Autonomous moving body system, autonomous moving body, environmental change detection method, and program

Abstract

The present invention identifies changes in the arrangement state of objects in a predetermined environment. An autonomous moving body system (100) comprises: an autonomous moving body (1) with a laser range sensor (13) that obtains object information regarding objects present in the surroundings; and a management server (3) that, on the basis of object information obtained by the laser range sensor (13) when the autonomous moving body (1) travels through a mobile environment (ME), creates a dynamic map (M3) representing the arrangement of objects in the mobile environment (ME) when the autonomous moving body (1) travels through the mobile environment (ME), calculates a first difference (D1) representing the difference between an environment map (M1) representing the arrangement of the objects in the mobile environment (ME) and the dynamic map, and calculates, on the basis of the first difference (D1), arrangement change data (DA3) regarding changes in the arrangement state of the objects at the start point and / or end point of a travel schedule (TS) associated with the environment map (M1) since the creation of the environment map (M1).

Description

Autonomous Mobile System, Autonomous Mobile, Environment Change Detection Method, and Program

[0001] The present invention relates to an autonomous mobile system including an autonomous mobile that moves in a predetermined environment, an autonomous mobile that moves in a predetermined environment, an environment change detection method for detecting changes in a predetermined environment, and a program for causing a computer to execute the environment change detection method.

[0002] Autonomous mobiles that autonomously move in a predetermined environment are known. The autonomous mobile estimates its own position based on map matching between map data representing a predetermined environment in which the mobile moves (referred to as an environmental map) and map data representing the environment around the autonomous mobile acquired during movement (referred to as a local map), and autonomously moves along a movement route defined in a predetermined environment (within the environmental map). The above map data represents the arrangement of objects in a predetermined environment.

[0003] If there are changes in the arrangement state of objects since the environmental map was created when the autonomous mobile moves, map matching may not be properly performed and an error may occur in the self-position estimation result. Due to this inappropriate self-position estimation, the autonomous mobile may not be able to move autonomously properly. For example, the autonomous mobile may stop at a location where there are changes in the arrangement state of objects. To prevent this, the environmental map has been updated in accordance with changes in the arrangement state of objects (see, for example, Patent Document 1 and Patent Document 2).

[0004] Japanese Patent No. 6674572, Japanese Patent No. 3708130

[0005] As described above, conventionally, the environmental map has been updated to reflect changes in the arrangement state of objects, but it has been difficult for a user or the like to grasp at which position within the environmental map (the predetermined environment represented thereby) there have been changes in the arrangement state of objects. Therefore, it has been difficult to perform a predetermined response (for example, removing an object, changing the arrangement position of an object, etc.) with respect to a location where there have been changes in the arrangement state of objects.

[0006] The objective of the present invention is to enable the understanding of changes in the placement of objects in an environmental map, that is, changes in the arrangement of objects in a given environment represented on an environmental map.

[0007] Several embodiments for solving the problem are described below. These embodiments can be combined as needed. An autonomous mobile system according to one embodiment of the present invention comprises an autonomous mobile unit, a memory unit, and an environmental change detection device. The autonomous mobile unit has sensors that acquire object information about objects present in its surroundings. The memory unit stores an environmental map and a travel path. The environmental map is a map that shows the arrangement of objects in the environment in which the autonomous mobile unit travels. The travel path is associated with the environmental map. The environmental change device detects changes in the environment.

[0008] The environmental change detection device creates a dynamic map representing the arrangement of objects in the environment at the time the autonomous mobile body moves, based on object information acquired by sensors when the autonomous mobile body moves through the environment. It calculates a first difference representing the difference between the environmental map and the dynamic map, and based on the first difference, it calculates arrangement change data relating to the change in the arrangement of objects at the start and / or end points of the movement path since the environmental map was created.

[0009] In the autonomous mobile system described above, the environmental change detection device calculates the difference between an environmental map representing the arrangement of objects in a predetermined environment and a dynamic map representing the arrangement of objects in the predetermined environment when the autonomous mobile unit moves, as the first difference. This first difference represents the difference between the arrangement of objects when the autonomous mobile unit autonomously moves through the environment for a predetermined purpose and the arrangement of objects when the environmental map was created. In other words, the first difference represents the change in the arrangement of objects that occurred between the creation of the environmental map and the autonomous mobile unit's autonomous movement, and the location where that change occurred. Therefore, the arrangement change data calculated based on the first difference represents the change in the arrangement state of objects since the creation of the environmental map and the location where that change occurred. By referring to this arrangement change data, users can understand the change in the arrangement position of objects on the environmental map, that is, the change in the arrangement state of objects in the predetermined environment represented on the environmental map and the location where that change occurred.

[0010] Furthermore, the inventors have found that inappropriate autonomous movement tends to occur when there are changes in the arrangement of objects at the start and / or end points of the autonomous movement path of an autonomous mobile device. For example, when there are changes in the arrangement of objects at the start and / or end points of the movement path, the autonomous mobile device tends to stop moving. Therefore, by making the arrangement change data represent the changes in the arrangement of objects at the start and / or end points of the autonomous movement path, it becomes easier for users to grasp the changes in the arrangement of objects at the start and / or end points of the movement path. As a result, when there are changes in the arrangement of objects at the start and / or end points of the movement path, it becomes possible to take predetermined actions (for example, removing objects, changing the position of objects, etc.) at those start and / or end points, thereby suppressing inappropriate autonomous movement by the autonomous mobile device.

[0011] In the above-described autonomous mobile system, a map of areas where the object's position has changed may be created. The map of areas where the object's position has changed since the creation of the environment map, within the region including the starting point and / or ending point of the travel path and its vicinity. This makes it easier to visually recognize where the object's position has changed around the starting point and / or ending point of the travel path.

[0012] In the autonomous mobile system described above, the placement change data may also be data relating to the placement of objects that were not present when the environmental map was created but were present when the autonomous mobile system moved through the environment. This makes it easier to take appropriate actions, such as changing the movement path or removing placed objects.

[0013] In the above-described autonomous mobile system, the environmental change detection device may create a map of areas of change in placement by drawing line segments connecting objects that were not present when the environmental map was created but were present when the autonomous mobile system moved through the environment, within a region including the start and / or end points of the movement path and their vicinity, to the start and / or end points of the movement path. This makes it easier to visually recognize that objects placed after the environmental map was created are present in the vicinity of the start and / or end points of the movement path.

[0014] In the autonomous mobile system described above, the environmental change detection device may create a difference map based on the first difference, representing the changes in the arrangement of objects in the entire environment since the creation of the environmental map. This makes it easier to visually recognize changes in the arrangement of objects in the entire environment.

[0015] Another aspect of the present invention provides an autonomous mobile body comprising a main body, a sensor, a storage unit, and a control unit. The sensor is provided on the main body and acquires object information relating to objects present around the main body. The storage unit stores an environmental map and a movement path. The environmental map represents the arrangement of objects in the environment in which the main body moves. The movement path is associated with the environmental map. The control unit controls the movement of the main body. In the above autonomous mobile body, the control unit creates a dynamic map representing the arrangement of objects in the environment at the time the main body moved, based on the object information acquired by the sensor when the main body moved through the environment, calculates a first difference representing the difference between the environmental map and the dynamic map, and calculates arrangement change data relating to the change in the arrangement state of objects at the start and / or end points of the movement path since the creation of the environmental map, based on the first difference.

[0016] In the above-described autonomous mobile device, the control unit calculates a first difference as the difference between an environmental map representing the arrangement of objects in a predetermined environment and a dynamic map representing the arrangement of objects in the predetermined environment when the autonomous mobile device moves. This first difference represents the difference between the arrangement of objects when the autonomous mobile device autonomously moves through the environment for a predetermined purpose and the arrangement of objects when the environmental map was created. In other words, the first difference represents the changes in the arrangement of objects that occurred between the creation of the environmental map and the autonomous mobile device's autonomous movement, and the locations where these changes occurred. Therefore, the arrangement change data calculated based on the first difference represents the changes in the arrangement state of objects since the creation of the environmental map and the locations where these changes occurred. By referring to this arrangement change data, users can understand the changes in the arrangement positions of objects on the environmental map, that is, the changes in the arrangement state of objects in the predetermined environment represented on the environmental map and the locations where these changes occurred.

