JP6867120B2 - Cartography method and cartography device - Google Patents

Description

The present invention relates to a cartographic method and a cartographic apparatus for creating a map of the surroundings by moving a moving body provided with a sensor for detecting an obstacle in the surroundings.

Conventionally, a map image generator and method have been proposed that automatically generate an image of the position of an obstacle around the sensor by measuring while moving a laser distance sensor capable of measuring the direction and distance to an obstacle. (For example, Patent Document 1). More specifically, a mobile robot equipped with a laser distance sensor is moved, and measured values of the direction and distance to surrounding obstacles are acquired at each measurement position before and after the movement, and based on the measured values. Images showing the occupied positions of obstacles are generated as grid images. Then, a map image is generated by integrating the information of each grid image before and after the movement.

Japanese Unexamined Patent Publication No. 2005-326944

However, the map image generator described in Patent Document 1 scans the laser beam around and measures the orientation and distance to the obstacle, and based on the obtained measurement data, determines the occupied position of each obstacle in the vicinity. The image shown is generated as a grid image, but since there are various cases in the positional relationship from the measurement position to each obstacle during measurement, the occupied position of each obstacle in the grid image is measured. In this case, the measurement distance from the measurement position to the obstacle is large, and the measurement data is large and the measurement data is small. Here, in general, in a measuring device, the measurement accuracy tends to decrease as the measuring distance increases. Therefore, the reliability of the measurement result varies between the occupied positions of the obstacles in the grid image.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a map creation method and a map creation device capable of creating map information including reliability information.

The mapping apparatus according to the present invention is a moving body provided with a moving mechanism, and the moving body is provided with the moving body, transmits a beam toward the surroundings, receives a reflected beam returned from a surrounding obstacle, and receives the obstacle. Map information by mapping the position of the obstacle based on the distance and direction to the obstacle measured by the sensor unit while moving the moving body and the sensor unit that measures the distance and direction to the obstacle. The map information generation unit that generates the map information, the movement route determination unit that determines the movement route that moved the moving body when the map information was generated, and the movement route with respect to the reliability evaluation point in the map information. A separation distance calculation unit that calculates the distance from the map, and a reliability information generation unit that generates reliability information according to the separation distance calculated by the separation distance calculation unit for the reliability evaluation points in the map information. It is equipped with.

Further, in the map creation method according to the present invention, while the moving body is moving, a sensor unit provided on the moving body transmits a beam toward the surroundings, and receives a reflected beam returned from a surrounding obstacle. A map that generates map information by mapping the position of the obstacle based on the measurement step that measures the distance and direction to the obstacle and the distance and direction to the obstacle measured in the measurement step. The information generation step, the movement route determination step for determining the movement route to which the moving body was moved when the map information was generated, and the distance from the movement route with respect to the reliability evaluation point in the map information. It is provided with a separation distance calculation step for calculating the distance, and a reliability information generation step for generating reliability information according to the separation distance calculated by the separation distance calculation step for the reliability evaluation point in the map information. It is a thing.

According to these inventions, while the moving body is moving, a sensor unit provided on the moving body transmits a beam toward the surroundings, and receives a reflected beam returned from a surrounding obstacle, whereby the obstacle is described. The distance and direction to the object are measured. Map information is generated by mapping the position of the obstacle based on the measured distance and direction to the obstacle. When the map information is generated, the movement route to which the moving body is moved is determined, that is, specified. Then, with respect to the reliability evaluation points in the map information, reliability information corresponding to the distance from the movement route is generated. The generated reliability information is used as it is, or is displayed and used, for example. Therefore, by generating and using the reliability information according to the distance from the moving route, the reliability of the obstacle can be recognized, and the moving body can be used for suitable traveling.

Further, since the reliability is calculated to be lower as the separation distance is larger, it is possible to use the reliability in accordance with the actual situation.

Further, the movement route determination unit includes a recording unit that continuously determines and records the self-position of the moving body when generating the map information, and the movement route determination unit is based on the information recorded in the recording unit. The movement route is determined. According to this configuration, by storing the movement route in the storage unit, it is possible to generate reliability information as needed after the map creation mode.

Further, it includes a display unit that displays the map information created by the map information generation unit, and a display control unit that displays the reliability information on the display unit in response to the map information. According to this configuration, the reliability information is displayed on the display unit in response to the generated map information and the map information, so that the relationship or correspondence between the map information and the reliability information becomes easy to see.

