Map creation system and map creation method

Abstract

To provide a map forming system that forms a two-dimensional map in consideration of a height of a baggage to be transported by an automatic transporting robot.SOLUTION: A map forming system comprises: an automatic transporting robot; and an information processing device communicably connected to the automatic transporting robot. The information processing device includes: a point group data generating unit that generates point group data in which a structure is expressed as three-dimensional coordinates (X, Y, Z) based on data acquired by traveling of the automatic transporting robot; and a two-dimensional map generating unit that extracts point group data which satisfies Z≤h (h is an arbitrary set value), projects the extracted point group data onto an XY plane of Z=0 to generate a two-dimensional map in which at least a portion of the structure is represented as an obstacle area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] An embodiment of the present invention relates to a map creation system that creates a map to be used by an automatic transport robot, and also to a map creation method that creates a map to be used by an automatic transport robot. [Background technology]

[0002] In recent years, automatic transport robots capable of automatically transporting cargo have been increasingly used in conjunction with the advancement of technological developments in automatic guided vehicles (AGVs). For example, when automatic transport robots are used in warehouses where products are stored, they can automatically transport a wide variety of products, improving work efficiency and reducing costs. For example, Patent Document 1 discloses an example of such an automatic transport robot, a loading platform transport robot that can be used in a small work space. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-59460 Summary of the Invention [Problem to be solved by the invention]

[0004] Many automated transport robots are equipped with sensors such as laser range finders to detect the surrounding environment (e.g., structures, etc.) and can also determine their travel route according to a pre-created map.

[0005] However, when an automated guided robot sneaks under a platform such as a cart to transport cargo, the cart or cargo is larger than the automated guided robot, and even if a structure is detected by a laser range finder, the cart or cargo may collide with the structure. Furthermore, when a two-dimensional scanning laser range finder is installed, it cannot detect protruding parts of structures that protrude into the air. Furthermore, three-dimensional scanning laser range finders are expensive, making them difficult to install on many automated guided robots. Furthermore, three-dimensional scanning laser range finders require more calculations than two-dimensional scanning laser range finders, making them unsuitable for automated guided robots that transport cargo in areas with many structures.

[0006] In view of the above problems, one embodiment of the present invention has an object to provide a map creation system that creates a two-dimensional map that takes into account the height of luggage transported by an automatic transport robot. Another embodiment of the present invention has an object to provide a map creation method that creates a two-dimensional map that takes into account the height of luggage transported by an automatic transport robot. [Means for solving the problem]

[0007] A map creation system according to one embodiment of the present invention includes an automatic transfer robot and an information processing device communicatively connected to the automatic transfer robot. The information processing device includes a point cloud data generation unit that generates point cloud data in which structures are represented as three-dimensional coordinates (X, Y, Z) based on data acquired by the automatic transfer robot as it moves, and a two-dimensional map generation unit that extracts point cloud data that satisfies Z≦h (h is an arbitrary set value), projects the extracted point cloud data onto an XY plane where Z=0, and generates a two-dimensional map in which at least a portion of the structure is represented as an obstacle area.

[0008] The automatic transfer robot may include a sensor capable of scanning in a direction parallel to the contact surface of the automatic transfer robot, and a swing mechanism on which the sensor is installed and which swings the sensor in a direction perpendicular to the contact surface.

[0009] The data may include pitch angle data relative to the traveling direction of the automatic transfer robot, which is acquired from the swing mechanism.

[0010] The point cloud data generation unit may further convert the position data of the three-dimensional coordinates (x, y, z) along which the automatic transport robot traveled, which is included in the data, into three-dimensional coordinates (x, y, 0), and generate point cloud data based on the converted three-dimensional coordinates (x, y, 0).

[0011] The information processing device may be mounted on an automatic transfer robot.

