Method for creating maps in autonomous mobile vehicles and autonomous mobile vehicles having map creation functions

Abstract

To provide a map creation method in an autonomous mobile body capable of improving a completion degree of a map to be created as compared with the past and an autonomous mobile body including a map creation function.SOLUTION: A self-propelled floor cleaning device 1 as an autonomous mobile body comprises: a first information display unit 41; a range measuring sensor 55; a map data creation function 102 which creates map data including an obstacle on the basis of distance information with the obstacle acquired by the range measuring sensor 55; an interrupted part detection unit 103 which detects an interrupted part of an obstacle in the map data; and a data creation unit 104 which creates interrupted part data for highlighting an interrupted part of the detected obstacle on the map data. An operator is notified of the interrupted part of the obstacle in the map data by displaying map data with the highlighted interrupted part of the obstacle in the first information display unit 41.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a method for creating a map in an autonomous mobile body and an autonomous mobile body having a map creation function.

Background Art

[0002] As an example of an autonomous mobile body having a map creation function, a cleaning robot (autonomous traveling body) described in Patent Document 1 is known. The robot described in Patent Document 1 has drive wheels, a laser range finder (LRF), and an encoder that outputs the rotation angle of the drive wheels. The robot described in Patent Document 1 is configured to move by an operator's operation and create a map based on distance information indicating the distance between the robot and an obstacle such as a wall, which is the output of the LRF, and rotation speed information indicating the rotation speed of the drive wheels, which is the output from the encoder.

[0003] Here, since the LRF has a measurement range, it is necessary to appropriately maintain the distance between the robot and the obstacle during map creation. In this regard, the robot described in Patent Document 1 determines the direction in which the robot should move based on the output of the LRF (distance information) and notifies the operator of the determined direction in which the robot should move.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] According to the method described in Patent Document 1, it is possible to move the robot in a direction that allows for accurate distance measurement of obstacles during map creation. However, Patent Document 1 does not allow, for example, moving the robot to a location where obstacle information may be insufficient to acquire additional obstacle information. Therefore, there is still room for improvement from the standpoint of improving the completeness of the created map.

[0006] Therefore, the present invention aims to provide a map creation method for an autonomous mobile vehicle and an autonomous mobile vehicle having a map creation function that can improve the completeness of the created map compared to conventional methods. [Means for solving the problem]

[0007] According to one aspect of the present invention, a method for creating a map in an autonomous mobile vehicle is provided. This method for creating a map in an autonomous mobile vehicle involves the autonomous mobile vehicle moving in response to the operation of an operator, and creating map data including obstacles based on distance information to obstacles acquired by the autonomous mobile vehicle's range sensor. Under development Map data in To detect the break in the obstacle, and the break in the obstacle To move the autonomous mobile body toward to the operator prompt This includes the following.

[0008] According to another aspect of the present invention, an autonomous mobile body is provided that has a map creation function and moves according to the operator's operation to create a map corresponding to the surrounding environment. This autonomous mobile body includes a range sensor and a map data creation unit that creates map data including obstacles based on distance information to obstacles acquired by the range sensor. Under development Map data in A break detection unit for detecting the break in the obstacle, and the break in the obstacle To move the autonomous mobile body toward to the operator prompt It has a notification section. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a map creation method for an autonomous mobile vehicle and an autonomous mobile vehicle having a map creation function that can improve the completeness of the created map compared to conventional methods. [Brief explanation of the drawing]

[0010] [Figure 1] This is a perspective view of a self-propelled floor cleaning device, an example of an autonomous mobile device. [Figure 2] Figure 1 is a schematic bottom view of the self-propelled floor cleaning device. [Figure 3] This diagram corresponds to the AA cross-sectional view in Figure 1, and shows the main internal components of the self-propelled floor cleaning device shown in Figure 1. [Figure 4] Figure 1 is a perspective view of the cleaning unit inside the self-propelled floor cleaning device. [Figure 5] This block diagram shows the configuration of the control system for the self-propelled floor cleaning device shown in Figure 1. [Figure 6] Figure 1 is a flowchart illustrating an example of the operation of the self-propelled floor cleaning device in mapping mode. [Figure 7] This flowchart shows an example of a break detection process that detects gaps in map data where obstacles are absent. [Figure 8] This diagram illustrates the overview of the discontinuity detection process. [Figure 9] This diagram illustrates the overview of the discontinuity detection process. [Figure 10] This diagram illustrates the overview of the discontinuity detection process. [Figure 11] This diagram illustrates the overview of the discontinuity detection process. [Modes for carrying out the invention]