[0017] Furthermore, the inventors have found that inappropriate autonomous movement tends to occur when there are changes in the arrangement of objects at the start and / or end points of the autonomous movement path of an autonomous mobile device. For example, when there are changes in the arrangement of objects at the start and / or end points of the movement path, the autonomous mobile device tends to stop moving. Therefore, by making the arrangement change data represent the changes in the arrangement of objects at the start and / or end points of the autonomous movement path, it becomes easier for users to grasp the changes in the arrangement of objects at the start and / or end points of the movement path. As a result, when there are changes in the arrangement of objects at the start and / or end points of the movement path, it becomes possible to take predetermined actions (for example, removing objects, changing the position of objects, etc.) at those start and / or end points, thereby suppressing inappropriate autonomous movement by the autonomous mobile device.

[0018] An environmental change detection method according to yet another aspect of the present invention is a method for detecting changes in the environment in which an autonomous mobile body is moving. The environmental change detection method comprises the following steps: (a) creating a dynamic map representing the arrangement of objects in the environment when the autonomous mobile body is moving, based on object information present around the autonomous mobile body moving through the environment; (b) calculating a first difference representing the difference between the environmental map representing the arrangement of objects in the environment and the dynamic map; (c) calculating arrangement change data relating to the change in the arrangement state of objects at the start and / or end points of the travel path associated with the environmental map since the creation of the environmental map, based on the first difference.

[0019] In the environmental change detection method described above, the difference between an environmental map representing the arrangement of objects in a given environment and a dynamic map representing the arrangement of objects in the given environment when the autonomous mobile unit moves is calculated as the first difference. This first difference represents the difference between the arrangement of objects when the autonomous mobile unit autonomously moves through the environment for a given purpose and the arrangement of objects when the environmental map was created. In other words, the first difference represents the change in the arrangement of objects that occurred between the time the environmental map was created and the time the autonomous mobile unit autonomously moved, and the location where the change occurred. Therefore, the arrangement change data calculated based on the first difference represents the change in the arrangement state of objects since the creation of the environmental map and the location where the change in arrangement state occurred. By referring to this arrangement change data, users can understand the change in the arrangement position of objects on the environmental map, that is, the change in the arrangement state of objects in the given environment represented on the environmental map and the location where the change occurred.

[0020] Furthermore, the inventors have found that inappropriate autonomous movement tends to occur when there are changes in the arrangement of objects at the start and / or end points of the autonomous movement path of an autonomous mobile device. For example, when there are changes in the arrangement of objects at the start and / or end points of the movement path, the autonomous mobile device tends to stop moving. Therefore, by making the arrangement change data represent the changes in the arrangement of objects at the start and / or end points of the autonomous movement path, it becomes easier for users to grasp the changes in the arrangement of objects at the start and / or end points of the movement path. As a result, when there are changes in the arrangement of objects at the start and / or end points of the movement path, it becomes possible to take predetermined actions (for example, removing objects, changing the position of objects, etc.) at those start and / or end points, thereby suppressing inappropriate autonomous movement by the autonomous mobile device.

[0021] A program according to yet another aspect of the present invention is a program that causes a computer to execute the above-described environmental change detection method.

[0022] Within a predetermined environment, it is possible to understand the changes in the arrangement of objects at the starting and / or ending points of the autonomous mobile vehicle's movement path, as well as the locations where such changes occurred. As a result, it is possible to suppress the autonomous mobile vehicle from making inappropriate autonomous movements.

[0023] A diagram showing the configuration of an autonomous mobile system. A diagram showing the configuration of an autonomous mobile unit. A diagram showing the configuration of a control device. A diagram showing the configuration of a management server. A diagram showing an example of an environmental map. A diagram showing an example of a dynamic map. A diagram showing an example of a first difference. A diagram showing an example of a difference map. A diagram showing an example of a placement change area map. A diagram showing an example of placement change data. A flowchart showing the operation of creating placement change data, etc. A flowchart showing the image correction method for environmental map images and dynamic map images. A flowchart showing the method of creating placement change area maps and placement change data. A diagram showing an example of a line segment pointing in a specific direction connecting a start / end point and an object. A diagram showing an example of a created placement change area.

[0024] 1. First Embodiment (1) Autonomous Mobile System The autonomous mobile system 100 will be described using Figure 1. Figure 1 is a diagram showing the configuration of the autonomous mobile system. The autonomous mobile system 100 comprises an autonomous mobile unit 1 and a management server 3.

[0025] The autonomous mobile unit 1 is a device that moves autonomously within a predetermined environment (referred to as the mobile environment ME). Examples of the autonomous mobile unit 1 include a cleaning robot that autonomously cleans the mobile environment ME, an advertising robot that autonomously moves within the mobile environment ME to advertise, an information robot that provides guidance within the mobile environment ME, a transport robot that autonomously transports goods within the mobile environment ME, and a shelf checking robot that autonomously checks product shelves placed within the mobile environment ME. The autonomous mobile unit 1 may also be a mobile cart capable of mounting devices that can realize predetermined functions.

[0026] The management server 3 is a computer composed of a CPU, storage devices (e.g., RAM, ROM, hard disk, SSD, etc.), and various interfaces. The management server 3 manages the autonomous mobile units 1. The number of autonomous mobile units 1 managed by the management server 3 can be any number.

[0027] The management server 3 is, for example, a cloud server. The functions of the management server 3 may be implemented, for example, as a program executed within the cloud server, or as a virtual computer that operates virtually (i.e., software-wise) within the cloud server, or as a program executed on said virtual computer. Furthermore, the management server 3 is not limited to a cloud server, but may also be, for example, a proprietary server (computer system) owned by a user who manages the autonomous mobile system 100.

[0028] The management server 3 is able to communicate with the autonomous mobile unit 1, receives various data from the autonomous mobile unit 1, manages the received data, and performs various information processing based on the received data. Specifically, the management server 3 receives the movement log LOG, dynamic map M3, and movement schedule TS acquired by the autonomous mobile unit 1. Based on the environment map M1, which represents the arrangement of objects in the movement environment ME, the dynamic map M3 received from the autonomous mobile unit 1, and the movement schedule TS, the management server 3 calculates the arrangement change data DA3, etc. The arrangement change data DA3 is data that represents the change in the arrangement state of objects since the creation of the environment map M1.

[0029] The management server 3 may update the previously created environment map M1 to create an updated environment map that reflects the current arrangement of objects, and then transmit the updated environment map to the autonomous mobile unit 1.

[0030] (2) Autonomous Mobile Unit (2-1) Overall Configuration of the Autonomous Mobile Unit The autonomous mobile unit 1 will be described below using Figure 2. Figure 2 is a diagram showing the configuration of the autonomous mobile unit. The autonomous mobile unit 1 mainly comprises a main body 11, a mobile unit 12, a laser range sensor 13, and a control device 14.

[0031] The main body 11 is the housing that constitutes the main body of the autonomous mobile unit 1. Here, the "self-position" of the autonomous mobile unit 1 is defined as the position (coordinates) of the center of the main body 11 on the environmental map M1 representing the mobile environment ME. The term "self" refers to the main body 11 of the autonomous mobile unit 1. The environmental map M1 is map information defined in a coordinate system (called the global coordinate system) that represents the mobile environment ME.

[0032] The moving unit 12 is, for example, a differential two-wheeled drive unit that moves the main body 11. Specifically, the moving unit 12 has a pair of motors 121a and 121b and a pair of wheels 123a and 123b. The pair of motors 121a and 121b are electric motors, such as servo motors or brushless motors, that are provided at the bottom of the main body 11. The pair of motors 121a and 121b are connected to a control device 14 and, based on commands from the control device 14, rotate their output rotation shafts independently at arbitrary rotational speeds and torques.

[0033] Each of the pair of wheels 123a and 123b has a portion of it in contact with the floor surface (moving surface) of the moving environment ME and is connected to the output rotation shafts of the pair of motors 121a and 121b. As a result, the wheels 123a and 123b rotate independently by the motors 121a and 121b, moving the main body 11. Because the pair of wheels 123a and 123b can rotate independently, the posture of the main body 11 can be changed by creating a difference in the rotation speed of the wheels 123a and 123b. On the other hand, if the rotation speeds of the pair of wheels 123a and 123b are the same, the main body 11 can move in a straight line.

[0034] Encoders 125a and 125b (Figure 3) are provided on the output rotating shafts of motors 121a and 121b, respectively. Encoders 125a and 125b are incremental encoders that output pulse signals based on the amount of rotation of the output rotating shafts of motors 121a and 121b.