[0012] A map creation method according to one embodiment of the present invention involves running an automatic transport robot, generating point cloud data from data acquired by the automatic transport robot in which structures are represented as three-dimensional coordinates (X, Y, Z), extracting point cloud data that satisfies Z≦h (h is an arbitrary set value), projecting the extracted point cloud data onto the XY plane where Z=0, and generating a two-dimensional map in which at least a portion of the structure is represented as an obstacle area.

[0013] The automatic transport robot includes a swivel mechanism that swings a sensor capable of scanning parallel to the contact surface of the automatic transport robot in a direction perpendicular to the contact surface, and the data may include pitch angle data relative to the direction of travel of the automatic transport robot obtained from the swivel mechanism.

[0014] The map creation method may further convert the position data of the three-dimensional coordinates (x, y, z) along which the automatic transport robot traveled, contained in the data, into three-dimensional coordinates (x, y, 0), and the point cloud data may be generated based on the converted three-dimensional coordinates (x, y, 0). [Effects of the Invention]

[0015] The 2D map created by the map creation system according to one embodiment of the present invention takes into account the height of the cargo to be loaded onto the automated guided vehicle, and even if a structure has a protruding part in the air, the protruding part is reflected as an obstacle area. Therefore, when the automated guided vehicle is transporting the cargo, the cargo can be prevented from colliding with the structure. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic diagram showing the configuration of a map creation system according to an embodiment of the present invention; [Figure 2] 1A and 1B are a schematic plan view and a side view of an automatic transfer robot of a map creation system according to an embodiment of the present invention. [Figure 3] 1 is a block diagram showing the configuration of a map creation system according to an embodiment of the present invention. [Figure 4] 1 is a flowchart illustrating a map creation method of a map creation system according to an embodiment of the present invention. [Figure 5] 1 is a schematic diagram illustrating a map creation method of a map creation system according to an embodiment of the present invention. [Figure 6] 1 is a schematic diagram illustrating a map creation method of a map creation system according to an embodiment of the present invention. [Figure 7] 1 is a schematic diagram illustrating a map creation method of a map creation system according to an embodiment of the present invention. [Figure 8] 1 is a flowchart illustrating a map creation method of a map creation system according to an embodiment of the present invention. [Figure 9] 1 is a schematic diagram illustrating a map creation method of a map creation system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. Note that the embodiments are merely examples, and any modifications that a person skilled in the art could easily make while maintaining the gist of the invention are naturally included within the scope of the present invention. Furthermore, in order to clarify the explanation, the drawings may show the width, thickness, shape, etc. of each part more schematically than the actual embodiment. However, the shapes shown in the drawings are merely examples and do not limit the interpretation of the present invention.

[0018] In this specification, for convenience of explanation, the terms "upper", "above", or "upper portion", or "lower", "lower", or "lower portion" are used, but these terms merely describe the vertical relationship of each component. For example, when describing the positional relationship of components of a structure (e.g., a cart or an automatic transport robot), the normal use state of the structure is used as the basis, and the surface side on which the structure is installed (e.g., the floor side) may be referred to as "lower", "lower", or "lower portion".

[0019] In this specification, the letters "first," "second," or "third" attached to each component are convenient labels used to distinguish each component, and have no other meaning unless otherwise specified.

[0020] In this specification and drawings, the same reference numeral is used to collectively represent multiple identical or similar components, and uppercase or lowercase letters may be added to distinguish between the multiple components. Furthermore, a hyphen and a natural number may be used to distinguish between multiple parts of a single component.

[0021] In this specification, the term "automatic transport robot" refers to a robot that can automatically travel while transporting luggage to a specified location as instructed. Note that the term "robot" includes vehicles.

[0022] First Embodiment The configuration of a map creation system 10 according to one embodiment of the present invention and a map creation method using the map creation system 10 will be described with reference to FIGS.