[0011] Embodiments of the present invention will be described below with reference to the attached drawings. While this description focuses on the case where the autonomous mobile entity is a self-propelled floor cleaning device, the present invention is not limited to self-propelled floor cleaning devices and is applicable to various autonomous mobile entities with mapping capabilities.

[0012] Figs. 1 to 5 show a self-propelled floor cleaning device having a map creation function as an example of an autonomous mobile body according to an embodiment of the present invention. Fig. 1 is a perspective view of the self-propelled floor cleaning device as an example of the autonomous mobile body. Fig. 2 is a schematic bottom view of the self-propelled floor cleaning device shown in Fig. 1. Fig. 3 is a view corresponding to the A-A cross-sectional view of Fig. 1 and shows the main part inside the self-propelled floor cleaning device shown in Fig. 1. Fig. 4 is a perspective view of the cleaning unit included in the self-propelled floor cleaning device shown in Fig. 1. Fig. 5 is a block diagram showing a schematic configuration of the control system of the self-propelled floor cleaning device shown in Fig. 1. Note that the self-propelled floor cleaning device shown in Fig. 1 incorporates a power source such as a battery, which is shown as power supply VB in Fig. 5, and its description is omitted.

[0013] Referring to Figs. 1 to 5, a self-propelled floor cleaning device (hereinafter simply referred to as "floor cleaning device") 1 according to an embodiment has a traveling unit 2 for self-propelling on the floor surface. The traveling unit 2 is disposed at the lower part of the floor cleaning device 1. In the present embodiment, the traveling unit 2 includes a pair of left and right traveling motors 21, 21, a pair of left and right drive wheels 22, 22 driven by the traveling motors 21, 21, and a pair of left and right driven wheels 23, 23. The pair of left and right drive wheels 22, 22 are disposed at the rear side of the lower part of the floor cleaning device 1, and the pair of left and right driven wheels 23, 23 are disposed at the front side of the lower part of the floor cleaning device 1. And the floor cleaning device 1 is configured to move (travel) on the floor surface by driving the pair of drive wheels 22, 22 based on the control of the control unit 10 by the traveling motors 21, 21. Here, a pair of left and right driven wheels 23, 23 are provided, but it is not limited thereto, and there may be one driven wheel.

[0014] Also, the floor cleaning device 1 according to the embodiment has a cleaning unit 3 for cleaning the floor surface. The cleaning unit 3 is disposed between the pair of left and right drive wheels 22, 22 and the pair of left and right driven wheels 23, 23 in the front-rear direction of the floor cleaning device 1.

[0015] Referring mainly to FIGS. 3 and 4, the cleaning unit 3 includes a drive shaft 31 extending in the vertical direction, a shaft drive unit 32 for driving the drive shaft 31, and a cleaning pad 33 attached to the drive shaft 31.

[0016] The shaft drive unit 32 houses the upper end side of the drive shaft 31. The shaft drive unit 32 is configured to be able to advance and retreat the drive shaft 31 in the vertical direction and rotate (including pivoting; the same applies hereinafter) it. Specifically, in the present embodiment, the shaft drive unit 32 is configured to be able to advance the drive shaft 31 downward, retreat the advanced drive shaft 31 upward, and rotate the drive shaft 31 in both the forward rotation direction and the reverse rotation direction at any advanced position. The shaft drive unit 32 may be configured to include, as an example, a drive motor capable of forward and reverse rotation, a rotation transmission mechanism for transmitting the rotation of the drive motor to the drive shaft 31, a conversion mechanism for converting the rotation of the motor into linear motion in the axial direction of the drive shaft 31, and a connection mechanism for connecting the drive motor and the rotation transmission mechanism or the conversion mechanism. However, it is not limited thereto, and the shaft drive unit 32 may separately include a first drive unit for advancing and retreating the drive shaft 31 and a second drive unit for rotating the drive shaft 31.

