JP5024896B2 - Mobile robot control system - Google Patents

Description

  The present invention relates to a mobile robot control system, and more particularly, to a mobile robot control system having two movement modes: a control mode based on a pilot's control and an autonomous movement mode.

Patent Documents 1 to 3 disclose a mobile robot control system having two movement modes, namely, a control mode based on a pilot's control and an autonomous movement mode.
In particular, in Patent Documents 2 and 3, when a pilot operates in a steering mode where the mobile robot may come into contact with an obstacle, the movement mode of the mobile robot automatically switches to the autonomous movement mode. A mobile robot maneuvering system that avoids contact of an object with a mobile robot is disclosed.
JP 2003-251581 A JP 2007-175831 A JP 2002-36152 A

When the movement mode of the mobile robot is switched from the operation mode to the autonomous movement mode, the operator cannot recognize the change, and the operator may feel uncomfortable.
An object of the present invention is to provide a mobile robot maneuvering system that can reduce the operator's uncomfortable feeling when the mobile robot travel mode is switched from the maneuvering mode to the autonomous mobile mode.

  The mobile robot control system according to the present invention is a mobile robot control system having two control modes, namely, a control mode based on a pilot's control and an autonomous mobile mode, wherein the driver moves in the control mode. A control unit that controls the robot, an obstacle detection unit that detects obstacles around the mobile robot, a position estimation unit that estimates a current position of the mobile robot, and a detection result of the obstacle detection unit, Based on the estimation result of the position estimation unit, the determination unit that determines whether or not the mobile robot contacts the obstacle, and the determination that the determination result of the determination unit is in contact is the mobile robot An avoidance route generation unit for generating a route for avoiding the obstacle in the autonomous movement mode, and the movement robot to move on the route generated by the avoidance route generation unit. Comprising a switching unit for switching the robot movement mode steering mode from the autonomous moving mode, and a notifying unit for notifying the operator that the said maneuvering mode is switched to the autonomous mobile mode. With such a configuration, it is possible to reduce the operator's uncomfortable feeling when the movement mode of the mobile robot is switched from the operation mode to the autonomous movement mode.

  It is preferable that a display unit is provided as the notification unit, and the display unit includes a display and an image data processing unit that outputs image data to the display based on a determination result of the determination unit. With this configuration, the operator can know via the display that the movement mode of the mobile robot has been switched from the operation mode to the autonomous movement mode, so that the movement mode of the mobile robot is changed from the operation mode to the autonomous movement mode. It is possible to reduce the driver's uncomfortable feeling when switching.

  The image data processing unit outputs image data captured by an image capturing unit provided in the mobile robot during the maneuvering mode to a display, and a path generated by the avoidance path generating unit when the display is switched to the autonomous movement mode. It is preferable to switch to image data indicating The pilot can know what route the mobile robot follows to avoid an obstacle. In particular, when the mobile robot is configured so that the occupant controls the mobile robot, the occupant can recognize the movement path of the mobile robot in the autonomous movement mode on the display. Can be matched.

  The image data processing unit generates superimposed image data obtained by superimposing the image data captured by the imaging unit and the obstacle data detected by the obstacle detection unit in the control mode, and outputs the superimposed image data to a display It is preferable to do. With such a configuration, the operator can easily see the obstacle on the display and can easily avoid the obstacle.

  The notification unit includes a sound source unit, and the sound source unit preferably includes a speaker and a sound data processing unit that outputs sound data to the speaker based on a determination result of the determination unit. With such a configuration, the operator can know via the speaker that the movement mode of the mobile robot has been switched from the operation mode to the autonomous movement mode, so the movement mode of the mobile robot is changed from the operation mode to the autonomous movement mode. It is possible to reduce the driver's uncomfortable feeling when switching.

  The control unit includes a joystick, a processing unit to which operation data of a stick handle of the joystick is input, and a reaction force applying unit that applies a reaction force to the stick handle as the notification unit, It is preferable to control the reaction force application unit based on the determination result of the determination unit. With this configuration, the pilot can know that the mobile robot's movement mode has been switched from the control mode to the autonomous movement mode by introducing a reaction force to the stick handle. It is possible to reduce the driver's uncomfortable feeling when switching to the autonomous movement mode.

  It is preferable that the determination unit controls the image data processing unit, the sound data processing unit, and the reaction force applying unit based on the determination result. With such a configuration, the operator can know step by step that the mobile robot is approaching the obstacle.