[0023] [1. Configuration of map creation system 10] 1 is a schematic diagram showing the configuration of a map creation system 10 according to one embodiment of the present invention. The map creation system 10 includes an automatic transfer robot 100 and an information processing device 200. The automatic transfer robot 100 is communicably connected to the information processing device 200. Therefore, the automatic transfer robot 100 can transmit data acquired, detected, or generated by the automatic transfer robot 100 to the information processing device 200.

[0024] As an example, the automatic transfer robot 100 includes a main body 110, a pair of crawlers 120, a swing mechanism 130, and a first sensor 140. The pair of crawlers 120 are disposed on both sides of the main body 110, and the swing mechanism 130 is disposed on the front side of the main body 110. The first sensor 140 is also installed on the swing mechanism 130.

[0025] The automatic transfer robot 100 moves by driving a pair of crawlers 120. When the pair of crawlers 120 are rotated in the same direction, the automatic transfer robot 100 can move forward or backward. When the pair of crawlers 120 are rotated in opposite directions, the automatic transfer robot 100 can rotate (turn) at that position. The automatic transfer robot 100 can load a load on the upper surface of the main body 110 and transport the load. The load may be loaded directly on the upper surface of the main body 110 or on a loading platform installed on the upper surface of the main body 110. The load may also be loaded on a cart. In this case, the automatic transfer robot 100 can couple the cart to the upper surface of the main body 110 and transport the load using the casters of the cart without having to lift the cart.

[0026] The swing mechanism 130 includes a support unit 131 that supports the first sensor 140 and a drive unit 132 that swings the support unit 131 in the z direction (a direction perpendicular to the contact surface of the automatic transfer robot 100). The drive unit 132 includes a shaft and a motor that rotates the shaft. The support unit 131 is connected to the shaft of the drive unit 132, and swings in the z direction due to the rotation of the motor.

[0027] The first sensor 140 will be described with reference to Fig. 2. Fig. 2(A) and Fig. 2(B) are a schematic plan view and a side view, respectively, of the automatic transfer robot 100 of the map creation system 10 according to one embodiment of the present invention.

[0028] The first sensor 140 emits a laser beam in a fan-shaped manner in the xy plane toward the front of the automatic transfer robot 100, and can detect structures in front of the automatic transfer robot 100. That is, the first sensor 140 is a sensor that can scan in a direction parallel to the contact surface of the automatic transfer robot, and can detect structures within a predetermined range in front of the automatic transfer robot 100. The first sensor 140 can also measure the distance from the automatic transfer robot 100 to the structure. Therefore, the first sensor 140 can operate the laser in the xy plane and generate distance data (d, ψ) including the distance d and the yaw angle ψ with respect to the traveling direction of the automatic transfer robot 100 (see FIG. 2(A)). For example, the first sensor 140 is a two-dimensional laser range finder, but is not limited to this. As described above, the first sensor 140 may be any sensor that can generate distance data (d, ψ).

[0029] Information about the structure in the xy plane can be obtained as distance data from the first sensor 140. Information about the structure in the z direction can be obtained from the swivel mechanism 130. Specifically, pitch angle data θ relative to the traveling direction of the automatic transfer robot 100 can be obtained from the encoder of the motor of the swivel mechanism 130. Therefore, in the map creation system 10, three-dimensional information about the structure can be obtained by scanning the pitch angle data θ of the swivel mechanism 130.

[0030] A further configuration of the automatic transfer robot 100 and the configuration of the information processing device 200 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the configuration of a map creation system 10 according to an embodiment of the present invention.

[0031] 3, the automatic transfer robot 100 is communicably connected to an information processing device 200 via a network NW. The network NW is preferably wireless, and may be, for example, the Internet.

[0032] The map creation system 10 may be configured such that the information processing device 200 is mounted on the automatic transfer robot 100. In this case, the automatic transfer robot 100 can be communicably connected to the information processing device 200 by wire.

[0033] The automatic transfer robot 100 includes not only the swing mechanism 130 and the first sensor 140 described above, but also a second sensor 150, a control unit 160, and a communication unit 170.

