Traveling map creation device, autonomous traveling robot, traveling map creation method, and program

Abstract

To provide a traveling map creation apparatus capable of readily setting a traveling area in a traveling map for an autonomous traveling robot.SOLUTION: A traveling map creation apparatus 100 includes a position sensor 102 that obtains a positional relationship of surrounding objects to the apparatus, a floor map creation unit 121 that creates a floor map representing a predetermined floor, a self-position estimation unit 122 that estimates the self-position of the traveling map creation apparatus on the floor map, a traveling area setting unit 123 that sets on the predetermined floor a traveling area where an autonomous traveling robot 300 can travel, and a traveling map creation unit 124 that creates a traveling map including the traveling area. When a wall exists along a traveling direction on one side of a direction intersecting the traveling direction of the traveling map creation apparatus 100, the traveling area setting unit 123 sets the wall on a boundary of the traveling area. When no wall exists along the traveling direction on one side, the traveling area setting unit sets the boundary on the basis of the self-position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] For example, Patent Document 1 discloses a method of recognizing repeating shapes on the driving route of an autonomous driving device as landmarks that separate driving areas, and setting the area surrounded by a pair of landmarks and a wall surface as the driving area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-145517 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology described in Patent Document 1 requires the user to place landmarks on the travel route of the autonomous mobile device in advance to demarcate the travel area, which is time-consuming.

[0005] Therefore, the present disclosure provides a driving map creation device and the like that can easily set a driving area on a map for driving an autonomous driving robot. [Means for solving the problem]

[0006] A traveling map creation device according to one aspect of the present disclosure is a traveling map creation device that creates a map for traveling of an autonomously traveling robot that travels autonomously within a specified floor, and includes: a position sensor that acquires the positional relationship of surrounding objects relative to itself; a floor map creation unit that creates a floor map showing the specified floor based on the positional relationship; a self-position estimation unit that estimates a self-position, which is the current position of a main body of the traveling map creation device on the floor map, based on the positional relationship and the floor map; a traveling area setting unit that sets a traveling area, which is an area in which the autonomously traveling robot can travel on the specified floor, based on the floor map, the self-position, and the positional relationship; and a traveling map creation unit that creates the traveling map that includes the traveling area.If a wall exists along the traveling direction on one side of a direction that intersects the traveling direction of the traveling map creation device, the traveling area setting unit sets the wall as the boundary of the traveling area, and if no wall exists along the traveling direction on the one side, sets the boundary based on the self-position.

[0007] Furthermore, an autonomous driving robot according to one aspect of the present disclosure is an autonomous driving robot that autonomously drives within a specified floor, and includes a main body, a driving unit that is disposed on the main body and enables the main body to drive, a driving map acquisition unit that acquires the driving map created by the driving map creation device, a position sensor that detects objects around the main body and acquires the positional relationship of the object relative to the main body, a self-position estimation unit that estimates the self-position, which is the position of the main body on the driving map, based on the driving map and the positional relationship, a driving plan creation unit that creates a driving plan for the specified floor based on the driving map and the self-position, and a driving control unit that controls the driving unit based on the driving plan.

[0008] Furthermore, a driving map creation method according to one aspect of the present disclosure is a driving map creation method by a driving map creation device that creates a driving map for an autonomously mobile robot that travels autonomously within a specified floor, and includes an acquisition step that acquires the positional relationship of surrounding objects relative to itself; a floor map creation step that creates a floor map that shows the specified floor based on the positional relationship; a self-position estimation step that estimates a self-position, which is the current position of a main body of the driving map creation device on the floor map based on the positional relationship and the floor map; a driving area setting step that sets a driving area, which is an area on the specified floor in which the autonomously mobile robot can travel, based on the floor map, the self-position, and the positional relationship; and a driving map creation step that creates the driving map that includes the driving area, wherein in the driving area setting step, if a wall exists along the driving direction on one side of a direction that intersects the driving direction of the driving map creation device, the wall is set as the boundary of the driving area, and if no wall exists along the driving direction on the one side, the boundary is set based on the self-position.

[0009] The present disclosure may be realized as a program for causing a computer to execute the driving map creation method. It may also be realized as a non-transitory recording medium, such as a CD-ROM, on which the program is recorded and which can be read by a computer. The present disclosure may also be realized as information, data, or signals representing the program. These programs, information, data, and signals may be distributed via a communication network, such as the Internet. [Effects of the Invention]

[0010] According to the travel map creation device and the like of the present disclosure, a travel area can be easily set on a map for travel of an autonomous travel robot. [Brief explanation of the drawings]

[0011] [Figure 1]FIG. 1 is a block diagram showing an example of a functional configuration of an autonomous mobile robot system according to an embodiment. [Figure 2] FIG. 2 is a perspective view of the navigation map creation device according to the embodiment, seen from diagonally above. [Figure 3] FIG. 3 is a perspective view showing the external appearance of the autonomous mobile robot according to the embodiment as seen from the side. [Figure 4] FIG. 4 is a perspective view showing the appearance of the autonomous mobile robot according to the embodiment as viewed from the front. [Figure 5] FIG. 5 is a bottom view showing the appearance of the autonomous mobile robot according to the embodiment as seen from the rear side. [Figure 6] FIG. 6 is a flowchart showing a first example of the operation of the autonomous mobile robot system according to the embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of a detailed flow of step S06 in FIG. [Figure 8] FIG. 8 is a flowchart showing an example of a detailed flow of step S13 in FIG. [Figure 9] FIG. 9 is a diagram showing an example of a reception screen of the information terminal. [Figure 10] FIG. 10 is a diagram illustrating an example of the operation of the driving map creation device. [Figure 11] FIG. 11 is a diagram showing an example of a travel area set by the operation shown in FIG. 10(a). [Figure 12] FIG. 12 is a diagram showing an example of a travel area set by the operation shown in FIG. 10(b). [Figure 13] FIG. 13 is a diagram showing an example of setting a travel area when there is an object whose positional relationship is difficult to obtain by a position sensor. [Figure 14] FIG. 14 is a diagram showing another example of setting a travel area when there is an object whose positional relationship is difficult to obtain by a position sensor. [Figure 15]FIG. 15 is a flowchart showing a second example of the operation of the autonomous mobile robot system according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of a driving map creation device and the like according to the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below represents a preferred specific example of the present disclosure. Therefore, the numerical values, shapes, materials, components, component arrangements and connection forms, steps, step order, and the like shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components not recited in independent claims will be described as optional components.

[0013] The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0014] Furthermore, each drawing is a schematic diagram and is not necessarily an exact illustration. In each drawing, substantially the same components are denoted by the same reference numerals, and duplicated explanations may be omitted or simplified.

[0015] In addition, in the following embodiments, an autonomous mobile robot traveling on the floor surface of a specified floor may be described as a top view when viewed from vertically above, and as a bottom view when viewed from vertically below.

[0016] (Embodiment) [Autonomous Driving Robot System] [1. Configuration] First, an overview of an autonomous mobile robot system according to an embodiment will be described below. Fig. 1 is a block diagram showing an example of the functional configuration of an autonomous mobile robot system according to an embodiment.

[0017] The autonomous mobile robot system 400 is a system that creates a driving map that sets out multiple driving areas in which the autonomous mobile robot 300 will drive, and the autonomous mobile robot 300 drives on a specified floor based on a driving plan generated based on the created driving map.

[0018] The predetermined floor is, for example, a floor surrounded by walls within a building. The building may be, for example, a facility such as a hotel, a commercial facility, an office building, a hospital, a nursing home, an art museum, or a library, or may be an apartment building or other collective housing complex.