  ADVANTAGE OF THE INVENTION According to this invention, the control system of the mobile robot which can reduce a driver's discomfort at the time of the movement mode of a mobile robot switching from a control mode to an autonomous movement mode can be provided.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a mobile robot control system according to the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

<Embodiment 1>
As shown in FIG. 1, a mobile robot control system (hereinafter, simply referred to as “control system”) 1 according to the present embodiment is a control mode in which the mobile robot 2 is a normal mode based on the pilot's control. And an autonomous movement mode that is an emergency mode. As described in the background art section, such a steering system 1 is automatically operated when the operator performs a steering operation in which the mobile robot 2 may come into contact with an obstacle in the steering mode. The movement mode is switched to the autonomous movement mode, and the mobile robot 2 is prevented from contacting an obstacle. In this case, when the movement mode of the mobile robot 2 is switched from the steering mode to the autonomous movement mode, the driver cannot recognize the switching, and the driver may feel uncomfortable. Therefore, the control system 1 of the present invention is characterized by including a notification unit 3 that notifies that the movement mode of the mobile robot 2 has been switched from the control mode to the autonomous movement mode. Therefore, it is possible to reduce the operator's uncomfortable feeling when the movement mode of the mobile robot is switched from the operation mode to the autonomous movement mode.

Below, the steering system 1 of this embodiment is demonstrated in detail.
As shown in FIGS. 1 and 2, the mobile robot 2 is a boarding type mobile robot. The mobile robot 2 includes a frame 4, an autonomous system control unit 5, a switching unit 6, an imaging unit 7, a control unit 8, a storage unit 9, and a drive unit 10.

  The frame 4 is a resin molded product, for example, and is molded with light weight and high rigidity. The frame 4 is formed with a recessed portion on which a person who is a pilot rides. The frame 4 includes an autonomous system control unit 5, a switching unit 6, an imaging unit 7, a control unit 8, a storage unit 9, and a drive unit 10.

  The autonomous system control unit 5 includes a position estimation unit 510, a posture / speed estimation unit 520, an obstacle detection unit 530, and a processing unit 540. The processing unit 540 includes a map data generation unit 541, a determination unit 542, and an avoidance route generation unit 543.

  The position estimation unit 510 includes a GPS (Global Positioning System) device and the like, and estimates the current position of the mobile robot 2 from position information received from a satellite, for example. The position estimation unit 510 stores the estimated current position data of the mobile robot 2 in the storage unit 9.

  The posture / speed estimation unit 520 includes an inertia sensor (an angular velocity sensor, an acceleration sensor, a gyro sensor, etc.) and an encoder provided in the drive motor 102 of the drive unit 10. The posture / speed estimation unit 520 estimates the posture of the mobile robot 2 from the inclination of the mobile robot 2 detected by the inertia sensor.

  Further, the posture / speed estimation unit 520 estimates the moving speed of the mobile robot 2 from the rotation speed of the drive motor 102 detected by the encoder. The posture / speed estimation unit 520 stores the estimated posture data and speed data of the mobile robot 2 in the storage unit 9.

  The obstacle detection unit 530 includes at least one distance measuring sensor 531 such as a stereo camera, a laser range finder, and an ultrasonic sensor. The distance measuring sensor 531 is provided at the front end portion of the frame 4, and detects an obstacle existing within a range of π rad in front of the mobile robot 2, for example.

  That is, the obstacle detection unit 530 calculates the distance from the mobile robot 2 to the obstacle in three dimensions based on the detection signal of the distance measuring sensor 531 and calculates the direction of the obstacle relative to the mobile robot 2. The obstacle detection unit 530 stores three-dimensional data (obstacle data) of the calculated distance to the obstacle in the storage unit 9.

  The map data generation unit 541 calls the current position data of the mobile robot 2 from the storage unit 9 and generates map data at the current position of the mobile robot 2. As the map data of this embodiment, a grid map M as shown in FIG. 3 is generated. The grid map M is not larger than the detection range of the distance measuring sensor 531, and the arrangement position of the distance measuring sensor 531 is the origin of coordinates. That is, the grid map M and the detection range of the distance measuring sensor 531 are set correspondingly.

  Further, the map data generation unit 541 calls the three-dimensional data of the distance from the storage unit 9 to the obstacle, and as shown in FIG. 4, the position data of the obstacle O (hatched portion in FIG. 4) on the grid map M is obtained. get. As a result, the relationship between the current position of the mobile robot 2 and the position of the obstacle O can be acquired. The map data generation unit 541 outputs the grid map M indicating the position data of the obstacle O to the determination unit 542.