[0034] The second sensor 150 can generate position data (three-dimensional coordinates (x, y, z)) and directional vector data (a, b, c) of the automatic transfer robot 100. The second sensor 150 is, for example, an acceleration sensor, a gyro sensor, a barometric pressure sensor, or an IMU (Inertial Measurement Unit) including a GPS (Global Positioning System) signal receiver. The second sensor 150 may be configured to combine multiple sensors. Alternatively, the second sensor 150 may be configured to acquire the position data and directional vector data from an encoder of a motor that drives the crawler 120 of the automatic transfer robot 100.

[0035] The control unit 160 can transmit control signals to the oscillating mechanism 130, the first sensor 140, and the second sensor 150, and acquire pitch angle data, distance data, position data, and direction vector data from the oscillating mechanism 130, the first sensor 140, and the second sensor 150, respectively. The control unit 160 can also generate structure information that links the distance data with the position data, direction vector data, and pitch angle data.

[0036] The communication unit 170 is a communication interface capable of transmitting and receiving information or data, and can transmit the generated structure information to the information processing device 200.

[0037] The information processing device 200 is a so-called computer that includes a point cloud data generation unit 210, a two-dimensional map generation unit 220, a storage unit 230, and a communication unit 240 and can perform arithmetic processing using information or data. The information processing device 200 includes, for example, a central processing unit (CPU), a microprocessor (MPU), a graphics processing unit (GPU), a storage device such as a random access memory (RAM), a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), or a communication interface.

[0038] The point cloud data generator 210 and the 2D map generator 220 can function by a computer executing a program stored in a storage device. The storage device 230 can store information or data in the storage device. The communication device 240 can receive information or data from the automatic transfer robot 100.

[0039] The point cloud data generation unit 210 can generate point cloud data 231 that represents information about structures present on a floor in three-dimensional coordinates (X, Y, Z) based on the structure information. The generated point cloud data 231 is stored in the storage unit 230. The point cloud data 231 can be used as a three-dimensional map.

[0040] The two-dimensional map generating unit 220 can extract point cloud data that satisfies Z≦h from the point cloud data 231 using a preset setting value h. The setting value h corresponds to the height from the floor and can be set appropriately by the user depending on the height of the automatic transfer robot 100 on which the cargo is loaded. Furthermore, the two-dimensional map generating unit 220 can convert the Z coordinate of the extracted point cloud data to Z=0 and generate a two-dimensional map 232 in which the extracted point cloud data is projected onto the (X, Y, 0) plane. That is, three-dimensional structures are reflected on the two-dimensional map 232 as two-dimensional obstacle areas. The generated two-dimensional map 232 is stored in the storage unit 230.

[0041] The two-dimensional map 232 is used when the automatic transfer robot 100 carrying the cargo travels.

[0042] In addition, when the map creation system 10 is configured such that the information processing device 200 is mounted on the automatic transfer robot 100, the information processing device 200 of the automatic transfer robot 100 can execute the function of the point cloud data generation unit 210 and transmit the generated point cloud data 231 to another information processing device, and can also execute the function of the two-dimensional map generation unit 220 and transmit the generated two-dimensional map 232 to another information processing device.

[0043] [2. Map Creation Method of Map Creation System 10] 4 is a flowchart illustrating a map creation method of the map creation system 10 according to one embodiment of the present invention. The map creation process in the map creation method is started by causing the automatic transport robot 100, which is not loaded with any cargo, to travel within a floor.

[0044] In step S110, the automatic transfer robot 100 travels within the floor and acquires position data (three-dimensional coordinates (x, y, z)), direction vector data (a, b, c), pitch angle data θ, and distance data (d, ψ) based on a control signal from the control unit 160. The position data and direction vector data are acquired by the second sensor 150. The pitch angle data is acquired from the encoder of the motor of the oscillating mechanism 130. The distance data is acquired by scanning with the first sensor 140. The control unit 160 associates the distance data with the position data, direction vector data, and pitch angle data. That is, for each scan of the first sensor 140, structure information is generated in which the distance data is associated with the position data, direction vector data, and pitch angle data. The structure information is transmitted from the automatic transfer robot 100 to the information processing device 200. However, the structure information may be transmitted while the automatic transfer robot 100 is traveling or after the automatic transfer robot 100 has finished traveling.

