Control device for updating autonomous robot map based on sensor data
An autonomous mobile robot ( 10 ) is capable of autonomously moving. A LiDAR ( 14 a ) is a three-dimensional sensor for three-dimensionally recognition of an external environment. A storage ( 12 a ) stores map data three-dimensionally indicating the external environment. A processor ( 11 ) controls an autonomous movement of the autonomous mobile robot ( 10 ) according to a position estimation based on sensing data of the LiDAR ( 14 a ) and the map data of the storage ( 12 a ). The processor ( 11 ) performs update control of the map data with the sensing data of the LiDAR ( 14 a ), based on a matching degree between sensing data of the LiDAR ( 14 a ) and the map data of the storage ( 12 a ).
1 . A control device relating to a moving body, the moving body including a three-dimensional sensor for three-dimensional recognition of an external environment, and being capable of autonomously moving according to a position estimation based on sensing data obtained by the three-dimensional sensor and map data three-dimensionally indicating the external environment, the control device comprising:
a controller that determines whether or not to perform update control of the map data with the sensing data, based on a matching degree between sensing data obtained by the three-dimensional sensor and the map data,
wherein the controller performs the update control based on the matching degree being lower than a first matching degree,
wherein a movement route of the moving body is divided into a plurality of sections,
wherein the first matching degree is a reference value of the matching degree based on sensing data obtained by the three-dimensional sensor, the matching degree being calculated for each section on the movement route in a state where an environment thereof does not change, the reference value being determined based on the matching degrees of the sections on the movement route, and
wherein the controller performs movement control of the moving body based on the map data.
2 . The control device according to claim 1 ,
wherein the controller performs the update control based on the matching degree being lower than the first matching degree continuously at a plurality of times at which the moving body exists at a same position.
3 . The control device according to claim 1 ,
wherein the controller determines whether or not to perform an axis-deviation correction of the three-dimensional sensor, based on a matching degree between sensing data obtained by the three-dimensional sensor and the map data.
4 . The control device according to claim 3 ,
wherein the controller performs the axis-deviation correction based on the matching degree being lower than a second matching degree.
5 . The control device according to claim 4 ,
wherein the controller determines a specific position on a movement route of the moving body on a basis of a reference value of the matching degree based on sensing data obtained by the three-dimensional sensor, and performs the axis-deviation correction based on a matching degree between the map data and sensing data obtained by the three-dimensional sensor being lower than the second matching degree and the moving body existing at the specific position.
6 . The control device according to claim 5 ,
wherein the controller performs control to move the moving body to the specific position based on sensing data obtained by a sensor that is provided in the moving body and is different from the three-dimensional sensor, a matching degree between the map data and sensing data obtained by the three-dimensional sensor being lower than the second matching degree, and the moving body existing at a position different from the specific position.
7 . The control device according to claim 5 ,
wherein the moving body includes a plurality of the three-dimensional sensors, and
the controller performs control to move the moving body to the specific position based on a matching degree between the map data and sensing data obtained by any one of the three-dimensional sensors being lower than the second matching degree, sensing data obtained by another one of the three-dimensional sensors, and the moving body existing at a position different from the specific position.
8 . The control device according to claim 3 ,
wherein the moving body includes a plurality of the three-dimensional sensors, and
the controller selects and executes one of the update control and the axis-deviation correction, based on a difference between sensing data of the three-dimensional sensors and a matching degree between the map data and sensing data obtained by at least one of the three-dimensional sensors being lower than a third matching degree.
9 . The control device according to claim 1 ,
wherein the reference value is an estimated value, which varies depending on a position on a movement route of the moving body, of the matching degree between the sensing data and the map data on an assumption that an environment in which the moving body moves autonomously does not change.