[0035] The control device 14 can obtain the amount of rotation of motors 121a and 121b, i.e., the amount of rotation of wheels 123a and 123b, when the autonomous mobile body 1 moves, from the pulse signals obtained from encoders 125a and 125b. The amount of rotation of motors 121a and 121b and the amount of rotation of wheels 123a and 123b correspond to the amount of movement of the autonomous mobile body 1 (distance traveled, change in attitude). Therefore, the data representing the amount of movement of the autonomous mobile body 1 obtained from encoders 125a and 125b is called the movement amount data DA1. Based on the movement amount data DA1, the control device 14 can estimate the position and / or attitude of the autonomous mobile body 1 (main body 11) in the moving environment ME.

[0036] The laser range sensor 13 detects objects around the autonomous mobile body 1 by, for example, irradiating an object in the mobile environment ME (for example, a pillar, shelf, wall, etc. placed in the mobile environment ME) with laser light pulsed by a laser oscillator, and receiving the reflected light reflected from the object with a laser receiver. The laser range sensor 13 is, for example, a laser range finder (LRF). The laser range sensor 13 has a first laser range sensor 131 located at the front of the main body 11 and a second laser range sensor 133 located at the rear of the main body 11.

[0037] The first laser range sensor 131 detects objects located in front of the main unit 11, centered on the first laser range sensor 131, by radiating laser light in a left-right direction in front of the main unit 11. The object detection range of the first laser range sensor 131 can be, for example, within a circle with a radius of about 5 m.

[0038] On the other hand, the second laser range sensor 133 detects objects located behind the main body 11, centered on the second laser range sensor 133, by radiating laser light in a left-right direction behind the main body 11. The object detection range of the second laser range sensor 133 can be, for example, within a circle with a radius of about 5 m.

[0039] The detectable range of the laser range sensor is not limited to the above values ​​and can be changed as appropriate depending on the application of the autonomous mobile unit 1.

[0040] In addition to a laser rangefinder, other sensors capable of measuring the distance between surrounding objects and the sensor (main unit 11) can be used as sensors for detecting objects. For example, a TOF (Time Of Flight) camera can be used. Furthermore, a system that can operate a sensor that measures one-dimensional or two-dimensional distances as if it were measuring two-dimensional or three-dimensional distances can be used.

[0041] The control device 14 calculates the distance between the laser range sensor 13 and the object from the time difference between the timing when the laser light is irradiated from the laser range sensor 13 and the timing when the reflected light generated by the reflection of the laser light by the object is received by the laser range sensor 13 (laser receiver). Also, for example, the direction in which the object exists as viewed from the main body 11 can be calculated from the angle of the light receiving surface of the laser receiver when the reflected light is received. The control device 14 acquires data including the relative distance of the object as viewed from the main body 11 calculated from the above time difference and the direction in which the object exists as viewed from the main body 11.

[0042] From the above data, a local map M2 can be created. The local map M2 is map information representing the arrangement state (presence or absence of an object) of objects (for example, walls, shelves, products, etc.) within a predetermined range around the autonomous mobile body 1. The local map M2 is map information defined in a coordinate system (referred to as a local coordinate system) with the autonomous mobile body 1 (main body 11) as the origin. Therefore, the above data (data including the relative distance of the object and the direction in which the object exists as viewed from the main body 11) acquired by the laser range sensor 13 is referred to as map creation data DA2.

[0043] In the following, an example using two-dimensional data regarding an object will be described, but the following description can be similarly applied to three-dimensional data.

[0044] The control device 14 is a computer constituted by a CPU, a storage device (RAM, ROM, hard disk, SSD, etc.), and various interfaces. The control device 14 performs control of each part of the autonomous mobile body 1 and various information processes necessary for the movement of the autonomous mobile body 1.

[0045] While estimating the position of the autonomous mobile body 1 (main body 11) in the movement environment ME, the control device 14 controls the rotation of a pair of motors 121a, 121b (wheels 123a, 123b) based on the positional relationship between the estimated position and the target point to which the autonomous mobile body 1 moves.

[0046] The autonomous mobile body 1 may further have auxiliary wheel portions 15. The auxiliary wheel portions 15 have two auxiliary wheels 15a and 15b. The two auxiliary wheels 15a and 15b are attached so that each can rotate independently. By providing the auxiliary wheel portions 15, the autonomous mobile body 1 can move stably and smoothly.

[0047] (2-2) The configuration of the control device 14 will be described using the configuration diagram 3 of the control device. FIG. 3 is a diagram showing the configuration of the control device. The control device 14 has a storage unit 141 and a control unit 143. The storage unit 141 is a part of the storage area of the storage device constituting the control device 14. The storage unit 141 stores various information used to control the autonomous mobile body 1.

[0048] The storage unit 141 stores an environmental map M1, a dynamic map M3, a movement log LOG, and a movement schedule TS. The environmental map M1 is a map representing the arrangement state of objects in the movement environment ME. The environmental map M1 has a configuration in which information regarding the presence or absence of an object at each of a plurality of positions (for example, coordinate values) in the movement environment ME is assigned. The information regarding the presence or absence of an object can be, for example, the probability of the presence of an object at each position in the movement environment ME. Alternatively, the information regarding the presence or absence of an object can be either a value indicating the presence of an object or a value indicating the absence of an object.

[0049] The environmental map M1 can be created, for example, by moving the movement environment ME to the autonomous mobile body 1 by a user's operation. Specifically, a local map M2 is created from the map creation data DA2 acquired at each passing point during movement by the user's operation, the self-position of the autonomous mobile body 1 is estimated, and each of the plurality of local maps M2 created by passing through a plurality of passing points from the start to the end of the movement is coordinate-converted from the local coordinate system to the global coordinate system to create a converted local map, and the environmental map M1 can be created by arranging each converted local map at the corresponding passing point (estimated self-position). Alternatively, the environmental map M1 can be created using predetermined drawing software (for example, CAD software, etc.).

[0050] The dynamic map M3 is a map that represents the arrangement of objects in the moving environment ME when the autonomous mobile unit 1 moves autonomously. Similar to the environment map M1, the dynamic map M3 has a configuration in which information regarding the presence or absence of objects at each of the multiple locations within the moving environment ME is assigned to each of those locations. The dynamic map M3 is generated based on the map creation data DA2 acquired by the laser range sensor 13 when the autonomous mobile unit 1 moves autonomously through the moving environment ME.

[0051] Specifically, a local map M2 is created from multiple map creation data DA2 contained in the movement log LOG acquired during movement. By passing through multiple waypoints from the start point to the end point of the movement, each of the multiple local maps M2 created is transformed from the local coordinate system to the global coordinate system to create a transformed local map. By placing each transformed local map at the corresponding waypoint, a dynamic map M3 can be created. The dynamic map M3 may be created using the most recent movement log LOG, or it may be created using multiple movement log LOGs, including the most recent and a predetermined number of past movements.

[0052] The movement log LOG is log data that records data acquired by various sensors (encoders 125a, 125b, laser range sensor 13) when the autonomous mobile unit 1 moves through the mobile environment ME. The movement log LOG includes data that serves as input when performing self-position estimation. Specifically, the movement log LOG includes map creation data DA2 acquired at each of the multiple waypoints that the autonomous mobile unit 1 passes through during its movement, and movement amount data DA1 representing the amount of movement when moving between two waypoints. The movement log LOG is created each time the autonomous mobile unit 1 moves. The storage unit 141 may store the most recent movement log LOG, or it may store multiple movement log LOGs, including the most recent and a predetermined number of past movements. Furthermore, the environment map M1 can be updated using the movement log LOG to create an updated environment map.

[0053] Movement data DA1 can be calculated from the amount of rotation of wheels 123a and 123b when the autonomous mobile body 1 moves from its previous position (previous waypoint) to its current position (current waypoint) during its movement. The amount of rotation of wheels 123a and 123b can be measured by encoders 125a and 125b. Map creation data DA2 can be obtained by detecting objects present around the autonomous mobile body 1 (main body 11) at its current position (current waypoint) using the laser range sensor 13 during the autonomous mobile body 1's movement.

[0054] The movement schedule TS is data representing the movement path along which the autonomous mobile unit 1 is to move. The movement schedule TS consists, for example, of a start point, an end point, and multiple waypoints that the autonomous mobile unit 1 will pass through from the start point to the end point along the desired movement path. These start point, end point, and waypoints are represented, for example, as coordinate values ​​in the coordinate system that defines the environmental map M1. The movement schedule TS may also be associated with information such as the time it takes to pass through each waypoint (elapsed time from the start of movement) and the speed of the autonomous mobile unit 1 at each waypoint. Multiple movement schedules TS may be stored in the storage unit 141.

