental map along which the object will travel based on the acquired information.

[0018] According to the above disclosure, an environmental map can be created using layout data designed by computer-aided design that shows the layout of a predetermined area, so there is no need to create an environmental map in advance, which reduces the amount of work required to create the environmental map and the burden on the user. [Effects of the Invention]

[0019] According to the present disclosure, the amount of work required to create a map for a mobile body that can travel autonomously can be reduced. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram schematically showing an overview of a map creation system 1 according to an embodiment. [Figure 2] 1 is a block diagram showing an example of the hardware configuration of a driving control device 100 according to the present embodiment. [Figure 3] FIG. 2 is a block diagram showing an example of the hardware configuration of an autonomous guided vehicle 300 according to the present embodiment. [Figure 4] 1 is a diagram showing an example of a module configuration of a driving control device 100 according to the present embodiment. [Figure 5] FIG. 2 is a diagram showing an example of a module configuration of an autonomous guided vehicle 300 according to the present embodiment. [Figure 6] 1 is a diagram showing an example of the appearance of a device according to an embodiment of the present invention; [Figure 7] 3 is a flowchart schematically showing the overall process of creating a map according to the present embodiment. [Figure 8] FIG. 8 is a diagram showing an example of a layout indicated by CAD data imported in step S10 of FIG. 7. [Figure 9] 8 is a flowchart showing a specific example of the processing in steps S13 and S15 of FIG. 7. [Figure 10] 8 is a flowchart showing an example of a process for setting a route in step S17 of FIG. 7. [Figure 11] FIG. 10 is a diagram showing an example of a scan area setting screen according to the present embodiment. [Figure 12] 8 is a flowchart showing another example of the process of setting a route in step S17 of FIG. 7. [Figure 13] FIG. 10 is a diagram showing another example of the scan area setting screen according to the present embodiment. [Figure 14] FIG. 10 is a diagram showing an example of a display screen showing a result of self-location estimation according to the present embodiment. [Figure 15] FIG. 4 is a diagram showing an example of a display screen during driving according to the present embodiment. [Figure 16] FIG. 2 is a diagram showing an example of a display of an environment map according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, the same parts and components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

[0022] <Terminology> The terms used in this specification will be explained together with the related art.

[0023] The term "moving body" refers to a device configured to be movable by generating a driving force for movement. An "autonomous transport vehicle" refers to a computer-equipped vehicle or robot that has wheels, a drive unit for the wheels, and a member for placing or storing cargo, and that travels autonomously to a specified location. An autonomous transport vehicle may also transport people. An "autonomous transport vehicle" is an example of a moving body.

[0024] The "travel control device" corresponds to a computer that manages the travel of the mobile object by communicating with the mobile object.

[0025] "Autonomous driving" means that a mobile object drives by controlling a drive unit to generate a driving force in accordance with a driving command. The driving command includes a command generated by a computer equipped in the mobile object, or a command generated by a computer in a driving control device and transferred to the mobile object.

[0026] "Layout data" refers to data that shows a layout diagram of equipment, walls, etc. that will be placed in a predetermined area such as a factory or warehouse, and is data that represents a layout diagram designed with the assistance of a computer. Layout data includes data designed using, for example, CAD (Computer Aided Design).

[0027] "Map data" indicates an area as spatial information defined in a multidimensional coordinate system. More specifically, the map data indicates the environment around each position in the space, i.e., the surface shapes of surrounding objects (facilities, walls, etc.), in association with coordinate values ​​indicating each position in the space, using multidimensional coordinate values. In this embodiment, the driving control device and the mobile body are configured to use a common coordinate system.

[0028] A "laser scanner" comprises a light source that emits laser light and a light receiving unit that receives reflected light, and by rotating horizontally left and right by a predetermined angle around the light source, the laser light is swung within a scanning angle range (a surface on which the direction of the laser scanner can be changed) and measures the distance to surrounding objects from the time it takes for the reflected laser light (laser light reflected by objects such as equipment or walls) to return. The distance measuring device is not limited to a laser scanner, and can be, for example, a camera (or image sensor), LIDAR (Light Detection and Ranging), millimeter-wave radar, or a magnetic sensor.

[0029] "Scan data" refers to data obtained by measurement using a laser scanner (hereinafter also referred to as laser scanning). When the scanning angle range of a laser scanner is, for example, 240 degrees, and the laser scanner measures distance by rotating the angle by 1 degree, the data indicates the distance from the position of the laser scanner (i.e., coordinate values ​​indicating the position of the mobile object equipped with the laser scanner) to each of 240 points on the surface.

[0030] "Surface shape information" is obtained from such scan data as a point cloud, which is the coordinate values ​​of each of 240 points on the surface, using the coordinate values ​​of the laser scanner and the distance to each of the 240 points on the surface, and the coordinate values ​​of each point in such a point cloud indicate surface shape information, more specifically, cross-sectional surface shape information.