  The determination unit 542 determines whether or not the mobile robot 2 contacts the obstacle O based on the input grid map M. Specifically, the determination unit 542 determines that the mobile robot 2 contacts the obstacle O when the distance between the mobile robot 2 and the obstacle O is shorter than a preset distance (interval). If the determination unit 542 determines that the mobile robot 2 is in contact with the obstacle O, the determination unit 542 outputs the determination result data to the avoidance path generation unit 543 and the switching unit 6.

  Although the details will be described later, the determination unit 542 calls the current position data of the mobile robot 2 from the storage unit 9, and on the route R generated by the avoidance route generation unit 543 based on the current position data of the mobile robot 2. When it is determined that the mobile robot 2 has reached the goal point G in the autonomous movement mode, the determination result data is output to the switching unit 6.

  When it is determined that the input determination result data is in contact, the avoidance path generation unit 543 calls the posture data and speed data of the mobile robot 2 from the storage unit 9, and based on the posture data and speed data of the mobile robot 2 As shown in FIG. 4, the mobile robot 2 generates a route R on the grid map M that avoids the obstacle O in the autonomous movement mode. The avoidance route generation unit 543 stores the grid map M indicating the generated route R in the storage unit 9.

  Specifically, the avoidance route generation unit 543 smoothly starts from the posture of the mobile robot 2 immediately before the movement mode is switched (during the control mode) so that the passenger does not feel uncomfortable when the movement mode is switched. In addition, at the speed of the mobile robot 2, the mobile robot 2 generates a path R to be overtaken with an interval of a predetermined distance or more from the obstacle O.

  That is, in the path R, the position where the mobile robot 2 faces the obstacle O with a predetermined distance is set as the start point S, and the mobile robot 2 is spaced from the obstacle O so that the obstacle O can be completely smooth. A goal point G is a position that passes and reaches the front of the obstacle O. Incidentally, the distance between the mobile robot 2 and the obstacle O is set in advance in consideration of the size of the mobile robot 2, the radius of rotation, and the like.

  At this time, the avoidance route generation unit 543 generates the route R in consideration of the moving speed of the obstacle O. That is, the avoidance route generation unit 543 calculates the moving speed and moving direction of the obstacle O from the three-dimensional data of the distance to the obstacle O that is sequentially stored in the storage unit 9. Then, the avoidance route generation unit 543 generates a route R that allows the mobile robot 2 to smoothly overtake the moving obstacle O.

  The avoidance route generation unit 543 generates control data for controlling the drive unit 10 so that the mobile robot 2 moves on the route R at the speed of the mobile robot 2 immediately before the movement mode is switched. The avoidance route generation unit 543 stores the generated control data in the storage unit 9. However, the speed of the mobile robot 2 in the autonomous movement mode may be set as appropriate as long as the passenger does not feel uncomfortable when the movement mode is switched.

  When it is determined that the input determination result data is in contact, the switching unit 6 outputs switching command data for switching the movement mode of the mobile robot 2 from the steering mode to the autonomous movement mode to the driving unit 10. At the same time, the switching unit 6 outputs the switching command data to the control unit 8.

  In addition, when the determination result data indicating that the mobile robot 2 has reached the goal point G in the autonomous movement mode is input from the determination unit 542, the switching unit 6 switches the switching mode of the mobile robot 2 to the control mode. Data is output to the drive unit 10. At the same time, the switching unit 6 outputs the switching command data to the control unit 8.

  The imaging unit 7 includes a camera 71 provided at the front end of the frame 4. The imaging unit 7 stores image data captured by the camera 71 in the storage unit 9. Incidentally, as the camera 71, a camera using an image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) can be used.

  The control unit 8 includes a display unit 81 and a steering unit 82. The display unit 81 is the notification unit 3 that notifies the passenger that the movement mode has been switched. The display unit 81 includes an image data processing unit 811 and a display 812.

The image data processing unit 811 calls the image data captured by the imaging unit 7 from the storage unit 9 and outputs the image data to the display 812 in the steering mode.
When switching instruction data for switching the movement mode of the mobile robot 2 from the steering mode to the autonomous movement mode is input from the switching unit 6, the image data processing unit 811 calls the grid map M indicating the route R from the storage unit 9. The grid map M is processed to generate image data, and the image data is output to the display 812.

  When switching instruction data for switching the movement mode of the mobile robot 2 from the autonomous movement mode to the control mode is input from the switching unit 6, the image data processing unit 811 calls the image data captured by the imaging unit 7 from the storage unit 9 again. The image data is output to the display 812.