[0019] 1, the autonomous mobile robot system 400 includes, for example, a mobile map creation device 100, an information terminal 200, and an autonomous mobile robot 300. Each component will be described below.

[0020] [1-1. Driving map creation device] First, the navigation map creation device 100 will be described with reference to Figures 1 and 2. Figure 2 is a perspective view of the navigation map creation device 100 according to the embodiment, seen obliquely from above.

[0021] The traveling map creation device 100 is a device that creates a traveling map for the autonomous traveling robot 300 that travels autonomously on a predetermined floor. For example, the traveling map creation device 100 creates a traveling map while traveling on a predetermined floor in response to a user's operation. Specific operations will be described later.

[0022] As shown in Fig. 2, the traveling map creation device 100 is placed on, for example, a dolly 190 and travels on a predetermined floor by user operation. Here, the user pushes the dolly 190 to cause the traveling map creation device 100 to travel. For example, a stand 192 for placing an information terminal 200 (see Fig. 2) on a handle 191 of the dolly 190 may be attached, or a presentation unit (not shown in Figs. 1 and 2) of the traveling map creation device 100 may be installed. The presentation unit may be a so-called display panel.

[0023] The function of the traveling map creation device 100 may be installed in the autonomous traveling robot 300, and the autonomous traveling robot 300 may be made to travel to create a traveling map.

[0024] 1, the driving map creation device 100 includes, for example, a position sensor 102, a communication unit 110, a control unit 120, a storage unit 130, a notification unit 140, and a reception unit 150. Each component will be described below.

[0025] [Position sensor] The position sensor 102 acquires the positional relationship of an object relative to itself. For example, the position sensor 102 is disposed in the center of the top surface of the main body 101, and acquires the positional relationship, including the distance and direction, between the traveling map creation device 100 and objects, including walls, present around the traveling map creation device 100. The position sensor 102 may be, for example, a LiDAR or a laser range finder that emits light and detects the positional relationship based on light reflected by an obstacle. The position sensor 102 may have one or two optical scanning axes, thereby performing two-dimensional or three-dimensional measurement of a predetermined area around the traveling map creation device 100.

[0026] The traveling map creation device 100 may include other types of sensors in addition to the position sensor 102. For example, the traveling map creation device 100 may further include a camera, an obstacle sensor, a floor sensor, an encoder, an acceleration sensor, an angular velocity sensor, a contact sensor, an ultrasonic sensor, a distance measurement sensor, etc.

[0027] [Communications Department] The communication unit 110 is a communication circuit that enables the traveling map creation device 100 to communicate with the information terminal 200 and the autonomous traveling robot 300 via the network 10. For example, the communication unit 110 may transmit a traveling map to the autonomous traveling robot 300. The communication unit 110 may include a communication circuit (communication module) for communicating via a wide area communication network and a communication circuit (communication module) for communicating via a local communication network. The communication unit 110 is, for example, a wireless communication circuit that performs wireless communication. There are no particular limitations on the communication standard used for communication by the communication unit 110.

[0028] [Control Unit] The control unit 120 acquires sensor data, such as the positional relationship between the main body 101 and objects around the main body 101, obtained by sensing the environment around the main body 101 of the driving map creation device 100 using the position sensor 102, and performs various calculations. Specifically, the control unit 120 is realized by a processor, a microcomputer, or a dedicated circuit. Alternatively, the control unit 120 may be realized by a combination of two or more of the processor, the microcomputer, or the dedicated circuit. For example, the control unit 120 includes a floor map creation unit 121, a self-position estimation unit 122, a driving area setting unit 123, and a driving map creation unit 124.

[0029] The control unit 120 acquires the positional relationship between the main body 101 and objects around the main body 101 and the movement trajectory of the main body 101 (i.e., the traveling map creation device 100) acquired by the position sensor 102. In other words, the movement trajectory of the main body 101 is the movement trajectory of the self-position that indicates a change in the self-position over time due to the traveling of the traveling map creation device 100. If the traveling map creation device 100 includes other types of sensors in addition to the position sensor 102, the control unit 120 may further acquire sensor data acquired by the other types of sensors.

[0030] The floor map creation unit 121 creates a floor map showing a predetermined floor based on the relative positional relationship between the object acquired by the position sensor 102 and the position sensor 102. The floor map creation unit 121 may create a floor map showing a predetermined floor using a map creation technique such as SLAM (Simultaneous Localization And Mapping), or may acquire a floor map input from an external device (not shown) via the network 10. The floor map may also be stored in advance in the storage unit 130, in which case the floor map creation unit 121 may read and acquire the floor map from the storage unit 130.

[0031] The self-position estimation unit 122 estimates the self-position, which is the current position of the main body 101 of the traveling map creation device 100 on the floor map, using the positional relationship acquired by the position sensor 102 and the floor map. For example, the self-position estimation unit 122 estimates the self-position using SLAM technology.

[0032] The traveling area setting unit 123 sets a traveling area, which is an area in which the autonomous mobile robot 300 can travel, on a specified floor based on the floor map and its own position. More specifically, if a wall exists along the traveling direction on one side of the direction intersecting the traveling direction of the traveling map creation device 100 (hereinafter simply referred to as "one side"), the traveling area setting unit 123 sets the wall as the boundary of the traveling area, and if no wall exists along the traveling direction on one side, the traveling area setting unit 123 sets the boundary based on its own position. Note that the boundary is the boundary between the traveling area in which the autonomous mobile robot 300 can travel on a specified floor and a non-traveling area in which the autonomous mobile robot 300 does not travel.

[0033] For example, if there is no wall on one side along the driving direction, the driving area setting unit 123 may set the movement trajectory of the self-position, which indicates the change in the self-position over time due to the driving of the driving map creation device 100, as the boundary of the driving area.

[0034] Furthermore, for example, when there is no wall on one side along the traveling direction, the traveling area setting unit 123 may set the movement trajectory of the self-position to the boundary of the traveling area when an instruction to set the movement trajectory of the self-position to the boundary is received by the receiving unit 150 described later, and may set the movement trajectory of the self-position after shifting, which indicates a temporal change in the self-position shifted by a predetermined width, to the boundary of the traveling area when the receiving unit 150 receives an instruction to set the self-position to the boundary by the predetermined width. Note that the predetermined width is the distance between the self-position and the wall immediately before the instruction to set the movement trajectory of the self-position after shifting, to the boundary is received.

[0035] The driving map creation unit 124 creates a driving map that includes the driving area set by the driving area setting unit 123. For example, the driving map creation unit 124 outputs the created driving map to the information terminal 200 and the autonomous mobile robot 300 via the communication unit 110. Note that the driving map creation unit 124 may further create a driving map that includes no-entry areas that prohibit the autonomous mobile robot 300 from entering.

[0036] [Storage] The storage unit 130 is a storage device that stores the floor map created by the floor map creation unit 121, the positional relationship acquired by the position sensor 102, and the driving map created by the driving map creation unit 124. The storage unit 130 also stores computer programs that the control unit 120 executes to perform the above-mentioned arithmetic processing. The storage unit 130 is realized by, for example, an HDD (Hard Disk Drive), a flash memory, or the like.

[0037] [Notification Department] The notification unit 140 notifies the user of information. For example, if a wall that existed on one side along the traveling direction no longer exists, the notification unit 140 notifies the user that the wall no longer exists. The notification unit 140 may notify the user of information by, for example, light, sound, or a combination thereof. Specifically, the notification unit 140 is a lamp, a buzzer, a speaker, or the like. If the notification unit 140 is a lamp, it may light or flash a red lamp. Furthermore, if the notification unit 140 is a buzzer, the type of buzzer sound may be changed, or if the notification unit 140 is a speaker, it may notify the user by voice.

