Sensor system and control method thereof

Abstract

To provide a technique capable of easily and objectively grasping the presence / absence of a high reflector existing in a moving range of a robot and its influence range.SOLUTION: A sensor system includes the steps of: emitting electromagnetic waves while moving within a target area, measuring the distance to an object with a sensor capable of measuring the distance by observing reflected electromagnetic waves reflected by the object; generating the map data of the target area based on the measurement data measured by the sensor; determining, on the basis of the measurement data, whether a high reflector, which is an object having a reflection intensity higher than a predetermined reference, is present in the target area; and displaying, on a display device, the map data on which high reflector information, which is information on the high reflector, is superimposed when the high reflector is detected.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Reflective sensors are known that measure the distance to an object by irradiating it with electromagnetic waves such as light or radio waves and observing the electromagnetic waves reflected by the object. Such reflective sensors have a problem in that their measurement accuracy is prone to fluctuating depending on the environment (see, for example, Patent Document 1). In particular, when a highly reflective object is located immediately behind the object (i.e., when the object is located in front of a highly reflective background (hereinafter referred to as a "highly reflective background") as seen from the sensor), it becomes difficult to separate the object from the highly reflective background in the detection process, resulting in many algorithms misidentifying the position of the object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-196342 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, there has been an increase in the number of autonomous robots being introduced into manufacturing and logistics sites. This type of robot is called an AMR (Autonomous Mobile Robot) or simply a mobile robot. It is called a robot and is capable of automatically selecting an appropriate route and driving autonomously by estimating its own position on a map using sensors that measure the surrounding environment.

[0005] When introducing a new mobile robot, the first step is to create map data for the target area in which the mobile robot will be operating. For example, a trainer typically pushes the mobile robot by hand and walks around the target area, covering all the places it can operate in the area, allowing the mobile robot to learn the environment within the target area (i.e., measure the surrounding environment with sensors and create an environmental map based on those measurements). Alternatively, low-precision map data can be provided as initial values, and the mobile robot is allowed to operate freely within the target area to learn the environment (update the map data).

[0006] Even these mobile robots often use reflective sensors to measure the surrounding environment. Therefore, if a highly reflective object is present in the target area, the sensor's measurement accuracy may deteriorate specifically when the mobile robot approaches the highly reflective object. This deterioration in measurement accuracy can lead to a decrease in the accuracy of self-localization estimation, which can lead to operational problems such as a worsening takt time due to incorrect route selection or the inability to stop at the correct position.

[0007] Due to the principles of reflective sensors, it is difficult to solve this problem, so currently, risks are avoided by changing the way they are used (operational rules).For example, measures such as moving highly reflective objects outside the path of the mobile robot or adding a shield in front of the highly reflective object are taken.

[0008] Such measures cannot be implemented appropriately unless the location of high-reflector objects that may affect measurements is correctly identified along the path. However, in the past, there was no way to objectively determine whether high-reflector objects existed or the extent of their influence, so measures had to be implemented through repeated trial and error or by relying on the experience or intuition of skilled or knowledgeable personnel.

[0009] The present invention has been made in consideration of the above-mentioned situation, and its purpose is to provide a technology that makes it possible to easily and objectively grasp the presence or absence of highly reflective objects within the movement range of a robot and the extent of their influence. [Means for solving the problem]

[0010] The present disclosure includes a sensor system including a sensor capable of measuring a distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object, a processing device capable of generating map data of the target area based on measurement data measured by the sensor moving within the target area, and a display device capable of displaying the map data generated by the processing device. The processing device may have a high reflector detection unit that determines whether a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present within the target area based on the measurement data, and an information display unit that, when a high reflector is detected by the high reflector detection unit, is capable of superimposing high reflector information, which is information about the high reflector, on the map data displayed on the display device.

[0011] The sensor may include a light source, a scanning unit for irradiating light output from the light source in a plurality of directions, and a light receiving unit for receiving light reflected by an object.

[0012] The map data may be map data used by a robot that travels autonomously by measuring its surroundings with a reflective sensor and estimating its own position.

[0013] The high reflector information may include information about the position of the high reflector in the map data.

[0014] The high reflector information may include information about a caution area, which is an area where the measurement accuracy of the reflective sensor of the robot may be reduced due to the influence of the high reflector.