Further, a portable operation unit for setting a movement route of the moving body is provided, and the operation unit includes the display unit and the display control unit. According to this configuration, the movement of the traveling body can be remotely controlled while observing the displayed image at a stationary position.

Further, a portable operation unit for setting a movement route of the moving body is provided, and the operation unit includes the map information generation unit, the reliability information generation unit, the display unit, and the display control unit. is there. According to this configuration, it is possible to reduce the load on the functional unit on the traveling body side, particularly the software.

Further, the reliability information generation unit divides the distance direction from the movement route to each position of the obstacle into a plurality of directions as the reliability information, and sets different display modes for each division. .. According to this configuration, it becomes easy to visually recognize the high and low of the reliability information.

Further, the larger the distance from the moving route, the lower the brightness. According to this configuration, the lower the reliability, the lower the brightness is set, so that it corresponds to the human sense.

Further, it is provided with a map accuracy calculation unit that calculates the ratio of one of the high reliability information and the low reliability information to the number of positions of the obstacle as map accuracy information with respect to all the positions of the obstacle. The display control unit displays the calculated map accuracy information on the display unit. According to this configuration, the accuracy of the map is easily recognized.

Further, it is characterized in that it is provided with a first map information correction unit that receives a correction instruction for a part of the map information displayed on the display unit and corrects the map information. According to this configuration, for example, while observing the site, a part of the map information is received as an operation from the user so that the map information can be modified more accurately or negligibly for the space. You will be able to fix it. Therefore, in addition to the correction instruction to the place where the reliability information is low, the map information of the desired place can be corrected regardless of the level of the reliability information. Therefore, the map information can be reworked more accurately.

Further, it is characterized by including a second map information correction unit that corrects the information of the obstacle whose reliability information is low among the map information. According to this configuration, the map information can be corrected automatically, so if there is a place with low reliability information, the map will be more accurate by automatically receiving an automatic correction instruction from the user. Corrections to the information are performed. In this case, the reliability information of the corrected information may be changed to a high level.

Further, the map information erasing unit for erasing the map information having low reliability information is provided. According to this configuration, for example, when map information is displayed, all the displayed map information can be uniformly recognized as places with high reliability information.

Further, the work movement route setting unit for setting the work movement route of the work moving body in the map information displayed on the display unit is provided, and the work movement route setting unit has the reliability of the work movement route. It is determined whether or not the setting passes near the position of an obstacle with low sexual information, and if the determination is affirmed, the setting is regulated. According to this configuration, when the work movement route passes near the position of an obstacle with low reliability information, there is a high possibility that the traveling body collides with the obstacle and the work is interrupted. , It is possible to apply regulatory processing such as invalidating, prohibiting, or changing the passage of such a route with low reliability information. In this case, the route may be switched to a highly reliable route.

According to the present invention, it is possible to generate reliability information according to the distance from the movement route, recognize the reliability of the obstacle, and use the moving body for suitable movement.

It is an external perspective view of the map making apparatus which concerns on this invention. It is a figure explaining the transmission / reception of a laser beam, and the relationship between a separation distance and reliability. It is a block diagram which shows one Embodiment of a map making apparatus. It is a top view which shows an example of the map image in a work area. It is explanatory drawing explaining the state which divided into 2 according to whether the separation distance from a traveling route is smaller than a set distance, or is larger than a set distance. It is a figure which displayed the reliability information which concerns on 1st Embodiment in the plan view of FIG. It is a figure which displayed the reliability information which concerns on 2nd Embodiment in the plan view of FIG. It is a figure which displayed the reliability information which concerns on 3rd Embodiment in the plan view of FIG. It is a figure explaining the traveling route setting situation at the time of work in the plan view of FIG. It is a flowchart explaining one Embodiment of the map creation / reliability information display processing.

As shown in FIG. 1, the map-creating device 1 includes a traveling body 20 that moves on the floor surface and, for example, a portable tablet 10 that is an operation unit that remotely controls the movement of the traveling body 20. The traveling body 20 has a function of being remotely controlled by the tablet 10, but may also have a function of being able to autonomously travel. The traveling body 20 includes a base 21, left and right drive wheels 22, and driven rear wheels 23. The traveling body 20 freely travels on the floor surface by driving the left and right driving wheels 22 by the respective motors 51 (see FIG. 3). On the front side in the traveling direction on the base 21, a sensor for measuring the distance to surrounding obstacles, for example, a laser range finder (hereinafter referred to as LRF) 40 is mounted. Further, the control unit unit 200 is arranged at an appropriate position on the upper surface of the base 21.