[0038] [Reception] The receiving unit 150 receives a user instruction (more specifically, an input operation of an instruction by the user). For example, when there is no wall on one side along the traveling direction, the receiving unit 150 may receive an instruction to set the movement trajectory of the self-position as the boundary, or may receive an instruction to set the self-position on one side by a predetermined width and a movement trajectory of the self-position after shifting that indicates a change over time in the self-position.

[0039] The receiving unit 150 may be realized by, for example, a touch panel, a display panel, hardware buttons, or a microphone. The touch panel may be, for example, a capacitive touch panel or a resistive touch panel. The display panel has a function of displaying images and a function of accepting manual input from the user, and accepts input operations to a numeric keypad image or the like displayed on a display panel such as a liquid crystal panel or an organic EL (Electro Luminescence) panel. The microphone accepts voice input from the user.

[0040] Here, an example is shown in which the reception unit 150 is a component of the traveling map creation device 100, but the reception unit 150 may be incorporated into the autonomous traveling robot 300, a remote controller (not shown), or an information terminal 200.

[0041] [1-2. Information terminal] Next, the information terminal 200 will be described. The information terminal 200 is, for example, a portable information terminal such as a smartphone or tablet terminal used by a user, but may also be a stationary information terminal such as a personal computer. The information terminal 200 may also be a dedicated terminal for the autonomous mobile robot system 400. The information terminal 200 includes a communication unit 210, a control unit 220, a presentation unit 230, a reception unit 240, and a storage unit 250. Each component will be described below.

[0042] [Communications Department] The communication unit 210 is a communication circuit that enables the information terminal 200 to communicate with the traveling map creation device 100 and the autonomous traveling robot 300 via the network 10. The communication unit 210 may include a communication circuit (in other words, a communication module) for communicating via a wide area communication network, and a communication circuit (in other words, a communication module) for communicating via a local communication network. The communication unit 210 is, for example, a wireless communication circuit that performs wireless communication. There are no particular limitations on the communication standard for communication performed by the communication unit 210.

[0043] [Control Unit] The control unit 220 controls the display of images on the reception unit 240, and performs processing to identify instructions input by the user (for example, voice recognition processing in the case of voice input), etc. The control unit 220 may be realized by, for example, a microcomputer or a processor.

[0044] [Presentation part] The presentation unit 230 presents the presentation information output by the driving map creation device 100 and the driving map to the user. The presentation information is, for example, notification information that is notified to the user, presentation information that is presented in response to a request from the user, etc. The presentation unit 230 may be realized, for example, by a display panel, or may be realized by a display panel and a speaker. The display panel is, for example, a liquid crystal panel or an organic EL panel. The speaker outputs sound or audio.

[0045] [Reception] The receiving unit 240 receives a user instruction (more specifically, an input operation of the instruction by the user). More specifically, the receiving unit 240 receives an input operation performed to transmit the user instruction to the driving map creation device 100.

[0046] The reception unit 240 may be realized by, for example, a touch panel, a display panel, hardware buttons, or a microphone. The touch panel may be, for example, a capacitive touch panel or a resistive touch panel. The display panel has a function of displaying images and a function of accepting manual input from the user, and accepts input operations to a numeric keypad image or the like displayed on a display panel such as a liquid crystal panel or an organic EL panel. The microphone accepts voice input from the user.

[0047] [Storage] The storage unit 250 is a storage device that stores dedicated application programs and the like to be executed by the control unit 220. The storage unit 250 is realized by, for example, a semiconductor memory.

[0048] [1-3. Autonomous Robot] Next, the autonomous mobile robot 300 will be described. The autonomous mobile robot 300 is a robot that travels autonomously. For example, the autonomous mobile robot 300 acquires a map for travel created by the mobile map creation device 100, and travels autonomously within a predetermined floor corresponding to the map for travel. The autonomous mobile robot 300 is not particularly limited as long as it is a robot that travels autonomously, but may be, for example, a transport robot that transports luggage, a surveillance robot that patrols, a disinfection robot that disinfects a space, or a cleaning robot. Below, an example will be described in which the autonomous mobile robot 300 is a cleaning robot.

[0049] Fig. 3 is a perspective view showing the appearance of autonomous mobile robot 300 according to the embodiment as seen from the side. Fig. 4 is a perspective view showing the appearance of autonomous mobile robot 300 according to the embodiment as seen from the front. Fig. 5 is a bottom view showing the appearance of autonomous mobile robot 300 according to the embodiment as seen from the back.

[0050] As shown in FIGS. 1 and 3 to 5 , the autonomous mobile robot 300 includes, for example, a main body 301 on which various components are mounted, a communication unit 310, a position sensor 320, an obstacle sensor 330, a control unit 340, a memory unit 350, a traveling unit 360, and a cleaning unit 370. The traveling unit 360 includes, for example, wheels 361 for moving the main body 301. The cleaning unit 370 includes, for example, side brushes 371 and a main brush 372 for cleaning up dirt present on a predetermined floor. The control unit 340 processes various types of information related to the operation of the autonomous mobile robot 300. The control unit 340 includes a traveling control unit 345 that controls the traveling unit 360 and a cleaning control unit 346 that controls the cleaning unit 370. The main body 301 is a housing that houses the traveling unit 360, the cleaning unit 370, the control unit 340, and the like.

[0051] [Running part] The running unit 360 causes the autonomous mobile robot 300 to run based on instructions from the running control unit 345. The running unit 360 has wheels 361 that run on the floor, a running motor (not shown) that applies torque to the wheels 361, and a housing (not shown) that houses the running motor. The autonomous mobile robot 300 may also be a two-wheeled robot with opposing wheels that are equipped with casters (not shown) as auxiliary wheels. In this case, the running unit 360 independently controls the rotation of each wheel 361 of the pair of running units, thereby allowing the autonomous mobile robot 300 to run freely in directions such as forward, backward, left, and right turns.

[0052] [Cleaning Department] Based on instructions from cleaning control unit 346, cleaning unit 370 sucks dust on the floor through suction port 373 (see FIG. 5) and collects the sucked dust inside main body 301. Cleaning unit 370 includes a brush rotation motor (not shown) that rotates side brushes 371 and main brush 372, a suction motor (not shown) that sucks dust through suction port 373, a power transmission unit (not shown) that transmits power to these motors, and a storage unit (not shown) that collects the sucked dust.

[0053] [Position sensor] The position sensor 320 acquires the positional relationship of the object relative to the main body 301 of the autonomous mobile robot 300. For example, the position sensor 320 is disposed in the center of the top surface of the main body 301, and acquires the positional relationship, including the distance and direction, between the autonomous mobile robot 300 and objects, including walls, that exist around the autonomous mobile robot 300. The position sensor 320 may be, for example, a LiDAR (Light Detection and Ranging) sensor that emits light and acquires the positional relationship (e.g., the distance and direction from the autonomous mobile robot to an object) based on the light reflected by an obstacle, or a laser range finder. The position sensor 320 may also have one or two optical scanning axes, thereby performing two-dimensional or three-dimensional measurement of a predetermined area around the autonomous mobile robot 300.