[0031] "Self-position estimation" indicates estimating the position of a moving object on a map based on scan data. More specifically, in self-position estimation, scan data is compared with map data, and based on the result of the comparison, coordinate values associated with a surface shape that is estimated to match the surface shape indicated by the scan data are determined as the position of the moving object. In the present embodiment, the coordinate system commonly handled by the travel control device and the moving object is a two-dimensional coordinate system defined by X and Y. In this case, a self-position (Xc, Yc, θc) is estimated as the coordinate value indicating the position of the moving object on the map. Note that the value θc indicates the orientation of the moving object, more specifically, the turning angle.

[0032] "Environmental map" refers to a map of an area created by the map creation system according to the present disclosure, and indicates a map used for an autonomous vehicle to travel in the area. The environmental map includes, for each position in the area, the coordinate value of the position and the surface shape information of the surrounding environment (that is, the coordinate values of 240 point clouds).

[0033] <A. Application Example> First, referring to FIG. 1, an example of a scenario to which the present invention is applied will be described. FIG. 1 is a diagram schematically showing an overview of a map creation system 1 according to an embodiment. The map creation system 1 in FIG. 1 is applied, for example, to create an environmental map within a factory.

[0034] The map creation system 1 includes a travel control device 100, one or more autonomous transport carts 300 that communicate with the travel control device 100 via a wireless network 30, and a PC (Personal Computer) 200 that communicates with the travel control device 100 via a network 45. The wireless network 30 includes a Wi-Fi router as a repeater. For the wireless network 30, for example, the IEEE802.11 standard can be applied. For the network 45, for example, a LAN (Local Area Network) or a USB (Universal Serial Bus) can be applied. Note that although the PC 200 is described as exchanging data with the travel control device 100 via the network 45, the PC 200 may exchange data via a storage medium such as a USB memory or a memory card.

[0035] The PC 200 is equipped with a CAD tool. A user uses the CAD tool to create CAD data 50 that shows a layout diagram of objects such as production line equipment and walls for an area within a factory. The PC 200 transfers the created CAD data 50 file to the driving control device 100.

[0036] The driving control device 100 converts the layout drawing represented by the CAD data into map data (step R1). This conversion converts the CAD file format (for example, file formats such as DWG, STEP, DXF, and DWF) into a map file format (for example, a file with the extension .map). This creates temporary map data representing a temporary map. Note that a known method can be used to convert the format of the CAD drawing file into the file format of map data, and therefore detailed description thereof will not be repeated here.

[0037] The driving control device 100 sets a route for the autonomous guided vehicle 300 to travel on the map indicated by the map data based on user operation (step R2). More specifically, for route setting, the driving control device 100 displays a map indicated by temporary map data on a screen and provides a UI (user interface) tool for accepting user operation on the screen. The driving control device 100 sets a route for the autonomous guided vehicle 300 to travel on the temporary map based on user operation for route setting on the screen.

[0038] Once the temporary map with the travel route set thereon is acquired, the travel control device 100 creates an environmental map while exchanging scan data and travel commands with the autonomous guided vehicle 300 (steps R3 to R7).

[0039] First, the autonomous guided vehicle 300 is placed at the start position of the travel route. At the start position, the autonomous guided vehicle 300 performs a laser scan, acquires scan data, and transfers the acquired scan data to the travel control device 100 (step R5).

[0040] The driving control device 100 estimates its own position based on the scan data transferred from the autonomous transport vehicle 300 at the start position, and transfers a driving command based on the estimated own position (Xc, Yc, θc) to the autonomous transport vehicle 300 (steps R3, R4).

[0041] More specifically, the driving control device 100 compares its own position (Xc, Yc, θc) estimated on the temporary map with the position (coordinate values) of the route set on the temporary map, determines the direction to travel on the route based on the comparison result, generates a driving command to travel in the determined direction, and transfers it to the autonomous guided vehicle 300. The autonomous guided vehicle 300 travels in accordance with the driving command transferred from the driving control device 100 (step R6). In this way, the autonomous guided vehicle 300 starts from the start position and travels along the route.

[0042] The autonomous guided vehicle 300 repeatedly performs laser scanning while traveling. Each time the autonomous guided vehicle 300 performs a laser scan, it transfers the acquired scan data to the travel control device 100. Each time the travel control device 100 receives scan data transferred from the autonomous guided vehicle 300, it performs self-position estimation and travel command transmission processing (steps R3 and R4). The travel control device 100 also associates the received scan data with travel information and stores it as scan information. The travel information indicates the difference between the self-position (Xc, Yc, θc) when laser scanning at the previous time t(j) and the self-position (Xc, Yc, θc) when laser scanning at the current time t(j+1).

[0043] In this way, the autonomous transport vehicle 300 can travel along a route on a virtual map by repeatedly receiving driving commands based on its own position estimated from the driving control device 100 and continuing to travel in accordance with the received driving commands.

[0044] When the autonomous guided vehicle 300 reaches the goal of the route, the travel control device 100 transfers a travel command to stop the autonomous guided vehicle 300. When the autonomous guided vehicle 300 arrives at the goal, the scan information stored in the travel control device 100 indicates information including, in chronological order, sets of (scan data, travel information) acquired while traveling from the start position to the goal position of the route.