The display 812 is provided on the frame 4. The display 812 is disposed at a position where it can be easily seen by a passenger who has boarded.
With such a configuration, the passenger can appropriately know that the movement mode of the mobile robot 2 has been switched from the operation mode to the autonomous movement mode. Therefore, when the movement mode of the mobile robot is switched from the operation mode to the autonomous movement mode, It is possible to reduce the passenger's uncomfortable feeling.

  The steering unit 82 includes a joystick 821 and a processing unit 822. The joystick 821 can detect, for example, the inclination of the stick handle in two orthogonal directions, and the inclination of the stick handle in one direction corresponds to the moving speed of the mobile robot 2 in the front-rear direction, and the inclination of the stick handle in the other direction. Corresponds to the rotational speed of the mobile robot 2 in the left-right direction. The joystick 821 outputs stick handle tilt data (operation data) to the processing unit 822. The joystick 821 is provided on the frame 4. The joystick 821 is disposed at the passenger's hand.

  However, the configuration of the joystick 821 is not limited to this, and a joystick using a force sensor may be used. In addition, the configuration is not limited as long as the mobile robot 2 can be well instructed to move back and forth and right and left without being limited to the joystick 821.

The processing unit 822 generates control data for controlling the driving unit 10 based on the input tilt data of the stick handle. The processing unit 822 stores the generated control data in the storage unit 9.
That is, in the normal mode (in the maneuvering mode), the passenger of the mobile robot 2 operates the joystick 821 and visually controls the mobile robot 2 while visually checking the surrounding environment.

  The storage unit 9 is a program for generating a grid map M, a program for determining whether or not the mobile robot 2 is in contact with an obstacle, a program for generating control data for the route and the driving unit 10 in the autonomous movement mode, and an operation mode. A program for generating control data of the driving unit 10 at the time, current position data, posture data, speed data of the mobile robot 2, control data of the driving unit 10 in the autonomous movement mode, and the like are stored.

  The drive unit 10 includes wheels 101, a drive motor 102, and a drive motor driver 103. At least three wheels 101 are provided at the bottom of the frame 4. Two wheels 101 arranged on the left and right of the frame 4 are respectively driven to rotate by the drive motor 102 to realize the forward and backward movement and turning of the mobile robot 2.

  The drive motor 102 is controlled based on control data input from the drive motor driver 103. The drive motor driver 103 calls the control data generated by the control unit 8 from the storage unit 9 in the control mode, and controls the drive motor 102 based on the control data. On the other hand, the drive motor driver 103 calls the control data generated by the avoidance path generation unit 543 from the storage unit 9 based on the switching instruction data from the switching unit 6 in the autonomous movement mode, and drives the drive motor 102 based on the control data. Control.

The steering system 1 having such a configuration operates as shown in FIG.
The mobile robot 2 is moved based on the operation of the passenger's control unit 8 (S1).
That is, although the illustration is omitted, the control system 1 is activated or stopped by the passenger operating the main switch provided in the mobile robot 2.

  When the rider gets on the mobile robot 2 and operates the joystick 821, the steering system 1 outputs tilt data of the joystick 821 to the processing unit 822. The processing unit 822 generates control data for the drive motor 102 based on the input tilt data, and stores the control data in the storage unit 9. The drive motor driver 103 calls the control data from the storage unit 9 and controls the drive motor 102 based on the control data. At this time, in the display unit 81, the image data processing unit 811 calls the image data captured by the imaging unit 7 from the storage unit 9 and outputs the image data to the display 812.

As the mobile robot 2 moves, the autonomous control unit 5 sequentially determines whether or not the mobile robot 2 comes into contact with an obstacle.
That is, the position estimation unit 510 estimates the current position of the mobile robot 2 and stores the estimated current position data in the storage unit 9. Further, the posture / speed estimation unit 520 estimates the posture and movement speed of the mobile robot 2 and stores the estimated posture data and speed data of the mobile robot 2 in the storage unit 9. The obstacle detection unit 530 calculates the distance from the mobile robot 2 to the obstacle in three dimensions, and stores the calculated three-dimensional data of the distance to the obstacle in the storage unit 9.

  The map data generation unit 541 calls the current position data of the mobile robot 2 stored in the storage unit 9 and generates a grid map M based on the current position data of the mobile robot 2. Further, the map data generation unit 541 calls the three-dimensional data of the distance from the storage unit 9 to the obstacle O, and acquires the position data of the obstacle O on the grid map M. The map data generation unit 541 outputs the grid map M indicating the position data of the obstacle O to the determination unit 542.