[0054] [Obstacle sensor] The obstacle sensor 330 is a sensor that detects obstacles that may hinder travel, such as surrounding walls and furniture that exist in front of the main body 301 (specifically, in the direction of travel). In this embodiment, an ultrasonic sensor is used as the obstacle sensor 330. The obstacle sensor 330 has a transmitter 331 that is arranged in the center of the front side of the main body 301 and receivers 332 that are arranged on both sides of the transmitter 331. The receivers 332 receive ultrasonic waves that are transmitted from the transmitter 331 and reflected by the obstacle, thereby enabling the distance to the obstacle, the position of the obstacle, and the like to be detected. Note that an infrared sensor or the like may also be used as the obstacle sensor 330.

[0055] The autonomous mobile robot 300 may also be equipped with sensors other than those described above. For example, it may be equipped with floor sensors arranged at multiple locations on the bottom surface of the main body 301 to detect whether or not a floor surface is present. It may also be equipped with an encoder provided on the traveling unit 360 to detect the rotation angle of each of a pair of wheels 361 rotated by a traveling motor. It may also be equipped with an acceleration sensor that detects the acceleration when the autonomous mobile robot 300 travels, and an angular velocity sensor that detects the angular velocity when the autonomous mobile robot 300 turns. It may also be equipped with a dust amount sensor that measures the amount of dust accumulated on the floor surface. It may also be equipped with a contact sensor that detects the displacement of a bumper (not shown) to detect a collision with an obstacle.

[0056] [Communications Department] The communication unit 310 is a communication circuit that enables the autonomous mobile robot 300 to communicate with the mobile map creation device 100 and the information terminal 200 via the network 10. The communication unit 310 may include a communication circuit (in other words, a communication module) for communicating via a wide area communication network, and a communication circuit (in other words, a communication module) for communicating via a local communication network. The communication unit 310 is, for example, a wireless communication circuit that performs wireless communication. There are no particular limitations on the communication standard used for communication by the communication unit 310.

[0057] [Control Unit] The control unit 340 performs various calculations based on a driving map and sensor information obtained by sensing the environment around the autonomous mobile robot 300 using the position sensor 320 and the obstacle sensor 330. Specifically, the control unit 340 is realized by a processor, a microcomputer, or a dedicated circuit. The control unit 340 may also be realized by a combination of two or more of a processor, a microcomputer, or a dedicated circuit. For example, the control unit 340 includes a driving map acquisition unit 341, a self-position estimation unit 342, an obstacle information acquisition unit 343, a driving plan creation unit 344, a driving control unit 345, and a cleaning control unit 346.

[0058] The driving map acquisition unit 341 acquires a driving map created by the driving map creation device 100. For example, the driving map acquisition unit 341 may acquire the driving map output by the driving map creation device 100 via communication, or may acquire the driving map by reading it out from the storage unit 350.

[0059] The self-position estimation unit 342 estimates the self-position, which is the current position of the main body 301 of the autonomous mobile robot 300 on the map for driving, based on, for example, the map for driving acquired by the map acquisition unit 341 for driving and the positional relationship of surrounding objects relative to the main body 301 of the autonomous mobile robot 300 acquired by the position sensor 320.

[0060] The travel plan creation unit 344 creates a travel plan based on the travel map and the robot's own location. For example, if the autonomous mobile robot 300 is a cleaning robot, the travel plan creation unit 344 may further create a cleaning plan. The cleaning plan includes the cleaning order for cleaning multiple cleaning areas on a specified floor, the travel path and cleaning mode for each cleaning area, etc. The cleaning mode is, for example, a combination of the travel speed of the autonomous mobile robot 300, the suction strength for sucking up dirt on the floor surface, and the rotation speed of the brush.

[0061] When the autonomous mobile robot 300 is traveling according to the travel plan and an obstacle is detected by the obstacle sensor 330, the travel plan creation unit 344 may change the travel plan based on the position of the obstacle estimated by the obstacle information acquisition unit 343. At this time, the travel plan creation unit 344 may also change the cleaning plan.

[0062] The obstacle information acquisition unit 343 acquires information about the obstacle detected by the obstacle sensor 330 (e.g., the distance and position of the obstacle, etc.), and estimates the position of the obstacle on the floor map based on the acquired information and the self-position estimated by the self-position estimation unit 342.

[0063] The driving control unit 345 controls the driving unit 360 so that the autonomous mobile robot 300 drives according to a driving plan. More specifically, the driving control unit 345 performs information processing to control the operation of the driving unit 360 based on the driving plan. For example, the driving control unit 345 derives control conditions for the driving unit 360 based on information such as a driving map and the robot's own position in addition to the driving plan, and generates a control signal for controlling the operation of the driving unit 360 based on the control conditions. The driving control unit 345 outputs the generated control signal to the driving unit 360. Note that the details of deriving the control conditions for the driving unit 360, etc., are the same as those of conventional autonomous mobile robots, and therefore will not be described here.

[0064] The cleaning control unit 346 controls the cleaning unit 370 so that the autonomously traveling robot 300 cleans according to a cleaning plan. More specifically, the cleaning control unit 346 performs information processing to control the operation of the cleaning unit 370 based on the cleaning plan. For example, the cleaning control unit 346 derives control conditions for the cleaning unit 370 based on information such as a navigation map and the robot's own position in addition to the cleaning plan, and generates a control signal for controlling the operation of the cleaning unit 370 based on the control conditions. The cleaning control unit 346 outputs the generated control signal to the cleaning unit 370. Note that the details of deriving the control conditions for the cleaning unit 370, etc., are the same as those of conventional autonomously traveling cleaning robots, and therefore will not be described here.

[0065] [Storage] The storage unit 350 is a storage device that stores a driving map, sensor information sensed by the position sensor 320 and the obstacle sensor 330, and a computer program executed by the control unit 340. The storage unit 350 is realized by, for example, a semiconductor memory.

[0066] [2. Operation] Next, the operation of the autonomous mobile robot system 400 according to the embodiment will be described with reference to the drawings.

[0067] [First example] First, a first example of the operation of the autonomous mobile robot system 400 according to the embodiment will be described. Fig. 6 is a flowchart showing the first example of the operation of the autonomous mobile robot system 400 according to the embodiment. The following description will be given with reference to Figs. 1 and 6.

[0068] Although not shown, the traveling map creation device 100 starts traveling in response to a user operation. When traveling starts, the autonomous traveling robot system 400 performs, for example, the following operations. Note that the traveling map creation device 100 may be caused to travel by a user operating a steering wheel, or by operating a joystick or a remote control. The traveling map creation device 100 may also be caused to travel by a user operating an information terminal 200 on which an app has been downloaded. An example in which the traveling map creation device 100 travels in accordance with instructions input by a user to the information terminal 200 will be described below.

[0069] Although not shown in FIG. 6, when the reception unit 240 of the information terminal 200 receives an instruction to start creating a driving map, the control unit 220 of the information terminal 200 outputs the instruction to the driving map creation device 100 via the communication unit 210.

[0070] Next, when the control unit 120 of the navigation map creation device 100 receives an instruction to start creating a navigation map output from the information terminal 200 (step S01), it causes each of the multiple sensors included in the navigation map creation device 100, including the position sensor 102, to start acquiring sensing data (step S02). More specifically, the control unit 120 of the navigation map creation device 100 outputs an instruction to start acquiring sensing data to each of the multiple sensors, including the position sensor 102.

[0071] Next, upon receiving the command to start acquiring sensing data, the position sensor 102 acquires the positional relationship of surrounding objects relative to itself (step S03), and outputs the acquired positional relationship to the control unit 120 (not shown). The control unit 120 acquires the positional relationship of surrounding objects relative to itself output from the position sensor 102 (not shown).

[0072] Next, the floor map creating unit 121 creates a floor map showing a predetermined floor based on the positional relationship acquired by the position sensor 102 in step S03 (step S04).