[0015] The attention area may be set to a range of a predetermined width centered on the high reflector.

[0016] When a normal object having a reflection intensity equal to or lower than the predetermined standard is adjacent to the high reflector, the area of ​​the high reflector on the normal object side may be excluded from the attention area.

[0017] The information display unit may have a user interface that can switch on / off the display of the high reflector information.

[0018] The present disclosure includes a method for controlling a sensor system, comprising the steps of measuring the distance to an object by using a sensor capable of measuring the distance to the object by irradiating electromagnetic waves and observing the reflected electromagnetic waves reflected by the object while moving within the target area; generating map data for the target area based on the measurement data measured by the sensor; determining whether a high reflector, which is an object whose reflection intensity is higher than a predetermined standard, is present within the target area based on the measurement data; and, when a high reflector is detected, displaying the map data on a display device with high reflector information, which is information about the high reflector, superimposed thereon.

[0019] The present disclosure provides a method for acquiring measurement data measured by a sensor capable of measuring a distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object while moving within a target area in a processor of a processing device; generating map data of the target area based on the measurement data; determining whether or not a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present within the target area based on the measurement data; and, when a high reflector is detected, acquiring high reflector information, which is information about the high reflector. and displaying the superimposed map data on a display device.

[0020] The present invention may be understood as a sensor system having at least some of the above means or functions, or as a mobile robot, safety system, or FA system having this sensor system. The present invention may also be understood as a control method or setting method for a sensor system including at least some of the above processes, or as a method for generating map data or a method for displaying highly reflective objects. Furthermore, the present invention may also be understood as a program for implementing such a method or a computer-readable recording medium on which such a program is non-temporarily recorded. The above means and processes may be combined with each other to the greatest extent possible to constitute the present invention. [Effects of the Invention]

[0021] According to the present invention, it is possible to easily and objectively grasp the presence or absence of a highly reflective object within the movement range of a robot and the extent of its influence. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 1 is a diagram illustrating an application example of a sensor system. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a sensor system. [Figure 3] FIG. 3 is a functional block diagram of the sensor system. [Figure 4] FIG. 4 is a flowchart of the map update process. [Figure 5] FIG. 5 is a flowchart of the display update process of the processing example 1. [Figure 6] Figure 6 shows an example of measurement data and high reflector detection results. [Figure 7] 7A and 7B are examples of information on high reflection points recorded in map data. [Figure 8] FIG. 8 shows an example of a map information screen in the first processing example. [Figure 9] Figure 9 shows an example of a map information screen displaying a highly reflective object. [Figure 10] FIG. 10 shows an example of a map information screen in the second processing example. [Figure 11] FIG. 11 is a flowchart of the display update process of the processing example 2. [Figure 12] FIG. 12 is a flowchart of the attention area display sequence of the processing example 2. [Figure 13] FIG. 13 is a diagram illustrating the display optimization process. [Figure 14] Figure 14 shows an example of a map information screen displaying high reflectors and caution areas. DETAILED DESCRIPTION OF THE INVENTION

[0023] <Application example> An application example of the present invention will be described with reference to FIG.

[0024] The sensor system 1 has a reflective sensor 10, a processing device 11, and a display device 12. The sensor system 1 may be an integrated configuration in which the sensor 10, the processing device 11, and the display device 12 are all housed in a single housing, or may be a configuration in which the sensor 10, the processing device 11, and the display device 12 are separate devices connected by wire or wirelessly, or may be a configuration in which the sensor 10 is connected by wire or wirelessly to a computer (such as a PC, tablet terminal, pendant terminal, or controller) that functions as the processing device 11 and the display device 12.

[0025] All or part of the sensor system 1 may be mounted on a mobile robot. For example, the sensor system 1 may be composed of a sensor 10 mounted on the mobile robot and a processing device 11 and display device 12 that are separate from the mobile robot. Furthermore, a processor mounted on the mobile robot may be responsible for all or part of the functions of the processing device 11. Note that the mobile robot may be able to communicate directly with an external device, but information such as measurement data may also be exchanged via a relay device such as a server.