[0017] The cleaning pad 33 is formed in a circular shape in plan view, and the center of its upper surface is attached to the lower end of the drive shaft 31. The cleaning pad 33 is composed of a pad holding portion 331 fixed to the lower end of the drive shaft 31 and a pad member 332 removably attached to the lower surface of the pad holding portion 331. The pad holding portion 331 is formed as a rigid body. The pad member 332 is a member that contacts the floor surface and is formed of an elastic body.

[0018] Here, we will briefly explain the operation of the cleaning unit 3. When the floor cleaning device 1 is not cleaning the floor surface, the drive shaft 31 in the cleaning unit 3 is in a predetermined initial position. At this time, the cleaning pad 33 is in a standby position above the floor surface, and the cleaning pad 33 (the pad member 332) does not come into contact with the floor surface. When the floor cleaning device 1 is cleaning the floor surface, the shaft drive unit 32 in the cleaning unit 3, based on the control of the control unit 10, moves the drive shaft 31 from the initial position to a predetermined position below. As a result, the cleaning pad 33 descends from the standby position to the cleaning position, and the pad member 332 comes into contact with the floor surface. Then, the shaft drive unit 32 rotates the cleaning pad 33 by rotating the drive shaft 31 while the cleaning pad 33 is in contact with the floor surface. In other words, the cleaning unit 3 is configured to clean the floor surface by rotating the cleaning pad 33 (the pad member 332) while it is in contact with the floor surface, or more precisely, while the cleaning pad 33 (the pad member 332) is pressed against the floor surface.

[0019] Returning to the description of the floor cleaning device 1, and referring to Figure 1, an operation panel 4 is provided on the top surface of the floor cleaning device 1. In this embodiment, the operation panel 4 has a first information display unit 41 that displays various information. The first information display unit 41 mainly displays information for the operator. The first information display unit 41 may be a touch panel that allows the operator to input instructions and other information by touch operation. The operation panel 4 also has a mode selection switch 42 for selecting the operating mode of the floor cleaning device 1 and an emergency stop button 43 for emergency stopping the floor cleaning device 1. In this embodiment, the operating modes of the floor cleaning device 1 include a manual cleaning mode in which the device moves and cleans the floor surface by operation of the operator, an automatic cleaning mode in which the device moves and cleans the floor surface automatically, and a map creation mode in which the device moves and creates a map according to the surrounding environment by operation of the operator.

[0020] Furthermore, the front of the floor cleaning device 1 is arranged from top to bottom in the following order: second information display unit 51, 3D image sensor 52, drive recorder 53, ultrasonic sensor 54, range sensor 55 such as LRF or LiDAR (Light Detection And Ranging), and bumper sensor 56.

[0021] The second information display unit 51 is configured to display the status of the floor cleaning device 1, for example, that the floor cleaning device 1 is cleaning or that an abnormality has occurred in the floor cleaning device 1. The second information display unit mainly displays information for people around the floor cleaning device 1. The 3D image sensor 52 is used to detect the shape of the area in front of the floor cleaning device 1, including any steps in the floor surface, and obstacles in front of the floor cleaning device 1. The drive recorder 53 has a camera and is capable of recording (video recording) the situation when the floor cleaning device 1 is operating (i.e., when cleaning). The ultrasonic sensor 54 is mainly used to detect obstacles in front of the floor cleaning device 1, especially transparent obstacles such as glass. The bumper sensor 56 is configured to detect contact (collision) with obstacles and output an emergency stop signal.

[0022] The range sensor 55 acquires distance information to obstacles such as walls in the vicinity (mainly within a predetermined range in front of) the floor cleaning device 1. Specifically, the range sensor 55 scans a distance measuring light such as laser light, receives the reflected light, measures the distance to each reflection point, and acquires the measured distance to each reflection point as distance information to the obstacle. The distance information to the obstacle acquired by the range sensor 55 is used by the floor cleaning device 1 to create map data and to recognize its own position. The range sensor 55 can also be used to detect obstacles in front of the floor cleaning device 1.