[0073] Next, the self-position estimation unit 122 estimates a self-position, which is the current position of the position sensor 102 (in other words, the traveling map creation device 100 equipped with the position sensor 102) on the floor map, based on the positional relationship acquired by the position sensor 102 in step S03 and the floor map created by the floor map creation unit 121 in step S04 (step S05). More specifically, the self-position estimation unit 122 estimates a self-position, which is the position of the traveling map creation device 100 on the floor map, using the relative positional relationship between the object and the position sensor 102 acquired from the position sensor 102 and the floor map. Although not shown in FIG. 6, the self-position estimation unit 122 attaches a timestamp to the estimated self-position and stores it in the storage unit 130.

[0074] The traveling map creation device 100 may repeat steps S03 to S05 while traveling. For example, the floor map creation unit 121 and the self-position estimation unit 122 may create a floor map while estimating the self-position by SLAM technology, and may successively update the self-position and floor map.

[0075] Next, the traveling area setting unit 123 sets a traveling area on the floor map in which the autonomous mobile robot 300 will travel (step S06). More specifically, the traveling area setting unit 123 sets a traveling area on a predetermined floor, which is an area in which the autonomous mobile robot 300 can travel, based on the floor map and its own position. The specific traveling area setting process will be described later.

[0076] Next, the driving map creation unit 124 creates a driving map including the driving area set by the driving area setting unit 123 in step S06 (step S07).

[0077] [Example of driving area setting process] The travel area setting process will be described in more detail below with reference to Fig. 7. Fig. 7 is a flowchart showing an example of the detailed flow of step S06 in Fig. 6.

[0078] In step S06, the traveling area setting unit 123 determines whether a wall exists along the traveling direction on one side (e.g., on the right side) of the direction intersecting the traveling direction of the traveling map creation device 100 (S11), and if it determines that a wall exists (Yes in S11), it sets the wall as the boundary of the traveling area (S12).On the other hand, if it determines that a wall does not exist along the traveling direction on one side (e.g., on the right side) of the direction intersecting the traveling direction of the traveling map creation device 100 (No in S11), it sets the boundary based on its own position (S13).

[0079] After steps S12 and S13, if the estimation of the self-position has not been completed (No in S14), the driving area setting unit 123 returns to the processing of step S11, and if the estimation of the self-position has been completed (Yes in S14), the driving map creation unit 124 performs the processing of step S07 in Figure 6.

[0080] An example of a specific process in step S13 will now be described with reference to Fig. 8. Fig. 8 is a flowchart showing an example of a detailed flow of step S13 in Fig. 7.

[0081] 7, if the traveling area setting unit 123 determines that a wall does not exist along the traveling direction on one side (e.g., on the right side) of the traveling map creation device 100 in a direction intersecting the traveling direction (No in S11), the traveling area setting unit 123 determines whether the wall that existed along the traveling direction on the one side no longer exists (S21). If the traveling area setting unit 123 determines that the wall that existed along the traveling direction on the one side no longer exists (No in S21), in other words, if it was determined that the wall did not exist before the determination of No in step S11, the traveling area setting unit 123 sets the movement trajectory of the main body 101's own position as a boundary (S22). On the other hand, if the traveling area setting unit 123 determines that the wall that existed along the traveling direction on the one side no longer exists (Yes in S21), in other words, if it was determined that the wall existed before the determination of No in step S11, the traveling area setting unit 123 notifies the user that the wall no longer exists (S23).

[0082] When the receiving unit 150 receives an instruction to set the movement trajectory of the self-position as a boundary (Yes in S24), the traveling area setting unit 123 sets the movement trajectory of the self-position as a boundary of the traveling area (S22). On the other hand, when the receiving unit 150 receives an instruction to set the movement trajectory of the self-position after shifting the self-position by a predetermined width to one side in a direction intersecting the traveling direction of the traveling map creation device 100 as a boundary (No in S24), the traveling area setting unit 123 sets the movement trajectory of the self-position after shifting as a boundary of the traveling area (S25).

[0083] After the processes of steps S22 and S25, the traveling area setting unit 123 performs the process of step S14 in FIG.

[0084] Here, an example has been described in which the notification unit 140 notifies the user and the reception unit 150 receives the user's instructions, but the present invention is not limited to this example. For example, the presentation unit 230 of the information terminal 200 may notify the user and the reception unit 240 may receive the user's instructions. Fig. 9 is a diagram showing an example of a reception screen of the information terminal 200. Fig. 10 is a diagram schematically showing an example of the operation of the driving map creation device.

[0085] For example, as shown in FIG. 9, the reception unit 240 of the information terminal 200 may be, for example, a touch panel, and an icon for instructing the driving map creation device 100 on the driving direction, an icon for instructing the driving map creation device 100 to stop driving, and an icon for instructing the device 100 on whether to set a boundary may be displayed on the presentation unit 230 (for example, a display).

[0086] 8, if the traveling area setting unit 123 determines that a wall that existed on one side no longer exists (Yes in S21), the presenting unit 230 may notify the user by voice or image that the wall no longer exists. At this time, for example, the presenting unit 230 may notify the user by voice, such as "Please set the boundary of the traveling area," to prompt the user to input an instruction to set the boundary, or may notify the user by sounding a predetermined beep.

[0087] Furthermore, the presentation unit 230 may display, for example, an image of a "movement trajectory" icon for selecting the movement trajectory of the self-position and an image of a "shift" icon for selecting the movement trajectory of the self-position after the shift. When the reception unit 150 selects whether to set the movement trajectory of the self-position or the movement trajectory of the self-position after the shift as a boundary and receives a "boundary setting ON" instruction to set the boundary as selected, the communication unit 210 of the information terminal 200 transmits the received instruction to the driving map creation device 100.

[0088] For example, when the traveling map creation device 100 determines at point P1 that a wall L1 existing along the traveling direction no longer exists on one side of the direction intersecting the traveling direction (hereinafter referred to as the right side of the main body 101), the traveling map creation device 100 notifies the user of this. For example, as shown in FIG. 10(a), when the receiving unit 240 of the information terminal 200 receives an instruction to set the movement trajectory of the self-location as a boundary, the traveling map creation device 100 sets the movement trajectory of the self-location (e.g., movement trajectory L3 of the self-location from point P2 to point P3) as the boundary of the traveling area R1. When the traveling map creation device 100 determines at point P4 that a wall L2 existing along the traveling direction exists on the right side of the main body 101, the traveling map creation device 100 sets the wall L2 as the boundary of the traveling area R1. In this example, when the traveling map creation device 100 is viewed from above from the ceiling side of a specified area, it travels counterclockwise through the area, so one side is the right side. However, for example, if the traveling map creation device 100 travels clockwise through the area, one side is the left side.

[0089] FIG. 11 is a diagram illustrating an example of a traveling area R1 set by the operation shown in FIG. 10(a). FIG. 11(a) is a diagram illustrating an example of a movement trajectory of the traveling map creation device 100's own position, which defines the traveling area R1. As shown in FIG. 11(a), when there is a location without a wall (e.g., an aisle) on the right side of the main body 101, the traveling map creation device 100 shifts its own position by a predetermined width to the right in accordance with the operation instruction received by the reception unit 240 by rotating the main body 101 to the right at point P1 and moving it to point P2. Then, the traveling map creation device 100 travels from point P2 to point P3 in accordance with the operation instruction and sets the movement trajectory L3 of its own position from point P2 to point P3 as the boundary of the traveling area R1.