Although not shown in FIG. 1, a member suitable for the work purpose, for example, a work unit such as a dust suction device or a wet cleaning unit may be mounted on the upper surface side of the base 21 if it is a cleaning robot. .. In addition, various modes can be adopted for the traveling body 20. In the following, a cleaning robot will be described as an example, but as another example, various work robot devices (security robots, housework support robots) equipped with wheels and other moving mechanisms that perform work within a designated area. , Animal type robot, etc.).

The tablet 10 includes at least a display unit 11 on which an image is displayed and an input unit 12 that receives an input operation of the user. As is known, the input unit 12 may employ a touch panel in which a transparent thin-layer pressure-sensitive element is laminated on the display unit 11. In this case, a touch operation is performed on a button or the like displayed on the display screen. By doing so, the input operation becomes possible. By associating various preset buttons displayed on the screen with the functions to be executed, execution of the functions according to the input contents is instructed. The image display process on the display unit 11 is performed by the display control unit 111 (see FIG. 3). The tablet 10 enables short-range communication of various information with the traveling body 20 via wireless or wire.

As shown in FIG. 2, the LRF40 outputs the laser beam L while scanning it radially in a horizontal plane, reflects it by an obstacle 80 such as a surrounding wall, receives the returned reflected light, and receives the returned reflected light in each output direction. The distance to the obstacle 80 is measured according to the principle of TOF (Time of Flight). The LRF40 transmits and receives the laser beam L while rotating the optical laser beam transmitting / receiving unit 41 (see FIG. 3) around the rotation axis. The scan range of the LRF 40 is a predetermined angle range to the left and right with respect to the front in the traveling direction. In the present embodiment, the laser beam L outputs a scan range from the reference to 100 degrees to the left and right for each degree. The measurement cycle for the scan range is, for example, 50 ms (milliseconds), and thinning processing is possible as needed. The LRF 40 associates the information in each measurement direction with the measurement separation information and outputs the information to the control unit 30 via the distance information output unit 42 for each measurement cycle (see FIG. 3).

By the way, as shown in FIG. 2, the laser beam L emitted radially increases the distance between the laser beam L and the adjacent laser beam L as the distance from the emission point increases. That is, under a certain directional resolution (1 degree in this embodiment), the distance measurement accuracy in the directional direction decreases as the distance from the emission point increases. For example, in FIG. 2, at positions D1 and D2, which are twice as far from the emission point, the resolution distance in the azimuth direction is d1 on the near side D1, whereas the resolution distance in the directional direction is twice as large as d1 on the far side D2. Since it becomes d2, that is, the reliability of the distance measurement information is lowered. In this example, the upper end 801 of the obstacle 80 has an error in the dimensional range of about d2. It should be noted that as the distance increases, the accuracy in the distance direction also decreases due to the decrease in the laser level. Resolution Distance Laser Light Level Therefore, as will be described later, information on such reliability is generated and used for user operation.

In FIG. 3, the traveling body 20 of the cartography device 1 includes a control unit 30, an LRF 40, a drive unit 50, and a storage unit 60. The control unit 30 is composed of, for example, a microcomputer provided with a processor (CPU) or the like.

As described above, the laser light transmission / reception unit 41 outputs the laser light to the surroundings, receives the beam light returned from the obstacle 80, performs distance measurement, and temporarily associates each direction with the distance measurement information. The measurement result for one measurement cycle is output to the control unit 30 via the distance information output unit 42.

The encoder 52 of the drive unit 50 is provided corresponding to the left and right drive wheels 22, and continuously measures the amount of rotation of each drive wheel 22. From the left and right measurement results, the amount of movement of the left and right drive wheels 22 is calculated, and the movement distance and the movement direction of the traveling body 2 are periodically measured.

The storage unit 60 temporarily stores various types of information, and includes a measurement information storage unit 61, a node information storage unit 62, a map information storage unit 63, a travel route information storage unit 64, and a work area.