[0026] Due to its principle, the reflective sensor 10 may have reduced measurement accuracy for an object O located in front of a highly reflective object HR. Therefore, when introducing a mobile robot, it is necessary to determine whether or not there are highly reflective objects HR within the range in which the mobile robot moves (hereinafter referred to as the "target area"), as well as the extent to which they may affect the sensor, and to take necessary measures. However, it is difficult for humans to identify highly reflective objects that may affect the measurements of the sensor 10 or accurately determine the extent of their influence.

[0027] Therefore, in the sensor system 1, the processing device 11 generates map data 13 of the target area based on the measurement data measured by the sensor 10, and displays the map data 13 on the display device 12. Furthermore, the processing device 11 determines whether or not a high reflector HR is present in the target area based on the measurement data, and if a high reflector HR is detected, superimposes information about the high reflector HR (for example, the position of the high reflector HR on the map, an area where the measurement accuracy of the reflective sensor of the mobile robot may be reduced due to the influence of the high reflector HR (this area is referred to as a "caution area"), etc.) on the map data 13.

[0028] This type of information display visualizes the presence and location of high-reflector HR within the target area, as well as the caution area CA, which is the range affected by high-reflector HR, allowing users to easily and objectively grasp whether or not countermeasures against high-reflector HR are necessary and where they should be taken, thereby enabling anyone to operate a mobile robot appropriately.

[0029] In this specification, a "reflective sensor" refers to a sensor that can measure the distance to an object by observing electromagnetic waves reflected by the object, and includes, for example, a ranging sensor that uses laser light (such as LiDAR) and a ranging sensor that uses radio waves (such as millimeter-wave radar). Any measurement method may be used for a reflective sensor, such as the ToF (Time of Flight) method or triangulation method. To measure objects in multiple directions, an area sensor with a two-dimensional measurement area (field of view) or a three-dimensional measurement area (field of view) is used.

[0030] A "high reflector" is an object whose reflection intensity is higher than a predetermined standard. The "predetermined standard" depends on the sensor type, performance, and electromagnetic wave transmission intensity, and can be set appropriately depending on the sensor. For example, the reflection intensity at which measurement accuracy significantly deteriorates can be experimentally determined using a sensor, and the predetermined standard can be set based on that reflection intensity. Examples of high reflectors found in factories include acrylic panels, stainless steel equipment, reflective tape, and mirrors.

[0031] <Embodiment> An embodiment of the present invention will be described with reference to FIG.

[0032] The sensor system 1 of this embodiment is composed of a mobile robot MR and an external information terminal IT. The mobile robot MR (hereinafter also referred to simply as "robot") and the information terminal IT are connected via wire or wirelessly and can send and receive data to and from each other. In the configuration of this embodiment, the "safety laser scanner mounted on the mobile robot MR" corresponds to the "sensor 10" in FIG. 1, the "processing unit mounted on the mobile robot MR" and the "information terminal IT" cooperate to form the "processing device 11" in FIG. 1, and the "display of the information terminal IT" corresponds to the "display device 12" in FIG. 1.

[0033] Mobile robot MR uses a technology called SLAM (Simultaneous Localization and Mapping). SLAM is a robot that can travel autonomously using the technology that is being used. In SLAM, the mobile robot MR estimates its position on the map (its own position) based on the "map data" that it stores in advance and the "information on the surrounding environment" measured in real time by sensors, and then determines the optimal route from its own position to the destination (goal). As a preliminary step before starting operation of the mobile robot MR, map data of the area in which the mobile robot MR will travel (target area) must be created and provided to the mobile robot MR.

[0034] The Mobile Robot MR is a vehicle-type robot, and is equipped with components related to its driving, such as a motor and reducer, a motor driver, drive wheels, auxiliary wheels, and a driving control unit. A drive signal is output from the motor driver based on a control signal issued from the driving control unit. The motor receives this drive signal and rotates the drive wheels, causing the Mobile Robot MR to drive. At this time, by independently controlling the rotation speed (amount of rotation) and direction of the left and right drive wheels, the Mobile Robot MR is able to move forward, backward, turn left, turn right, and make a sharp turn. The Mobile Robot MR is also equipped with multiple sensors and a processing unit, including a safety laser scanner, as components related to SLAM. In addition to the safety laser scanner, the multiple sensors include an inertial measurement unit (IMU), drive wheel encoders, and illuminance sensors. Furthermore, the mobile robot MR is equipped with a battery, a wireless communication unit, an emergency stop button, an obstacle detection sensor, and the like.