[0055] The travel schedule TS is associated with the environment map M1. Here, "associated with the environment map M1" means that the travel schedule TS is created on the environment map M1 and includes a point cloud represented by coordinate values ​​of the coordinate system that defines the environment map M1.

[0056] A movement schedule TS can be created, for example, by having the autonomous mobile object 1 move according to user input, performing self-position estimation at each waypoint, and arranging the self-position estimated positions (coordinate values) in the order of passage. Alternatively, a movement schedule TS can also be created using a predetermined path planning algorithm.

[0057] Returning to the description of the control device 14, the control unit 143 is a CPU, interface, etc., that constitutes the control device 14, and performs various information processing related to the control of the autonomous mobile body 1. Some or all of the functions of the control unit 143 described below may be implemented as a program executable in the control device 14. This program may also be stored in the memory unit 141 of the control device 14. Alternatively, some or all of the above functions may be implemented by hardware provided in the control device 14, such as a custom IC.

[0058] The control unit 143 acquires map creation data DA2 from the laser range sensor 13 and creates a local map M2 from the acquired map creation data DA2. Specifically, the local map M2 can be created by converting the data contained in the map creation data DA2 (data consisting of distance and angle) into coordinate values ​​in a local coordinate system with the autonomous mobile body 1 as the origin.

[0059] The control unit 143 estimates the autonomous mobile unit 1's own position in the mobile environment ME and / or attitude information representing the angle (direction) that the main body 11 of the autonomous mobile unit 1 is facing in the mobile environment ME while the autonomous mobile unit 1 is moving in the mobile environment ME. Specifically, the autonomous mobile unit 1 estimates its own position and attitude information in the mobile environment ME based on the environment map M1, local map M2, dynamic map M3, and the amount of movement of the autonomous mobile unit 1.

[0060] The control unit 143 acquires a movement log LOG each time the autonomous mobile body 1 moves through the mobile environment ME. Specifically, the control unit 143 acquires a movement log LOG by associating map creation data DA2, which is obtained by detecting objects using the laser range sensor 13 at each of the multiple waypoints passed from the start point to the end point of a single movement, with movement amount data DA1, which is obtained by encoders 125a and 125b when moving between two waypoints (the waypoint where the map creation data DA2 was obtained and the previous waypoint).

[0061] The control unit 143 controls motors 121a and 121b. For example, the control unit 143 calculates the control amount for each of motors 121a and 121b and outputs drive power to each of motors 121a and 121b based on the control amount. The control unit 143 calculates the control amount for motors 121a and 121b so that the amount of rotation per unit time (rotational speed) of motors 121a and 121b input from encoders 125a and 125b becomes the desired rotational speed (feedback control).

[0062] The control unit 143 can execute either autonomous mode or manual mode. The mode can be switched between autonomous and manual mode, for example, by user operation.

[0063] When manual mode is in operation, the control unit 143 receives user input, for example, from a controller or computer system capable of communicating with the autonomous mobile unit 1 wirelessly or via a wired connection, or from an operating device such as an operating handle (not shown) provided on the autonomous mobile unit 1, and controls the motors 121a and 121b based on the user's input. As a result, the autonomous mobile unit 1 becomes movable according to the user's input. Manual mode is executed, for example, when creating a new environmental map M1, or when instructing the autonomous mobile unit 1 on a movement route to create a new movement schedule TS.

[0064] On the other hand, when the autonomous mode is running, the control unit 143 estimates the self-position / attitude information (information regarding the orientation of the autonomous mobile unit 1) based on the movement amount data DA1 acquired during the movement of the autonomous mobile unit 1, the local map M2 created from the map creation data DA2, the environmental map M1, and the dynamic map M3. Based on the difference between the position (coordinate values) and / or attitude information shown in the movement schedule TS stored in the memory unit 141 and the self-position and / or attitude information estimated during the movement of the autonomous mobile unit 1, the control unit 143 calculates the respective control amounts for motors 121a and 121b, and outputs drive power to these motors based on the calculated control amounts.

[0065] (3) Management Server Next, the configuration of the management server 3 will be explained using Figure 4. Figure 4 is a diagram showing the configuration of the management server. The management server 3 has a storage unit 31 and an information processing unit 33. The storage unit 31 is part of the storage area of ​​the storage device that constitutes the management server 3. The storage unit 31 stores various data for managing the autonomous mobile device 1. The storage unit 31 stores the environment map M1, the dynamic map M3, the movement log LOG, and the movement schedule TS.

[0066] The memory unit 31 stores an environmental map image G1 and a dynamic map image G2. The environmental map image G1 and the dynamic map image G2 are image data versions of the environmental map M1 and the dynamic map M3, respectively. These map images are generated by associating each of the multiple locations within the moving environment ME with pixels in the image data, and associating the brightness of each pixel with information regarding the presence or absence of the above-mentioned object (for example, the probability of the object's existence).

[0067] Furthermore, the memory unit 31 stores the first difference D1, the difference map G3, the arrangement change area map G4, and the arrangement change data DA3. The first difference D1 is the difference between the environment map M1 (environment map image G1) and the dynamic map M3 (dynamic map image G2). The first difference D1 is data that represents the changes in the arrangement of objects that occurred from the time the environment map M1 was created until the autonomous movement of the autonomous mobile body 1, and the locations where those changes occurred.

[0068] For example, as shown in Figure 5, suppose the environmental map M1 shows that the moving environment ME contains a relatively large object OB1 (e.g., a product shelf), a round object OB2 (e.g., a product), and a triangular object OB3 (e.g., a product). Also, suppose the dynamic map M3 obtained by the movement of the autonomous mobile unit 1 has data as shown in Figure 6. That is, in the dynamic map M3, the existence of objects OB1 and OB2 is recognized, but the existence of object OB3 is not recognized. In addition, a new rectangular object OB4 is recognized. In other words, object OB3, which existed in the moving environment ME when the environmental map M1 was created, has disappeared, perhaps by being removed before the autonomous mobile unit 1 made its current move. On the other hand, object OB4, which did not exist in the moving environment ME when the environmental map M1 was created, has been newly placed in the moving environment ME before the autonomous mobile unit 1 made its current move. Figure 5 is a diagram showing an example of the environmental map M1. Figure 6 is a diagram showing an example of the dynamic map M3.

[0069] When an environmental map M1 and a dynamic map M3 exist as described above, the first difference D1 will be data like that shown in Figure 7. That is, the first difference D1 will be data that includes object information about object OB3 that has been removed up to the time of the current movement, and object information about object OB4 that has been newly placed up to the time of the current movement. This object information is called "object change information". In the first difference D1, the object change information about object OB3 and the object change information about object OB4 may be displayed in different display formats (for example, in different colors). Figure 7 is a diagram showing an example of the first difference D1.

[0070] The difference map G3 represents the changes in the arrangement of objects in the entire moving environment ME since the creation of the environment map M1, and the locations where these changes occurred. The difference map G3 is map image data created by placing the first difference D1 described above onto the environment map image G1 (environment map M1). For example, by placing the first difference D1 shown in Figure 7 onto the environment map M1 shown in Figure 5, a difference map G3 as shown in Figure 8 is created. As shown in Figure 8, in the difference map G3, object change information for objects (object OB3, object OB4) whose arrangement has changed (for example, objects being removed or objects being newly placed) is in a different format (for example, can be displayed in a different format) than the object information for other objects (object OB1, object OB2). This makes it easier to recognize which objects have been removed and which have been newly placed. Figure 8 is a diagram showing an example of the difference map G3.

[0071] The arrangement change area map G4 is map image data that displays the arrangement change area R1, which represents the area where the arrangement of objects has changed since the creation of the environment map M1, within the area including the starting point and / or ending point and its vicinity of the movement path by the autonomous mobile body 1. The arrangement change area map G4 is created using the difference map G3. For example, if a difference map G3 as shown in Figure 8 is obtained, and a movement path (movement schedule TS) consisting of a first starting point ST1 and a first ending point GL1, and a movement path consisting of a second starting point ST2 and a second ending point GL2 are set in the environment map M1, then the arrangement change area map G4 is created as shown in Figure 9, in which a sector-shaped arrangement change area R1 is placed centered on the first ending point GL1 where object OB4 is located nearby, and including object OB4. Note that the arrangement change area R1 is not placed at the second ending point GL2 near the removed object OB3. Also, the arrangement change area R1 is not placed at the second starting point ST2 near object OB2 where the arrangement of objects has not changed. Figure 9 shows an example of the arrangement change area map G4.

[0072] The arrangement change data DA3 is data relating to the changes in the arrangement of objects at the start and / or end points of the movement path since the creation of the environmental map M1. The arrangement change data DA3 is created when the above-mentioned arrangement change area map G4 is created.