The control unit 30 reads the control program stored in the control program storage unit 601 into the work area of the storage unit 60 and executes it, so that the travel control unit 300, the distance measurement control unit 301, the node information generation unit 302, and the map matching are executed. It functions as a unit 303, a map creation unit 304, a traveling route determination unit 305, a separation distance calculation unit 306, a reliability information generation unit 307, a map accuracy calculation unit 308, a map information correction unit 309, and a work movement route setting unit 310.

The travel control unit 300 may be an autonomous travel type, but will be described below as a type that travels according to an operation command from the tablet 10. The tablet 10 is prepared with at least a map creation mode. In the map creation mode, the display unit 11 displays an image of a plan view based on, for example, the orientation of the map space including the map creation target space serving as the work area WA (see FIG. 4) in a predetermined format. Of the traveling direction and the traveling speed, at least a button for instructing (manipulating) the traveling direction is displayed. The tablet 10 transmits a command signal corresponding to the operation instruction to the traveling body 20. In response to the operation command from the tablet 10, the travel control unit 300 controls the amount of rotation of the left and right motors 51 and the like to change the travel direction of the traveling body 20. By controlling the running of the traveling body 20 while observing the map creation target space, the user travels while avoiding the obstacle 80 which is a wall or other object. The encoder 52 periodically measures the amount of rotation of the motor 51 and stores it in the measurement information storage unit 61 as travel amount information.

In the map creation mode, the distance measuring control unit 301 operates the LRF 40 at a predetermined cycle while being driven by the traveling control unit 300 to measure the presence / absence and the distance of the surrounding obstacle 80. The distance measurement control unit 301 stores the distance information in each direction acquired for each scan in the measurement information storage unit 61 via the distance information output unit 42.

The node information generation unit 302, the map matching unit 303, and the map creation unit 304 constitute a functional unit that executes SLAM (Simultaneous Localization And Mapping) processing, which will be described later. In the map creation mode, a known SLAM process that creates a map while estimating the self-position can be used. The SLAM process repeatedly executes odometry processing for calculating the position of the traveling body 20 by calculating the moving distance and direction of the traveling body 20, node information generation processing, scan match processing, and map generation processing in conjunction with traveling. This creates maps in sequence.

More specifically, the node information generation unit 302 determines the position of the obstacle 80 such as a wall and the odometry processing in each direction from the distance information in each direction measured by the LRF 40 and the rotation amount information measured by the encoder 52. A local map at a predetermined timing, called a node representing the calculated self-position, is generated as a set of dot DPs (see FIG. 4). The generated node information is stored in the node information storage unit 62 each time.

The map matching unit 303 connects the newly generated nodes to the nodes connected up to the previous time. When the map matching unit 303 connects the sequentially obtained nodes, the positions (dot DPs) of the obstacles 80 in each node information are centered on the self-position indicated by each node. The so-called scan match process is performed to find the most overlapping position. This makes it possible to connect each node with high accuracy.

The map creation unit 304 connects the position of the obstacle 80 (dot DP) at the new node each time the new node is connected by the map matching unit 303 on the empty map image prepared in advance having an area equivalent to the outer shape of the measurement range. ) Is drawn. The created map image is stored in the map information storage unit 63 as map information. The map creation unit 304 recognizes a region closer to the self-position side than the position of the obstacle 80 drawn in the empty map image as a traveling region 70 (see FIG. 4) of the traveling body 20, and recognizes the opposite side as an obstacle. Recognized as 80 areas. As a result, the map creation unit 304 is created as a map image including the traveling area 70 and the obstacle 80.

FIG. 4 is a plan view showing an example of a map image created by the map creation unit 304, and an obstacle 80 composed of a traveling area 70 and a set of dot DPs is displayed in the work area WA. In FIG. 4, the area indicated by the neutral color corresponding to the dot DP of the obstacle 80 shows the actual obstacle part in order to help understanding, and is displayed on the display unit 11. Not done. Further, the number of dot DPs is for convenience of explanation and is not always accurate. The traveling body 20 makes one round in the traveling region 70 along the arrow direction from the traveling start point SP like the traveling route 701.

The travel route determination unit 305, the separation distance calculation unit 306, and the reliability information generation unit 307 execute a process of generating information on the reliability of the created map.

The travel route determination unit 305 determines and identifies the information of the travel route 701 of the traveling body 20 required for generating the reliability information described later from the map information created by the map creation unit 304, and determines the travel route. It is stored in the information storage unit 64. The traveling route information includes, for example, information on the traveling direction obtained from the position of the traveling body 20 at each node and the node information before and after.