[0035] A safety laser scanner (hereinafter simply referred to as a "laser scanner" or "sensor") is a safety sensor that complies with safety standards such as ISO 13849-1. The laser scanner is a reflective sensor that measures the distance to objects around the mobile robot MR. It is mounted on the mobile robot MR and positioned to scan a horizontal plane at a predetermined height h (e.g., h = 150 to 300 mm) above the floor. The laser scanner includes a light source, an optical system, a light-receiving unit, and a control circuit. The laser beam emitted from the light source is reflected by a polygon mirror (scanning unit) that rotates at high speed, thereby irradiating the laser beam in multiple directions. The light reflected by the object is guided to the light-receiving unit via the optical system and photoelectrically converted. The scanning range (measurement area) is, for example, approximately 270 degrees in a direction centered in front of the mobile robot MR. The dashed line in Figure 2 indicates the scanning range of the laser beam.

[0036] The processing unit is a computer built into the mobile robot MR, and is equipped with hardware resources such as a processor (CPU, GPU), memory, storage, and a communication I / F. The functions described below are realized by expanding programs stored in the storage into memory and executing them with the processor.

[0037] The information terminal IT may be configured as a dedicated device or a general-purpose computer. In this embodiment, the information terminal IT is configured by installing a software program for the mobile robot MR on a general-purpose personal computer. In this case, the information terminal IT includes hardware resources such as a processor, memory, storage, a communication I / F, an input device, and a display device, and the functions described below are realized by loading a program stored in the storage into memory and executing it with the processor.

[0038] The configurations of the processing unit and the information terminal IT are not limited to those of this embodiment. For example, all or part of the functions may be configured using circuits such as ASIC or FPGA, or all or part of the functions may be executed by a cloud server or other device. Alternatively, the functions of both the processing unit and the information terminal IT may be installed in the mobile robot MR, and the sensor system 1 may be configured by the mobile robot MR alone. Alternatively, the functions of the processing unit may be performed by the information terminal IT.

[0039] FIG. 3 is a functional block diagram of the sensor system 1.

[0040] The mobile robot MT has a laser scanner 20 and a processing unit 21. The processing unit 21 mainly functions as a measurement data acquisition unit 30, a map data generation unit 31, and a high-reflection The information terminal IT has an object detection unit 32, a data storage unit 33, and a data transmission unit 34. The information terminal IT also has, as its main functions, a map data acquisition unit 36, a high reflector information generation unit 37, and an information display unit 38.

[0041] The measurement data acquisition unit 30 acquires measurement data from the laser scanner 20. The map data generation unit 31 generates map data for the target area based on the measurement data. The high-reflector detection unit 32 determines whether a high-reflector exists within the target area based on the measurement data. The data storage unit 33 stores measurement data, high-reflector detection results, map data, and other information. The data transmission unit 34 provides map data along with high-reflector detection results to the information terminal IT. The map data acquisition unit 36 ​​acquires map data. The high-reflector information generation unit 37 generates high-reflector information related to high-reflectors. The information display unit 38 outputs various information, such as map data, high-reflector information, and other information related to the mobile robot MR, to a display device. The information display unit 38 also provides a graphical user interface (GUI) for displaying information and accepting information input from the user. Details of information processing based on these functions are described below.

[0042] <Processing example 1> 4 and 5 are flowcharts showing a first processing example of the sensor system 1. Fig. 4 shows a map update process by the processing unit 21 of the mobile robot MR, and Fig. 5 shows a display update process by the information terminal IT.

[0043] (Map update) When creating map data, the mobile robot MR is actually moved within the target area by being pushed by a human or propelled by itself, while the laser scanner 20 takes measurements at a predetermined cycle (e.g., every tens of milliseconds to a few seconds), and the map data is successively updated by SLAM processing. Figure 4 shows one cycle of map update processing executed by the processing unit 21.

[0044] In step S40, the measurement data acquisition unit 30 of the processing unit 21 acquires measurement data for one scan from the laser scanner 20. The measurement data may include information on the distance to the object (closest reflector) for each direction (each angle) and information on the reflection intensity of the laser light. For example, if the laser scanner 20 has a measurement area of ​​approximately 270 degrees and an angular resolution of approximately 0.4 degrees, measurement data for approximately 670 points can be obtained in one scan. The acquired measurement data is associated with information on the direction (angle) and stored in the data storage unit 33 (step S41). Note that measurement data from sensors other than the laser scanner 20 (IMU, encoder, illuminance sensor) may also be used to generate the map data, but a detailed description of this will be omitted here.