[0023] The operation of the floor cleaning device 1, which has the above configuration, is comprehensively controlled by the control unit 10. In this embodiment, the control unit 10 includes an operation control unit 101, a map data creation unit 102, a break detection unit 103, a break data creation unit 104, and a memory unit 105 (see Figure 5).

[0024] The motion control unit 101 controls the movement / stopping of the floor cleaning device 1 by controlling the travel unit 2 (and its travel motors 21, 21) based on instructions from the operator and input from various sensors, and also controls the cleaning unit 3 (and its shaft drive unit 32) to clean the floor surface.

[0025] When the floor cleaning device 1 is operating in map creation mode, the map data creation unit 102 creates map data including obstacles based on distance information to obstacles acquired by the range sensor 55 as the floor cleaning device 1 moves. In this embodiment, the map data created by the map data creation unit 102 is multi-gradation image data in which a higher pixel value indicates a higher probability of the presence of an obstacle at that pixel. In addition, the area inside the obstacles in the map data basically becomes the area that the floor cleaning device 1 can travel in. The map data being created, that is, the map data before completion, is output to the first information display unit 41 and displayed on the first information display unit 41.

[0026] The break detection unit 103 detects breaks in obstacles in the map data when the floor cleaning device 1 is operating in map creation mode. In this embodiment, the detection of breaks in obstacles by the break detection unit 103 is performed in parallel with the creation of map data by the map data creation unit 102. In other words, the break detection unit 103 detects breaks in obstacles in the map data that the map data creation unit 102 is creating.

[0027] When the floor cleaning device 1 is operating in map creation mode, the break section data creation unit 104 creates image data as break section data for highlighting the breaks in obstacles detected by the break section detection unit 103 on the map data. The created break section data is output to the first information display unit 41 and displayed on the first information display unit 41, just like the map data being created. Therefore, when the floor cleaning device 1 is operating in map creation mode, the first information display unit 41 displays map data with the breaks in obstacles highlighted, thereby notifying the operator of the breaks in obstacles in the map data. Furthermore, it is possible to notify the operator that there are breaks in obstacles in the map data and the location of the breaks in obstacles. In this embodiment, the highlighting of the breaks in obstacles is performed by surrounding the breaks (locations) of obstacles on the map data with circular or elliptical borders (preferably colored borders (for example, red borders)), but is not limited to this.

[0028] Map data is primarily used when the floor cleaning device 1 operates in automatic cleaning mode. Therefore, it is preferable that the map data be created as accurately as possible. On the other hand, gaps in the map data where obstacles are not present may indicate locations where the distance information of obstacles was not sufficiently acquired by the range sensor 55, that is, locations where obstacle information is insufficient. Therefore, in order to create accurate map data, it is necessary to acquire additional obstacle information for such locations. Accordingly, in this embodiment, the floor cleaning device 1 detects gaps in the map data where obstacles are not present and highlights these gaps on the map data, that is, it displays the map data with the gaps in the map data highlighted on the first information display unit 41, thereby notifying the operator of the gaps in the map data where obstacles are not present.

[0029] Such notifications allow the operator to easily recognize gaps in the obstacle network, i.e., areas where obstacle information may be insufficient, and enable them to move the floor cleaning device 1 toward the detected gaps in the obstacle network in order to acquire additional obstacle information. Therefore, displaying map data with gaps in the obstacle network highlighted on the first information display unit 41, and / or notifying the operator of gaps in the obstacle network in the map data, can be said to be prompting the operator to move the floor cleaning device 1 toward the gaps in the obstacle network.

[0030] The memory unit 105 stores various programs and data. The data includes map data created by the map data creation unit 102, and as mentioned above, the map data is mainly used when the floor cleaning device 1 operates in automatic cleaning mode.

[0031] Next, the operating modes of the floor cleaning device 1 (manual cleaning mode, automatic cleaning mode, and mapping mode) will be described.

[0032] [Manual operation mode] When manual cleaning mode is selected by the mode selection switch 42, the control unit 10 operates the floor cleaning device 1 in manual cleaning mode. In this case, the operator grasps the pair of left and right handles 6, 6 located on the upper rear side of the floor cleaning device 1, and the control unit 10 operates the floor cleaning device 1 based on instructions input from the operator via the operation panel 4, handles 6, 6, etc.