The separation distance calculation unit 306 heads in a direction perpendicular to the distance from each position on the travel route 701, that is, the travel route 701, with respect to the reliability evaluation point (position to be evaluated for reliability) in the map information. , The distance information from the traveling route 701 is calculated.

In the reliability information generation unit 307, whether the distance in the direction perpendicular to the travel route calculated by the separation distance calculation unit 306 with respect to the reliability evaluation point in the map information is closer to or farther than the preset set distance. To classify. The classification can be treated as reliability information because it corresponds to the distance information from the traveling route 701, that is, the magnitude of the resolution distance in the directional direction described with reference to FIG. The set distance may be one or more. In this case, reliability information corresponding to each category is generated. The reliability information is set so that the smaller the separation distance, the higher the reliability information, and the farther away, the lower the reliability information. Further, the reliability information can be used in a mode other than the mode of displaying on the map image, and as described later, the reliability information may be used in a mode of partial modification in the work mode after the map creation mode.

FIG. 5 is an explanatory diagram showing a state in which the distance from the traveling route 701 is divided into two according to whether the distance is smaller or larger than the set distance d0. In FIG. 5, it is assumed that the vehicle travels to the right as shown by an arrow, and the right side of the travel route 701 is divided by a boundary 9R, and the left side of the travel route 701 is divided by a boundary 9L. The region closer to the set distance d0 is referred to as the first division 91, and the region farther than the set distance d0 is referred to as the second division 92.

Further, the reliability information generation unit 307 sets a different display form for each of the categories 91 and 92 as a display form when displaying the reliability information. For example, the brightness of the first division 91 is normally displayed (for example, displayed in the ground color) as indicating high reliability, while the brightness of the second division 92 is relatively low as indicating relatively low reliability. Can be reduced. Alternatively, in addition to the brightness, the saturation and hue may be changed, or the mixing ratio with other colors may be changed within an identifiable range. Further, a blinking display or the like may be adopted according to the classification.

FIG. 6 shows a display mode of reliability information according to the first embodiment. In FIG. 6, divisions 91 and 92 are superimposed and displayed on the map image of FIG. Category 91 is a normal display, and category 92 is displayed with reduced brightness, which makes it easy to identify a region with low reliability.

The number of divisions is not limited to two, and may be more than two. FIG. 7 shows a display mode of reliability information according to the second embodiment. In FIG. 7, three divisions 91, 92, and 93 are set in the map image of FIG. 4 according to the set distances d0 and d1 (> d0). In the categories 91, 92, and 93, the farther the separation distance is, for example, the brightness is sequentially reduced and displayed, which makes it easier to identify each category.

The map accuracy calculation unit 308 calculates the ratio of the number of dot DPs of obstacles on the map image to the number of dot DPs included in the highly reliable division (area) of the entire map. It shows the accuracy of reliability. The map accuracy may be expressed by the ratio of the total number of dots to the number of dots included in the unreliable category. Further, as long as the information corresponds to the map accuracy of the entire map, a display form other than the ratio may be used.

FIG. 8 shows a display mode of reliability information according to the third embodiment. FIG. 8 shows the map accuracy regarding the reliability of the entire map image. A display frame 101 is provided at an appropriate position on the screen, and the map accuracy is numerically displayed as a ratio (%). The display frame 102 is set as needed, and the position and size can be specified by the user. The dot DP included in the display frame 102 is treated as a non-calculation target when calculating the map accuracy ratio. For example, it can be used when the reliability information of a region that is not previously targeted for work in the map image or has low reliability is excluded from the calculation.

The map information correction unit 309 selects a correction mode, and in this correction mode, the touch panel gives a correction instruction to the position of an obstacle mainly included in the category of low reliability information among the map information displayed on the display unit 11. By tracing on the screen, for example, by the input unit 12, the position is received, the map is rewritten to the line drawing instructed to be corrected, and the classification including the rewritten obstacle is lowered as necessary. The reliability information may be changed to high reliability information. In this case, the map information correction unit 309 functions as the first map information correction unit. For example, if it is a division 92, it is changed to a division 91 (or if it is a division 93, it is a division 91). It should be noted that the manual operation instruction is not limited to the correction within the category having low reliability information, and the correction instruction may be given to other areas as well.