[0045] In step S42, the high reflector detection unit 32 detects a high reflector based on the measurement data. Specifically, the high reflector detection unit 32 compares the reflection intensity included in the measurement data with a predetermined standard, and if the reflection intensity is higher than the predetermined standard, determines that a high reflector exists in that direction (i.e., the reflection point in that direction is a reflection point made of a high reflector (hereinafter also referred to as a "high reflection point")). The high reflector detection result is stored in the data storage unit 33 (step S43). FIG. 6 shows an example of the measurement data and the high reflector detection result stored in the data storage unit 33. The information includes correspondence between the viewpoint position information (x-y coordinates and orientation) of the laser scanner 20 at the time of measurement, angle information of the reflection point (azimuth angle when the point in front of the viewpoint of the laser scanner 20 is set to 0 degrees), distance information of the reflection point (distance from the viewpoint of the laser scanner 20 to the reflection point), reflection intensity information of the laser light at the reflection point, and the determination result of whether or not the reflection point is a high reflector.

[0046] In step S44, the map data generation unit 31 performs SLAM processing based on the measurement data to estimate the self-position of the mobile robot MR and update the map data. Since the SLAM processing may use known techniques, a detailed description thereof will be omitted here.

[0047] In step S45, the map data generation unit 31 calculates the position coordinates on the map of the high reflection point detected in step S42, based on the self-location and map data updated in step S44. Then, the map data generation unit 31 records information about the high reflection point in the map data. Fig. 7A is an example of information about high reflection points recorded in the map data. An identification number assigned to each detected high reflection point is associated with the x and y coordinates of the high reflection point. Fig. 7B is another example of information about high reflection points. In addition to the x and y coordinates of the high reflection point, information about reflection intensity is recorded.

[0048] Note that the map update process is repeatedly performed while the mobile robot MR moves little by little, so the same high reflector will be measured multiple times. Therefore, in step S45, if a high reflector point with the same coordinates (or nearby coordinates) has already been recorded, the process may be skipped to prevent duplicate recording of information derived from the same high reflector. Alternatively, the information on the high reflector that has already been recorded may be integrated (e.g., averaged) with the information on the current high reflector. By integrating the results of multiple measurements, the reliability (signal-to-noise ratio) of the information on the high reflector can be improved.

[0049] By repeating the above map update process, map data for the entire target area is generated. The map data is transmitted to the information terminal IT or the server by the data transmission unit 34. The data transmission unit 34 may transmit the map data to the information terminal IT or the server each time the map data is updated, or may transmit the map data to the information terminal IT or the server after updating the map data for the entire target area is complete.

[0050] (Show map) The map data generated by the mobile robot MR can be displayed and checked on the information terminal IT. FIG. 8 shows an example of a map information screen displayed on the display device of the information terminal IT. The map information screen has a map display section 80 that displays the map data and a high reflector display button 81, which is a user interface that can switch the display of high reflector information on and off. This map information screen can be used to monitor the map data in real time while the mobile robot MR is performing a map update process (also referred to as online display), or to load and check already-generated map data (also referred to as offline display).

[0051] FIG. 5 shows one cycle of display update processing executed by the information terminal IT while the map information screen is being displayed.

[0052] In step S50, the map data acquisition unit 36 ​​acquires map data. The map data acquisition unit 36 ​​may receive map data from the mobile robot MR or a server on an ongoing basis, or may read the map data from the memory or storage of the information terminal IT. Next, the information display unit 38 generates a map image for display based on the map data and displays the map image on the map display unit 80 (step S51). The map image is, for example, an image in which reflection points are plotted on an xy plane corresponding to the horizontal plane of the target area. As shown in FIG. 8, a reflection point cloud is formed where objects such as walls and devices exist, allowing the mobile robot MR to check paths and obstacles as it travels.