[0073] For example, if the environmental map M1 and dynamic map M3 are defined in two-dimensional coordinates (X-Y coordinates), the placement change data DA3 has the configuration shown in Figure 10. Figure 10 is a diagram showing an example of the placement change data DA3. The placement change data DA3 has an identification information column COL1, a coordinate value column COL2, and a distance record column COL3.

[0074] The identification information column COL1 is a column that records identification information that identifies the start and end points of each movement schedule TS. In the example shown in Figure 10, the identification information column COL1 records 0, 1, 2...n, for a total of n+1 values. That is, the arrangement change data DA3 shown in Figure 10 records a total of n+1 start and end points. The coordinate value column COL2 records the coordinate values ​​of the start or end point corresponding to each identification information.

[0075] Distance recording column COL3 records the distance from each starting point and ending point to an object when the object is viewed from each starting point and ending point facing each direction (corresponding to the attitude angle of the autonomous mobile unit 1). In distance recording column COL3, "null" means that the object is not present within a circle (called the object monitoring area) with a predetermined radius centered on the corresponding starting point or ending point. The radius of the circle representing the object monitoring area can be set appropriately according to conditions such as how far an object must be positioned from the target's starting / ending point for autonomous movement to be affected.

[0076] "null" can be a meaningless value as a distance value, such as "-1". On the other hand, if an object exists within the object monitoring area, the distance from the corresponding start or end point to the object (d1, d2 in the example shown in Figure 10) is recorded in the corresponding cell of the distance recording column COL3.

[0077] In the example shown in Figure 10, the direction in the distance recording column COL3 is set in 1° increments within the range of 0° to 359°, but this is not limited to this. Directions divided into increments of any size can be set in the distance recording column COL3.

[0078] As shown in Figure 10, the arrangement change data DA3 allows us to recognize whether or not objects exist near each starting and ending point, and if so, in which direction and at what distance from each starting or ending point. In other words, the arrangement change data DA3 allows us to recognize the changes in the arrangement of objects since the creation of the environmental map M1 and the locations where these changes occurred.

[0079] For example, in the arrangement change data DA3 shown in Figure 10, if "null" is recorded in a specific cell of the distance recording column COL3, it can be determined that there are no objects with arrangement changes within the object monitoring area at the angle (direction) corresponding to the start / end point corresponding to that specific cell. On the other hand, if a distance is recorded in a specific cell of the distance recording column COL3, it can be determined that there are objects with arrangement changes corresponding to the distance recorded in that specific cell at the angle (direction) corresponding to the start / end point corresponding to that specific cell.

[0080] Returning to the description of the management server 3, the information processing unit 33 consists of the CPU, interface, etc., that make up the management server 3, and performs various information processing related to the management of the autonomous mobile unit 1. Some or all of the functions of the information processing unit 33 may be implemented as a program that can be executed on the management server 3. Furthermore, such a program may be stored in the storage unit 31 of the management server 3.

[0081] The information processing unit 33 receives the dynamic map M3 and the movement log LOG from the autonomous mobile unit 1 and stores them in the storage unit 31. Furthermore, if necessary, such as when a new environmental map M1 and movement schedule TS are generated, the information processing unit 33 also receives the environmental map M1 and movement schedule TS from the autonomous mobile unit 1 and stores them in the storage unit 31. When the environmental map M1 and / or dynamic map M3 are received, the information processing unit 33 converts the received environmental map M1 and / or dynamic map M3 into images to generate environmental map image G1 and / or dynamic map image G2, respectively, and stores them in the storage unit 31.

[0082] The information processing unit 33 uses the environment map image G1, dynamic map image G2, and movement schedule TS stored in the storage unit 31 to create a first difference D1, difference map G3, arrangement change area map G4, and arrangement change data DA3.

[0083] (4) Operation of the Autonomous Mobile System (4-1) Creation of Deployment Change Data, etc. The operation of the autonomous mobile system 100 will be explained below. First, the creation of deployment change data DA3, etc. will be explained using Figure 11. Figure 11 is a flowchart showing the creation of deployment change data DA3, etc. The creation of deployment change data DA3, etc., which will be explained below, is performed by the information processing unit 33 of the management server 3. Deployment change data DA3, etc. is created based on the environment map image G1, which is an image of the environment map M1, the dynamic map image G2, which is an image of the dynamic map M3, and the movement schedule TS.

[0084] First, the information processing unit 33 performs image correction to remove noise components and the like contained in the environmental map image G1 and the dynamic map image G2 (step S11). The image correction is performed according to the flowchart shown in Figure 12. Figure 12 is a flowchart showing the image correction method for the environmental map image G1 and the dynamic map image G2.

[0085] The information processing unit 33 first reduces the environmental map image G1 and the dynamic map image G2 (step S111). At this time, the reduction ratio of the images is the same for both the environmental map image G1 and the dynamic map image G2. In addition, the vertical length and horizontal length of the map images are reduced by the same ratio. For example, the information processing unit 33 reduces the vertical length and horizontal length of both the environmental map image G1 and the dynamic map image G2 by half. The reduced environmental map image G1 and dynamic map image G2 are called the reduced environmental map image and the reduced dynamic map image, respectively.

[0086] By reducing the size of the environmental map image G1 and the dynamic map image G2, it is possible to reduce small fluctuations that have been included in the environmental map image G1 and the dynamic map image G2 due to errors, etc., contained in the data (object information) acquired by the laser range sensor 13.

[0087] Next, the information processing unit 33 performs a binarization process on the reduced environmental map image and the reduced dynamic map image (step S112). Binarization is a process that represents an image using black and white. For example, the information processing unit 33 sets pixels corresponding to locations with a low probability of an object being present as white (maximum brightness) and pixels corresponding to locations with a high probability of an object being present as black (lowest brightness), thereby converting the reduced environmental map image and the reduced dynamic map image into images represented in black and white.

[0088] After the binarization process, the information processing unit 33 performs a process to remove noise components and the like from the binarized reduced environmental map image and reduced dynamic map image. Specifically, the information processing unit 33 performs an opening process (step S113), a closing process (step S114), a smoothing process (step S115), and a labeling and small area removal process (step S116).

[0089] The opening process involves shrinking the binarized reduced environment map image and reduced dynamic map image a predetermined number of times, and then expanding them the same number of times. This process removes small white dots and thin white lines contained in the black areas of the binarized image.

[0090] The closing process involves expanding the binarized reduced environment map image and reduced dynamic map image a predetermined number of times, and then contracting them the same number of times. This process removes (fills with white pixels) small black dots and thin black lines contained in the white areas of the binarized image.

[0091] Smoothing is a process that "blurs" the binarized, reduced-size environmental map image and the reduced-size dynamic map image. Smoothing can also remove noise components contained in the image.

[0092] Labeling and small-area removal processes label the white pixels in the binarized reduced-size environmental map image and reduced-size dynamic map image, and then remove the portion of the labeled white pixels that is below a certain area. Labeling and small-area removal processes can remove large noise components that cannot be removed by opening, closing, and smoothing processes.

[0093] After the image correction described above, the information processing unit 33 calculates the first difference D1 as the difference between the environment map M1 (reduced environment map image) and the dynamic map M3 (reduced dynamic map image) (step S12). The information processing unit 33 stores the calculated first difference D1 in the storage unit 31. Specifically, the information processing unit 33 can calculate the first difference D1 by calculating the difference between the brightness value of a specific pixel in the reduced dynamic map image and the brightness value of the corresponding pixel in the reduced environment map image for all pixels included in the reduced dynamic map image and the reduced environment map image. The first difference D1 calculated in this way is image data of the same size as the reduced dynamic map image and the reduced environment map image.

[0094] Furthermore, in the first difference D1, pixels with a positive value as object change information indicate that at the position corresponding to that pixel in the moving environment ME, an object that was not present when the environment map M1 was created but was present when the autonomous mobile unit 1 moved through the moving environment ME (i.e., a newly placed object) is located. On the other hand, pixels with a negative value as object change information indicate that at the position corresponding to that pixel in the moving environment ME, an object that was present when the environment map M1 was created but was not present when the autonomous mobile unit 1 moved through the moving environment ME (i.e., a removed object) is located.

[0095] For example, if an environmental map M1 as shown in Figure 5 and a dynamic map M3 as shown in Figure 6 are obtained, the first difference D1 as shown in Figure 7 is calculated using the method described above.