Further, the correction mode may include a mode of performing automatic correction in addition to the manual operation instruction. In this case, the map information correction unit 309 functions as a second map information correction unit. In the automatic correction, correction processing is executed for the position of the obstacle included in the category having low reliability information in the map information. Alternatively, the correction process may be executed by accepting an automatic correction instruction from the user, or the low reliability information may be changed to the high reliability information for the corrected division or area as necessary. ..

Further, the map information correction unit 309 can function as a map information erasing unit that erases information having low reliability information or classification information among the map information. In this case, by erasing the sections with low reliability information, for example, when the map information is displayed, all the displayed map information can be uniformly recognized as the parts with high reliability information.

The work movement route setting unit 310 displays a map image on the display unit 11 at the start of the work mode that can be set after the map creation mode ends, and has a traveling function similar to that of the traveling body 20 in the displayed map image. The work movement route is automatically or manually set via the input unit 12 for the work traveling body provided with the unit and equipped with the work unit. The work movement route setting unit 310 determines whether or not the work movement route is set to pass (via) the position of an obstacle with low reliability information, for example, in the divisions 92 and 93, and determines whether the work movement route is set to pass (via) in the divisions 92 and 93. , 93 If the setting is set to pass through, the setting is regulated, that is, the fact is notified, and the setting is invalidated, prohibited, or the route is changed for that part. Manually or automatically correct the route through the high division 91.

FIG. 9 illustrates the modification of the work movement route displayed on the map image in the work mode. In FIG. 9, the preset work movement route 103 passes through the section 92, which is an unreliable region, on the way to the work point WOP. Therefore, in response to the notification to that effect, the change of the route 104 is instructed by the manual in the correction mode so as to pass through the division 91 which is a highly reliable area.

FIG. 10 is a flowchart illustrating an embodiment of map creation / reliability information display processing. In FIG. 10, first, the movement control of the traveling body 20 and the operation of the LRF 40 are started (step S1). Next, node information is periodically created from the measurement result by the encoder 52 and the distance measurement result by the LRF 40 (step S3), and then map matching is executed using the new node information (step S5) to map. Based on the information, a map which is a map image in a plan view is created and displayed on the display unit 11 (step S7). Next, it is determined whether or not the map creation process is completed because the traveling body 20 makes one round and returns (step S9). If not, the process returns to step S3 and the same process is repeated. ..

On the other hand, when the map creation process is completed, the travel route 701 creation process is executed (step S11), the separation distance calculation (step S13), and the reliability information generation process are executed (step S15). Next, it is determined whether or not to superimpose the reliability information on the map image of the display unit 11 (step S17), and when an instruction to superimpose and display the reliability information is input via the input unit 12, the reliability is determined. The information is displayed on the display unit 11 (step S19), otherwise, step S19 is skipped and the present flow ends. In the above process, step S17 may be skipped.

In the present embodiment, the divisions 91, 92, and 93 that are divided in the direction perpendicular to the traveling route are determined by the set distances d0 and d1, but the reliability information of the obstacle 80 is determined according to the distance to the obstacle 80. May be set. In this case, the brightness of the dot DP, which is the map image of the obstacle 80, may be changed according to the reliability information.

Further, in the above-described embodiment, the control unit 30 is provided on the traveling body 20 side, but all or a part of the functional units of the control unit 30 may be provided on the tablet 10 side.

Further, the distance to an obstacle may be measured by transmitting and receiving an ultrasonic beam instead of using a laser beam as a distance measuring sensor.

Further, the traveling body 20 having the functional portion of the tablet 10 may be used. In addition, at the start of the map creation mode, the planned travel route or the rough planned travel route can be set in advance, and under the setting conditions for traveling while maintaining the distance to the obstacle within the set range. It may be an autonomous traveling mode. Further, it may have a function unit that connects the dot DP and converts the obstacle 80 into a line drawing.

Also, the description of the embodiments described above should be considered to be exemplary in all respects and not restrictive. The scope of the present invention is shown not by the above-described embodiment but by the scope of claims. Furthermore, the scope of the present invention is intended to include all modifications within the meaning and scope equivalent to the claims.