[0053] In step S52, the information display unit 38 checks whether the high reflector display button 81 is on or off. If it is on, the information display unit 38 displays , and information about the high reflector is superimposed and displayed (step S53). For example, as shown in FIG. 9, a mark 90 (white circle in FIG. 9) representing the high reflector may be displayed on the xy coordinates (see FIG. 7A) of the high reflector point included in the map data. At this time, the position of the high reflector may be highlighted by drawing the mark 90 in a different color from the others or by making it blink. Note that when the high reflector display button 81 is off, information about the high reflector is not displayed.

[0054] By providing this type of map information screen, the presence and location of high-reflector objects within the target area can be visualized, allowing users to easily and objectively grasp whether or not countermeasures against high-reflector objects are necessary and where they should be taken, thereby enabling anyone to operate a mobile robot appropriately.

[0055] <Processing example 2> Next, processing example 2 of the sensor system 1 will be described. In processing example 1, information on the location of high reflectors was superimposed on the map data, but in processing example 2, information on the caution area, which is the range affected by the high reflectors, is also superimposed. The map update process (Fig. 4) is the same as in processing example 1, so a description thereof will be omitted. Below, the processing on the information terminal IT side will be described, focusing on the parts that differ from processing example 1.

[0056] (Show map) 10 is an example of a map information screen displayed on the display device of the information terminal IT. The map information screen has a map display section 80 where map data is displayed, and a high reflector display button 81 and a caution area display button 82, which are user interfaces that can switch the display of high reflector information on and off.

[0057] 11 shows one cycle of display update processing executed by the information terminal IT while the map information screen is being displayed. In the flowchart of FIG. 11, the same steps as those in FIG. 5 are denoted by the same step numbers.

[0058] In step S50, the map data acquisition unit 36 ​​acquires map data. Next, the information display unit 38 generates a map image for display based on the map data and displays the map image on the map display unit 80 (step S51). In step S52, the information display unit 38 checks the on / off state of the high reflector display button 81, and if it is on, the information display unit 38 superimposes information about the high reflector on the map image displayed on the map display unit 80 (step S53). In step S54, the information display unit 38 checks the on / off state of the attention area display button 82, and if it is on, the information display unit 38 executes the attention area display sequence (step S55).

[0059] Figure 12 is a flowchart of the warning area display sequence. In the following explanation, reflection points that are not high reflection points will be referred to as "normal reflection points." In other words, multiple reflection points included in the map data will be classified as either "high reflection points" or "normal reflection points."

[0060] In step S120, the information display unit 38 selects one high reflection point (hereinafter referred to as "high reflection point Pi") to be processed from the map data. In step S121, the information display unit 38 calculates a circle of a predetermined radius r centered on the high reflection point Pi, and stores this circle in memory as the latest attention area for the high reflection point Pi.

[0061] The radius r can be freely designed. For example, the radius r may be set by the user. Such a user setting option is useful when an expert or knowledgeable person can set an appropriate safety distance according to the situation on-site and the performance of the mobile robot. The safety distance is, for example, the distance that the mobile robot can move before coming into contact with a person or an obstacle when the sensor system 1 detects them. This is the distance at which the mobile robot MR can transition to a safe state. Alternatively, the value recommended by the manufacturer of the mobile robot or laser scanner may be automatically applied. This recommended value setting option is useful when there are no skilled or knowledgeable personnel, when safety is more important than accuracy, or when simple configuration is desired. Alternatively, the radius r may be dynamically changed instead of being a fixed value. For example, if the map data contains information on the reflection intensity of high-reflection points Pi (see Figure 7B), the radius r may be adaptively determined according to the reflection intensity. Since the measurement error tends to increase as the reflection intensity increases (the reflectivity of the high-reflector surface increases), the radius r corresponding to the high-reflection point Pi may be calculated using, for example, a lookup table (LUT) or function designed to monotonically increase the radius r according to the reflection intensity.

[0062] In step S122, the information display unit 38 checks whether all high reflection points in the map data have been processed, and if so, proceeds to the caution area combining process (steps S123 to S125), and if there are any unprocessed high reflection points remaining, returns to step S120.

[0063] In step S123, the information display unit 38 selects one attention area to be processed (hereinafter referred to as "attention area CAi") from the multiple attention areas stored in memory. In step S124, the information display unit 38 compares this attention area CAi with other attention areas, extracts other attention areas that overlap with the attention area CAi, and saves the union of these as a new attention area CAi. The multiple attention areas used for the union are deleted from memory.