[0045] The driving control device 100 creates an environmental map from the scan information (step R7). Once the environmental map has been created, each time the driving control device 100 receives scan data from an autonomous guided vehicle 300, it estimates the autonomous position of the autonomous guided vehicle 300 based on the environmental map and generates a driving command for the autonomous guided vehicle 300, and transfers the generated driving command to the autonomous guided vehicle 300. This allows one or more autonomous guided vehicles 300 to autonomously drive within the area according to the environmental map.

[0046] Such an environmental map can be created using CAD data 50 that shows the layout of the area in which the autonomous transport vehicle 300 should travel, so there is no need to create the environmental map in advance, which reduces the amount of work required to create the environmental map and the burden on the user.

[0047] Once the environmental map is created by the above-described procedure, the autonomous guided vehicle 300 can travel according to the environmental map. For example, a case where the environmental map is installed in the autonomous guided vehicle 300 will be described.

[0048] When data of the environmental map is transferred from the travel control device 100, the autonomous transport cart 300 installs the transferred environmental map data in the storage unit of the autonomous transport cart 300 and autonomously travels inside the factory according to the installed environmental map. More specifically, the autonomous transport cart 300 repeatedly performs laser scanning while traveling along a predetermined route to a designated target position, collates the scan data obtained in each laser scan with the data of the environmental map, estimates its own position based on the collation result, and generates a travel command for moving to the designated target position based on the estimated own position (Xc, Yc, θc). By controlling the drive device according to the travel command and causing the autonomous transport cart 300 to travel, the target position can be reached.

[0049] Note that the estimation of the own position (Xc, Yc, θc) and the generation of the travel command using the environmental map may be performed by the travel control device 100 instead of the autonomous transport cart 300. In that case, the autonomous transport cart 300 transfers the scan data to the travel control device 100, and the travel control device 100 collates the scan data with the data of the environmental map, estimates its own position based on the collation result, and generates a travel command for moving to the designated target position based on the estimated own position (Xc, Yc, θc). The generated travel command is transferred to the autonomous transport cart 300. The autonomous transport cart 300 controls the drive device according to the travel command transferred from the travel control device 100 and autonomously travels to reach the target position.

[0050] <B. Configuration Example> FIG. 2 is a block diagram showing a hardware configuration example of the travel control device 100 according to the present embodiment. Referring to FIG. 2, the travel control device 100 includes, as main components, a timer 101, a processor 103, a memory 104, a storage 105, a communication interface 120 for communicating with the PC 200, a memory card interface 128, a wireless communication interface 130 for communicating with the autonomous transport cart 300, and an operation panel 140. These components included in the travel control device 100 are communicably connected to each other via an internal bus 102.

[0051] The processor 103 reads out programs stored in the storage 105, expands the read out programs in the memory 104, and executes the expanded programs to realize various processes. The memory 104 mainly includes a volatile storage device. For example, the memory 104 includes a dynamic random access memory (DRAM) and a static random access memory (SRAM).

[0052] The storage 105 stores a system program 106 including an OS (Operating System), a communication program 107, a map creation program 108 for creating an environmental map, and various data. Under the control of the system program 106, the processor 103 executes the communication program 107 and the map creation program 108 while appropriately referencing data. The storage 105 includes, for example, a non-volatile storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0053] The communication program 107 controls the communication interface 120 or the wireless communication interface 130 for communicating with the PC 200 or the autonomous guided vehicle 300. The map creation program 108 includes a conversion program 401 that converts a CAD data 50 file into a map data file, a self-position estimation program 402, a command generation program 403 that generates a driving command, a route setting program 404 that sets a route on a temporary map in accordance with user operations using a UI tool 3A (described below), and a scan information program 405 that manages the scan information described above. The storage 105 also stores the CAD data 50 in file format, temporary map data 113, scan information 114, environmental map data 115, and configuration information 118. The configuration information 118 includes information used by the driving control device 100 to manage one or more autonomous guided vehicles 300, such as a communication address and a laser scan range.

[0054] The memory card interface 128 is configured to allow a memory card 129 to be attached and detached, and is capable of writing data to the memory card 129 and reading various data (such as the map creation program 108 and various data including the CAD data 112) from the memory card 129. The memory card 129 is a small storage medium, and includes, for example, a flash memory, and specifically includes an SD card.

[0055] The operation panel 140 includes an operation unit 141 such as a keyboard or a mouse for receiving user operations, and a display unit 142 such as a display. The operation unit 141 and the display unit 142 may be provided as an integrated touch panel.

[0056] Fig. 3 is a block diagram showing an example of the hardware configuration of an autonomous guided vehicle 300 according to this embodiment. Referring to Fig. 3, the autonomous guided vehicle 300 includes, as main components, a processor 303, a memory 304, a storage 306, a wireless communication interface 320 for communicating with the travel control device 100, a panel interface 330 for exchanging data with an operation panel 150 that accepts user operations, a laser scanner 341, a sensor group 340 including various sensors, and a drive unit 350 connected to wheels 360. These components included in the autonomous guided vehicle 300 are connected to each other via an internal bus 301 so as to be able to communicate with each other.