[0096] After calculating the first difference D1, the information processing unit 33 places the first difference D1 calculated in step S12 onto the reduced environment map image to create a difference map G3 that represents the change in the arrangement of objects in the entire moving environment ME since the creation of the environment map M1 (step S13). For example, if an environment map M1 as shown in Figure 5 and a first difference D1 as shown in Figure 7 are obtained, a difference map G3 as shown in Figure 8 is created by the method described above.

[0097] After creating the difference map G3, the information processing unit 33 uses the created difference map G3 to create the arrangement change area map G4 and the arrangement change data DA3 (step S14). The creation of the arrangement change area map G4 and the arrangement change data DA3 is performed according to the flowchart shown in Figure 13. Figure 13 is a flowchart showing the method for creating the arrangement change area map G4 and the arrangement change data DA3.

[0098] The information processing unit 33 first extracts the start and end points of the movement path defined in the autonomous mobile system 100 (step S141). The information processing unit 33 extracts a point representing the start point (for example, the first point in the movement schedule TS) from the point cloud included in the movement schedule TS stored in the storage unit 31 as the start point of the movement path, and extracts a point representing the end point (for example, the last point in the movement schedule TS) as the end point of the movement path. The information processing unit 33 records the coordinate values ​​of the extracted start point and end point in the coordinate value column COL2 of the placement change data DA3, respectively. It also assigns identification information (identification number) to the extracted start point and end point, and records the assigned identification information in the identification information column COL1. This is repeated for all movement schedules TS stored in the storage unit 31.

[0099] After extracting the start and end points, the information processing unit 33 extracts objects that are within the circle representing the object monitoring area for each of the extracted start and end points (step S142). Specifically, on the difference map G3 created in step S13, the information processing unit 33 draws a circle with a predetermined radius centered on the pixel corresponding to the target start or end point as the object monitoring area, and detects objects contained within the drawn object monitoring area.

[0100] In the difference map G3, object change information for objects that did not exist when the environment map M1 was created but existed during movement has a positive value (or a value obtained by adding a predetermined number to that positive value), and object change information for objects that existed when the environment map M1 was created but no longer existed during movement has a negative value (or a positive value obtained by adding a predetermined number to that negative value). Therefore, when detecting objects contained within the drawn object monitoring area, the information processing unit 33 extracts pixels with positive values ​​as object change information within the drawn object monitoring area.

[0101] In other words, the information processing unit 33 extracts objects within the object monitoring area that were not present when the environmental map M1 was created but were present when the autonomous mobile unit 1 moved through the mobile environment ME, and does not extract objects that were present when the environmental map M1 was created but were no longer present when the autonomous mobile unit 1 moved through the mobile environment ME. This is because the former objects have an effect on the autonomous movement of the autonomous mobile unit 1, while the latter objects have almost no effect on the autonomous movement.

[0102] Next, the information processing unit 33 draws a line segment pointing in a specific direction connecting the start / end point of the target and the object extracted in step S142 on the difference map G3 (step S143). Specifically, as shown in Figure 14, the information processing unit 33 draws the line segment by extending a straight line inclined in the specific direction from the start / end point of the target to the outer circumference of the object extracted in step S142. In Figure 14, the detected object is indicated as "OB", the start / end point of the target as "ST / GL", the specific direction as "angle θ", and the line segment as "LI". Figure 14 is a diagram showing an example of a line segment pointing in a specific direction connecting the start / end point and the object.

[0103] Furthermore, if a straight line sloping in a specific direction from the target's starting / ending point extends longer than the radius of the circle representing the object monitoring area but does not intersect with the object, it is determined that no object exists in that specific direction, and the straight line is not drawn on the difference map G3. In addition, the information processing unit 33 fills in the object monitoring area that overlaps with the object using object change information (positive value) of the object that exists within the target object monitoring area.

[0104] Furthermore, when the information processing unit 33 generates the arrangement change area map G4, it may use different colors for the line segments connecting the target's start / end point and the object (or its outer perimeter), and for the area where the target object's monitoring area and the object overlap. This allows for a clear visual distinction between objects within the object monitoring area and the line segments connecting the start / end point and the object (i.e., areas where no object exists).

[0105] The information processing unit 33 calculates the distance between the start / end point of the target and the object when the object extracted in step S142 is viewed from the start / end point of the target in the specific direction (step S144). If the information processing unit 33 was able to draw a line segment extending in the specific direction in step S143, it calculates the length of the line segment as the distance between the start / end point of the target and the object. Specifically, the information processing unit 33 calculates the distance between the start / end point of the target and the object as the distance between the start / end point of the target and the intersection point of the drawn line segment and the outer perimeter of the object. On the other hand, if the line segment extending in the specific direction could not be drawn in step S143, the above distance is not calculated.

[0106] Next, the information processing unit 33 records the distance calculated in step S144 in the distance record column COL3 of the arrangement change data DA3 (step S145). Specifically, if the distance of the line segment can be calculated, the information processing unit 33 records the calculated distance in a cell in the row corresponding to the starting point of the target and in the column corresponding to the specific direction (angle θ in Figure 14) for which the distance was calculated in step S144. On the other hand, if the distance could not be calculated in step S144, "null" is recorded in a cell in the row corresponding to the starting point of the target and in the column corresponding to the specific direction for which the distance could not be calculated in step S144.

[0107] After recording the distance, the information processing unit 33 determines whether the above steps S143 to S145 have been performed by changing the specific direction within the range of 0 to 359° (step S146). If the specific direction has not been changed within the range of 0 to 359° ("No" in step S146), the specific direction (angle θ in Figure 14) is changed by a predetermined amount (for example, by increasing it by 1°), and steps S143 to S145 are performed again. In other words, steps S143 to S145 are repeatedly performed until the specific direction is changed within the range of 0 to 359°.

[0108] In this way, by repeatedly performing steps S143 to S146 above while changing a specific direction within the range of 0 to 359°, a configuration change region R1 to be placed at one of the target's start / end points (indicated as "ST / GL" in Figure 15) can be drawn on the difference map G3, as shown in Figure 15. Figure 15 shows an example of the created configuration change region R1.

[0109] Furthermore, the information processing unit 33 determines whether or not steps S142 to S146 above have been performed for all the start / end points extracted in step S141 (step S147). If steps S142 to S146 above have not been performed for all the extracted start / end points ("No" in step S147), steps S142 to S146 above are performed again for the other extracted start / end points. That is, steps S142 to S146 above are repeatedly performed for all the extracted start / end points until the drawing of the placement change area R1 on the difference map G3 and the calculation of the distance between the start / end points and the object have been performed.

[0110] In this way, by performing steps S142 to S147 above on all the start / end points extracted in step S141, a layout change area map G4 as shown in Figure 9 is created, and layout change data DA3 as shown in Figure 10 is created.

[0111] The various information / data created as described above and stored in the management server 3 can be viewed by displaying them on the display device of the autonomous mobile unit 1, or by displaying them on a terminal (for example, a personal computer, tablet, smartphone, etc.) that is communicatively connected to the management server 3 and / or the autonomous mobile unit 1.

[0112] In the autonomous mobile system 100, the management server 3 calculates the difference between an environmental map M1 representing the arrangement of objects in the mobile environment ME and a dynamic map M3 representing the arrangement of objects in the mobile environment ME when the autonomous mobile unit 1 moves, as the first difference D1. This first difference D1 represents the difference between the arrangement of objects when the autonomous mobile unit 1 autonomously moves through the mobile environment ME for a predetermined purpose and the arrangement of objects at the time the environmental map M1 was created. In other words, the first difference D1 represents the changes in the arrangement of objects that occurred between the time the environmental map M1 was created and the time the autonomous mobile unit 1 autonomously moved, and the location where these changes occurred. Therefore, the arrangement change data DA3 calculated based on the first difference D1 represents the changes in the arrangement state of objects since the creation of the environmental map M1 and the location where these changes occurred. By referring to this arrangement change data DA3, users can understand the changes in the arrangement positions of objects in the environmental map M1, that is, the changes in the arrangement state of objects in the mobile environment ME represented in the environmental map M1 and the locations where these changes occurred.

[0113] Furthermore, it was found that if there is a change in the arrangement of objects at the start and / or end points of the movement path, the autonomous mobile unit 1 tends to move in an inappropriate manner (for example, autonomous movement stops). Therefore, by making the arrangement change data DA3 data that represents the change in the arrangement of objects at the start and / or end points of the autonomous movement path, it becomes easier for users to grasp the change in the arrangement of objects at the start and / or end points of the movement path. As a result, when there is a change in the arrangement of objects at the start and / or end points of the movement path, it becomes possible to take a predetermined action at the start and / or end points (for example, remove an object, change the position of an object, etc.), thereby suppressing inappropriate autonomous movement by the autonomous mobile unit 1.