  Based on the input grid map M, the determination unit 542 determines whether the mobile robot 2 comes into contact with the obstacle O based on whether the distance between the mobile robot 2 and the obstacle O is shorter than a preset distance. It is determined whether or not (S2).

  As a result of the determination, if the distance between the mobile robot 2 and the obstacle O is longer than the set distance, the determination unit 542 outputs determination result data indicating that no contact is made to the switching unit 6. Based on the determination result data, the switching unit 6 outputs command data for maintaining the steering mode to the image data processing unit 811 and the drive motor driver 103. As a result, the movement mode of the mobile robot 2 is maintained in the operation mode.

  On the other hand, when the distance between the mobile robot 2 and the obstacle O is shorter than the set distance, the determination unit 542 outputs determination result data indicating contact to the avoidance route generation unit 543 and the switching unit 6.

  The avoidance path generation unit 543 calls the posture data and speed data of the mobile robot 2 from the storage unit 9, and the mobile robot 2 avoids the obstacle O in the autonomous movement mode based on the posture data and speed data of the mobile robot 2. A route R to be generated is generated on the grid map M, and the grid map M indicating the route R is stored in the storage unit 9 (S3). Further, the avoidance path generation unit 543 generates control data for the driving unit 10 when the mobile robot 2 moves on the path R, and stores the control data in the storage unit 9.

  The switching unit 6 outputs command data for switching to the autonomous movement mode to the image data processing unit 811 and the drive motor driver 103 based on the determination result data. As a result, the movement mode of the mobile robot 2 is switched to the autonomous movement mode (S4).

  The image data processing unit 811 calls the grid map M showing the route R generated by the avoidance route generation unit 543 from the storage unit 9, performs processing on the grid map M to generate image data, and stores the image data. Output to the display 812. That is, the display on the display 812 is switched from the image data captured by the imaging unit 7 to the image data of the grid map M indicating the route R when the movement mode is switched from the steering mode to the autonomous movement mode (S5).

  The drive motor driver 103 calls the control data of the drive motor 102 generated by the avoidance path generation unit 543 from the storage unit 9, and controls the drive motor 102 based on the control data. Thereafter, the determination unit 542 calls the current position data of the mobile robot 2 from the storage unit 9, and the mobile robot 2 is autonomous on the route R generated by the avoidance route generation unit 543 based on the current position data of the mobile robot 2. It is determined whether or not the goal point G has been reached in the movement mode (S6).

  In the case of a determination result that the goal point G has not been reached, the determination unit 542 outputs the determination result data to the switching unit 6. The switching unit 6 outputs command data for maintaining the autonomous movement mode to the image data processing unit 811 and the drive motor driver 103 based on the determination result data. As a result, the movement mode of the mobile robot 2 is maintained in the autonomous movement mode.

In the case of the determination result that the goal point G has been reached, the determination unit 542 outputs the determination result data to the switching unit 6 (S7). Based on the determination result data, the switching unit 6 outputs command data for switching from the autonomous movement mode to the steering mode to the image data processing unit 811 and the drive motor driver 103. The image data processing unit 811 calls the image data captured by the imaging unit 7 from the storage unit 9 and outputs the image data to the display 812 (S8). The drive motor driver 103 calls the control data generated by the control unit 8 from the storage unit 9 and controls the drive motor 102 based on the control data.
The control system 1 intermittently repeats the above-described steps S1 to S8 while starting up.

  In the steering system 1 having such a configuration, when the movement mode of the mobile robot 2 is switched from the steering mode to the autonomous movement mode, the passenger can recognize on the display 812 that the switching has been performed. Therefore, it is possible to reduce the discomfort of the passenger when the movement mode of the mobile robot is switched from the operation mode to the autonomous movement mode. In addition, since the passenger can recognize on the display 812 what route the obstacle O should be avoided on, the body can correspond to the movement of the mobile robot 2.

  However, the steering system 1 of the present embodiment has a grid map M showing the route R generated by the avoidance route generation unit 543 from the image data captured by the imaging unit 7 when the operation mode is switched from the operation mode to the autonomous movement mode. Although it switched to image data, it is not this limitation. In short, it is only necessary that the display on the display 812 can recognize that the traveling mode has been switched.