[0057] The processor 303 performs various processes by reading out various programs stored in the storage 306, expanding them in the memory 304, and executing them. The memory 304 is made up of a volatile storage device such as a DRAM or an SRAM. The storage 306 is made up of a nonvolatile storage device such as an HDD, and stores an autonomous driving program 307 that outputs control signals to control the drive device in accordance with driving commands, a scan program 309 that drives the laser scanner 341 and processes detection signals from the laser scanner 341 to obtain scan data, and a communication program 310 for communicating with the driving control device 100.

[0058] The sensor group 340 includes various sensors such as an infrared sensor for detecting obstacles around the autonomous guided vehicle 300 and a contact sensor for detecting contact with an object. Note that instead of an infrared sensor, a laser scanner 341 can also be used as a sensor for obstacle detection.

[0059] The driving device 350 is controlled to drive the wheels 360 by a control signal output by the autonomous driving program 307. The driving device 350 includes an actuator such as a servo motor.

[0060] The autonomous transport vehicle 300 is driven, for example, by a battery (not shown) installed on it. If the battery runs out (voltage drops), the autonomous transport vehicle 300 waits at a charging station (not shown) to be charged.

[0061] In the autonomous guided vehicle 300, the axles of the wheels 360 are connected to the shaft of a motor serving as a drive unit 350 that provides driving force. The autonomous guided vehicle 300 controls the rotation amount (rotation direction, rotation speed, etc.) of the motor in accordance with a travel command, thereby rotating the wheels 360 in conjunction with the rotation of the motor, thereby traveling autonomously. The autonomous guided vehicle 300 is configured to travel using, for example, multiple wheels 360, and by individually controlling the rotation amount of the motor connected to each wheel 360 in accordance with the turning angle included in the travel command 20, the autonomous guided vehicle 300 rotates by a different rotation amount for each wheel 360 at an angle in accordance with the command. This allows the autonomous guided vehicle 300 to turn and travel in a direction in accordance with the travel command. In this embodiment, for simplicity of explanation, the autonomous guided vehicle 300 is configured to travel at a constant speed.

[0062] Fig. 4 is a diagram showing an example of the module configuration of the travel control device 100 according to this embodiment. Fig. 5 is a diagram showing an example of the module configuration of the autonomous guided vehicle 300 according to this embodiment. Figs. 4 and 5 show modules that are realized by a processor executing a program or the like.

[0063] Referring to Figure 4, the driving control device 100 includes a conversion unit 131 that formally converts a file of CAD data 50 transferred from the PC 200 or the memory card 129 into a file of temporary map data 113 by executing a conversion program 401, a communication control unit 132 that constitutes a module corresponding to the communication program 107, a route setting unit 133 that constitutes a module corresponding to the route setting program 404, an environmental map generation unit 134 that constitutes a module realized by executing the map creation program 108, a self-position estimation unit 135 that constitutes a module corresponding to the self-position estimation program 402, and a driving command unit 136 that constitutes a module corresponding to the command generation program 403.

[0064] Referring to Figure 5, the autonomous transport vehicle 300 includes a scan processing unit 31 that constitutes a module corresponding to the scan program 309, a driving control unit 32 that constitutes a module corresponding to the autonomous driving program 307, and a panel control unit 33 that constitutes a module that controls the panel interface 330 to exchange data with the operation panel 150.

[0065] The modules shown in Figure 4 or Figure 5 may be realized by corresponding programs being executed by one or more processors such as processor 103 or processor 303, or may be realized by a combination of a program and a circuit such as an ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array).

[0066] FIG. 6 is a diagram showing an external appearance example of the device according to the present embodiment. Referring to FIG. 6, the travel control device 100 uses the router of the network 45 as a repeater to exchange scan data 10 and travel commands 20 with the autonomous transport cart 300. On the housing of the autonomous transport cart 300, a laser scanner 341 is mounted on the side surface, and an operation panel 150 is mounted so that the user can operate it. The detection range of the laser scanner 341 is not limited, but for example, it is 16 meters and 240 degrees. The operation panel 150 has a display for displaying information and various operation buttons, and is connected to the housing via a communication cable and mounted.

[0067] <C. Processing> The processing related to map creation will be described in association with the data used in the processing.

[0068] (c1. Overall processing) FIG. 7 is a flowchart schematically showing the overall processing of map creation according to the present embodiment. First, the travel control device 100 imports CAD data 50 from the PC 200 (or the memory card 129) and formally converts the imported CAD data 50 into temporary map data 113 (step S10). At this time, the travel control device 100 arranges an entry prohibited area on the temporary map at locations where entry is prohibited, such as facilities, devices, and walls (step S13). This arrangement is adjusted by user operation, and then the temporary map is stored as temporary map data 113 (step S15).

[0069] The travel control device 100 uses the UI tool 3A to display the map image shown by the temporary map data 113 on the screen of the display unit 142, and sets the path specified for the map image on the screen in the temporary map according to the user operation received from the operation unit 141 (step S17).