[0064] In step S125, the information display unit 38 checks whether any unprocessed attention areas remain in the memory, and if so, proceeds to the display optimization process (steps S126 to S128), but if any unprocessed attention areas remain, returns to step S123. Note that if the map data contains only one high-reflection point, the attention area combining process can be skipped.

[0065] In step S126, the information display unit 38 selects one attention area to be processed (hereinafter referred to as "attention area CAj") from the multiple attention areas remaining in the memory. In step S127, the information display unit 38 extracts normal reflection points included in this attention area CAj.

[0066] A situation in which a normal reflection point is included in the attention area CAj can occur when a high reflection point and a normal reflection point are close to each other, for example, when one side of a partition installed in the target area is made of a highly reflective material and the other side is made of a material with low reflectivity. In this example, the measurement accuracy of the mobile robot MR may be reduced on the highly reflective side of the partition, but there is no such concern on the other side. Therefore, it is desirable to display the attention area only on the highly reflective side of the partition on the map display screen.

[0067] Therefore, when a normal reflection point (hereinafter referred to as "normal reflection point Pj") is extracted from the attention area CAj in step S127, the information display unit 38 removes the range in which the normal reflection point Pj is visible from the attention area CAj (step S128). FIG. 13 shows a specific processing example. In FIG. 13, white circles indicate high reflection points and black circles indicate normal reflection points. The attention areas of three high reflection points are joined to form an oval attention area CAj, and the three normal reflection points Pj are included in the attention area CAj. The information display unit 38 calculates the closest point NPj between the normal reflection point Pj and the contour of the attention area CAj, and defines the range of ±θ centered on the line connecting point Pj and point NPj as the removal range Rj (= the range in which the normal reflection point Pj is visible). For example, θ may be the angle formed by the line passing through the normal reflection point Pj and the nearest high reflection point Pi and the line segment connecting point Pj and point NPj. Alternatively, the value of θ may be set according to the distance between the normal reflection point Pj and the nearest high reflection point Pi (for example, if the distance between the points Pj and Pi and θ have a positive correlation). (It is advisable to set θ so that it is the same as the normal reflection point Pj.) Alternatively, θ may be set to a fixed value. If multiple normal reflection points Pj are included in the attention area CAj, the same calculation is performed for each normal reflection point Pj. Then, the area enclosed by the line segment L connecting the multiple normal reflection points Pj in order and the removal range Rj calculated from each normal reflection point Pj is removed from the attention area CAj, and the information of the attention area CAj in memory is updated.

[0068] In step S129, the information display unit 38 checks whether any unprocessed caution areas remain in the memory, and if the processing is complete, proceeds to step S130, but if any unprocessed caution areas remain, return to step S126. In step S130, the information display unit 38 superimposes information about the caution areas on the map image displayed on the map display unit 80. Figure 14 is an example of a map information screen when information about the high reflector 90 and the caution area 91 is displayed.

[0069] By providing this type of map information screen, the presence and location of high-reflector objects within the target area as well as the areas where measurement accuracy may be reduced due to high-reflector objects are visualized, allowing users to easily and objectively grasp whether and where countermeasures against high-reflector objects are necessary, thereby enabling anyone to operate a mobile robot appropriately.

[0070] <Other> The above-described embodiments merely illustrate exemplary configurations of the present invention. The present invention is not limited to the specific embodiments described above, and various modifications are possible within the scope of the technical concept. For example, while the above-described embodiments illustrate a vehicle-type mobile robot, the present invention can be applied to any type of mobile robot that can navigate autonomously using map data.

[0071] <Additional Notes> 1. A sensor (10; 20) capable of measuring the distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object; a processing device (11; 21, IT) capable of generating map data of the target area based on measurement data measured by the sensor (10; 20) moving within the target area; a display device (12; IT) capable of displaying the map data generated by the processing device (11; 21, IT), The processing device (11; 21, IT) a high reflector detection unit (32) that determines whether a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present in the target area based on the measurement data; and an information display unit (38) that, when a high reflector is detected by the high reflector detection unit (32), can superimpose high reflector information (90, 91) that is information about the high reflector on the map data displayed on the display device (12; IT). Sensor system (1).