[0033] In manual cleaning mode, when the operator inputs a cleaning start command, the operation control unit 101 of the control unit 10 controls the shaft drive unit 32 of the cleaning unit 3 to start cleaning the floor surface by the cleaning unit 3, and controls the travel motors 21, 21 of the travel unit 2 to start moving the floor cleaning device 1. When the operator inputs a change of direction command, the operation control unit 101 controls the travel motors 21, 21 of the travel unit 2 to change the direction of movement of the floor cleaning device 1 to the direction corresponding to the change command. When the operator inputs a cleaning end command, the operation control unit 101 controls the shaft drive unit 32 of the cleaning unit 3 to end the cleaning of the floor surface by the cleaning unit 3, and controls the travel motors 21, 21 of the travel unit 2 to stop the movement of the floor cleaning device 1.

[0034] [Automatic cleaning mode] When the automatic cleaning mode is selected by the mode selection switch 42, the control unit 10 operates the floor cleaning device 1 in automatic cleaning mode. In this case, the control unit 10 estimates the position (i.e., its own position) of the floor cleaning device 1 based on the map data read from the memory unit 105 and the information on obstacles acquired by the range sensor 55, and cleans the floor surface with the cleaning unit 3 while moving the floor cleaning device 1 according to a pre-created cleaning route.

[0035] In automatic cleaning mode, when the operator inputs a cleaning start command or when a preset cleaning start time arrives, the operation control unit 101 of the control unit 10 controls the travel motors 21, 21 of the travel unit 2 to move the floor cleaning device 1 to the starting point of the cleaning route, and controls the shaft drive unit 32 of the cleaning unit 3 to start cleaning the floor surface by the cleaning unit 3. Subsequently, the operation control unit 101 appropriately controls the travel motors 21, 21 of the travel unit 2 to move the floor cleaning device 1 along the cleaning route, and when the floor cleaning device 1 reaches the end point of the cleaning route, it controls the shaft drive unit 32 of the cleaning unit 3 to end the cleaning of the floor surface by the cleaning unit 3, and controls the travel motors 21, 21 of the travel unit 2 to move the floor cleaning device 1 to a predetermined position and then stop its movement. Furthermore, if the control unit 10 detects an obstacle in front of the floor cleaning device 1 during cleaning, it stops the floor cleaning device 1 from moving and puts it into standby mode. After the obstacle is no longer detected in front of the floor cleaning device 1, it resumes moving the floor cleaning device 1. In addition, if the emergency stop button 43 is operated or an emergency stop signal is received from the bumper sensor 56, the control unit 10 will perform an emergency stop on the floor cleaning device 1.

[0036] [Map creation mode] When the mapping mode is selected by the mode selection switch 42, the control unit 10 operates the floor cleaning device 1 in mapping mode. The mapping mode is mainly selected before operating the floor cleaning device 1 in automatic cleaning mode to define the area to which the floor cleaning device 1 should move, in other words, the cleaning area. In this case, as with the manual cleaning mode, the pair of left and right handles 6, 6 located on the upper rear side of the floor cleaning device 1 are grasped by the operator, and the control unit 10 operates the floor cleaning device 1 based on instructions input from the operator via the operation panel 4, handles 6, 6, etc.

[0037] In map creation mode, when the operator inputs a command to start movement, the operation control unit 101 of the control unit 10 controls the travel motors 21, 21 of the travel unit 2 to start the movement of the floor cleaning device 1. Furthermore, when the operator inputs a command to change the direction of movement, the operation control unit 101 controls the travel motors 21, 21 of the travel unit 2 to change the direction of movement of the floor cleaning device 1 to the direction corresponding to the change command. In addition, when the operator inputs a command to start map creation, the map data creation unit 102 of the control unit 10 starts creating map data including obstacles, the break detection unit 103 of the control unit 10 detects breaks in the obstacles in the map data, and the break data creation unit 104 of the control unit 10 creates break data. As described above, the map data being created is displayed on the first information display unit 41, and the breaks in the obstacles are highlighted on the map data displayed on the first information display unit 41. When the operator inputs a command to end map creation, the map data creation unit 102 finishes creating map data including obstacles and stores the created map data including obstacles in the memory unit 105. Also, when the operator inputs a command to end movement, the unit controls the travel motors 21, 21 of the travel unit 2 to stop the movement of the floor cleaning device 1.