[0070] The user places the autonomous transport cart 300 in the area where it travels in the factory, operates the operation panel 150, turns on the power of the autonomous transport cart 300, and then instructs the start of the laser scan. This start instruction may be implemented in response to the operation of a button 75 described later.

[0071] In response to the instruction, the autonomous guided vehicle 300 starts laser scanning and transfers the acquired scan data 10 to the driving control device 100 (step S19). Thereafter, the driving control device 100 performs self-position estimation based on the scan data 10 transferred from the autonomous guided vehicle 300 (step S21), generates a travel command 20 from the estimated self-position (Xc, Yc, θc), and transfers the generated travel command 20 to the autonomous guided vehicle 300 (step S23). The autonomous guided vehicle 300 performs scan traveling in which it performs laser scanning while traveling in accordance with the travel command 20 received from the driving control device 100, and transfers the scan data 10 to the driving control device 100. Each time scan data 10 is transferred from the autonomous transport vehicle 300, the driving control device 100 receives the transferred scan data 10, generates a set that associates the received scan data 10 with driving information, and stores the set as scan information 114 in chronological order in the order in which the scan data 10 was received (transferred) (step S25).

[0072] When the autonomous guided vehicle 300 reaches the goal position of the route, scan information 114 is acquired, which includes a plurality of sets of scan data 10 and travel information acquired while traveling from the start position to the goal position, in time series. After the autonomous guided vehicle 300 reaches the goal position, the travel control device 100 creates environmental map data 115 showing an environmental map based on the scan information 114 (step S27).

[0073] Steps S10, S13 and S15 in FIG. 7 correspond to step R1 in FIG. 1, step S17 corresponds to step R2, step S21 corresponds to step R3, step S23 corresponds to steps R4 and R6, and steps S25 and S27 correspond to steps R5 and R7, respectively.

[0074] In the process of FIG. 7, the autonomous guided vehicle 300 travels in one direction from the start position to the goal position to create the environmental map, but it may also travel back and forth. That is, when the autonomous guided vehicle 300 reaches the goal position, it turns 180 degrees and travels a route (return route) from the goal position back to the start position. The process of steps S21 to S25 in FIG. 7 is also performed during this return route. In this way, by having the autonomous guided vehicle 300 travel back and forth along the route, the amount of information in the scan information 114 can be increased, and the accuracy of the environmental map can be improved. In addition, the start and end of traveling while scanning the route may be performed in response to a user's button operation via the operation panel 150 or the operation of buttons 75 and 76, which will be described later.

[0075] (c2.Layout shown in CAD data) Fig. 8 is a diagram showing an example of a layout indicated by the CAD data imported in step S10 of Fig. 7. Referring to Fig. 8, CAD data 50 shows that equipment related to production lines and stocker equipment for stocking parts and products are laid out. In Fig. 8, the following production lines are laid out: a production line having equipment EQ-A01 to EQ-A06, a production line having equipment EQ-B01 to EQ-B06, a production line having equipment EQ-C01 to EQ-C06, a production line having equipment EQ-D01 to EQ-D06, a production line having equipment EQ-E01 to EQ-E06, and a production line having equipment EQ-F01 to EQ-F06.

[0076] (c3. Process for creating a temporary map) 9 is a flowchart showing a specific example of the processing in steps S13 and S15 in FIG. 7. The driving control device 100 scans the temporary map data 113 converted in step S10 (step S30). Based on the scan results, the driving control device 100 determines whether objects such as facilities and walls are laid out on the temporary map (step S31). If it determines that these objects are not laid out (NO in step S31), the processing ends. However, if it determines that these objects are laid out (YES in step S31), the driving control device 100 places no-entry areas in the positions (areas) where these objects are laid out so that the autonomous guided vehicle 300 cannot enter the detected objects (step S33), and stores the temporary map data 113 in which the no-entry areas are placed (step S35). Furthermore, the driving control device 100 may accept a user operation, adjust the temporary map in accordance with the accepted user operation, and save the adjusted information by overwriting the temporary map data 113 (step S37).

[0077] (c4. An example of a process for setting a route) Fig. 10 is a flowchart showing an example of the process of setting a route in step S17 of Fig. 7. In this embodiment, the route set on the temporary map has the concept of a line or a surface (area). Fig. 11 is a diagram showing an example of a scan area setting screen according to this embodiment. In the process of Fig. 10, as shown in Fig. 11, a route is set on the temporary map using a line indicated by an arrow 70. The direction of the arrow indicates the direction of travel, and the length of the arrow indicates the distance.

[0078] 10, driving control device 100 uses UI tool 3A to display a scan area setting screen on display unit 142 (step S40). An image of a temporary map based on temporary map data 113 is displayed on the scan area setting screen.

[0079] The driving control device 100 receives a user operation on the image of the temporary map via the operation unit 141, and inputs the route indicated by the received user operation (step S41). When a user operation to end the route input is received (step S43), the driving control device 100 performs a process of setting (adding) the route data to the temporary map data 113 (steps S45, S47, S49).