<Embodiment 2>
The steering system 1000 according to the present embodiment is configured in substantially the same manner as the steering system according to the first embodiment. However, as illustrated in FIG. 6, not only the display unit 81 as the notification unit 3 but also the control unit 8, A sound source unit 83 is provided. The sound source unit 83 includes a speaker 831 and a sound data processing unit 832. However, although the notification unit 3 of the present embodiment is configured by the display unit 81 and the sound source unit 83, only the sound source unit 83 may be used.

  At this time, the determination unit 542 has two threshold values. That is, it has a first threshold value for determining that there is an obstacle nearby, and a second threshold value for determining that the mobile robot 2 is in contact with the obstacle, but not until the mobile robot 2 contacts the obstacle. Incidentally, the threshold value is appropriately set based on the maximum speed of the mobile robot 2, the usage environment, and the like.

  If the determination unit 542 determines that the distance between the mobile robot 2 and the obstacle is equal to or less than the first threshold and longer than the second threshold, the determination unit 542 outputs the determination result data to the switching unit 6. The switching unit 6 generates command data for outputting sound from the speaker 831 based on the input determination result data, and outputs the command data to the sound data processing unit 832. The sound data processing unit 832 generates sound data to be output from the speaker 831 based on the input command data, and outputs sound from the speaker 831. At this time, the sound may be changed or the volume of the sound may be changed according to the distance between the mobile robot 2 and the obstacle.

  If the determination unit 542 determines that the distance between the mobile robot 2 and the obstacle is equal to or smaller than the second threshold value, the determination unit 542 outputs the determination result data to the switching unit 6. The switching unit 6 outputs instruction data for switching to the autonomous movement mode to the avoidance route generation unit 543 and the switching unit 6 based on the input determination result data. Since the subsequent operation of the steering system 1000 is the same as that of the first embodiment, a description thereof will be omitted.

  The steering system 1000 of the present embodiment can notify the passenger that the mobile robot 2 is approaching an obstacle by the sound source unit 83 before the movement mode of the mobile robot 2 is switched from the control mode to the autonomous movement mode. . Therefore, it is possible to further reduce the discomfort of the passenger. In addition, it is safe because contact with an obstacle can be avoided at an early stage by its own operation.

<Embodiment 3>
The steering system 1001 of the present embodiment has a configuration substantially similar to that of the steering system of the second embodiment, but as shown in FIG. In addition, a reaction force application unit 84 is provided. However, the notification unit 3 of the present embodiment includes the display unit 81, the sound source unit 83, and the reaction force application unit 84. However, the display unit 81 and the reaction force application unit 84, or the sound source unit 83 and the reaction force application unit 84. Alternatively, only the reaction force applying unit 84 may be used.

  At this time, the determination unit 542 has three threshold values. In other words, not until the mobile robot 2 comes into contact with the obstacle, but between the first threshold value for judging that there is an obstacle nearby and the second threshold value for judging that the mobile robot 2 comes into contact with the obstacle. The distance between the mobile robot 2 and the obstacle is equal to or smaller than the first threshold value, and has a third threshold value for determining that the mobile robot 2 comes into contact with the obstacle if the operation is continued as it is.

  If the determination unit 542 determines that the distance between the mobile robot 2 and the obstacle is equal to or less than the first threshold and longer than the third threshold, the determination unit 542 outputs the determination result data to the switching unit 6. The switching unit 6 generates command data for outputting sound from the speaker 831 based on the input determination result data, and inputs the command data to the sound data processing unit 832. In the subsequent operation of the steering system 1001, sound is output from the speaker 831 as in the second embodiment.

  If the determination unit 542 determines that the distance between the mobile robot 2 and the obstacle is equal to or less than the third threshold and longer than the second threshold, the determination unit 542 outputs the determination result data to the switching unit 6. The switching unit 6 inputs command data for activating the reaction force applying unit 84 to the processing unit 822 based on the input determination result data. The processing unit 822 controls the reaction force applying unit 84 based on the input command data, and applies a reaction force to the operation of the occupant on the joystick 821. At this time, the magnitude of the reaction force applied to the joystick 821 may be changed according to the distance between the mobile robot 2 and the obstacle. Moreover, it is good also as a structure which gives reaction force to the joystick 821 only in the direction where the mobile robot 2 is facing the obstacle.

  When the determination unit 542 determines that the distance between the mobile robot 2 and the obstacle is equal to or smaller than the second threshold value, the determination unit 542 outputs the determination result data to the avoidance route generation unit 543 and the switching unit 6. The subsequent operation of the steering system 1001 is switched to the autonomous movement mode as in the first embodiment.