[0038] Figure 6 is a flowchart illustrating an example of the operation of the floor cleaning device 1 in map creation mode. When a command to start moving is input (step S1: YES), the floor cleaning device 1 starts moving (step S2). After starting to move, if a command to change the direction of movement is input, the floor cleaning device 1 changes its direction of movement to the direction corresponding to the command. Here, the command to start moving and the command to change the direction of movement are input by the operator. Therefore, in map creation mode, the floor cleaning device 1 moves according to the operator's operation. Then, when a command to start map creation is input (step S3: YES), the floor cleaning device 1 starts creating map data according to the surrounding environment (step S4).

[0039] When a command to start map creation is input, the floor cleaning device 1, more specifically the map data creation unit 102 of the control unit 10, creates map data including obstacles based on distance information to obstacles acquired by the range sensor 55. In this embodiment, the map data creation unit 102 creates map data including obstacles by overlaying the measurement results of the range sensor 55 on an empty map in chronological order; in other words, by plotting each reflection point for which distance information is acquired by the range sensor 55 as the floor cleaning device 1 moves onto the empty map. Therefore, the map data is updated as the floor cleaning device 1 moves.

[0040] In step S5, the floor cleaning device 1 displays the map data being created on the first information display unit 41. That is, the map data creation unit 102 creates the map data and outputs the map data being created to the first information display unit 41, thereby displaying the map data being created on the first information display unit 41. As mentioned above, the map data is multi-tone image data in which a higher pixel value indicates a higher probability of an obstacle being present at that pixel, and in this case, it is assumed to consist of a grayscale image.

[0041] In step S6, the floor cleaning device 1 detects the breaks in the obstacles in the map data (break detection process). As described above, in this embodiment, the break detection unit 103 of the control unit 10 detects the breaks in the obstacles in the map data.

[0042] Figure 7 is a flowchart showing an example of the interruption detection process performed by the interruption detection unit 103 in step S6. In step S61 of Figure 7, the interruption detection unit 103 receives map data from the map data creation unit 102, in this case, map data (grayscale image) as shown in Figure 8(a) as an example (map data input).

[0043] In step S62, the interruption detection unit 103 binarizes the map data input in step S61 (binarization process). This yields a binarized image, as shown in Figure 8(b), in which the portion of the map data containing obstacles is extracted.

[0044] In step S63, the interruption detection unit 103 thins the binarized image obtained in step S62 (Figure 8(b)) (thinning process). This results in a thinned image as shown in Figure 8(c).

[0045] In step S64, the interruption detection unit 103 determines whether the pixels with obstacles (black pixels) are consecutive in the thinned image obtained in step S63, and then performs labeled clustering. As a result, as shown in Figure 8(d), multiple pixels (black pixels) that make up the thinned image are assigned a different label (in this case, labels "1" to "6") to each group of consecutive black pixels (they are grouped).

[0046] Here, the labeled clustering performed in step S64 will be explained with reference to Figures 9 to 11. Labeled clustering is performed as follows.

[0047] (1) As shown in Figure 9(a), the interruption detection unit 103 performs a scan (raster scan) on the thinned image, targeting 3x3 pixels from the top left to the bottom right. (2) If the central pixel is a black pixel (i.e., a pixel with an obstruction) and the eight pixels surrounding the central pixel are not labeled, the interruption detection unit 103 assigns a new label (in this case, "1") to the central pixel, as shown in Figure 9(b). (3) If the pixel to the right, the lower left pixel, the lower pixel, and the lower right pixel (pixels a to d in Figure 9(b)) of the central pixel to which the new label has been attached are black pixels, the break detection unit 103 will attach the same label (i.e., "1") to the black pixel (in this case, pixel c) as shown in Figure 10(a). (4) If there is an unlabeled black pixel among the 8 pixels surrounding a labeled black pixel (in this case, pixel c), the break detection unit 103 will assign the same label (i.e., "1") to the unlabeled black pixel (in this case, the pixel below pixel c) as shown in Figure 10(b). (5) The process in (4) is repeated until there are no more pixels to label, then the scan in (1) is continued. When the scan is completed, as shown in Figure 11, the thinned image is grouped by assigning a different label (here, "1" to "3") to each consecutive group of black pixels.