[0090] As shown in (a) of Figure 11, the traveling map creation device 100 sets the wall as the boundary where there is a wall along the traveling direction on the right side of the main body 101, and sets the movement trajectory of the self-position as the boundary where there is no wall, such as an aisle, thereby setting the traveling area R1 shown in (b) of Figure 11.

[0091] FIG. 12 is a diagram showing an example of a traveling area R1 set by the operation shown in FIG. 10(b). FIG. 12(a) is a diagram showing an example of a movement trajectory of the traveling map creation device 100's own position, which defines the traveling area R1. As shown in FIG. 12(a), when there is a location (e.g., an aisle) without a wall on the right side of the main body 101, the traveling map creation device 100 shifts its own position by a predetermined width to the right of the main body 101 in accordance with the operation instruction received by the reception unit 240. In other words, the traveling map creation device 100 does not move the actual self-position of the main body 101 to the right, but sets the position obtained by moving the actual self-position by a predetermined width to the right as the post-shift self-position, and sets the movement trajectory L4 of the post-shift self-position to the boundary of the traveling area R1.

[0092] As shown in (a) of Figure 12, the traveling map creation device 100 sets the boundary where a wall exists along the traveling direction on the right side of the main body 101, and where there is no wall such as an aisle, sets the boundary to the movement trajectory of the self-position after shifting it by a predetermined width W1 (see (b) of Figure 10) to the right, thereby setting the traveling area R1 shown in (b) of Figure 12.

[0093] It should be noted that the absence of a wall is not limited to passageways, but also includes, for example, the presence of an object (such as glass) whose positional relationship is difficult to obtain by the position sensor 102. Fig. 13 is a diagram schematically illustrating an example of setting a travel area when an object whose positional relationship is difficult to obtain by the position sensor 102 is present.

[0094] The dashed-dotted line shown in (a) of FIG. 13 is, for example, glass. Even in the case of an object whose positional relationship is difficult to acquire by the position sensor 102, as shown in FIG. 12, for example, in accordance with an operation instruction received by the receiving unit 240, the main body 101 is rotated to the right to shift its own position by a predetermined width to the side, and a movement trajectory L5 of the own position when traveling along the glass is set as the boundary of the traveling area R2 ((b) of FIG. 13). Here, the traveling map creation device 100 is moved toward the glass, and the movement trajectory L5 of the actual own position is set as the boundary of the traveling area R2. However, the movement trajectory of the actual own position after the shift, which is shifted by a predetermined width to the right, may be set as the boundary of the traveling area R2 without moving the actual own position of the main body 101 to the right. The method for setting the boundary in the passage portion has been described above, so a description thereof will be omitted here. Alternatively, the movement trajectory L6 of the actual own position may be set as the boundary, or the movement trajectory of the self-position after the shift may be set as the boundary.

[0095] In addition to the glass, other objects whose positional relationship is difficult to acquire by the position sensor 102 include, for example, the legs of a chair or a desk. Fig. 14 is a diagram schematically showing another example of setting a travel area when there is an object whose positional relationship is difficult to acquire by the position sensor 102.

[0096] 14(a), when there are multiple chairs and desk legs 1 in a predetermined area, the movement trajectory of the self-position may be set as the boundary. As a result, as shown in FIG. 14(b), a travel area R3 is set with the wall and the movement trajectory L7 of the self-position of the main body 101 as the boundary.

[0097] [Second example] Next, a second example of the operation of the autonomous mobile robot system 400 in the embodiment will be described. In the first example, a process in which the mobile map creation device 100 creates a map for navigation based on instructions received by the information terminal 200 was described. In the second example, a process in which the autonomous mobile robot 300 cleans a predetermined floor while traveling based on the map for navigation created by the mobile map creation device 100 will be described.

[0098] 15 is a flowchart showing a second example of the operation of the autonomous mobile robot system 400 according to the embodiment. In the following description, the traveling area will be read as the cleaning area.

[0099] First, when the reception unit 240 of the information terminal 200 receives an instruction to start cleaning, the control unit 220 of the information terminal 200 outputs the instruction to the autonomous mobile robot 300 (not shown).

[0100] Next, when the control unit 340 of the autonomous mobile robot 300 receives an instruction to start cleaning (step S31), the driving map acquisition unit 341 acquires a driving map (step S32). For example, the driving map acquisition unit 341 may request a driving map for a specific floor from the driving map creation device 100 and acquire the map via the network 10, or may read a driving map stored in the storage unit 350.

[0101] Next, the control unit 340 of the autonomous mobile robot 300 outputs an instruction to start sensing to various sensors provided in the autonomous mobile robot 300, such as the position sensor 320 and the obstacle sensor 330, and acquires sensing data from these sensors (step S33).

[0102] Next, the self-position estimation unit 342 estimates the self-position of the main body 301 of the autonomous mobile robot 300 on the driving map based on the driving map acquired in step S32 and the positional relationship between the main body 301 of the autonomous mobile robot 300 and objects around it acquired by the position sensor 320 (step S34).

[0103] Next, based on the self-position estimated in step S34 and the travel map, the travel plan creation unit 344 extracts a cleaning area that is closest to the self-position from among the multiple cleaning areas included in the travel map (step S35).

[0104] Next, the travel schedule creation unit 344 determines a start position (more specifically, a position where cleaning starts) within the cleaning area extracted in step S35 (step S36).

[0105] Next, the travel plan creation unit 344 creates a travel plan for the cleaning area (step S37). At this time, the travel plan creation unit 344 may determine the travel route within the cleaning area, as well as the travel speed and cleaning mode. The cleaning mode includes, for example, at least one of sweeping, wiping, and dust suction, and the cleaning intensity, such as the rotation speed of the brush or suction intensity.

[0106] Next, the travel schedule creation unit 344 determines the order of cleaning the cleaning areas (step S38). For example, the travel schedule creation unit 344 may determine the order of cleaning the cleaning areas by referring to history information, such as the frequency of cleaning of the cleaning area or the priority of the cleaning area, from a history information database (not shown) stored in the storage unit 350.

[0107] Next, the travel plan creation unit 344 determines whether travel plans for all cleaning areas included in the travel map have been completed (step S39), and if it determines that they have not been completed (No in step S39), it performs the process of step S36 for the other cleaning areas. Then, after completing the processes of steps S36 to S38 for the other cleaning areas, the travel plan creation unit 344 determines whether travel plans for all cleaning areas have been completed (step S39). Then, if the travel plan creation unit 344 determines that travel plans for all cleaning areas have been completed (Yes in step S39), it outputs the created travel plan and a control start instruction to the travel control unit 345 and the cleaning control unit 346 (not shown).

[0108] When travel control unit 345 and cleaning control unit 346 acquire the travel plan and a control start instruction from travel plan creation unit 344, they control travel unit 360 and cleaning unit 370 in accordance with the travel plan to perform cleaning (step S40).

[0109] The control unit 340 of the autonomous mobile robot 300 ends cleaning when all areas have been cleaned according to the travel plan.

[0110] [3. Effects, etc.] As described above, the traveling map creation device 100 is a traveling map creation device that creates a traveling map for the autonomous traveling robot 300 that travels autonomously within a specified floor, and includes: a position sensor 102 that acquires the positional relationship of surrounding objects relative to itself; a floor map creation unit 121 that creates a floor map that shows the specified floor based on the positional relationship; a self-position estimation unit 122 that estimates the self-position, which is the current position of the main body 101 of the traveling map creation device 100 on the floor map, based on the positional relationship and the floor map; a traveling area setting unit 123 that sets a traveling area, which is an area on the specified floor in which the autonomous traveling robot 300 can travel, based on the floor map and the self-position; and a traveling map creation unit 124 that creates a traveling map that includes the traveling area.If a wall exists along the traveling direction on one side of a direction that intersects the traveling direction of the traveling map creation device 100, the traveling area setting unit 123 sets the wall as the boundary of the traveling area; and if no wall exists along the traveling direction on the other side, the boundary is set based on the self-position.