[0072] 2. A step of measuring the distance to an object by a sensor (10; 20) that can measure the distance to the object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object while moving within the target area; generating map data of the target area based on measurement data measured by the sensors (10; 20); determining whether a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present in the target area based on the measurement data; and when a high reflector is detected, displaying the map data on a display device (12; IT) with high reflector information (90, 91) superimposed thereon, the high reflector information being information about the high reflector. A method for controlling a sensor system (1).

[0073] 3. The processor of the processing unit (11; 21, IT) A step of acquiring measurement data measured by a sensor (10; 20) capable of measuring the distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object while moving within the target area; generating map data of the target area based on the measurement data; a step of determining whether a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present in the target area based on the measurement data; When a high reflector is detected, displaying the map data on a display device (12; IT) with high reflector information (90, 91) superimposed thereon, the high reflector information being information about the high reflector; A program to execute. [Explanation of symbols]

[0074] 1: Sensor system 10: Sensor 11: Processing device 12:Display device

Claims

1. a sensor capable of measuring a distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object; a processing device capable of generating map data of the target area based on measurement data measured by the sensor moving within the target area; a display device capable of displaying the map data generated by the processing device, The processing device includes: a high reflector detection unit that determines whether a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present in the target area based on the measurement data; and an information display unit that, when a high reflector is detected by the high reflector detection unit, is capable of superimposing high reflector information, which is information about the high reflector, on the map data displayed on the display device; The map data is used by a robot that travels autonomously by measuring its surroundings with a reflective sensor and estimating its own position, The high reflector information includes information on a caution area, which is an area where the measurement accuracy of the reflective sensor of the robot may be reduced due to the influence of the high reflector. Sensor system.

2. The information display unit has a user interface that can switch the display of the high reflector information on and off. The sensor system of claim 1 .

3. A sensor capable of measuring the distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object; a processing device capable of generating map data of the target area based on measurement data measured by the sensor moving within the target area; a display device capable of displaying the map data generated by the processing device, The processing device includes: a high reflector detection unit that determines whether a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present in the target area based on the measurement data; and an information display unit that, when a high reflector is detected by the high reflector detection unit, is capable of superimposing high reflector information, which is information about the high reflector, on the map data displayed on the display device; The information display unit has a user interface that can switch on / off the display of the high reflector information. Sensor system.

4. The map data is used by a robot that travels autonomously by measuring its surroundings with a reflective sensor and estimating its own position. The sensor system of claim 3 .

5. The high reflector information includes information on a caution area, which is an area where the measurement accuracy of the reflective sensor of the robot may be reduced due to the influence of the high reflector. The sensor system of claim 4 .

6. A range of a predetermined width centered on the high reflector is set as the attention area. The sensor system of claim 1, 2, or 5.

7. When a normal object having a reflection intensity equal to or less than the predetermined standard is adjacent to the high reflector, the range of the high reflector on the normal object side is excluded from the attention area. The sensor system of claim 6 .

8. The sensor A light source and a scanning unit for irradiating light output from the light source in a plurality of directions; a light receiving unit that receives light reflected by an object; The sensor system according to any one of claims 1 to 7.

9. The high reflector information includes information on the position of the high reflector in the map data. The sensor system according to any one of claims 1 to 8.

10. A step of acquiring measurement data measured by a sensor capable of measuring a distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object while moving within a target area; generating map data of the target area based on the measurement data; determining whether a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present in the target area based on the measurement data; and when a high reflector is detected, displaying the map data on a display device with high reflector information superimposed thereon, the high reflector information being information about the high reflector, The map data is used by a robot that travels autonomously by measuring its surroundings with a reflective sensor and estimating its own position, The high reflector information includes information on a caution area, which is an area where the measurement accuracy of the reflective sensor of the robot may be reduced due to the influence of the high reflector. A method for controlling a sensor system.

11. A step of acquiring measurement data measured by a sensor capable of measuring the distance to an object by irradiating electromagnetic waves and observing the electromagnetic waves reflected by the object while moving within a target area; generating map data of the target area based on the measurement data; determining whether a high reflector, which is an object having a reflection intensity higher than a predetermined standard, is present in the target area based on the measurement data; and when a high reflector is detected, displaying on a display device the map data on which high reflector information, which is information about the high reflector, is superimposed and a user interface that allows switching on / off of display of the high reflector information. A method for controlling a sensor system.

12. The processor of the processing device executes the steps of the control method according to claim 10 or 11. A program to execute.

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