[0080] More specifically, the route is indicated by arrowed lines. For each of the multiple arrowed lines constituting the route input by user operation, the cruise control device 100 includes in the temporary map data 113 the coordinates (x, y, θ) of the start end and end end of the arrowed line and the length of the arrowed line. Furthermore, of the multiple arrowed line start ends, a start position identifier is added to the start end that the user has specified as the start position of the route. Similarly, of the multiple arrowed line end ends, a finish position identifier is added to the end end that the user has specified as the finish position of the route. In this way, the temporary map data 113 includes data indicating the route set by the user.

[0081] Referring to FIG. 11 , the scan area setting screen displays an image of a temporary map including a partial image of the no-entry area 73. The user uses the mouse to draw an arrow on the screen displaying the image of the temporary map, avoiding the no-entry area 73. In FIG. 11 , icons indicating a start position 71 and a goal position 72 specified by a user operation, and an icon 42e of the autonomous guided vehicle 300 are superimposed on the image of the temporary map. On the screen of FIG. 11 , a button 75 for starting scan travel on the route and a button 76 for ending scan travel are displayed. In this manner, the UI tool 3A displays the buttons 75 and 76 on the screen as UI images for accepting a user operation for starting scan travel by the autonomous guided vehicle 300 along the set route and a user operation for stopping the scan travel. The user can start scan travel by the autonomous guided vehicle 300 along the route by operating the button 75. The user can stop scan travel by the autonomous guided vehicle 300 by operating the button 76.

[0082] The driving control device 100 transfers to the autonomous guided vehicle 300 a driving command 20 to start scanning when button 75 is operated, and a driving command 20 to stop scanning when button 76 is operated. Every time the driving control device 100 performs self-location estimation, it updates the screen of FIG. 11 so that an icon 42e is displayed at a position on the virtual map image of FIG. 11 that corresponds to the estimated self-location (Xc, Yc, θc). In this way, the user is visually notified of the current location of the autonomous guided vehicle 300. The notified current location of the autonomous guided vehicle 300 can be support information for determining the timing to operate button 75 or button 76.

[0083] Note that one of the buttons 75 and 76 may be displayed on the screen of FIG. 11, and the other operation button may be a hardware key (button) on the operation panel 150 or the like.

[0084] (c5. Another example of the process for setting a route) FIG. 12 is a flowchart showing another example of the route setting process in step S17 of FIG. 7. FIG. 13 is a diagram showing another example of a scan area setting screen according to this embodiment. In FIG. 13, instead of the above-mentioned arrows, only the coordinates (x, y, θ) of the start and end points of the arrows are set as information 137 of points Gn (where n=1, 2, 3, . . .) on a virtual map. That is, multiple target points (points Gn) for travel with a passing order (n=1, 2, 3, . . .) are set. The information 137 indicates each position to turn after starting straight travel from the start position 71 as points Gn. θ of point Gn indicates data on the angle at which the turn should be made. The screen of FIG. 13 may also be configured to accept operation of buttons 75 and 76, as in FIG. 11. The information 137 may be displayed as a separate screen.

[0085] 12, driving control device 100 uses UI tool 3A to display a scan area setting screen on display unit 142 (step S50). The scan area setting screen includes an image of a temporary map based on temporary map data 113.

[0086] The driving control device 100 receives a user operation on the image of the temporary map via the operation unit 141, and inputs a plurality of points Gn indicated by the received user operation (step S51). When a user operation to end the input of points Gn is received, information 137 having coordinates (x, y, θ) and a turning angle for each point Gn is set in the temporary map data 113 (step S53).

[0087] According to such a set route, the driving control device 100, as a self-position estimation unit 135 and a driving command unit 136, estimates the current self-position (Xc, Yc, θc), compares the estimated self-position with the position of each point Gn in the information 137 held by the provisional map data 113, determines the target direction to the next Goal Gi (i=1, 2, 3, . . . n) based on the comparison result, generates a driving command 20 to drive the autonomous guided vehicle 300 in the determined target direction, and transfers it to the autonomous guided vehicle 300.

[0088] (c6. Adjustment of estimated self-position) 14 is a diagram showing an example of a display screen showing the result of self-location estimation according to this embodiment. The driving control device 100, as the self-location estimation unit 135, collates the scan data 10 transferred from the autonomous guided vehicle 300 with the provisional map data 113, and derives a degree of match 42f indicating the degree of match (degree of similarity) in the surface shape based on the result of the collation.

[0089] 14, the driving control device 100, as the self-position estimation unit 135, displays a degree of coincidence 42f and an icon 42e at the current position of the autonomous guided vehicle 300. In addition, a point cloud 42c indicating the shape of the surface indicated by the scan data 10 and a point cloud 42d indicating the shape of the surface indicated by the temporary map data 113 are plotted and displayed. The degree of separation (amount of deviation) between the plot positions of the point cloud 42c and the point cloud 42d correlates with the degree of coincidence 42f.

[0090] Based on the degree of separation or the degree of agreement 42f of these point groups, the user performs an operation to adjust the position or orientation of the icon 42e so that the degree of separation becomes smaller or the degree of agreement 42f becomes larger.