[0048] Returning to Figure 7, in step S65, the interruption detection unit 103 extracts the endpoints of the thinned image (endpoint extraction). In this embodiment, based on the results of the labeled clustering in step S64, if the size of a group of black pixels with the same label is less than a predetermined number of pixels, the interruption detection unit 103 considers the group of black pixels (or the black pixel) as an endpoint of the thinned image and extracts it. If the size of a group of black pixels with the same label is greater than or equal to a predetermined number of pixels, the interruption detection unit 103 searches for the endpoint of each group of black pixels as follows and extracts it as an endpoint of the thinned image.

[0049] The interruption detection unit 103 selects one pixel from a group of black pixels with the same label as the pixel of interest, and if one of the eight pixels surrounding the pixel of interest is a black pixel, it determines that the pixel of interest is the endpoint of the black pixel group and extracts it as the endpoint of the thinned image. Alternatively, the interruption detection unit 103 selects one pixel from a group of black pixels with the same label as the pixel of interest, and if one of the eight pixels surrounding the pixel of interest is a black pixel or two consecutive pixels are black pixels, and one of the sixteen pixels surrounding the eight pixels is a black pixel or two consecutive pixels are black pixels, it determines that the pixel of interest is the endpoint of the black pixel group and extracts it as the endpoint of the thinned image. However, it is not limited to these methods, and the interruption detection unit 103 may extract the endpoint of the thinned image using other methods.

[0050] In step S66, the discontinuation detection unit 103 detects each endpoint of the thinned image extracted in step S65 as a discontinuation of an obstacle in the map data (discontinuation detection). Specifically, in Figure 8(e), the parts enclosed by the circular outlines of the black pixel groups labeled "1", "2", and "3", and the black pixels (groups) labeled "4" to "6" are detected as endpoints of the thinned image, i.e., discontinuations of obstacles in the map data.

[0051] Returning to Figure 6, in step S7, the floor cleaning device 1 highlights the gaps in the obstacles detected in step S6 in the map data being created, which is displayed on the first information display unit 41. Specifically, as described above, the gap data creation unit 104 of the control unit 10 creates gap data for the gaps in the obstacles detected in step S6 and outputs it to the first information display unit 41. As a result, as shown in Figure 8(f), the gaps in the obstacles in the map data are surrounded by circular or elliptical frames on the first information display unit 41, and the gaps in the obstacles in the map data, i.e., locations where obstacle information may be missing, are notified to the operator.

[0052] In step S8, the floor cleaning device 1 determines whether or not a map creation completion instruction has been entered. If no map creation completion instruction has been entered (step S8: NO), the floor cleaning device 1 returns to the process in step S5 and continues creating the map data. On the other hand, if a map creation completion instruction has been entered (step S8: YES), the floor cleaning device 1 proceeds to the process in step S9.

[0053] In step S9, the floor cleaning device 1 finishes creating the map data. In step S10, the floor cleaning device 1 stores the created map data in the memory unit 105. Then, in step S11, the floor cleaning device 1 determines whether or not a movement end instruction has been input. If a movement end command has been input (step S11: YES), the process proceeds to step S12, where the floor cleaning device 1 stops moving and terminates this flow.

[0054] As described above, the floor cleaning device 1 according to this embodiment has a map creation mode as an operating mode. In map creation mode, the floor cleaning device 1 moves according to the operator's operation and creates a map corresponding to the surrounding environment. Specifically, the floor cleaning device 1 has a map data creation unit 102, which creates map data including obstacles based on distance information to obstacles acquired by the range sensor 55 as the floor cleaning device 1 moves. The floor cleaning device 1 also has a break detection unit 103 that detects breaks in the obstacles in the map data, and a break data creation unit 104 that creates break data for highlighting the breaks in the obstacles detected by the break detection unit 103 on the map data. The floor cleaning device 1 is configured to notify the operator of the breaks in the obstacles in the map data by displaying the map data with the breaks in the obstacles highlighted on the first information display unit 41. Therefore, the "first information display unit 41" in this embodiment corresponds to the "display unit" of the present invention, and the "interrupted data generation unit 104" and the "first information display unit 41" in this embodiment correspond to the "notification unit" of the present invention.