[0045] In step S120, the point cloud data generation unit 210 generates point cloud data 231 of three-dimensional coordinates (X, Y, Z) based on the structure information. For example, the point cloud data generation unit 210 generates point cloud data 231 of three-dimensional coordinates (X, Y, Z) including information about the structure by converting position data of the three-dimensional coordinates (x, y, z) using distance data, direction vector data, and pitch angle data. The point cloud data 231 represents a three-dimensional map of the floor. Note that, here, the three-dimensional coordinates (X, Y, 0) of the point cloud data 231 indicate the floor surface. The generated point cloud data 231 is stored in the storage unit 230.

[0046] In step S130, the two-dimensional map generating unit 220 generates a two-dimensional map 232 based on the point cloud data 231. Specifically, the two-dimensional map generating unit 220 extracts point cloud data satisfying Z≦h from the point cloud data 231 based on a set value h (h>0). The two-dimensional map generating unit 220 then converts the extracted point cloud data to Z=0 and generates a two-dimensional map 232 in which the extracted point cloud data is projected onto the (X, Y, 0) plane (i.e., the XY plane where Z=0). The generated two-dimensional map 232 is a map in which a three-dimensional map is projected onto the floor surface, and reflects information on structures (e.g., openings) located below the floor surface and structures up to a height h from the floor surface. In other words, the two-dimensional map 232 includes obstacle areas where the automatic transfer robot 100 cannot travel. The generated two-dimensional map 232 is stored in the storage unit 230.

[0047] When the two-dimensional map 232 is generated in step S130, the map creation process ends.

[0048] The two-dimensional map 232 reflects not only the height of the automatic transfer robot 100 but also information up to the height h, including the height of the luggage. Therefore, the automatic transfer robot 100 loaded with luggage can transfer the luggage to a predetermined position on the floor while checking the two-dimensional map 232.

[0049] When the automatic transfer robot 100 transfers a load while checking the two-dimensional map 232, the automatic transfer robot 100 does not need to drive the swing mechanism 130. That is, the automatic transfer robot 100 can travel while detecting structures using the first sensor 140, whose pitch direction is fixed. Even if no structures are detected by the first sensor 140, the automatic transfer robot 100 travels while avoiding the obstacle area if an obstacle area is indicated on the two-dimensional map 232. The two-dimensional map 232 indicates, as an obstacle area, the existence of a structure in a position where a load carried by the automatic transfer robot 100 may collide. Therefore, the automatic transfer robot 100 can prevent the load from colliding with the structure by traveling while avoiding the obstacle area on the two-dimensional map 232. Furthermore, fixing the pitch direction of the first sensor 140 eliminates the need to acquire pitch angle data, thereby reducing the amount of calculation by the control unit 160.

[0050] The generation of the two-dimensional map 232 will be specifically described with reference to Figures 5 to 7. Figures 5 to 7 are each a schematic diagram illustrating a map creation method of the map creation system 10 according to one embodiment of the present invention.

[0051] 5(A) shows the travel of the automatic transfer robot 100 in step S110. A structure 510 exists on the floor in front of the automatic transfer robot 100. Therefore, the first sensor 140 of the automatic transfer robot 100 detects the structure 510.

[0052] Distance data of the structure 510 is acquired by scanning the first sensor 140, and point cloud data 231 representing the structure 510 is generated by conversion using position data and direction vector data acquired by the second sensor 150, as well as pitch angle data acquired from the encoder of the motor of the oscillating mechanism 130. Because the structure 510 exists above the floor, the Z coordinate of the point cloud data 231 representing the structure 510 has a positive value.