[0091] More specifically, the user performs a slide operation or the like via the operation unit 141 to adjust the position or orientation of the icon 42e on the screen of the display unit 142. The travel control device 100 determines a turning angle based on the amount of the slide operation, and generates a travel command 20 so that the determined turning angle is included. By transferring the travel command 20 adjusted based on the degree of agreement 42f or the degree of separation, it is possible to increase the accuracy with which the autonomous guided vehicle 300 travels along the route.

[0092] (c7. Example of display screen while driving) Fig. 15 is a diagram showing an example of a display screen during driving according to this embodiment. Referring to Fig. 15, the driving control device 100, as the self-position estimation unit 135, displays the screen of Fig. 15 on the display unit 142. The screen of Fig. 15 displays an image of a temporary map, and also displays, superimposed on the image of the temporary map, an icon 42e at the estimated self-position (current position) and a partial image 74 showing the surrounding environment to be laser scanned at the estimated self-position. From the screen of Fig. 15, the user can understand the surrounding environment to be laser scanned.

[0093] (c8. Environmental Map) 16 is a diagram showing an example of the display of an environmental map according to this embodiment. Environmental map data 115 created in accordance with scan information 114 is displayed on the display screen as an image in which a point cloud indicating the surface shape indicated by scan data 10 is plotted along the estimated own position continuing from the start position indicated by the travel information to the ghoul position.

[0094] Referring to FIG. 16, partial images 138 and 139 show images corresponding to the surrounding environment indicating the scanned surface shape. Partial image 139 shows the point cloud of the surface shape of the stocker obtained by laser scanning, and partial image 138 shows the point cloud of the surface shape of the equipment on each production line obtained by laser scanning. An image 73A corresponding to the prohibited entry area between partial images 138 and 139 shows the prohibited entry area remaining when creating the environmental map. Since the entry of the autonomous transport cart 300 between each equipment is prohibited, the image remains in the environmental map without being deleted.

[0095] <D. Modified Example> The information on the display screen shown above may be transmitted from the travel control device 100 to the autonomous transport cart 300, and the autonomous transport cart 300 may display the received screen information on the display of the operation panel 150. In this case, user operations on the screen are received via the operation panel 150. Also, the role of receiving user operations instructing travel start and travel stop provided by buttons 75 and 76 as UI images may be assigned to the hardware buttons of the operation panel 150.

[0096] Furthermore, in the above-described map creation system 1, the driving control device 100 is treated as a map creation device that creates an environmental map. However, in another aspect, the map creation device may be provided in the autonomous guided vehicle 300. More specifically, the autonomous guided vehicle 300 is configured to include a self-position estimation unit 135 and a driving command unit 136. In this case, the driving control device 100 generates temporary map data 113 in which a route is set from the CAD data 50 and transfers the temporary map data 113 to the autonomous guided vehicle 300. The autonomous guided vehicle 300 operates as the self-position estimation unit 135 and the driving command unit 136 using the transferred temporary map data 113 to generate environmental map data 115. Furthermore, in yet another aspect, the autonomous guided vehicle 300 may be configured to include a conversion unit 131, a route setting unit 133, an environmental map generation unit 134, a self-position estimation unit 135, and a driving command unit 136, all of which are included in the driving control unit 32. According to this configuration, the map creation system 1 can be realized in the autonomous guided vehicle 300 independently, i.e., without cooperation with the travel control device 100. In this way, the map creation system 1 can include a system configured by the travel control device 100 and the autonomous guided vehicle 300 working together, and a system configured only with the autonomous guided vehicle 300.

[0097] <E.プログラム> The processor 103 of the driving control device 100 executes the program in the storage 105, and the processor 303 of the autonomous guided vehicle 300 executes the program in the storage 306, thereby providing an environment for creating an environmental map.

[0098] Programs and data for realizing an environment for creating an environmental map may be downloaded to storage 105 or storage 306 via network 45 or wireless network 30. Alternatively, it may be downloaded to storage 105 or storage 306 via a recording medium such as memory card 129. Such a recording medium is a medium that accumulates information such as programs by electrical, magnetic, optical, mechanical, or chemical action so that computers and other devices, machines, etc. can read the information such as programs recorded thereon.