[0055] According to the floor cleaning device 1 of this embodiment, during the creation of map data, the map data with the gaps in the obstacles highlighted is displayed on the first information display unit 41. Therefore, the operator can easily recognize the gaps in the obstacles in the map data, i.e., areas where obstacle information may be insufficient. For this reason, the operator can move the floor cleaning device 1 toward the gaps in the obstacles in order to acquire additional obstacle information. Consequently, the completeness of the map can be improved compared to conventional methods.

[0056] In the above-described embodiment, the floor cleaning device 1 notifies the operator of the gaps in the obstacles in the map data by displaying the gaps in the obstacles on the first information display unit 41. However, it is not limited to this, and in addition to or instead of highlighting the gaps in the obstacles, the floor cleaning device 1 may also display text information on the first information display unit 41 prompting the operator to move the floor cleaning device 1 toward the gaps in the obstacles. The text information could be, for example, "To acquire obstacle information, please move the floor cleaning device toward the vicinity of the highlighted location." Furthermore, if the floor cleaning device 1 has an audio output unit, it may also output audio from the audio output unit prompting the operator to move the floor cleaning device 1 toward the gaps in the obstacles.

[0057] Furthermore, in the above-described embodiment, the instruction to start movement and the instruction to start map creation are input separately. However, the floor cleaning device 1 may start moving and creating map data when the instruction to start map creation is input. In this case, the floor cleaning device 1 may be configured to stop creating map data and stop moving when the instruction to end map creation is input.

[0058] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above, and modifications and changes are possible based on the technical concept of the present invention. [Explanation of Symbols]

[0059] 1...Self-propelled floor cleaning device (autonomous mobile unit), 2...Driving unit, 3...Cleaning unit, 4...Operation panel, 6...Handle, 10...Control unit, 21...Driving motor, 22...Drive wheel, 23...Driven wheel, 31...Drive shaft, 32...Shaft drive unit, 33...Cleaning pad, 41...First information display unit (Display unit, Notification unit), 42...Mode selection switch, 55...Measurement range sensor, 101...Operation control unit, 102...Map data creation unit, 103...Discontinuity detection unit, 104...Discontinuity data creation unit (Notification unit), 105...Memory unit

Claims

1. A method for creating maps in an autonomous mobile vehicle, The autonomous mobile body moves according to the operator's actions. To create map data including the obstacle based on distance information to the obstacle acquired by the range sensor of the autonomous mobile body, To detect the breaks in the obstacles in the map data being created, and Prompting the operator to move the autonomous mobile unit toward the gap in the obstacle, Map creation methods, including those mentioned above.

2. Displaying map data being created on the display unit, and To highlight the gaps in the obstacles on the map data displayed on the display unit, The map creation method according to claim 1, further comprising:

3. The aforementioned map data is multi-tone image data in which a higher pixel value indicates a higher probability of an obstacle being present at that pixel. The map creation method according to claim 1 or 2, wherein detecting the break in the obstacles includes applying a binarization process and a thinning process to the map data to obtain a thinned image, and detecting the endpoints of the thinned image.

4. An autonomous mobile device having a map creation function, which moves according to the operator's control and creates a map corresponding to the surrounding environment, Range sensor and, A map data creation unit creates map data including the obstacle based on distance information to the obstacle acquired by the range sensor, A break detection unit for detecting breaks in the obstacles in the map data being created, A notification unit prompts the operator to move the autonomous mobile unit toward the gap in the obstacle, An autonomous mobile device having [a certain feature].

5. The autonomous mobile body according to claim 4, further comprising a display unit that displays map data being created, wherein the gaps in the obstacles are highlighted.

6. The map data creation unit creates the map data as multi-gradation image data, where a higher pixel value indicates a higher probability of an obstacle being present at that pixel. The autonomous mobile body according to claim 4 or 5, wherein the interruption detection unit detects the interruption of the obstacle in the map data by detecting the endpoints of the thinned image obtained by applying binarization and thinning processing to the map data.

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