[0053] 5(B) shows a two-dimensional map 232 generated based on a set value h that is set as an indicator of the height of the automatic transfer robot 100 carrying a load. The two-dimensional map 232 includes an obstacle area 610 onto which point cloud data representing a structure 510 that satisfies Z≦h is projected. Therefore, when the automatic transfer robot 100 transfers a load, the automatic transfer robot 100 can avoid the structure 510 by recognizing the obstacle area 610 on the two-dimensional map 232.

[0054] 6(A) shows the travel of the automatic transfer robot 100 in step S110. An opening 520 having a depth d from the floor surface is present in front of the automatic transfer robot 100. The first sensor 140 of the automatic transfer robot 100 is capable of scanning in the z direction by the swing mechanism 130. Therefore, the first sensor 140 detects the opening 520.

[0055] Distance data of the opening 520 is acquired by scanning the first sensor 140, and point cloud data 231 representing the opening 520 is generated by conversion using position data and direction vector data acquired by the second sensor 150 and pitch angle data acquired from the encoder of the motor of the oscillating mechanism 130. Because the opening 520 is located below the floor surface, the Z coordinate of the point cloud data 231 representing the opening 520 has a negative value.

[0056] 6(B) shows a two-dimensional map 232 generated based on a set value h that is set as an indicator of the height of the automatic transfer robot 100 carrying a load. The two-dimensional map 232 includes an obstacle region 620 onto which point cloud data representing an opening 520 that satisfies Z≦h is projected. Therefore, when the automatic transfer robot 100 transfers a load, even if the pitch direction of the first sensor 140 is fixed and the opening 520 is not detected, the automatic transfer robot 100 can avoid the structure 510 by recognizing the obstacle region 620 on the two-dimensional map 232.

[0057] FIG. 7(A) shows the travel of the automatic transfer robot 100 in step S110. A structure 530 is present on the floor in front of the automatic transfer robot 100. The structure 530 has a second structure 530-2 protruding from a first structure 530-1 at a height h1. In other words, the second structure 530-2 is a portion of the structure 530 that is separated from the floor having a height h1. The first sensor 140 of the automatic transfer robot 100 is capable of scanning in the z direction by the swing mechanism 130. Therefore, the first sensor 140 detects not only the first structure 530-1 but also the second structure 530-2.

[0058] FIG. 7B shows the set value h (h

[0059] 7(C) shows a second two-dimensional map 232-2 generated based on a set value h (h≧h1) that is set as an index of the height of the loaded automatic transfer robot 100. The second two-dimensional map 232-2 includes a second obstacle region 630-2 onto which point cloud data representing a first structure 530-1 and a second structure 530-2 that satisfy Z≦h are projected.

[0060] ​7(B) and 7(C), the map creation system 10 can generate a two-dimensional map 232 according to the height of the loaded automatic transfer robot 100. For example, when the height of the loaded automatic transfer robot 100 is smaller than h1, a first two-dimensional map 232-1 is generated, and the automatic transfer robot 100 can avoid the first structure 530-1 by recognizing a first obstacle area 630-1 in the first two-dimensional map 232-1. In this case, the automatic transfer robot 100 can travel below the second structure 530-2, thereby expanding the transfer route of the automatic transfer robot. Furthermore, when the height of the automated transfer robot 100 carrying a load is equal to or greater than h1, the automated transfer robot 100 generates a second two-dimensional map 232-2 and recognizes a second obstacle area 630-2 on the second two-dimensional map 232-2, thereby being able to avoid the first structure 530-1 and the second structure 530-2. In this case, even if the first sensor 140 does not detect the second structure 530-2, the automated transfer robot 100 can prevent the load from colliding with the second structure 530-2.