[0099] <F. Appendix> The present embodiment as described above includes the following technical ideas. [Configuration 1] A map creation system (1) for a mobile body (300) capable of autonomous movement, where the mobile body has a sensor (341) for scanning the surroundings, and the map creation system conversion means (131) for converting layout data (50) showing a layout diagram of a predetermined area designed by computer-aided design into map data (113) for the area; route setting means (133) for receiving a user operation and setting route data (70, 137) indicating a route for the mobile body to travel on the map based on the received user operation; position estimation means (135) for collating scan data (10) generated by scanning by the sensor with the map data and estimating the position of the mobile body on the map based on the collation result; acquisition means (405) for acquiring information (114) including a plurality of the positions estimated during travel and the scan data used for estimating each of the plurality of positions while the mobile body travels along the route indicated by the route data; and environmental map creation means (134) for creating an environmental map (115) for causing the mobile body to travel from the acquired information. A map creation system. [Configuration 2] The route setting means a UI (user interface) means (3A) for displaying a map image indicated by the map data on a screen and accepting user operations on the screen; 2. The map creation system according to configuration 1, wherein route data indicating the route is set based on the user's operation on the map image displayed on the screen. [Configuration 3] The route setting means 3. The map creation system according to configuration 2, wherein a travel route along which the mobile object is to travel is set as an arrow (70) on the map based on the user's operation on the map image displayed on the screen. [Configuration 4] 4. The mapping system of claim 3, wherein the direction and length of the arrow indicate a direction and distance to travel, respectively. [Configuration 5] The route setting means 3. The map creation system according to configuration 2, wherein a plurality of target points (Gn) for travel having an order in which the moving object is to pass on the map are set based on the user's operation on the screen. [Configuration 6] The map creation system according to any one of configurations 2 to 5, wherein the UI means displays, on the screen, UI images (75, 76) that accept a user operation to cause the moving object to start traveling along the set route or a user operation to stop the traveling. [Configuration 7] A program for causing a processor to execute a method for creating a map of an autonomously movable body (300), The moving body has a sensor (341) that scans the surroundings, The method comprises: A step of converting layout data (50) representing a layout drawing of a predetermined area designed by computer-aided design into map data (113); receiving a user operation and setting route data indicating a route along which the mobile object is to travel on the map based on the received user operation; a step of comparing scan data (10) generated by scanning with the sensor with the map data, and estimating the position of the moving object on the map based on the comparison result; a step of acquiring information (114) including a plurality of positions estimated during travel of the mobile body along the route indicated by the route data and the scan data used to estimate each of the plurality of positions; and creating an environmental map (115) for traveling the mobile object from the acquired information.

[0100] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0101] 1 Map creation system, 10 Scan data, 20 Travel command, 31 Scan processing unit, 32 Travel control unit, 33 Panel control unit, 42c, 42d Point cloud, 42e Icon, 42f Matching degree, 50 CAD data, 71 Start position, 72 Goal position, 73 No entry area, 75, 76 Button, 100 Travel control device, 108 Map creation program, 113 Temporary map data, 114 Scan information, 115 Environmental map data, 118 Configuration information, 131 Conversion unit, 132 Communication control unit, 133 Route setting unit, 134 Environmental map generation unit, 135 Self-position estimation unit, 136 Travel command unit, 137 Information, 140, 150 Operation panel, 300 Autonomous guided vehicle, 307 Autonomous travel program, 309 Scan program, 341 Laser scanner, 350 Driving device, 360 wheels, 401 conversion program, 402 self-position estimation program, 403 command generation program, 404 route setting program, 405 scan information program, Gn point.

Claims

1. A map creation system for an autonomously movable body, the moving body has a sensor that scans the surroundings; The map creation system includes: a conversion means for converting layout data representing a layout drawing of a predetermined area designed by computer-aided design into map data; a means for receiving a user operation and setting an area on the map into which the moving object is prohibited from entering based on the received user operation; a route setting means for receiving a user operation and setting route data indicating a route along which the mobile object is to travel on the map in which the entry-prohibited area is set based on the received user operation; a position estimation means for collating scan data generated by the scan using the sensor with the map data and estimating a position of the moving object on the map based on the collation result; an acquisition means for acquiring information including a plurality of positions estimated during travel of the mobile body along the route indicated by the route data and the scan data used to estimate each of the plurality of positions; and an environmental map creation means for creating an environmental map for traveling the mobile body from the acquired information.

2. The route setting means a UI (user interface) means for displaying a map image indicated by the map data on a screen and accepting user operations on the screen; The map creation system according to claim 1 , wherein route data indicating the route is set based on the user's operation on the map image displayed on the screen.

3. The route setting means The map creation system according to claim 2 , wherein a travel route along which the mobile object is to travel is set as an arrow on the map based on the user's operation on the map image displayed on the screen.

4. 4. The map creation system according to claim 3, wherein the direction and length of the arrow indicate a direction of travel and a distance, respectively.

5. The route setting means The map creation system according to claim 2 , wherein a plurality of target points for travel having an order in which the moving object is to pass on the map are set based on the user's operation on the screen.

6. 6. The map creation system according to claim 2, wherein the UI means displays on the screen a UI image that accepts a user operation to cause the moving object to start traveling along the set route or a user operation to stop the traveling.

7. A program for causing a processor to execute a method for creating a map of an autonomously movable body, the moving body has a sensor that scans the surroundings; The method comprises: A step of converting layout data representing a layout drawing of a predetermined area designed by computer-aided design into map data; receiving a user operation and setting an area on the map into which entry of the moving object is prohibited based on the received user operation; receiving a user operation and setting route data indicating a route along which the mobile object is to travel on the map in which the entry-prohibited area is set based on the received user operation; a step of comparing scan data generated by the scan using the sensor with the map data, and estimating a position of the moving object on the map based on a comparison result; acquiring information including a plurality of positions estimated during travel of the mobile body along the route indicated by the route data and the scan data used to estimate each of the plurality of positions; and creating an environmental map for traveling the mobile object from the acquired information.

Images