  The maneuvering system 1001 of the present embodiment first notifies the passenger that the mobile robot 2 is approaching an obstacle by the sound source unit 83 before the movement mode of the mobile robot 2 is switched from the maneuvering mode to the autonomous movement mode. it can. Further, when the passenger controls the mobile robot 2 with a high possibility of contact with the obstacle, a reaction force is applied to the joystick 821 to notify that the mobile robot 2 is likely to contact the obstacle. . Therefore, the passenger can know that the mobile robot 2 is approaching the obstacle step by step, and can further reduce the discomfort of the passenger. In addition, it is safe to avoid contact with obstacles at an early stage by its own maneuvering.

<Embodiment 4>
The steering system 1002 of the present embodiment is configured substantially the same as the steering systems of the first to third embodiments, but the steering unit 8000 is configured separately from the mobile robot 2000 as shown in FIG. That is, the control system 1002 of this embodiment is configured as a remote control system for a mobile robot, and the operator operates the control unit 8000 to control the mobile robot 2000 from a location away from the mobile robot 2000.

  The mobile robot 2000 includes a frame, an autonomous system control unit 5, a switching unit 6, an imaging unit 7, a storage unit 9, a drive unit 10, and a wireless communication unit 11. That is, in the steering systems of the first to third embodiments, the command data from the switching unit 6 and the image data stored in the storage unit 9 are directly input to the steering unit. The data is input to the control unit 8000 via the wireless communication unit.

The control unit 8000 includes a wireless communication unit 12, a display unit 81, and a steering unit 82.
In the control mode, the image data processing unit 811 of the display unit 81 outputs call data for calling image data from the storage unit 9 on the mobile robot side to the storage unit 9 via the wireless communication units 11 and 12. The storage unit 9 outputs the image data to the image data processing unit 811 via the wireless communication units 11 and 12 based on the call data. The image data processing unit 811 outputs the input image data to the display 812. While viewing the image data output to the display 812, the operator operates the joystick 821 at hand to control the mobile robot 2000.

  Further, the processing unit 822 of the steering unit 82 stores control data of the drive motor 102 of the drive unit 10 in the storage unit 9 via the wireless communication units 11 and 12. The storage unit 9 outputs the control data to the drive motor driver 103 based on the call data from the drive motor driver 103. The drive motor driver 103 controls the drive motor 102 based on the control data.

  In the autonomous movement mode, the image data processing unit 811 of the display unit 81 sends the call data for calling the grid map indicating the route from the storage unit 9 on the mobile robot side to the storage unit 9 via the wireless communication units 11 and 12. Output. The storage unit 9 outputs a grid map indicating a route based on the call data to the image data processing unit 811 via the wireless communication units 11 and 12. The image data processing unit 811 generates image data by performing processing on the grid map showing the input route, and outputs the image data to the display 812. As described above, when the movement mode of the mobile robot 2000 is switched from the operation mode to the autonomous movement mode, the display on the display 812 is also avoided from the image data captured by the imaging unit 7, as in the above-described first to third embodiments. Since the path generated by the path generation unit 543 is switched to the image data of the grid map indicating the path, it is possible to recognize that the movement mode has been switched. Therefore, it is possible to reduce the operator's uncomfortable feeling when the movement mode of the mobile robot is switched from the operation mode to the autonomous movement mode.

  Incidentally, the movement of the mobile robot in the autonomous movement mode is performed by the drive motor driver 103 calling the control data from the storage unit 9 based on the switching instruction data from the switching unit 6 as in the control systems of the first to third embodiments. The drive motor 102 is controlled based on the control data.

  In the case of a configuration in which the control system is remotely controlled as in the present embodiment, the control unit and the mobile robot can communicate with each other between the driver who operates the control unit and the passenger who is on the mobile robot. Preferably, a microphone and a speaker are provided. Furthermore, it is preferable that a camera (imaging unit) and a display are provided between the control unit and the mobile robot. Further, in this embodiment, one mobile robot is controlled by one control unit, but one mobile robot is appropriately selected from a plurality of mobile robots by one control unit. May be.

<Embodiment 5>
The steering system according to the present embodiment has substantially the same configuration as the steering systems according to the first to fourth embodiments. However, when the movement mode of the mobile robot is the steering mode, obstacle detection is performed on the image data captured by the imaging unit. The obstacle data detected by the unit is superimposed and displayed on the display unit.