[0061] As described above, the map creation system 10 according to this embodiment can create a 2D map 232 that takes into account the height of packages stacked on the automatic transfer robot 100, thereby preventing the packages from colliding with structures when the automatic transfer robot 100 is transporting the packages. Furthermore, the map creation system 10 does not use expensive sensors capable of three-dimensional scanning, and therefore can be manufactured inexpensively.

[0062] Second Embodiment Another map creation method using the map creation system 10 according to one embodiment of the present invention will be described with reference to Figures 8 and 9. Note that, in the following, the description of the configuration described in the first embodiment may be omitted.

[0063] 8 is a flowchart illustrating a map creation method of the map creation system 10 according to one embodiment of the present invention. In the map creation process of the map creation method according to this embodiment, step S115A is executed between step S110 and step S120.

[0064] In step S115A, the point cloud data generation unit 210 uses the position data to calculate the slope s=|Δz| / (Δx 2 +Δy 2 ) 1 / 2 Furthermore, if s≦t (t is a set value) is satisfied, the 2D map generation unit 220 converts the z coordinate of the position data to z=0. The set value t is a value corresponding to a step that the automatic transfer robot 100 loaded with luggage can overcome while traveling. In other words, step S115A is a process of converting the slope s of the position data to a flat floor surface (z=0) when the slope s of the floor surface is an incline on which the automatic transfer robot 100 loaded with luggage can travel. With this conversion, even if the floor surface is inclined, it can be treated as a flat floor surface as long as the incline is such that the automatic transfer robot 100 loaded with luggage can travel.

[0065] In addition, if there is no difference in the steps that the automatic transport robot 100 can overcome when there is no load and when there is load, all z coordinates of the position data may be set to z=0.

[0066] The generation of the two-dimensional map 232 in the case where the map creation process includes step S115A will be specifically described with reference to Fig. 9. Fig. 9 is a schematic diagram illustrating a map creation method of the map creation system 10 according to one embodiment of the present invention.

[0067] 9(A) shows the travel of the automatic transfer robot 100 in step S110. The automatic transfer robot 100 travels on an inclined floor surface and detects a structure 510A using the first sensor 140. Specifically, the structure 510A exists on a floor surface (z<0) located below the floor surface that serves as the reference for z=0.

[0068] FIG. 9B shows the floor surface (z=0) after the conversion process in step S115A. Specifically, the position data is used to calculate the slope s. If the slope s is equal to or less than a preset value t, which is set as an index of the level of the step on which the loaded automatic transport robot 100 can travel, i.e., if s≦t, the z coordinates of two adjacent points used for the slope s are converted to z=0. If the floor surface is inclined and the z coordinates of two distant points are significantly different (if the difference between the z coordinates of the two points is greater than the allowable range), the map creation method of the map creation system 10 according to the first embodiment may erroneously determine that the floor surface is a structure or an opening. In contrast, the map creation method of the map creation system 10 according to the present embodiment can treat a surface as a floor surface (z=0) as long as it is a surface on which the automatic transport robot 100 can travel, even if the z coordinates of two distant points are significantly different.

[0069] 9(C) shows a two-dimensional map 232 generated based on a set value h that is set as an indicator of the height of the automatic transfer robot 100 loaded with a load. The two-dimensional map 232 includes an obstacle area 610A onto which point cloud data representing a structure 510A that satisfies Z≦h is projected. Therefore, when the automatic transfer robot 100 transfers a load, the automatic transfer robot 100 can avoid the structure 510 by recognizing the obstacle area 610A on the two-dimensional map 232, even if the floor surface is inclined.

[0070] As described above, the map creation method in the map creation system 10 according to this embodiment can create the 2D map 232 taking into consideration steps that the automatic transfer robot 100 loaded with cargo can travel on. Therefore, even if the floor surface is inclined, the automatic transfer robot 100 can transfer the cargo while referring to the 2D map 232.

[0071] The above-described embodiments of the present invention may be combined as appropriate as long as they are not mutually inconsistent. Furthermore, even if a person skilled in the art appropriately adds or deletes components or modifies designs, or adds or omits processes or modifies conditions based on the embodiments, such combinations are included within the scope of the present invention as long as they include the gist of the present invention.