[0111] This allows the traveling map creation device 100 to set the boundary of the traveling area depending on whether or not a wall exists along the traveling direction on one side of the direction intersecting the traveling direction of the traveling map creation device 100. Therefore, the traveling map creation device 100 can easily set the traveling area on the map for traveling of the autonomous traveling robot 300.

[0112] For example, in the traveling map creation device 100, when there is no wall on one side along the traveling direction, the traveling area setting unit 123 may set the movement trajectory of the self-position, which indicates the change in the self-position over time due to the traveling of the traveling map creation device 100, as the boundary of the traveling area.

[0113] As a result, when there is no wall on one side along the driving direction, the driving map creation device 100 can set the movement trajectory of its own position to the boundary of the driving area, making it possible to easily set the boundary in a location where no wall exists.

[0114] For example, the driving map creation device 100 further includes a reception unit 150 that receives instructions from a user, and when there is no wall on one side along the driving direction, the driving area setting unit 123 sets the movement trajectory of the self-position to the boundary of the driving area when the reception unit 150 receives an instruction to set the movement trajectory of the self-position to the boundary, and when the reception unit 150 receives an instruction to set a predetermined width W1 on one side, the movement trajectory of the self-position after shifting, which indicates a temporal change in the self-position after shifting, to the boundary, sets the movement trajectory L4 of the self-position after shifting to the boundary of the driving area R1, and the predetermined width W1 may be the distance between the self-position and the wall immediately before the instruction to set the movement trajectory of the self-position after shifting to the boundary is received.

[0115] As a result, when there is no wall on one side along the driving direction, the driving map creation device 100 does not need to move the main body 101 to one side, making it easier to set the boundaries of the driving area.

[0116] For example, the driving map creation device 100 may further include a notification unit, which may notify the user that a wall that existed on one side along the driving direction no longer exists when the wall no longer exists.

[0117] This allows the traveling map creation device 100 to reliably give a user instruction to set a boundary when a wall that existed on one side along the traveling direction no longer exists.

[0118] Furthermore, the autonomous mobile robot 300 is an autonomous mobile robot that travels autonomously within a specified floor, and comprises a main body 301, a travel unit 360 that is arranged on the main body 301 and enables the main body 301 to travel, a travel map acquisition unit 341 that acquires a travel map created by any of the above-mentioned travel map creation devices 100, a position sensor 320 that acquires the positional relationship of an object relative to the main body 301, a self-position estimation unit 342 that estimates the self-position, which is the current position of the main body 301 on the travel map, based on the travel map and the positional relationship, a travel plan creation unit 344 that creates a travel plan for the specified floor based on the travel map and the self-position, and a travel control unit 345 that controls the travel unit 360 based on the travel plan.

[0119] This allows the autonomous mobile robot system 400 to properly navigate the specified area, as the autonomous mobile robot 300 can create a driving plan based on a driving map with the driving area set.

[0120] For example, the autonomous mobile robot 300 may further include a cleaning unit 370 that cleans the floor surface by performing at least one of sweeping, wiping, and vacuuming dust, and a cleaning control unit 346 that controls the cleaning unit 370, and the travel plan creation unit 344 may further create a cleaning plan, and the cleaning control unit 346 may control the cleaning unit 370 based on the cleaning plan.

[0121] This allows the autonomous mobile robot 300 to create a cleaning plan in addition to a driving plan based on a driving map, so that the autonomous mobile robot 300 can clean while driving appropriately in a specified area.

[0122] The travelling map creation method is a travelling map creation method by the travelling map creation device 100 that creates a travelling map for an autonomous travelling robot that travels autonomously within a predetermined floor, and includes an acquisition step (step S03 in FIG. 6) of acquiring the positional relationship of surrounding objects relative to the autonomous travelling robot itself, a floor map creation step (step S04) of creating a floor map showing the predetermined floor based on the positional relationship, a self-position estimation step (step S05) of estimating the self-position, which is the current position of the main body 101 of the travelling map creation device 100 on the floor map, based on the positional relationship and the floor map, and a self-position estimation step (step S06) of estimating the self-position, which is the current position of the main body 101 of the travelling map creation device 100 on the floor map, based on the floor map and the self-position. In step (a), the method includes a driving area setting step (step S06) for setting a driving area, which is an area in which the autonomous mobile robot 300 can travel, and a driving map creation step (step S07) for creating a driving map including the driving area. In the driving area setting step (step S06), if a wall exists along the driving direction on one side of the direction intersecting the driving direction of the driving map creation device 100 (Yes in step S11 of Figure 7), the wall is set as the boundary of the driving area (step S12), and if there is no wall along the driving direction on one side (No in step S11), the boundary is set based on the autonomous mobile robot's position (step S13).

[0123] As a result, the travel map creation method makes it possible to set the boundary of the travel area depending on whether or not a wall exists along the travel direction on one side of the direction intersecting the travel direction of the travel map creation device 100. Therefore, the travel map creation method makes it possible to easily set the travel area on the map for travel of the autonomous mobile robot 300.

[0124] (Other embodiments) Although the embodiments have been described above, the present disclosure is not limited to the above embodiments. For example, the autonomous mobile robot system 400 includes the mobile map creation device 100, the information terminal 200, and the autonomous mobile robot 300. However, the autonomous mobile robot system 400 may include the information terminal 200 and an autonomous mobile robot equipped with a mobile map creation function, or may include the autonomous mobile robot 300 and an information terminal equipped with a mobile map creation function.

[0125] For example, an autonomous mobile robot equipped with a driving map creation function can create a driving map for a specific floor and a driving plan in parallel. Furthermore, since the autonomous mobile robot does not need to obtain a driving map via the network 10, it is less susceptible to communication failures and can perform processing more smoothly than when information is obtained via communication.

[0126] For example, an information terminal equipped with a driving map creation function allows a user to move around a predetermined area while carrying a portable computer device such as a tablet terminal equipped with LiDAR SLAM, and create and modify a driving map in parallel. This eliminates the need for the user to place the driving map creation device 100 on a dolly 190 and move around a predetermined floor, improving convenience.

[0127] Also, for example, in the embodiment, the navigational map creation device 100 includes the position sensor 102, but it does not have to include the position sensor 102. For example, the navigational map creation device 100 may be an information processing device that includes components other than the position sensor 102. In this case, a sensor including the position sensor 102 may be placed on a cart 190 and moved across a predetermined floor, and data acquired by the sensor may be output to the information processing device.

[0128] For example, in the embodiment, an example has been described in which the navigation map generated by the navigation map creation device 100 is transmitted to the autonomous navigation robot 300 via the network 10, but this is not limiting. For example, the navigation map creation device 100 may transmit the navigation map to the information terminal 200 via the network 10, and the information terminal 200 may transmit the acquired navigation map to the autonomous navigation robot 300 via the network 10. Note that the network 10 is a wide-area communication network such as the Internet, but may also be a local communication network such as Wi-Fi (registered trademark).

[0129] Furthermore, for example, the autonomous mobile robot 300 may acquire the map for travel via a USB (Universal Serial Bus) memory or the like in which the map for travel created by the map creation device for travel 100 is stored.