  That is, the image data processing unit of the display unit calls image data captured by the imaging unit from the storage unit, and extracts feature points of the image data. Further, the image data processing unit calls the three-dimensional data of the distance to the obstacle calculated by the obstacle detection unit from the storage unit, generates the image data by processing the three-dimensional data of the distance to the obstacle, Feature points of the image data are extracted. Then, the image data processing unit generates superimposed image data obtained by superimposing the feature points of the image data on each other, and outputs the superimposed image data to the display. At this time, it is preferable that the display portion of the obstacle is colored so that the obstacle is easily visible on the image data. The operator can easily see the obstacle on the display and can easily avoid the obstacle.

  As mentioned above, although embodiment of the control system of the mobile robot which concerns on this invention was described, it can change in the range which does not deviate not only from said structure but the technical idea of this invention. That is, the control system having the above-described configuration is merely an example, and in short, it is only necessary to include a notification unit that notifies that the movement mode has been switched.

1 is a block diagram schematically showing Embodiment 1 of a mobile robot control system according to the present invention. FIG. It is a perspective view which shows a mobile robot roughly. It is a figure which shows the grid map before the positional data on an obstruction is shown. It is a figure which shows the grid map in which the positional data and path | route of the obstruction were shown. 3 is a flowchart schematically showing the operation of the mobile robot maneuvering system according to the present invention. It is a block diagram which shows roughly Embodiment 2 of the control system of the mobile robot which concerns on this invention. It is a block diagram which shows roughly Embodiment 3 of the control system of the mobile robot which concerns on this invention. It is a block diagram which shows schematically Embodiment 4 of the control system of the mobile robot which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile robot control system 2 Mobile robot 3 Notification part 6 Switching part 7 Imaging part 71 Camera 8 Control part,
81 Display unit, 811 Image data processing unit, 812 Display 82 Steering unit, 821 Joystick, 822 Processing unit 83 Sound source unit, 831 Speaker, 832 Sound data processing unit 84 Reaction force applying unit 9 Storage unit 10 Drive unit, 101 Wheel, 102 Drive motor 103 Drive motor driver 11, 12 Wireless communication unit 510 Position estimation unit 520 Posture / speed estimation unit 530 Obstacle detection unit 531 Distance sensor 540 Processing unit 541 Map data generation unit 542 Determination unit 543 Avoidance path generation Parts 1000, 1001, 1002 Maneuvering system 2000 Mobile robot 8000 Maneuvering part O Obstacle R Path S Start point G Goal point

Claims (5)

A mobile robot maneuvering system having two maneuvering modes: a maneuvering mode based on pilot maneuvering and an autonomous movement mode,
A control unit in which the pilot controls the mobile robot in a control mode;
An obstacle detection unit for detecting obstacles around the mobile robot;
A position estimation unit for estimating a current position of the mobile robot;
A determination unit that determines whether or not the mobile robot contacts the obstacle based on a detection result of the obstacle detection unit and an estimation result of the position estimation unit;
In the case of determination that the determination result of the determination unit is in contact, an avoidance route generation unit that generates a route for the mobile robot to avoid the obstacle in an autonomous movement mode;
A switching unit that switches the movement mode of the mobile robot from the control mode to the autonomous movement mode so that the mobile robot moves on the route generated by the avoidance route generation unit;
A notification unit for notifying the operator that the operation mode has been switched to the autonomous movement mode;
Equipped with a,
The notification unit includes a display unit,
The display unit includes a display, and an image data processing unit that outputs image data to the display based on a determination result of the determination unit,
The image data processing unit outputs image data captured by an imaging unit provided in the mobile robot during the maneuvering mode to the display, and the avoidance path generation unit generates a display on the display when switching to the autonomous movement mode. A mobile robot control system that switches to image data showing the route . The image data processing unit generates superimposed image data obtained by superimposing the image data captured by the imaging unit and the obstacle data detected by the obstacle detection unit in the control mode, and outputs the superimposed image data to a display The mobile robot control system according to claim 1 , wherein: The notification unit includes a sound source unit,
3. The mobile robot control system according to claim 1, wherein the sound source unit includes a speaker and a sound data processing unit that outputs sound data to the speaker based on a determination result of the determination unit. . The steering unit includes a joystick, a processing unit to which operation data of the stick handle of the joystick is input, and a reaction force applying unit that applies a reaction force to the stick handle as the notification unit,
4. The mobile robot control system according to claim 1, wherein the processing unit controls the reaction force applying unit based on a determination result of the determination unit. 5.   5. The determination unit according to claim 1, wherein the determination unit controls the image data processing unit, the sound data processing unit, and a processing unit of the reaction force applying unit based on the determination result. The mobile robot control system according to claim 1.