10 Tablet 11 Display unit 111 Display control unit 12 Input unit (operation unit)
20 Running body (moving body)
30 Control unit 300 Travel control unit 301 Distance measurement control unit 302 Node information generation unit (map information generation unit)
303 Map matching unit (map information generation unit)
304 Map Creation Department (Map Information Generation Department)
305 Travel route determination unit (Movement route determination unit)
306 Separation distance calculation unit 307 Reliability information generation unit 308 Map accuracy calculation unit 309 Map information correction unit 310 Work movement load setting unit 40 LRF (sensor unit)
50 Drive unit (movement mechanism)
60 Storage unit 70 Travel area 701 Travel route 80 Obstacles 91, 92, 93 Category 101 Display frame 102 Display frame WA Work area

Claims (15)

A moving body with a moving mechanism and
A sensor unit provided on the moving body that transmits a beam toward the surroundings, receives a reflected beam returned from a surrounding obstacle, and measures the distance and direction to the obstacle.
A map information generation unit that maps the position of the obstacle and generates map information based on the distance and direction to the obstacle measured by the sensor unit while moving the moving body.
A movement route determination unit that determines a movement route that moves the moving body when the map information is generated, and a movement route determination unit.
A separation distance calculation unit that calculates the separation distance from the movement route with respect to the reliability evaluation point in the map information,
A map creation device including a reliability information generation unit that generates reliability information according to a separation distance calculated by the separation distance calculation unit with respect to a reliability evaluation point in the map information. The map-creating device according to claim 1, wherein the reliability information generation unit calculates the reliability to be lower as the separation distance is larger. A recording unit is provided which continuously determines and records the self-position of the moving body when generating the map information.
The cartographic device according to claim 1 or 2, wherein the movement route determination unit determines the movement route based on the information recorded in the recording unit. A display unit that displays the map information created by the map information generation unit, and a display unit that displays the map information.
The map creation device according to any one of claims 1 to 3, further comprising a display control unit that displays the reliability information on the display unit in response to the map information. It is equipped with a portable operation unit that sets the movement route of the moving body.
The cartographic device according to claim 4, wherein the operation unit includes the display unit and the display control unit. It is equipped with a portable operation unit that sets the movement route of the moving body.
The map creation device according to claim 4, wherein the operation unit includes the map information generation unit, the reliability information generation unit, the display unit, and the display control unit. The map creation unit according to any one of claims 4 to 6, wherein the reliability information generation unit divides the distance direction from the movement route into a plurality of parts as the reliability information, and sets a different display form for each division. apparatus. The map-creating device according to claim 7, wherein the display form reduces the brightness as the distance from the moving route increases. The map to the number of positions of the obstacle in the information, reliability information, and low reliability map accuracy computing section the ratio of the number of positions in one of which associated the obstacle information calculating as the map accuracy information With
The map creation device according to any one of claims 4 to 8, wherein the display control unit displays the calculated map accuracy information on the display unit. The invention according to any one of claims 4 to 8, further comprising a first map information correction unit that receives a correction instruction for a part of the map information displayed on the display unit and corrects the map information. Cartography device. The map creation device according to any one of claims 1 to 9, further comprising a second map information correction unit that corrects information on an obstacle having low reliability information among the map information. The map creation device according to any one of claims 1 to 9, further comprising a map information erasing unit that erases information having low reliability information among the map information. A work movement route setting unit for setting a work movement route of a work moving body in the map information displayed on the display unit is provided.
The work movement route setting unit determines whether or not the work movement route is set to pass near the position of the obstacle having low reliability information, and if the determination is affirmed, the claim for restricting the setting. Item 4. The cartography apparatus according to any one of Items 4 to 9. While the moving body is moving, the distance measuring control unit transmits a beam toward the surroundings by a sensor unit provided on the moving body, receives a reflected beam returned from a surrounding obstacle, and reaches the obstacle. Measure the distance and direction,
The map information generation unit maps the position of the obstacle based on the distance and direction to the obstacle measured by the distance measurement control unit, and generates map information.
The movement route determination unit determines the movement route to which the moving body is moved when the map information is generated, and determines the movement route.
The separation distance calculation unit calculates the separation distance from the movement route with respect to the reliability evaluation point in the map information.
A map creation method in which a reliability information generation unit generates reliability information according to a separation distance calculated by the separation distance calculation unit with respect to a reliability evaluation point in the map information. The map creation method according to claim 14, wherein the display control unit displays the generated map information and the reliability information corresponding to the map information on the display unit.

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