[0114] 2. Other Embodiments Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications are possible without departing from the spirit of the invention. In particular, the multiple embodiments and modifications described herein can be arbitrarily combined as needed. (A) The processing order of each step and / or the processing content in each step shown in the flowcharts of Figures 11 to 13 can be appropriately changed without changing the spirit of the invention.

[0115] For example, some of the steps included in the flowcharts in Figures 11 to 13 may be omitted. For instance, step S111 (map image reduction process) in the flowchart shown in Figure 12 can be performed as needed, and can be omitted if not particularly necessary.

[0116] (B) The creation of the arrangement change data DA3, etc., shown in the flowcharts of Figures 11 to 13 may be performed by the control device 14 of the autonomous mobile body 1. That is, the control device 14 may create a dynamic map M3 representing the arrangement of objects in the mobile environment ME when the main body 11 moves, based on object information acquired by sensors (laser range sensor 13, etc.) when the main body 11 moves in the mobile environment ME, calculate a first difference D1 representing the difference between the environment map M1 and the dynamic map M3, and calculate arrangement change data DA3 relating to the change in the arrangement state of objects at the start and / or end points of the movement path since the creation of the environment map M1, based on the first difference D1. In addition, the control device 14 may also create a difference map G3 and an arrangement change area map G4 according to the method described above.

[0117] (C) The arrangement change area map G4 and the arrangement change data DA3 can also be created based on the first difference D1 without creating the difference map G3. For example, in the first difference D1, the object monitoring area is placed with the extracted start / end points as the center, line segments are drawn connecting the start / end points and the objects included in the object monitoring area, and the length of these line segments is calculated as the distance between the start / end points and the objects and recorded in the arrangement change data DA3 to create the arrangement change data DA3. Alternatively, the arrangement change area map G4 can be created by placing the first difference, which has line segments drawn connecting the start / end points and the objects included in the object monitoring area, on the environment map M1 or the dynamic map M3.

[0118] (D) The arrangement change data DA3 can also be used to control the autonomous mobile body 1. For example, when the control device 14 of the autonomous mobile body 1 receives a command to move the autonomous mobile body 1 along a specific movement path (movement schedule TS), it extracts the start and end points of the movement path, and if a value other than "null" is recorded in the cell (row) corresponding to the extracted start and / or end points in the distance record column COL3 of the arrangement change data DA3, it can be determined that an object is located near the start and / or end points of the specific movement path. If it is determined that an object is located near the start and / or end points, the control device 14 can, for example, output a warning, suggest a change in the movement path, suggest the removal / relocation of the target object, and / or change the start / end points.

[0119] Specifically, when it is determined that an object is located near the starting point and / or ending point, the display devices of the autonomous mobile unit 1 and / or the management server 3 can display, for example, a warning message, a suggestion to change the movement path and / or the changed movement path, instructions to remove / reposition objects, which objects should be removed, or at least which objects should be repositioned to which locations. In addition, the sound generating devices (e.g., speakers) of the autonomous mobile unit 1 and / or the management server 3 can generate warning sounds, etc.

[0120] Furthermore, if the autonomous mobile unit 1 and / or management server 3 determine that an object is located near the starting point and / or ending point, they can update the starting / ending points in the movement schedule TS stored in, for example, a memory unit. In addition, they can execute a plan for the movement route that needs to be changed in response to the change in the starting / ending points.

[0121] (E) For example, the management server 3 of the autonomous mobile system 100 may be located in a different country from the other components (i.e., the autonomous mobile unit 1, the terminal used by the user, etc.). Since the effects of the autonomous mobile system 100 are manifested in the country where the other components such as the autonomous mobile unit 1 exist, even if the management server 3 is located in a different country, it can be considered as the implementation of the autonomous mobile system 100 in the country where the other components exist.

[0122] 3. Features of the Embodiment The features of the above embodiment can also be described as follows: (1) The autonomous mobile system (for example, the autonomous mobile system 100) comprises an autonomous mobile body (for example, the autonomous mobile body 1), a storage unit (for example, storage unit 141, storage unit 31), and an environmental change detection device (for example, the management server 3). The autonomous mobile body has a sensor (for example, a laser range sensor 13) that acquires object information about objects present in its surroundings. The storage unit stores an environmental map (for example, an environmental map M1) and a travel path (for example, a travel schedule TS). The environmental map is a map that shows the arrangement of objects in the environment in which the autonomous mobile body travels (for example, the travel environment ME). The travel path is associated with the environmental map. The environmental change device detects changes in the environment.

[0123] The environmental change detection device creates a dynamic map (e.g., dynamic map M3) representing the arrangement of objects in the environment when the autonomous mobile body moves, based on object information acquired by sensors when the autonomous mobile body moves through the environment. It then calculates a first difference (e.g., first difference D1) representing the difference between the environmental map and the dynamic map. Based on the first difference, it calculates arrangement change data (e.g., arrangement change data DA3) relating to the change in the arrangement of objects at the start and / or end points of the movement path since the environmental map was created.

[0124] In the autonomous mobile system described above, the environmental change detection device calculates the difference between an environmental map representing the arrangement of objects in a predetermined environment and a dynamic map representing the arrangement of objects in the predetermined environment when the autonomous mobile unit moves, as the first difference. This first difference represents the difference between the arrangement of objects when the autonomous mobile unit autonomously moves through the environment for a predetermined purpose and the arrangement of objects when the environmental map was created. In other words, the first difference represents the change in the arrangement of objects that occurred between the creation of the environmental map and the autonomous mobile unit's autonomous movement, and the location where that change occurred. Therefore, the arrangement change data calculated based on the first difference represents the change in the arrangement state of objects since the creation of the environmental map and the location where that change occurred. By referring to this arrangement change data, users can understand the change in the arrangement position of objects on the environmental map, that is, the change in the arrangement state of objects in the predetermined environment represented on the environmental map and the location where that change occurred.

[0125] Furthermore, the inventors have found that inappropriate autonomous movement tends to occur when there are changes in the arrangement of objects at the start and / or end points of the autonomous movement path of an autonomous mobile device. For example, when there are changes in the arrangement of objects at the start and / or end points of the movement path, the autonomous mobile device tends to stop moving. Therefore, by making the arrangement change data represent the changes in the arrangement of objects at the start and / or end points of the autonomous movement path, it becomes easier for users to grasp the changes in the arrangement of objects at the start and / or end points of the movement path. As a result, when there are changes in the arrangement of objects at the start and / or end points of the movement path, it becomes possible to take predetermined actions (for example, removing objects, changing the position of objects, etc.) at those start and / or end points, thereby suppressing inappropriate autonomous movement by the autonomous mobile device.

[0126] (2) In the autonomous mobile system described in (1) above, the environmental change detection device may create a map of areas where the arrangement of objects has changed since the environmental map was created. The map of areas where the arrangement of objects has changed since the environmental map was created, within the area including the starting point and / or ending point of the travel path and its vicinity. This makes it easier to visually recognize at which points around the starting point and / or ending point of the travel path the arrangement of objects has changed.

[0127] (3) In the autonomous mobile system described in (1) or (2) above, the placement change data may be data relating to the placement state of objects that were not present when the environmental map was created but were present when the autonomous mobile system moved through the environment. This makes it easier to take appropriate actions, such as changing the movement path or removing placed objects.

[0128] (4) In the autonomous mobile system described in (2) or (3) above, the environmental change detection device may create a region of changed location by drawing line segments connecting objects that were not present when the environmental map was created but were present when the autonomous mobile system moved through the environment, with the starting and / or ending points of the travel path, within a region (e.g., an object monitoring region) that includes the starting and / or ending points of the travel path and their vicinity. This makes it easier to visually recognize that objects placed after the environmental map was created are located near the starting and / or ending points of the travel path.

[0129] (5) In any of the autonomous mobile systems described in (1) to (4) above, the environmental change detection device may create a difference map (for example, difference map G3) that represents the change in the arrangement of objects in the entire environment since the creation of the environmental map by placing the first difference on the environmental map. This makes it easier to visually recognize changes in the arrangement of objects in the entire environment.