[0130] For example, in the embodiment, an example has been described in which the traveling map creation device 100 and the autonomous traveling robot 300 are separate entities, but the traveling map creation device 100 may also be realized as a single device incorporated into the autonomous traveling robot 300.

[0131] For example, in the embodiment, autonomous mobile robot system 400 is implemented by multiple devices, but it may also be implemented as a single device. Furthermore, when the system is implemented by multiple devices, the components of autonomous mobile robot system 400 may be distributed among the multiple devices in any manner. Furthermore, for example, a server device capable of communicating with autonomous mobile robot system 400 may include multiple components included in control units 120, 220, and 340.

[0132] For example, the communication method between the devices in the above-described embodiment is not particularly limited, and a relay device (not shown) may be used in the communication between the devices.

[0133] In the above-described embodiment, the processing performed by a specific processing unit may be performed by another processing unit. The order of multiple processing operations may be changed, or multiple processing operations may be performed in parallel.

[0134] In the above-described embodiments, each component may be realized by executing a software program suitable for that component, or by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0135] Furthermore, each component may be realized by hardware. For example, each component may be a circuit (or integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit or a dedicated circuit.

[0136] Furthermore, the general or specific aspects of the present disclosure may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0137] For example, the present disclosure may be realized as a navigation control method executed by a computer such as the autonomous navigation robot system 400, or as a program for causing a computer to execute such a navigation map creation method. Furthermore, the present disclosure may be realized as a program for causing a general-purpose computer to operate as the navigation map creation device 100 of the above-described embodiment. The present disclosure may also be realized as a computer-readable non-transitory recording medium on which such a program is recorded.

[0138] In addition, this disclosure also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art would think of, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the intent of this disclosure. [Industrial Applicability]

[0139] The present disclosure is widely applicable to autonomously moving robots. [Explanation of symbols]

[0140] 10 Network 100 Traveling map creation device 101 Main Unit 102 Position Sensor 110 Communications Department 120 control section 121 Floor Map Creation Department 122 Self-position estimation part 123 Driving area setting section 124 Driving Map Creation Unit 130 Storage section 140 Notification Department 150 Reception 190 carts 191 Handle 192 Stand 200 Information terminal 210 Communications Department 220 Control Unit 230 Presentation section 240 Reception 250 Storage section 300 Autonomous Robot 301 Main Unit 310 Communications Department 320 Position Sensor 330 Obstacle Sensor 331 Transmission Department 332 Receiving unit 340 Control Unit 341 Driving map acquisition unit 342 Self-position estimation part 343 Obstacle Information Acquisition Unit 344 Driving Plan Creation Department 345 Travel control unit 346 Cleaning control unit 350 Storage section 360 Running part 361 wheels 370 Cleaning Department 371 Side Brush 372 Main Brush 373 Suction port 400 Autonomous Driving Robot System R1, R2, R3 driving areas L1, L2 wall L3, L5, L6, L7 Self-position movement trajectory L4: Trajectory of self-position after shift P1, P2, P3, P4 points

Claims

1. A travel map creation device that creates a travel map for an autonomous travel robot that travels autonomously within a predetermined floor, a position sensor that acquires the positional relationship of surrounding objects with respect to the vehicle itself; a floor map creation unit that creates a floor map showing the predetermined floor based on the positional relationship; a self-position estimation unit that estimates a self-position, which is a current position of a main body of the driving map production device on the floor map, based on the positional relationship and the floor map; a travel area setting unit that sets a travel area on the predetermined floor that is an area in which the autonomous mobile robot can travel, based on the floor map and the self-location; a driving map creation unit that creates the driving map including the driving area; a reception unit that receives instructions from a user; Equipped with The travel area setting unit If a wall exists along the traveling direction on one side of a direction intersecting the traveling direction of the traveling map creation device, the wall is set as a boundary of the traveling area; If the wall does not exist on the one side along the traveling direction, a movement trajectory of the self-position, which indicates a change in the self-position over time due to the traveling of the traveling map creation device, is set to the boundary of the traveling area; Furthermore, the travel area setting unit When there is no wall along the traveling direction on the one side, when the receiving unit receives an instruction to set the movement trajectory of the self-position to the boundary, the movement trajectory of the self-position is set to the boundary of the traveling area; when the receiving unit receives an instruction to set the movement trajectory of the self-position after shifting the self-position by a predetermined width, which indicates a temporal change in the self-position, to the boundary on the one side, the movement trajectory of the self-position after shifting is set to the boundary of the traveling area; the predetermined width is a distance between the self-position and the wall immediately before an instruction to set the movement trajectory of the self-position after the shift to the boundary is accepted. Traveling map creation device.

2. Further, a notification unit is provided, When the wall that existed on the one side along the traveling direction no longer exists, the notification unit notifies the user that the wall no longer exists. The driving map generation device according to claim 1.

3. An autonomous robot that autonomously travels within a predetermined floor, The main body and a running unit disposed on the main body and allowing the main body to run; a driving map acquisition unit that acquires the driving map created by the driving map creation device according to claim 1 or 2; a position sensor for acquiring a positional relationship of the object with respect to the main body; a self-position estimation unit that estimates a self-position, which is a current position of the main body on the map for driving, based on the map for driving and the positional relationship; A driving plan for the predetermined floor is calculated based on the driving map and the self-location. a driving plan creation unit that creates a driving plan; a travel control unit that controls the travel unit based on the travel plan; Equipped with Autonomous driving robot.

4. Further, the vehicle is provided with the driving map creation device. The autonomous mobile robot according to claim 3 .

5. moreover, a cleaning unit that cleans the floor surface by performing at least one of sweeping, wiping, and dust suction; a cleaning control unit that controls the cleaning unit; Equipped with The travel plan creation unit further creates a cleaning plan, The cleaning control unit controls the cleaning unit based on the cleaning plan. The autonomous mobile robot according to claim 3 or 4.

6. A method for creating a map for travel by a map creation device for travel that creates a map for travel of an autonomously traveling robot that travels autonomously within a predetermined floor, comprising: an acquisition step of acquiring a positional relationship of a surrounding object with respect to the self; a floor map creation step of creating a floor map showing the predetermined floor based on the positional relationship; a self-position estimation step of estimating a self-position, which is a current position of a main body of the traveling map production device on the floor map, based on the positional relationship and the floor map; a travel area setting step of setting a travel area on the predetermined floor, which is an area in which the autonomous mobile robot can travel, based on the floor map and the self-location; a driving map creation step of creating a driving map including the driving area; Including, In the travel area setting step, If a wall exists along the traveling direction on one side of a direction intersecting the traveling direction of the traveling map creation device, the wall is set as a boundary of the traveling area; If the wall does not exist on the one side along the traveling direction, a movement trajectory of the self-position, which indicates a change in the self-position over time due to the traveling of the traveling map creation device, is set to the boundary of the traveling area; Furthermore, in the travel area setting step, If there is no wall on the one side along the traveling direction, when an instruction to set the movement trajectory of the self-position to the boundary is received by a receiving unit that receives instructions from a user, the movement trajectory of the self-position is set to the boundary of the traveling area, and when an instruction to set a movement trajectory of the self-position after shifting the self-position by a predetermined width, which indicates a change over time in the self-position, is received by the receiving unit to the boundary on the one side, the movement trajectory of the self-position after shifting is set to the boundary of the traveling area, the predetermined width is a distance between the self-position and the wall immediately before an instruction to set the movement trajectory of the self-position after the shift to the boundary is accepted. How to create a driving map.

7. A method for causing a computer to execute the driving map creation method according to claim 6, program.

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