[0072] Even if there are other effects and advantages different from those brought about by the above-mentioned embodiments, those that are clear from the description in this specification or that can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0073] 10: Map creation system, 100: Automatic transfer robot, 110: Main body, 120: Crawler, 130: Swing mechanism, 131: Support unit, 132: Drive unit, 140: First sensor, 150: Second sensor, 160: Control unit, 170: Communication unit, 200: Information processing device, 210: Point cloud data generation unit, 220: 2D map generation unit, 230: Memory unit, 231: Point cloud data, 232: 2D map, 240: Communication unit, 510, 510A: Structure, 520: Opening, 530: Structure, 610, 610A, 620: Obstacle area, 630-1: First obstacle area, 630-2: Second obstacle area

Claims

1. Automatic transport robots and an information processing device communicably connected to the automatic transfer robot, The information processing device includes: a point cloud data generation unit that generates point cloud data in which structures are represented as three-dimensional coordinates (X, Y, Z) based on data acquired by the automatic transport robot traveling; a two-dimensional map generating unit that extracts the point cloud data that satisfies Z≦h (h is an arbitrary set value greater than 0), projects the extracted point cloud data onto an XY plane where Z=0, and generates a two-dimensional map in which at least a portion of the structure is represented as an obstacle area, the point cloud data generation unit further converts, when two adjacent pieces of position data of three-dimensional coordinates (x, y, z) along which the automatic transport robot has traveled and the two adjacent pieces of position data have a predetermined inclination s in the z direction, the two adjacent pieces of position data into three-dimensional coordinates (x, y, 0), and generates the point cloud data based on the converted three-dimensional coordinates (x, y, 0); A mapping system, wherein the predetermined slope s satisfies equations (1) and (2). s=|Δz| / (Δx ２ +Δy ２ ) １／２ ・・・(1) s≦t (2) (where t is a preset value.)

2. The automatic transfer robot comprises: a sensor capable of scanning in a direction parallel to the contact surface of the automatic transport robot; a swing mechanism on which the sensor is installed and which swings the sensor in a direction perpendicular to the ground surface, The map creation system according to claim 1 , wherein the swing mechanism is installed on a front surface of the automatic transfer robot.

3. The map creation system according to claim 2 , wherein the data includes pitch angle data with respect to the traveling direction of the automatic transfer robot acquired from the swing mechanism.

4. The map creation system according to claim 1 , wherein the information processing device is mounted on the automatic transfer robot.

5. an automatic transport robot is driven, and point cloud data is generated from the data acquired by the automatic transport robot, in which the structure is represented as three-dimensional coordinates (X, Y, Z); extracting the point cloud data that satisfies Z≦h (h is an arbitrary set value greater than 0); projecting the extracted point cloud data onto an XY plane at Z=0 to generate a two-dimensional map in which at least a portion of the structure is represented as an obstacle area; Among the position data of three-dimensional coordinates (x, y, z) along which the automatic transport robot has traveled, if two adjacent pieces of position data have a predetermined inclination s in the z direction, convert the two adjacent pieces of position data into three-dimensional coordinates (x, y, 0); the point cloud data is generated based on the transformed three-dimensional coordinates (x, y, 0); A map creation method, wherein the predetermined slope s satisfies equations (1) and (2). s=|Δz| / (Δx ２ +Δy ２ ) １／２ ・・・(1) s≦t (2) (where t is a preset value.)

6. the automatic transfer robot includes a swing mechanism that swings a sensor that can scan in a direction parallel to a ground surface of the automatic transfer robot in a direction perpendicular to the ground surface, the swing mechanism is installed in front of the automatic transfer robot, The map creation method according to claim 5 , wherein the data includes pitch angle data with respect to the traveling direction of the automatic transfer robot acquired from the swing mechanism.

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