[0130] (6) The autonomous mobile unit comprises a main body (e.g., main body 11), a sensor (e.g., laser range sensor 13), a memory unit (e.g., memory unit 141), and a control unit (e.g., control unit 143). The sensor is provided on the main body and acquires object information about objects present around the main body. The memory unit stores an environmental map and a movement path. The environmental map represents the arrangement of objects in the environment in which the main body moves. The movement path is associated with the environmental map. The control unit controls the movement of the main body. In the above autonomous mobile unit, the control unit creates a dynamic map representing the arrangement of objects in the environment when the main body moves, based on the object information acquired by the sensor when the main body moves through the environment, calculates a first difference representing the difference between the environmental map and the dynamic map, and calculates arrangement change data relating to the change in the arrangement state of objects at the start and / or end points of the movement path since the creation of the environmental map.

[0131] In the above-described autonomous mobile device, the control unit calculates a first difference as the difference between an environmental map representing the arrangement of objects in a predetermined environment and a dynamic map representing the arrangement of objects in the predetermined environment when the autonomous mobile device moves. This first difference represents the difference between the arrangement of objects when the autonomous mobile device autonomously moves through the environment for a predetermined purpose and the arrangement of objects when the environmental map was created. In other words, the first difference represents the changes in the arrangement of objects that occurred between the creation of the environmental map and the autonomous mobile device's autonomous movement, and the locations where these changes occurred. Therefore, the arrangement change data calculated based on the first difference represents the changes in the arrangement state of objects since the creation of the environmental map and the locations where these changes occurred. By referring to this arrangement change data, users can understand the changes in the arrangement positions of objects on the environmental map, that is, the changes in the arrangement state of objects in the predetermined environment represented on the environmental map and the locations where these changes occurred.

[0132] Furthermore, the inventors have found that inappropriate autonomous movement tends to occur when there are changes in the arrangement of objects at the start and / or end points of the autonomous movement path of an autonomous mobile device. For example, when there are changes in the arrangement of objects at the start and / or end points of the movement path, the autonomous mobile device tends to stop moving. Therefore, by making the arrangement change data represent the changes in the arrangement of objects at the start and / or end points of the autonomous movement path, it becomes easier for users to grasp the changes in the arrangement of objects at the start and / or end points of the movement path. As a result, when there are changes in the arrangement of objects at the start and / or end points of the movement path, it becomes possible to take predetermined actions (for example, removing objects, changing the position of objects, etc.) at those start and / or end points, thereby suppressing inappropriate autonomous movement by the autonomous mobile device.

[0133] (7) The environmental change detection method is a method for detecting changes in the environment in which an autonomous mobile body is moving. The environmental change detection method comprises the following steps. The following (a) to (c) do not limit the processing order of each step. (a) A step of creating a dynamic map representing the arrangement of objects in the environment when the autonomous mobile body is moving, based on object information present around the autonomous mobile body moving through the environment. (b) A step of calculating a first difference representing the difference between the environmental map and the dynamic map (for example, step S12). (c) A step of calculating arrangement change data relating to the change in the arrangement state of objects at the start and / or end points of the movement path since the creation of the environmental map, based on the first difference (for example, steps S13 to S14).

[0134] In the environmental change detection method described above, the difference between an environmental map representing the arrangement of objects in a given environment and a dynamic map representing the arrangement of objects in the given environment when the autonomous mobile unit moves is calculated as the first difference. This first difference represents the difference between the arrangement of objects when the autonomous mobile unit autonomously moves through the environment for a given purpose and the arrangement of objects when the environmental map was created. In other words, the first difference represents the change in the arrangement of objects that occurred between the time the environmental map was created and the time the autonomous mobile unit autonomously moved, and the location where the change occurred. Therefore, the arrangement change data calculated based on the first difference represents the change in the arrangement state of objects since the creation of the environmental map and the location where the change in arrangement state occurred. By referring to this arrangement change data, users can understand the change in the arrangement position of objects on the environmental map, that is, the change in the arrangement state of objects in the given environment represented on the environmental map and the location where the change occurred.

[0135] Furthermore, the inventors have found that inappropriate autonomous movement tends to occur when there are changes in the arrangement of objects at the start and / or end points of the autonomous movement path of an autonomous mobile device. For example, when there are changes in the arrangement of objects at the start and / or end points of the movement path, the autonomous mobile device tends to stop moving. Therefore, by making the arrangement change data represent the changes in the arrangement of objects at the start and / or end points of the autonomous movement path, it becomes easier for users to grasp the changes in the arrangement of objects at the start and / or end points of the movement path. As a result, when there are changes in the arrangement of objects at the start and / or end points of the movement path, it becomes possible to take predetermined actions (for example, removing objects, changing the position of objects, etc.) at those start and / or end points, thereby suppressing inappropriate autonomous movement by the autonomous mobile device.

[0136] (8) A program according to yet another aspect of the present invention is a program that causes a computer to execute the environmental change detection method described in (7) above.

[0137] The present invention can be widely applied to autonomous mobile bodies that autonomously move within a predetermined area, and to autonomous mobile body systems that include an autonomous mobile body and a management server.

[0138] 100: Autonomous mobile system 1: Autonomous mobile unit 11: Main body 12: Mobile unit 121a, 121b: Motor 123a, 123b: Wheels 125a, 125b: Encoder 13: Laser range sensor 131: First laser range sensor 133: Second laser range sensor 14: Control device 141: Memory unit 143: Control unit 15: Auxiliary wheel unit 15a, 15b: Auxiliary wheels 3: Management server 31: Memory unit 33: Information processing unit M1: Environment map M2: Local map M3: Dynamic map ME: Mobile environment TS: Mobile schedule LOG: Mobile log DA1: Movement amount data DA2: Data for map creation D1: First difference G1: Environment map image G2: Dynamic map image G3: Difference map G4: Map of area of ​​change in placement R1: Area of ​​change in placement DA3: Area of ​​change in placement data COL1: Identification information column COL2: Coordinate value column COL3: Distance record column

Claims

1. An autonomous mobile system comprising: an autonomous mobile body having sensors to acquire object information about objects present in its surroundings; a storage unit that stores an environmental map representing the arrangement of objects in the environment in which the autonomous mobile body moves; and a movement path associated with the environmental map; and an environmental change detection device that detects changes in the environment, wherein the environmental change detection device creates a dynamic map representing the arrangement of objects in the environment at the time the autonomous mobile body moves, based on the object information acquired by the sensors when the autonomous mobile body moves through the environment; calculates a first difference representing the difference between the environmental map and the dynamic map; and calculates arrangement change data relating to the change in the arrangement of objects at the start and / or end points of the movement path since the creation of the environmental map, based on the first difference.

2. The autonomous mobile system according to claim 1, wherein the environmental change detection device creates a map of areas of arrangement change that include the starting point and / or ending point of the travel path and its vicinity, and the area where the arrangement of objects has changed since the creation of the environmental map.

3. The autonomous mobile system according to claim 1 or 2, wherein the arrangement change data is data relating to the arrangement state of objects that were not present when the environmental map was created but were present when the autonomous mobile system moved through the environment.

4. The autonomous mobile system according to claim 2, wherein the environmental change detection device creates the arrangement change area map by drawing line segments connecting objects that were not present when the environmental map was created but were present when the autonomous mobile system moved through the environment, within an area including the starting point and / or ending point of the movement path and its vicinity, to the starting point and / or ending point of the movement path.

5. The autonomous mobile system according to claim 1, wherein the environmental change detection device creates a difference map representing the change in the arrangement of objects in the entire environment since the creation of the environmental map, based on the first difference.

6. An autonomous mobile body comprising: a main body; a sensor provided on the main body for acquiring object information relating to objects present around the main body; a storage unit for storing an environmental map representing the arrangement of objects in the environment in which the main body moves; and a movement path associated with the environmental map; and a control unit for controlling the movement of the main body, wherein the control unit creates a dynamic map representing the arrangement of objects in the environment at the time the main body moves, based on the object information acquired by the sensor when the main body moves through the environment; calculates a first difference representing the difference between the environmental map and the dynamic map; and calculates arrangement change data relating to the change in the arrangement state of objects at the start and / or end points of the movement path since the creation of the environmental map, based on the first difference.

7. A method for detecting changes in the environment in which an autonomous mobile body is moving, comprising: creating a dynamic map representing the arrangement of objects in the environment when the autonomous mobile body is moving, based on object information present around the autonomous mobile body as it moves through the environment; calculating a first difference representing the difference between an environmental map representing the arrangement of objects in the environment and the dynamic map; and calculating arrangement change data relating to the change in the arrangement state of objects at the start and / or end points of the travel path associated with the environmental map since the creation of the environmental map, based on the first difference.

8. A program that causes a computer to execute the environmental change detection method described in claim 7.

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